CN104537659B - The automatic calibration method and system of twin camera - Google Patents
The automatic calibration method and system of twin camera Download PDFInfo
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- CN104537659B CN104537659B CN201410817559.3A CN201410817559A CN104537659B CN 104537659 B CN104537659 B CN 104537659B CN 201410817559 A CN201410817559 A CN 201410817559A CN 104537659 B CN104537659 B CN 104537659B
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- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
- G06T7/85—Stereo camera calibration
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Abstract
The present invention provides the automatic calibration method and system of a kind of twin camera, and this method includes：Control Pan/Tilt/Zoom camera is shot by default horizontal motion step-length and movement in vertical direction step-length to monitor area, obtains PTZ images, and acquisition parameters during every PTZ image of records photographing；Wherein, the overlapping region of front and rear two PTZ images is more than default overlapping range when Pan/Tilt/Zoom camera is shot；The acquisition parameters of Pan/Tilt/Zoom camera include shooting multiple, movement value in the horizontal direction and the movement value in vertical direction of Pan/Tilt/Zoom camera currently；The characteristic point of every PTZ image of extraction and the characteristic point of wide angle picture；The characteristic point of PTZ images and the characteristic point of wide angle picture are matched, matching pair for PTZ images and wide angle picture is obtained；According to the pixel coordinate of the characteristic point of matching centering PTZ images and the characteristic point of wide angle picture, the mapping relations of the acquisition parameters of the coordinate of pixel and Pan/Tilt/Zoom camera in wide angle picture are obtained.The calibration process of the present invention is simple, and the calibration results accuracy is high.
Description
Technical field
The present invention relates to camera calibration technical field, more particularly to a kind of automatic calibration method of twin camera, with
And a kind of automatic calibration system of twin camera.
Background technology
Current protection and monitor field to obtain clear monitor video image as monitoring and law enforcement collect evidence foundation demand not
Disconnected to improve, traditional single camera monitoring system can not directly obtain the picture rich in detail of the constantly mobile target in distant place in large scene, and
It is that this monitor mode can cause huge manpower wave by manually carrying out feature amplification by manual zoom to object
Take, and often produce the situation that monitoring personnel is failed to report by fatigue.Therefore the application project of existing pair of camera monitoring system
Cost is higher, is applied only for special important place, it is impossible to be widely used in present city security protection and field of traffic.
Widely used dual camera monitoring system in conventional art, the system has two camera devices, including wide-angle is taken the photograph
Camera, i.e. gunlock, and Pan/Tilt/Zoom camera, i.e. ball machine；Wide angle cameras guides ball machine video camera rotational positioning to arrive monitoring object
Position, makes target be placed in the center of PTZ ball machine video cameras.PTZ is Pan/Tilt/Zoom letter in safety monitoring application
Write, represent head comprehensive (up and down, left and right) mobile and camera lens zoom, Zoom control.The location of pixels of one fixed video camera
Space reflection relation with ball machine PTZ camera motion is the key that both link.When for outdoor large scene engineering
Calibrate that difficulty is larger, existing scaling method is comparatively laborious, so the universality of the monitoring of dual camera is low, equipment cost compared with
It is high.
In the prior art, the method for camera calibration is divided into three classes：
One class is manually to calibrate, and chooses a pixel in wide angle picture as target, to write down image coordinate, then
Ball machine is controlled, the target point of gunlock is located at the center of ball machine picture, each pixel in wide angle picture is calibrated, formd
The gunlock pixel of monitoring system puts mapping table correspondingly with ball machine movement position, but more numerous in the process of practical application
Trivial, particularly under large scene, the process calibrated one by one is very huge.
One class is geometric maps modelling, and it needs sufficiently accurate camera imaging model and environment geometrical model, adopted
Changed with multiple reference pointses zoom with focusing parameter model parameter, the accuracy of calibration mapping depends on the model parameter accuracy,
Parametric solution process is more complicated, easily produces solution parameter and does not restrain, it is impossible to ensures the accuracy of calibration.
Another kind of is data fitting method, is to be believed by gathering between the picture element position information of wide-angle and camera motion
Breath, is solved using polynomial approximation or least square method obtain and more than three pairs are used in mapping relations, conventional art
The level of wide-angle gunlock image pixel coordinates and ball machine solves Mapping and Converting matrix to point with vertical height with least square method, its
In the internal reference of video camera be to be obtained by distortion correction method, wherein more than three pairs are use by image to point
Sift/surf Feature Correspondence Algorithms are obtained, but are that outdoor large scene and texture are relatively simple the problem of this method maximum
Very big deviation can be produced in scene and substantial amounts of repeated texture, the precision of parametric solution parameter influences whether the standard of calibration
True property, if there is many similar squares and repeated texture to each security protection in whole city and traffic zone monitor area
Scene, enforcement difficulty is larger.One kind also is exactly to carry out calibration process using substantial amounts of off-line data, it is necessary to using a large amount of numbers
It is fitted according to collection, amount of calculation is than larger.
The content of the invention
Based on this, the present invention provides the automatic calibration method and system of a kind of twin camera, and its calibration process is simple, calibration
As a result accuracy is high.
A kind of automatic calibration method of twin camera, comprises the following steps：
Control Pan/Tilt/Zoom camera by default horizontal motion step-length and movement in vertical direction step-length to the monitor area
Shot, obtain PTZ images, and during the PTZ images of records photographing every the Pan/Tilt/Zoom camera acquisition parameters；Wherein,
The overlapping region of front and rear two PTZ images is more than default overlapping range when Pan/Tilt/Zoom camera is shot；The bat of the Pan/Tilt/Zoom camera
Take the photograph parameter including the Pan/Tilt/Zoom camera currently shoot multiple, movement value in the horizontal direction and in vertical direction
Movement value；
The characteristic point of every PTZ image is extracted, and extraction shoots the wide of the monitor area acquisition by wide angle cameras
The characteristic point of angle image；Wherein, the characteristic point of the PTZ images and the characteristic point of wide angle picture are binary features point；
The characteristic point of the PTZ images and the characteristic point of the wide angle picture are matched, the PTZ images are obtained and described wide
The matching pair of angle image；
According to the pixel coordinate of the matching characteristic point of PTZ images and characteristic point of the wide angle picture to described in,
Obtain the mapping relations of the coordinate of pixel and the acquisition parameters of the Pan/Tilt/Zoom camera in the wide angle picture.
A kind of automatic calibration system of twin camera, the twin camera includes wide angle cameras and Pan/Tilt/Zoom camera, described
Wide angle cameras shoots monitor area and obtains wide angle picture, and the Pan/Tilt/Zoom camera shoots the acquisition PTZ images of monitor area, its
In, the system includes：
Control module, for controlling the Pan/Tilt/Zoom camera by default horizontal motion step-length and movement in vertical direction
Step-length is shot to the monitor area, obtains the PTZ images, and the PTZ during PTZ images of records photographing every
The acquisition parameters of video camera；Wherein, the overlapping region of front and rear two PTZ images is more than default overlapping when Pan/Tilt/Zoom camera is shot
Scope；The acquisition parameters of the Pan/Tilt/Zoom camera include the Pan/Tilt/Zoom camera currently shoot multiple, shifting in the horizontal direction
Dynamic value and movement value in vertical direction；
Extraction module, for extracting the characteristic point of every PTZ image and the characteristic point of the wide angle picture；Wherein, institute
It is binary features point to state the characteristic point of PTZ images and the characteristic point of wide angle picture；
Matching module, for matching the characteristic point of the PTZ images and the characteristic point of the wide angle picture, obtains described
PTZ images and the wide angle picture are matched pair；
Mapping relations acquisition module, for according to matching characteristic point of PTZ images to described in and the wide-angle figure
The pixel coordinate of the characteristic point of picture, obtains the acquisition parameters of the coordinate of pixel and the Pan/Tilt/Zoom camera in the wide angle picture
Mapping relations.
The automatic calibration method and system of above-mentioned twin camera, by controlling Pan/Tilt/Zoom camera to be transported by default horizontal direction
Dynamic step-length and movement in vertical direction step-length are shot to the monitor area, obtain the PTZ images, and record PTZ shootings
The acquisition parameters of machine；Extracting and matching feature points are carried out to the PTZ images and wide angle picture, both Feature Points Matchings are obtained
It is right；The feature point correspondence of the PTZ images according to Feature Points Matching pair and wide angle picture, is determined in the wide angle picture
The mapping relations of the coordinate of pixel and the acquisition parameters of the Pan/Tilt/Zoom camera；Calibration process of the present invention is simple, Engineering operation side
Just, extracted by image characteristic point and matching realizes automatic Calibration, reduce time and the complexity of demarcation；The present invention is not
It is related to non-geometric parameter model, can guarantee that the accuracy of calibration result.
Brief description of the drawings
Fig. 1 is the schematic flow sheet of the automatic calibration method of twin camera of the present invention in one embodiment.
Fig. 2 is the structural representation of the automatic calibration system of twin camera of the present invention in one embodiment.
Embodiment
The present invention is described in further detail with reference to embodiment and accompanying drawing, but embodiments of the present invention are not limited to
This.
As shown in figure 1, being the flow signal of the automatic calibration method of the twin camera of the present invention in the first embodiment
Figure, comprises the following steps：
S11, control Pan/Tilt/Zoom camera are by default horizontal motion step-length and movement in vertical direction step-length to the monitoring
Region is shot, and obtains PTZ images, and during the PTZ images of records photographing every the Pan/Tilt/Zoom camera acquisition parameters；
Wherein, the overlapping region of front and rear two PTZ images is more than default overlapping range when Pan/Tilt/Zoom camera is shot；The Pan/Tilt/Zoom camera
Acquisition parameters include the Pan/Tilt/Zoom camera currently shoot multiple, movement value in the horizontal direction and in vertical direction
On movement value；
S12, the characteristic point for extracting every PTZ image, and extraction shoot the monitor area by wide angle cameras and obtained
Wide angle picture characteristic point；Wherein, the characteristic point of the PTZ images and the characteristic point of wide angle picture are binary features
Point；
S13, the characteristic point of the matching PTZ images and the wide angle picture characteristic point, obtain the PTZ images and institute
State the matching pair of wide angle picture；
S14, the pixel seat according to the matching characteristic point of PTZ images and characteristic point of the wide angle picture to described in
Mark, obtains the mapping relations of the coordinate of pixel and the acquisition parameters of the Pan/Tilt/Zoom camera in the wide angle picture；
The automatic calibration method of the twin camera of the present embodiment, by controlling Pan/Tilt/Zoom camera to be transported by default horizontal direction
Dynamic step-length and movement in vertical direction step-length are shot to the monitor area, obtain the PTZ images, and record PTZ shootings
The acquisition parameters of machine；Extracting and matching feature points are carried out to the PTZ images and wide angle picture, both Feature Points Matchings are obtained
It is right；The feature point correspondence of the PTZ images according to Feature Points Matching pair and wide angle picture, is determined in the wide angle picture
The mapping relations of the coordinate of pixel and the acquisition parameters of the Pan/Tilt/Zoom camera；The method calibration process of the present embodiment is simple, work
Journey is easy to operate, is extracted by image characteristic point and matching realizes automatic Calibration, reduce time and the complexity of demarcation；This
The method of embodiment is not directed to non-geometric parameter model, can guarantee that the accuracy of calibration result.
For S11, control Pan/Tilt/Zoom camera by default horizontal motion step-length and movement in vertical direction step-length to described
Monitor area is shot, and obtains PTZ images, and during the PTZ images of records photographing every the Pan/Tilt/Zoom camera shooting ginseng
Number；Wherein, the overlapping region of front and rear two PTZ images is more than default overlapping range when Pan/Tilt/Zoom camera is shot；The PTZ takes the photograph
The acquisition parameters of camera include the Pan/Tilt/Zoom camera currently shoot multiple, movement value in the horizontal direction and vertical
Movement value on direction；
In the present embodiment, wide-angle imaging function photographs the wide angle picture of whole monitor area, and Pan/Tilt/Zoom camera can then be clapped
The partial enlargement image taken the photograph in monitor area；First, PTZ horizontally and vertically moving step sizes Δ can be preset
P and Δ T, the samsara on wide angle picture of control Pan/Tilt/Zoom camera, which is shot, obtains multiple PTZ images, while ensureing previous PTZ image
Ensure that at least certain region is overlapping with latter PTZ image；The region that at least 1/2 can for example be set is overlapping, either
2/3 region is overlapping, and default horizontal motion step-length, movement in vertical direction step-length and the overlapping range size specifically may be used
Set according to actual needs, the present embodiment is not limited this；
Pan/Tilt/Zoom camera records its corresponding Pan/Tilt/Zoom camera when shooting monitor area to every PTZ image of generation
Acquisition parameters, the acquisition parameters include the Pan/Tilt/Zoom camera currently shoot multiple z, movement value p in the horizontal direction with
And movement value t in vertical direction；In the present embodiment, it can be fixed value to shoot multiple, and movement in the horizontal direction
Value p and movement value t in vertical direction, can preset the shooting zero-bit of Pan/Tilt/Zoom camera, be shot according to Pan/Tilt/Zoom camera
When position and zero-bit difference, it is determined that movement value p in the horizontal direction and movement value t in vertical direction.
S12, the characteristic point for extracting every PTZ image, and extraction shoot the monitor area by wide angle cameras and obtained
Wide angle picture characteristic point；Wherein, the characteristic point of the PTZ images and the characteristic point of wide angle picture are binary features
Point；
In the present embodiment, feature extraction is carried out to every PTZ image and the wide angle picture；The feature that the present embodiment is extracted
Point, can enter value tag description, but do not limit ORB, BRISK, FREAK etc. with two；Using binary-coded method to characteristic point
Peripheral region block (patch) extracts description, can carry out Gaussian smoothing to patch before feature is extracted, it is possible to reduce noise
Interference, binary descriptor is simpler, memory space calculate also than SIFT, SURF more it is small faster.For example, being entered using ORB features
Row extracts characteristic point respectively to wide angle picture and PTZ images.
S13, the characteristic point of the matching PTZ images and the wide angle picture characteristic point, obtain the PTZ images and institute
State the matching pair of wide angle picture；
In the present embodiment, characteristic matching is carried out to the characteristic point extracted from two images；Carried out according to binary system special
Levy description, hamming distances can be used, search method (Nearest Neighbor, AN) such as, FLANN recently, or it is approximate most
Neighbor searching (Approximate Nearest Neighbor, ANN), such as K-d tree with BBF, Randomized
Kd-trees, Hierarchical K-means Tree, LSH (Locality-Sensitive Hashing) scheduling algorithm is carried out
Preliminary characteristic matching, however it is not limited to such method.The point matched is screened again, retains correct match point.Conventional side
Method includes Ransac, obtains matching to { (x for wide angle picture and PTZ images1,y1)wide,…,(xn,yn)wide}wide{ (x1,
y1)ptz,…,(xn,yn)ptz}PTZ。
S14, the pixel seat according to the matching characteristic point of PTZ images and characteristic point of the wide angle picture to described in
Mark, obtains the mapping relations of the coordinate of pixel and the acquisition parameters of the Pan/Tilt/Zoom camera in the wide angle picture；
In the present embodiment, the centering that matches of PTZ images and wide angle picture includes the characteristic points of the PTZ images and described
The characteristic point of wide angle picture, according to the pixel coordinate of the characteristic point of two images, can obtain pixel in the wide angle picture
The mapping relations of coordinate and the acquisition parameters of the Pan/Tilt/Zoom camera.
Above-mentioned calibration process is repeated to N PTZ images, n dimension mapping relations are can obtain, when the pixel of Input Monitor Connector object
During coordinate, then the partial enlarged drawing of monitoring object according to the acquisition parameters of the corresponding Pan/Tilt/Zoom camera of mapping relationship searching, can be obtained
Picture.
The following is the second embodiment of the automatic calibration method of twin camera of the present invention, present embodiment is implemented with first
The difference of mode is that the control Pan/Tilt/Zoom camera is walked by default horizontal motion step-length and movement in vertical direction
Length is shot to the monitor area, the acquisition PTZ images, and the PTZ takes the photograph during the PTZ images of records photographing every
The step of acquisition parameters of camera, may include：
The zero-bit shot according to default Pan/Tilt/Zoom camera, makes four vertex positions of the wide angle picture be located at the PTZ
The central point that video camera is shot, obtains the horizontal direction moving range and vertical direction moving range of the Pan/Tilt/Zoom camera；Its
In, the zero-bit is one of summit of the wide angle picture；
The Pan/Tilt/Zoom camera is controlled by default horizontal motion step-length and movement in vertical direction step-length, in the water
Square the monitor area is shot into moving range and vertical direction moving range, obtain the PTZ images, and remember
The acquisition parameters of Pan/Tilt/Zoom camera when record shoots every PTZ image；Wherein, the movement value in the horizontal direction
For the difference of the Pan/Tilt/Zoom camera in the horizontal direction with the zero-bit, the movement value in vertical direction is the PTZ
The difference of video camera in vertical direction with the zero-bit；
In the present embodiment, using one of summit of wide angle picture as zero-bit, for example, it can be pushed up for the upper left of wide angle picture
Point, then the value of upper left is minimum in image, and the value of bottom right is maximum；Specifically, the position of zero-bit can select wide-angle according to actual needs
Any summit of image, the present embodiment is not limited this；Pan/Tilt/Zoom camera is shaken, the summit of wide angle picture is imaged positioned at PTZ
The center that machine is shot, Pan/Tilt/Zoom camera is from zero-bit to the camera site when four summits of record are located at the center of Pan/Tilt/Zoom camera shooting
Rotation distance, obtain horizontal direction boundary point and vertical direction boundary point：Pmin、Pmax、TminAnd Tmax, P herein is level
Pan is shaken, T is vertical movement Tilt, and the level of Pan/Tilt/Zoom camera is obtained according to horizontal direction boundary point and vertical direction boundary point
Direction moving range and vertical direction moving range；
Then, the control Pan/Tilt/Zoom camera moves in the horizontal direction scope and the return of vertical direction moving range lubrication groove is dynamic
Monitor area is shot, multiple PTZ images are obtained, can be transported when mobile by default horizontal motion step delta P and vertical direction
Dynamic step delta T is shot, the acquisition parameters of the Pan/Tilt/Zoom camera during PTZ images of records photographing every；It is described in level
Movement value on direction is difference of the Pan/Tilt/Zoom camera in the horizontal direction with the zero-bit, it is described in vertical direction
Movement value be difference of the Pan/Tilt/Zoom camera in vertical direction with the zero-bit.
In a preferred embodiment, there is a situation where single scene and repeated texture scene, warp for outdoor scene
Often occur that characteristic matching centering matched position has a case that relatively large deviation, therefore matching pair need to be checked, delete error larger
Or there is the characteristic point of matching error；In the present embodiment, in the characteristic point and the wide-angle figure of the matching PTZ images
The characteristic point of picture, obtain the PTZ images and the wide angle picture match to step after, may also include step：
The wide angle picture is divided into multiple images block, the corresponding coordinate range of each image block is determined；
According to the movement value in the corresponding horizontal direction of the PTZ images and the movement value in vertical direction, it is determined that with
The coordinate range of the corresponding image block of the PTZ images；
Judge whether the pixel coordinate of the characteristic point of the matching centering wide angle picture is corresponding with the coordinate range；
If not corresponding to, judge the matching to wrong and be deleted；
In the present embodiment, positional information is introduced to characteristic point：It is divided into N number of small image block to wide angle picture, and according to
The pixel coordinate of wide angle picture, it is determined that the coordinate range of each small image block；For example, by resolution ratio be 300*200 wide-angle figure
Picture is divided into 3*2 6 small image blocks, then the coordinate range of first image block is：Row (0,100) row (0,100), second
The coordinate range of image block is：Row (100,200) row (0,100), by that analogy；
Due to having set the zero-bit of Pan/Tilt/Zoom camera, then wide angle picture position (x, y) and the motion of the horizontal vertical of ball machine
(p, t) is consistent substantially, therefore according to the corresponding acquisition parameters of PTZ images：Movement value and Vertical Square in horizontal direction
Upward movement value, and default step-length, then can determine that PTZ images are corresponding with which image block；If for example, PTZ images
Corresponding acquisition parameters are：Pan/Tilt/Zoom camera moves 5 steps in the horizontal direction, and step-length is 30 pixels, is moved in vertical direction
Dynamic 6 steps, step-length is 10 pixels, therefore can determine that the corresponding image block of PTZ images should be second image block, corresponding seat
It is row (100,200) row (0,100) to mark scope；
Therefore, the pixel coordinate and PTZ image characteristic points of the characteristic point of matching centering wide angle picture, both correspondence passes
System, should the coordinate range of image block corresponding with the PTZ images of above-mentioned determination be consistent；If finding matching pair for example, checking
In, the pixel coordinate of the characteristic point of wide angle picture corresponding with PTZ image characteristic points is the coordinate range in the 3rd image block
It is interior, then it can judge that the matching, to wrong, should be deleted at once.Wherein, the size and shape of above-mentioned image block can be according to reality
Wide angle picture size and set, the present embodiment, without limiting, is preferably the equal palace lattice of ranks number to this, more favorably
In raising detection speed.
The present embodiment by it is above-mentioned to wide angle picture divide image block, and check matching to process, can rapidly search
Go out the characteristic point of matching error, and then improve the accuracy of demarcation.
In a preferred embodiment, it is described according to matching characteristic point of PTZ images to described in and the wide-angle figure
The pixel coordinate of the characteristic point of picture, obtains the acquisition parameters of the coordinate of pixel and the Pan/Tilt/Zoom camera in the wide angle picture
Mapping relations the step of include：
To the { (x of the matching centering1,y1)ptz,…,(xn,yn)ptz}PTZ{ (x1,y1)wide,…,(xn,yn)wide
}wide, calculate the characteristic point (x nearest apart from the central point of the PTZ imagesr,yr)ptz, calculate in the wide angle picture
Heart point (xr,yr)wideNearest characteristic point；Wherein, described { (x1,y1)ptz,…,(xn,yn)ptz}PTZFor the matching centering PTZ
The characteristic point of image；{ (the x1,y1)wide,…,(xn,yn)wide}wideFor it is described matching centering wide angle picture characteristic point,
(xn,yn) it is pixel coordinate；
According to (xr,yr)ptzThe acquisition parameters of corresponding Pan/Tilt/Zoom camera, obtain the mapping relations (xr,yr,p,t,z)；
Wherein, p, t, z are the acquisition parameters of the Pan/Tilt/Zoom camera；
In the present embodiment, for every PTZ image and wide angle picture, there is corresponding matching to (including the PTZ images
Characteristic point and the wide angle picture characteristic point)；In the present embodiment, the central point that can be calculated apart from the PTZ images is nearest
Characteristic point (xr,yr)ptz, calculate the central point (x apart from the wide angle picturer,yr)wideNearest characteristic point, the distance can be adopted
Calculated and obtained with Euclidean distance method；(x in PTZ images afterwardsr,yr)ptz, (the x in wide angle picturer,yr)wide, can obtain
Obtain the mapping relations (xr,yr, p, t, z), i.e., the shooting of the coordinate of pixel and the Pan/Tilt/Zoom camera is joined in described wide angle picture
Several corresponding relations.
Shot by the samsara of Pan/Tilt/Zoom camera, be continuously available PTZ images, and mapping relations can be automatically obtained；To acquisition
Mapping relations, can also be after certain amount be run up to, using statistical analysis technique, for example with the average calculated in mapping relations
And variance, the larger mapping relations of variance are deleted, so as to reduce error, the accuracy of demarcation are improved.
In a preferred embodiment, for the monitoring point not included in mapping relations, linear interpolation method can be used
Obtain the corresponding PTZ values of the point；It may include following steps：
Obtain pixel to be monitored；
When in the mapping relations not comprising pixel to be monitored, the pixel pair to be monitored is calculated according to following formula
The acquisition parameters for the Pan/Tilt/Zoom camera answered：
Wherein, (x0,y0)wideFor the pixel to be monitored, (xnr,ynr)wide(xnl,ynl)wideClosed for the mapping
Two nearest pixels of pixel to be monitored described in distance in system.
As shown in Fig. 2 being that a kind of structure of the automatic calibration system of twin camera of the invention in the first embodiment is shown
It is intended to, the twin camera includes wide angle cameras and Pan/Tilt/Zoom camera, the wide angle cameras shoots monitor area and obtains wide-angle
Image, the Pan/Tilt/Zoom camera shoots monitor area and obtains PTZ images, and the system includes：
Control module 21, for controlling the Pan/Tilt/Zoom camera to be transported by default horizontal motion step-length and vertical direction
Dynamic step-length is shot to the monitor area, the acquisition PTZ images, and described in during the PTZ images of records photographing every
The acquisition parameters of Pan/Tilt/Zoom camera；Wherein, the overlapping region of front and rear two PTZ images is more than default heavy when Pan/Tilt/Zoom camera is shot
Folded scope；The acquisition parameters of the Pan/Tilt/Zoom camera include the Pan/Tilt/Zoom camera currently shoot multiple, in the horizontal direction
Movement value and movement value in vertical direction；
Extraction module 22, for extracting the characteristic point of every PTZ image and the characteristic point of the wide angle picture；Wherein,
The characteristic point of the PTZ images and the characteristic point of wide angle picture are binary features point；
Matching module 23, for matching the characteristic point of the PTZ images and the characteristic point of the wide angle picture, obtains described
PTZ images and the wide angle picture are matched pair；
Mapping relations acquisition module 24, for according to matching characteristic point of PTZ images to described in and the wide-angle
The pixel coordinate of the characteristic point of image, the shooting for obtaining the coordinate of pixel and the Pan/Tilt/Zoom camera in the wide angle picture is joined
Several mapping relations；
The automatic calibration system of the twin camera of the present embodiment, by controlling Pan/Tilt/Zoom camera to be transported by default horizontal direction
Dynamic step-length and movement in vertical direction step-length are shot to the monitor area, obtain the PTZ images, and record PTZ shootings
The acquisition parameters of machine；Extracting and matching feature points are carried out to the PTZ images and wide angle picture, both Feature Points Matchings are obtained
It is right；The feature point correspondence of the PTZ images according to Feature Points Matching pair and wide angle picture, is determined in the wide angle picture
The mapping relations of the coordinate of pixel and the acquisition parameters of the Pan/Tilt/Zoom camera；The present embodiment calibration process is simple, Engineering operation
It is convenient, extracted by image characteristic point and matching realizes automatic Calibration, reduce time and the complexity of demarcation；The present embodiment
Non-geometric parameter model is not directed to, the accuracy of calibration result is can guarantee that.
For control module 21, for controlling the Pan/Tilt/Zoom camera by default horizontal motion step-length and Vertical Square
The monitor area is shot to moving step sizes, the PTZ images are obtained, and during the PTZ images of records photographing every
The acquisition parameters of the Pan/Tilt/Zoom camera；Wherein, the overlapping region of front and rear two PTZ images is more than default when Pan/Tilt/Zoom camera is shot
Overlapping range；The acquisition parameters of the Pan/Tilt/Zoom camera include the current shooting multiple of the Pan/Tilt/Zoom camera, in the horizontal direction
On movement value and movement value in vertical direction；
In the present embodiment, wide-angle imaging function photographs the wide angle picture of whole monitor area, and Pan/Tilt/Zoom camera can then be clapped
The partial enlargement image taken the photograph in monitor area；First, PTZ horizontally and vertically moving step sizes Δ can be preset
P and Δ T, the samsara on wide angle picture of control Pan/Tilt/Zoom camera, which is shot, obtains multiple PTZ images, while ensureing previous PTZ image
Ensure that at least certain region is overlapping with latter PTZ image；The region that at least 1/2 can for example be set is overlapping, either
1/3 region is overlapping, and default horizontal motion step-length, movement in vertical direction step-length and the overlapping range size specifically may be used
Set according to actual needs, the present embodiment is not limited this；
Pan/Tilt/Zoom camera records its corresponding Pan/Tilt/Zoom camera when shooting monitor area to every PTZ image of generation
Acquisition parameters, the acquisition parameters include the Pan/Tilt/Zoom camera currently shoot multiple z, movement value p in the horizontal direction with
And movement value t in vertical direction；In the present embodiment, it can be fixed value to shoot multiple, and movement in the horizontal direction
Value p and movement value t in vertical direction, can preset the shooting zero-bit of Pan/Tilt/Zoom camera, be shot according to Pan/Tilt/Zoom camera
When position and zero-bit difference, it is determined that movement value p in the horizontal direction and movement value t in vertical direction.
For extraction module 22, for extracting the characteristic point of every PTZ image and the characteristic point of the wide angle picture；Its
In, the characteristic point of the PTZ images and the characteristic point of wide angle picture are binary features point；
In the present embodiment, feature extraction is carried out to every PTZ image and the wide angle picture；The feature that the present embodiment is extracted
Point, can enter value tag description, but do not limit ORB, BRISK, FREAK etc. with two；Using binary-coded method to characteristic point
Peripheral region block (patch) extracts description, can carry out Gaussian smoothing to patch before feature is extracted, it is possible to reduce noise
Interference, binary descriptor is simpler, memory space calculate also than SIFT, SURF more it is small faster.For example, being entered using ORB features
Row extracts characteristic point respectively to wide angle picture and PTZ images.
For matching module 23, for matching the characteristic point of the PTZ images and the characteristic point of the wide angle picture, obtain
The PTZ images and the wide angle picture are matched pair；
In the present embodiment, characteristic matching is carried out to the characteristic point extracted from two images；Carried out according to binary system special
Description is levied, hamming distances can be used, method (Nearest Neighbor, AN) such as FLann is searched recently, or approximately most
Neighbor searching (Approximate Nearest Neighbor, ANN), such as K-d tree with BBF, Randomized
Kd-trees, Hierarchical K-means Tree, LSH (Locality-Sensitive Hashing) scheduling algorithm is carried out
Preliminary characteristic matching, however it is not limited to such method.The point matched is screened again, retains correct match point.Conventional side
Method includes Ransac, obtains matching to { (x for wide angle picture and PTZ images1,y1)wide,…,(xn,yn)wide}wide{ (x1,
y1)ptz,…,(xn,yn)ptz}PTZ。
For mapping relations acquisition module 24, for matching the characteristic point of PTZ images to described in and described according to described
The pixel coordinate of the characteristic point of wide angle picture, obtains the bat of the coordinate of pixel and the Pan/Tilt/Zoom camera in the wide angle picture
Take the photograph the mapping relations of parameter；
In the present embodiment, the centering that matches of PTZ images and wide angle picture includes the characteristic points of the PTZ images and described
The characteristic point of wide angle picture, according to the pixel coordinate of the characteristic point of two images, can obtain pixel in the wide angle picture
The mapping relations of coordinate and the acquisition parameters of the Pan/Tilt/Zoom camera.
Above-mentioned calibration process is repeated to N PTZ images, n dimension mapping relations are can obtain, when the pixel of Input Monitor Connector object
During coordinate, then the partial enlarged drawing of monitoring object according to the acquisition parameters of the corresponding Pan/Tilt/Zoom camera of mapping relationship searching, can be obtained
Picture.
The following is the second embodiment of the automatic calibration system of twin camera of the present invention, present embodiment is implemented with first
The difference of mode is that the control module 21 also includes：
Moving range acquisition module, for the zero-bit shot according to default Pan/Tilt/Zoom camera, makes the four of the wide angle picture
Individual vertex position is located at the central point that the Pan/Tilt/Zoom camera is shot, obtain the Pan/Tilt/Zoom camera horizontal direction moving range and
Vertical direction moving range；Wherein, the zero-bit is one of summit of the wide angle picture；
Control module is shot, for controlling the Pan/Tilt/Zoom camera by default horizontal motion step-length and vertical direction
Moving step sizes, shoot to the monitor area in the horizontal direction moving range and vertical direction moving range, obtain
The PTZ images, and during the PTZ images of records photographing every the Pan/Tilt/Zoom camera acquisition parameters；Wherein, it is described
Movement value in horizontal direction is the difference of the Pan/Tilt/Zoom camera in the horizontal direction with the zero-bit, described in vertical direction
On movement value be the difference of the Pan/Tilt/Zoom camera in vertical direction with the zero-bit；
In the present embodiment, using one of summit of wide angle picture as zero-bit, for example, it can be pushed up for the upper left of wide angle picture
Point, then the value of upper left is minimum in image, and the value of bottom right is maximum；Pan/Tilt/Zoom camera is shaken, the summit of wide angle picture is taken the photograph positioned at PTZ
The center that camera is shot, when four summits of record are located at the center that Pan/Tilt/Zoom camera shoots Pan/Tilt/Zoom camera from zero-bit to the shooting position
The rotation distance put, obtains horizontal direction boundary point and vertical direction boundary point：Pmin、Pmax、TminAnd Tmax, P herein is water
Yawing moves Pan, and T is vertical movement Tilt, and the water of Pan/Tilt/Zoom camera is obtained according to horizontal direction boundary point and vertical direction boundary point
Square to moving range and vertical direction moving range；
Then, the control Pan/Tilt/Zoom camera moves in the horizontal direction scope and the return of vertical direction moving range lubrication groove is dynamic
Monitor area is shot, multiple PTZ images are obtained, can be transported when mobile by default horizontal motion step delta P and vertical direction
Dynamic step delta T is shot, the acquisition parameters of the Pan/Tilt/Zoom camera during PTZ images of records photographing every；It is described in level
Movement value on direction is difference of the Pan/Tilt/Zoom camera in the horizontal direction with the zero-bit, it is described in vertical direction
Movement value be difference of the Pan/Tilt/Zoom camera in vertical direction with the zero-bit.
In a preferred embodiment, there is a situation where single scene and repeated texture scene, warp for outdoor scene
Often occur that characteristic matching centering matched position has a case that relatively large deviation, therefore matching pair need to be checked, delete error larger
Or there is the characteristic point of matching error；Therefore, the system of the present embodiment may also include：
Division module, for the wide angle picture to be divided into multiple images block, determines the corresponding coordinate of each image block
Scope；
Coordinate range determining module, for according to the movement value in the corresponding horizontal direction of the PTZ images and vertically
Movement value on direction, it is determined that the coordinate range of image block corresponding with the PTZ images；
Judge module, for judge it is described matching centering wide angle picture characteristic point pixel coordinate whether with the coordinate
Scope correspondence；
Removing module, if for not corresponding to, judging the matching to wrong and be deleted；
In the present embodiment, positional information is introduced to characteristic point：It is divided into N number of small image block to wide angle picture, and according to
The pixel coordinate of wide angle picture, it is determined that the coordinate range of each small image block；For example, by resolution ratio be 300*200 wide-angle figure
Picture is divided into 3*2 6 small image blocks, then the coordinate range of first image block is：Row (0,100) row (0,100), second
The coordinate range of image block is：Row (100,200) row (0,100), by that analogy；
Due to having set the zero-bit of Pan/Tilt/Zoom camera, then wide angle picture position (x, y) and the motion of the horizontal vertical of ball machine
(p, t) is consistent substantially, therefore according to the corresponding acquisition parameters of PTZ images：Movement value and Vertical Square in horizontal direction
Upward movement value, and default step-length, then can determine that PTZ images are corresponding with which image block；If for example, PTZ images
Corresponding acquisition parameters are：Pan/Tilt/Zoom camera moves 5 steps in the horizontal direction, and step-length is 30 pixels, is moved in vertical direction
Dynamic 6 steps, step-length is 10 pixels, therefore can determine that the corresponding image block of PTZ images should be second image block, corresponding seat
It is row (100,200) row (0,100) to mark scope；
Therefore, the pixel coordinate and PTZ image characteristic points of the characteristic point of matching centering wide angle picture, both correspondence passes
System, should the coordinate range of image block corresponding with the PTZ images of above-mentioned determination be consistent；If finding matching pair for example, checking
In, the pixel coordinate of the characteristic point of wide angle picture corresponding with PTZ image characteristic points is the coordinate range in the 3rd image block
It is interior, then it can judge that the matching, to wrong, should be deleted at once.Wherein, the size and shape of above-mentioned image block can be according to reality
Wide angle picture size and set, the present embodiment, without limiting, is preferably the equal palace lattice of ranks number to this, more favorably
In raising detection speed.
The present embodiment by it is above-mentioned to wide angle picture divide image block, and check matching to process, can rapidly search
Go out the characteristic point of matching error, and then improve the accuracy of demarcation.
In a preferred embodiment, the mapping relations acquisition module 24 can be additionally used in：To the { (x of the matching centering1,
y1)ptz,…,(xn,yn)ptz}PTZ{ (x1,y1)wide,…,(xn,yn)wide}wide, calculate the central point apart from the PTZ images
Nearest characteristic point (xr,yr)ptz, calculate the central point (x apart from the wide angle picturer,yr)wideNearest characteristic point；Wherein,
{ (the x1,y1)ptz,…,(xn,yn)ptz}PTZFor the characteristic point of the matching centering PTZ images；{ (the x1,y1)wide,…,
(xn,yn)wide}wideFor the characteristic point of the matching centering wide angle picture, (xn,yn) it is pixel coordinate；According to (xr,yr)ptzCorrespondence
Pan/Tilt/Zoom camera acquisition parameters, obtain the mapping relations (xr,yr,p,t,z)；Wherein, p, t, z are the Pan/Tilt/Zoom camera
Acquisition parameters；
In the present embodiment, for every PTZ image and wide angle picture, there is corresponding matching to (including the PTZ images
Characteristic point and the wide angle picture characteristic point)；In the present embodiment, the central point that can be calculated apart from the PTZ images is nearest
Characteristic point (xr,yr)ptz, calculate the central point (x apart from the wide angle picturer,yr)wideNearest characteristic point, the distance can be adopted
Calculated and obtained with Euclidean distance method；(x in PTZ images afterwardsr,yr)ptz, (the x in wide angle picturer,yr)wide, can obtain
Obtain the mapping relations (xr,yr, p, t, z), i.e., the shooting of the coordinate of pixel and the Pan/Tilt/Zoom camera is joined in described wide angle picture
Several mapping relations.
Shot by the samsara of Pan/Tilt/Zoom camera, be continuously available PTZ images, and mapping relations can be automatically obtained；To acquisition
Mapping relations, can also be after certain amount be run up to, using statistical analysis technique, for example with the average calculated in mapping relations
And variance, the larger mapping relations of variance are deleted, so as to reduce error, the accuracy of demarcation are improved.
In a preferred embodiment, for the monitoring point not included in mapping relations, linear interpolation method can be used
Obtain the corresponding PTZ values of the point；The system of the present embodiment may also include：
Acquisition module, for obtaining pixel to be monitored；
Parameter calculating module, for when in the mapping relations not comprising pixel to be monitored, being calculated according to following formula
The acquisition parameters of the corresponding Pan/Tilt/Zoom camera of the pixel to be monitored：
Wherein, (x0,y0)wideFor the pixel to be monitored, (xnr,ynr)wide(xnl,ynl)wideClosed for the mapping
Two nearest pixels of pixel to be monitored described in distance in system.
The automatic calibration method and system of twin camera of the present invention, by controlling Pan/Tilt/Zoom camera by default horizontal direction
Moving step sizes and movement in vertical direction step-length are shot to the monitor area, are obtained the PTZ images, and are recorded PTZ and take the photograph
The acquisition parameters of camera；Extracting and matching feature points are carried out to the PTZ images and wide angle picture, both characteristic points are obtained
Pairing；The feature point correspondence of the PTZ images according to Feature Points Matching pair and wide angle picture, determines the wide angle picture
The mapping relations of the coordinate of middle pixel and the acquisition parameters of the Pan/Tilt/Zoom camera；The present embodiment calibration process is simple, engineering behaviour
Facilitate, extracted by image characteristic point and matching realizes automatic Calibration, reduce time and the complexity of demarcation；This implementation
Example is not directed to non-geometric parameter model, can guarantee that the accuracy of calibration result.
Embodiment described above only expresses the several embodiments of the present invention, and it describes more specific and detailed, but simultaneously
Therefore the limitation to the scope of the claims of the present invention can not be interpreted as.It should be pointed out that for one of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the guarantor of the present invention
Protect scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (8)
1. a kind of automatic calibration method of twin camera, it is characterised in that comprise the following steps：
Control Pan/Tilt/Zoom camera is clapped monitor area by default horizontal motion step-length and movement in vertical direction step-length
Take the photograph, obtain PTZ images, and during the PTZ images of records photographing every the Pan/Tilt/Zoom camera acquisition parameters；Wherein, PTZ takes the photograph
The overlapping region of front and rear two PTZ images is more than default overlapping range when camera is shot；The acquisition parameters of the Pan/Tilt/Zoom camera
Including shooting multiple, movement value in the horizontal direction and the movement value in vertical direction Pan/Tilt/Zoom camera currently；
The characteristic point of every PTZ image is extracted, and extracts the wide-angle figure that the monitor area acquisition is shot by wide angle cameras
The characteristic point of picture；Wherein, the characteristic point of the PTZ images and the characteristic point of wide angle picture are binary features point；
The characteristic point of the PTZ images and the characteristic point of the wide angle picture are matched, the PTZ images and the wide-angle figure is obtained
The matching pair of picture；
According to the pixel coordinate of the matching characteristic point of PTZ images and characteristic point of the wide angle picture to described in, obtain
The mapping relations of the coordinate of pixel and the acquisition parameters of the Pan/Tilt/Zoom camera in the wide angle picture；
In the characteristic point and the characteristic point of the wide angle picture of the matching PTZ images, obtain the PTZ images with it is described
The matching of wide angle picture to step after, in addition to step：
The wide angle picture is divided into multiple images block, the corresponding coordinate range of each image block is determined；
According to the movement value in the corresponding horizontal direction of the PTZ images and the movement value in vertical direction, it is determined that with it is described
The coordinate range of the corresponding image block of PTZ images；
Judge whether the pixel coordinate of the characteristic point of the matching centering wide angle picture is corresponding with the coordinate range；
If not corresponding to, judge the matching to wrong and be deleted.
2. the automatic calibration method of twin camera according to claim 1, it is characterised in that the control PTZ takes the photograph
Camera is shot by default horizontal motion step-length and movement in vertical direction step-length to the monitor area, obtains described
PTZ images, and include during the PTZ images of records photographing every the step of the acquisition parameters of the Pan/Tilt/Zoom camera：
The zero-bit shot according to default Pan/Tilt/Zoom camera, makes four vertex positions of the wide angle picture be imaged positioned at the PTZ
The central point that machine is shot, obtains the horizontal direction moving range and vertical direction moving range of the Pan/Tilt/Zoom camera；Wherein, institute
State one of summit that zero-bit is the wide angle picture；
The Pan/Tilt/Zoom camera is controlled by default horizontal motion step-length and movement in vertical direction step-length, in the level side
The monitor area is shot into moving range and vertical direction moving range, the PTZ images are obtained, and record bat
Take the photograph the acquisition parameters of Pan/Tilt/Zoom camera during every PTZ image；Wherein, the movement value in the horizontal direction is institute
Difference of the Pan/Tilt/Zoom camera in the horizontal direction with the zero-bit is stated, the movement value in vertical direction images for the PTZ
The difference of machine in vertical direction with the zero-bit.
3. the automatic calibration method of twin camera according to claim 2, it is characterised in that described according to the matching pair
Described in PTZ images characteristic point and the wide angle picture characteristic point pixel coordinate, obtain pixel in the wide angle picture
The step of mapping relations of the coordinate and the acquisition parameters of the Pan/Tilt/Zoom camera of point, includes：
To the { (x of the matching centering1,y1)ptz,…,(xn,yn)ptz}PTZ{ (x1,y1)wide,…,(xn,yn)wide}wide, meter
Calculate the characteristic point (x nearest apart from the central point of the PTZ imagesr,yr)ptz, calculate the central point apart from the wide angle picture
(xr,yr)wideNearest characteristic point；Wherein, described { (x1,y1)ptz,…,(xn,yn)ptz}PTZFor the matching centering PTZ images
Characteristic point；{ (the x1,y1)wide,…,(xn,yn)wide}wideFor the characteristic point of the matching centering wide angle picture, (xn,yn)
For pixel coordinate；
According to (xr,yr)ptzThe acquisition parameters of corresponding Pan/Tilt/Zoom camera, obtain the mapping relations (xr,yr,p,t,z)；Wherein,
P, t, z are the acquisition parameters of the Pan/Tilt/Zoom camera.
4. the automatic calibration method of twin camera according to claim 3, it is characterised in that also including step：
Obtain pixel to be monitored；
When in the mapping relations not comprising pixel to be monitored, the pixel to be monitored is calculated according to following formula corresponding
The acquisition parameters of Pan/Tilt/Zoom camera：
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Wherein, (x0,y0)wideFor the pixel to be monitored, (xnr,ynr)wide(xnl,ynl)wideFor the mapping relations middle-range
Two pixels nearest from the pixel to be monitored.
5. a kind of automatic calibration system of twin camera, the twin camera includes wide angle cameras and Pan/Tilt/Zoom camera, described wide
Angle video camera shoots monitor area and obtains wide angle picture, and the Pan/Tilt/Zoom camera shoots monitor area and obtains PTZ images, its feature
It is, the system includes：
Control module, for controlling the Pan/Tilt/Zoom camera by default horizontal motion step-length and movement in vertical direction step-length
The monitor area is shot, the PTZ images are obtained, and the PTZ shootings during PTZ images of records photographing every
The acquisition parameters of machine；Wherein, the overlapping region of front and rear two PTZ images is more than default overlapping range when Pan/Tilt/Zoom camera is shot；
The acquisition parameters of the Pan/Tilt/Zoom camera include the Pan/Tilt/Zoom camera currently shoot multiple, movement value in the horizontal direction with
And movement value in vertical direction；
Extraction module, for extracting the characteristic point of every PTZ image and the characteristic point of the wide angle picture；Wherein, the PTZ
The characteristic point of image and the characteristic point of wide angle picture are binary features point；
Matching module, for matching the characteristic point of the PTZ images and the characteristic point of the wide angle picture, obtains the PTZ figures
As being matched pair with the wide angle picture；
Mapping relations acquisition module, for according to matching characteristic point of PTZ images to described in and the wide angle picture
The pixel coordinate of characteristic point, obtains the coordinate of pixel and reflecting for the acquisition parameters of the Pan/Tilt/Zoom camera in the wide angle picture
Penetrate relation；
Also include：
Division module, for the wide angle picture to be divided into multiple images block, determines the corresponding coordinate range of each image block；
Coordinate range determining module, for according to the movement value and vertical direction in the corresponding horizontal direction of the PTZ images
On movement value, it is determined that the coordinate range of image block corresponding with the PTZ images；
Judge module, for judge it is described matching centering wide angle picture characteristic point pixel coordinate whether with the coordinate range
Correspondence；
Removing module, if for not corresponding to, judging the matching to wrong and be deleted.
6. the automatic calibration system of twin camera according to claim 5, it is characterised in that the control module is also wrapped
Include：
Moving range acquisition module, for the zero-bit shot according to default Pan/Tilt/Zoom camera, makes four of the wide angle picture to push up
Point position is located at the central point that the Pan/Tilt/Zoom camera is shot, and obtains the horizontal direction moving range of the Pan/Tilt/Zoom camera and vertical
Direction moving range；Wherein, the zero-bit is one of summit of the wide angle picture；
Control module is shot, for controlling the Pan/Tilt/Zoom camera by default horizontal motion step-length and movement in vertical direction
Step-length, shoots in the horizontal direction moving range and vertical direction moving range to the monitor area, obtains institute
State PTZ images, and during the PTZ images of records photographing every the Pan/Tilt/Zoom camera acquisition parameters；Wherein, it is described in level
Movement value on direction is the difference of the Pan/Tilt/Zoom camera in the horizontal direction with the zero-bit, it is described in vertical direction
Movement value is the difference of the Pan/Tilt/Zoom camera in vertical direction with the zero-bit.
7. the automatic calibration system of twin camera according to claim 6, it is characterised in that the mapping relations obtain mould
Block is additionally operable to：To the { (x of the matching centering1,y1)ptz,…,(xn,yn)ptz}PTZ{ (x1,y1)wide,…,(xn,yn
)wide}wide, calculate the characteristic point (x nearest apart from the central point of the PTZ imagesr,yr)ptz, calculate apart from the wide angle picture
Central point (xr,yr)wideNearest characteristic point；Wherein, described { (x1,y1)ptz,…,(xn,yn)ptz}PTZFor the matching pair
The characteristic point of middle PTZ images；{ (the x1,y1)wide,…,(xn,yn)wide}wideFor the feature of the matching centering wide angle picture
Point, (xn,yn) it is pixel coordinate；According to (xr,yr)ptzThe acquisition parameters of corresponding Pan/Tilt/Zoom camera, obtain the mapping relations
(xr,yr,p,t,z)；Wherein, p, t, z are the acquisition parameters of the Pan/Tilt/Zoom camera.
8. the automatic calibration system of twin camera according to claim 7, it is characterised in that also include：
Acquisition module, for obtaining pixel to be monitored；
Parameter calculating module, for when in the mapping relations not comprising pixel to be monitored, according to being calculated following formula
The acquisition parameters of the corresponding Pan/Tilt/Zoom camera of pixel to be monitored：
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<msub>
<mi>t</mi>
<mrow>
<mi>n</mi>
<mi>l</mi>
</mrow>
</msub>
<mo>)</mo>
</mrow>
<mo>,</mo>
</mrow>
</mtd>
<mtd>
<mrow>
<msub>
<mi>y</mi>
<mrow>
<mi>n</mi>
<mi>l</mi>
</mrow>
</msub>
<mo><</mo>
<msub>
<mi>y</mi>
<mn>0</mn>
</msub>
<mo><</mo>
<msub>
<mi>y</mi>
<mrow>
<mi>n</mi>
<mi>r</mi>
</mrow>
</msub>
<mo>,</mo>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
Wherein, (x0,y0)wideFor the pixel to be monitored, (xnr,ynr)wide(xnl,ynl)wideFor the mapping relations middle-range
Two pixels nearest from the pixel to be monitored.
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