CN109300163A - Space scaling method, storage medium and the electronic equipment of indoor panorama camera - Google Patents
Space scaling method, storage medium and the electronic equipment of indoor panorama camera Download PDFInfo
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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Abstract
The present invention provides space scaling method, computer storage medium and the electronic equipment of a kind of indoor panorama camera, which comprises determines reference panorama camera, and demarcates the calibration point on ground in the reference panorama camera；In remaining panorama camera, the calibration point on ground is demarcated；Calculate position of the panorama camera relative to the reference panorama camera.The space scaling method of interior panorama camera according to an embodiment of the present invention, calibration point is calibrated respectively in reference panorama camera and remaining panorama camera by video pictures, derive position of the panorama camera relative to reference panorama camera, this method is easy to operate, workload is small, convenient for positioning and measuring distance.
Description
Technical field
The present invention relates to space orientation technique field more particularly to a kind of space scaling method, the meters of indoor panorama camera
Calculation machine storage medium and electronic equipment.
Background technique
Indoors in display technology, it is assumed that more panorama ball machines of indoor location can perceive wherein 1 has specific function
Arrive the location of people.At this moment to go to find the people by other panorama ball machines B, that must be known by this people with respect to the panorama
The position of ball machine B.If it is known that the relative position of panorama ball machine B and benchmark ball machine, the position of people relative datum ball machine it is known that
Position of the people with respect to panorama ball machine B can then be calculated.
Above-mentioned interior AR (Augmented Reality, augmented reality) display technology needs to know multiple ball machines
Relative position, ball machine relative position measurement is generally by ruler or the apparatus measures of other rangings, measurement trouble, workload
Greatly.To certain scenes: being hollow out as straight line line has barrier, ball machine lower section ground between ball machine, measurement difficulty can be bigger.
Summary of the invention
In view of this, the present invention provides a kind of space scaling method of indoor panorama camera, this method can solve tradition
The big problem of measurement method cumbersome, heavy workload, certain scenes measurement difficulty.
In order to solve the above technical problems, on the one hand, the present invention provides a kind of space scaling method of indoor panorama camera, institute
The method of stating comprises determining that reference panorama camera, and the calibration point on ground is demarcated in the reference panorama camera；It is complete at remaining
In scape camera, the calibration point on ground is demarcated；Calculate position of the panorama camera relative to the reference panorama camera.
The space scaling method of interior panorama camera according to an embodiment of the present invention, by video pictures in reference panorama phase
Calibration point is calibrated respectively in machine and remaining panorama camera, and derives position of the panorama camera relative to the reference panorama camera
It sets, this method is easy to operate, and workload is small, convenient for positioning and measuring distance.
The space scaling method of interior panorama camera according to the above embodiment of the present invention can also have following additional
Technical characteristic:
According to one embodiment of present invention, the determining reference panorama camera, and get the bid in the reference panorama camera
Determine two different points on ground, comprising: determine reference panorama camera, determine its height H1 apart from ground, and define its
Ground is projected as three-dimensional system of coordinate origin；The point A and point B on ground are demarcated in the reference panorama camera.
According to one embodiment of present invention, the point A and point B demarcated in the reference panorama camera on ground,
It include: the video that the reference panorama camera is checked by tool, point A, the point B chosen on ground is demarcated, and records point A
PT coordinate be (P1A, T1A), the PT coordinate for recording point B is (P1B, T1B)；Wherein, T1A is the company of point A and reference panorama camera
Angle between line and X/Y plane；P1Folder of the A between point A and the reference panorama camera line projected on X/Y plane and Y-axis
Angle；T1Angle of the B between point B and reference panorama camera line and X/Y plane；P1B is point B and reference panorama camera in X/Y plane
Angle between the line and Y-axis of upper projection；T2Angle of the A between point A and the line and X/Y plane of panorama camera.
According to one embodiment of present invention, described in remaining panorama camera, it demarcates described two different on ground
Point, comprising: the video of remaining panorama camera is checked by tool, point A, the point B chosen on ground is demarcated, and records point A
PT coordinate be (P2A, T2A), the PT coordinate for recording point B is (P2B, T2B)；P2A is that point A and panorama camera project on X/Y plane
Line and Y-axis between angle；T2Angle of the B between point B and the line and X/Y plane of panorama camera；P2B is for point B and entirely
Angle between the line that scape camera projects on X/Y plane and Y-axis.
According to one embodiment of present invention, described to calculate the panorama camera relative to the reference panorama camera
Position, comprising: calculate coordinate (X of the point A in three-dimensional system of coordinateA, YA) and coordinate (X of the point B in three-dimensional system of coordinateB,
YB)；Assuming that the three-dimensional coordinate of the panorama camera is (X2, Y2, Z2), calculate the three-dimensional coordinate of the panorama camera are as follows:
Z2=[(XA-X2)·tan T2A]/sin(P2A)。
According to one embodiment of present invention, the method also includes: point A is calculated in three-dimensional seat according to solid geometry relationship
Coordinate (X in mark systemA, YA):
According to one embodiment of present invention, the method also includes: point B is calculated in three-dimensional seat according to solid geometry relationship
Coordinate (X in mark systemB, YB):
According to one embodiment of present invention, the method also includes: the panorama phase is calculated according to solid geometry relationship
Three-dimensional coordinate (the X of machine2, Y2, Z2) and point A and point B between positional relationship:
Second aspect, the embodiment of the present invention provide a kind of computer storage medium, including one or more computer instruction,
One or more computer instruction realizes method described in any of the above embodiments when being executed.
The third aspect, the embodiment of the present invention provide a kind of electronic equipment, including memory and processor, and the memory is used
In storing one or more computer instruction, the processor is used to calling and executing one or more computer instruction,
To realize method as described in any one of the above embodiments.
Detailed description of the invention
Fig. 1 is the flow chart of the space scaling method of the indoor panorama camera of the embodiment of the present invention；
Fig. 2 is the three-dimensional coordinate figure of calibration point in the space scaling method of the indoor panorama camera of the embodiment of the present invention；
Fig. 3 is the schematic diagram of the space caliberating device of the indoor panorama camera of the embodiment of the present invention；
Fig. 4 is the schematic diagram of the electronic equipment of the embodiment of the present invention.
Appended drawing reference:
The space scaling method 100 of indoor panorama camera；
The space caliberating device 200 of indoor panorama camera；Labeling module 210；Reference panorama camera 220；Panorama camera
230；Modeling module 240；Computing module 250；
Electronic equipment 300；
Memory 310；Operating system 311；Application program 312；
Processor 320；Network interface 330；Input equipment 340；Hard disk 350；Show equipment 360.
Specific embodiment
Below in conjunction with drawings and examples, specific embodiments of the present invention will be described in further detail.Following reality
Example is applied for illustrating the present invention, but is not intended to limit the scope of the invention.
As shown in Figure 1, the space scaling method 100 of the indoor panorama camera of the embodiment of the present invention includes:
It determines reference panorama camera, and demarcates the calibration point on ground in the reference panorama camera.
In remaining panorama camera, the calibration point on ground is demarcated.
Calculate position of the panorama camera relative to the reference panorama camera.
That is, the space scaling method 100 of interior panorama camera according to an embodiment of the present invention is carrying out space mark
Periodically, a panorama camera in multiple panorama cameras is determined first in a space as reference panorama camera, and in base
The calibration point on ground is demarcated in quasi- panorama camera.Then reference panorama camera is demarcated in remaining panorama camera or spherical machine
The calibration point demarcated on the ground, such as can be demarcated by video pictures.The mark demarcated by these panorama cameras
Positional relationship between fixed point and the calibration point of reference panorama camera calibration, calculates these panorama cameras relative to reference panorama
The position of camera carries out space automatic Calibration using panorama camera or other ball machines, so as to Fast Calibration panorama camera
Position.
The space scaling method 100 of indoor panorama camera according to an embodiment of the present invention as a result, by video pictures in base
Calibration point is calibrated respectively in quasi- panorama camera and remaining panorama camera, derives panorama camera relative to reference panorama camera
Position, this method is simple, and workload is small, convenient for positioning and measuring distance.
Some specific embodiments according to the present invention determine reference panorama camera, and get the bid in the reference panorama camera
The step of determining two different points on ground the following steps are included:
It determines reference panorama camera, determines its height H apart from ground1, and define it and be projected as three-dimensional seat on ground
Mark system origin.
The point A and point B on ground are demarcated in the reference panorama camera.
In other words, when determining one in multiple panorama cameras in a space as reference panorama camera, while really
Fixed height H of the reference panorama camera relative to ground1, and using the projection of reference panorama camera on the ground as three-dimensional
Coordinate origin may include on ground so as to the subsequent position for further determining that calibration point in three-dimensional system of coordinate, calibration point
Two points, such as point A and point B.
Wherein, the specific method of the point A and point B that demarcate on ground in the reference panorama camera may include: to pass through
Tool checks the video of the reference panorama camera, and point A, the point B chosen on ground is demarcated, and records the PT coordinate of point A
For (P1A, T1A), the PT coordinate for recording point B is (P1B, T1B)；Wherein, T1A is that the line of point A and reference panorama camera and XY are put down
Angle between face；P1Angle of the A between point A and the reference panorama camera line projected on X/Y plane and Y-axis；T1B is a little
Angle between B and reference panorama camera line and X/Y plane；P1B point B and reference panorama camera project on X/Y plane
Angle between line and Y-axis.
Specifically, determining reference panorama camera, it is known that its height H apart from ground1, and it is defined in the throwing on ground
Shadow is after three-dimensional system of coordinate origin, point A, point B in reference panorama camera on calibration ground can specifically check by tool
Reference panorama camera video, point A, the point B chosen on ground are demarcated, and the PT coordinate for recording point A is (P1A, T1A), record
The PT coordinate of point B is (P1B, T1B)；T2Angle of the A between point A and the line and X/Y plane of panorama camera；P2A is for point A and entirely
Angle between the line that scape camera projects on X/Y plane and Y-axis；T2B be point B and panorama camera line and X/Y plane it
Between angle；P2Angle of the B between point B and the panorama camera line projected on X/Y plane and Y-axis.
Correspondingly, the step of two different points on ground are demarcated in remaining panorama camera can be with said reference panorama
The method of camera calibration is identical, specifically includes: checking the video of remaining panorama camera by tool, chooses point A, point on ground
B is demarcated, and the PT coordinate for recording point A is (P2A, T2A), the PT coordinate for recording point B is (P2B, T2B)。
It is same that video in remaining panorama camera is checked by tool i.e. in remaining panorama camera, it chooses same on ground
Point A, the point B of sample, and the PT coordinate for recording point A is (P2A, T2A), the PT coordinate for recording point B is (P2B, T2B)。
In one embodiment of the invention, position of the panorama camera relative to the reference panorama camera is calculated
Method may comprise steps of:
Calculate coordinate (X of the point A in three-dimensional system of coordinateA, YA) and coordinate (X of the point B in three-dimensional system of coordinateB, YB)。
Assuming that the three-dimensional coordinate of the panorama camera is (X2, Y2, Z2), calculate the three-dimensional coordinate of the panorama camera are as follows:
Z2=[(XA-X2)·tan T2A]/sin(P2A)。
It should be noted that a reference panorama camera can be selected first, first panorama camera of reselection is complete in benchmark
Point A, the point B on ground are demarcated in scape camera view, in first panorama camera picture, demarcate point A, the point B on ground, root
According to above-mentioned formula algorithm, the position of first panorama camera relative datum panorama camera is calculated automatically.Similarly, second panorama phase
Machine and n-th panorama camera calculate it relative to reference panorama phase all in accordance with the calculation method in first panorama camera
The distance of machine, this method calculate simplicity, simplify the measurement process of indoor multiple panorama camera relative positions at present.
According to one embodiment of present invention, using the trigonometric function relationship using triangle, the method also includes roots
Coordinate (X of the point A in three-dimensional system of coordinate is calculated according to solid geometry relationshipA, YA):
Further, using the trigonometric function relationship of triangle, the method also includes calculating according to solid geometry relationship
Coordinate (X of the point B in three-dimensional system of coordinateB, YB):
According to one embodiment of present invention, the method also includes calculating the panorama camera according to solid geometry relationship
Three-dimensional coordinate (X2, Y2, Z2) and point A and point B between positional relationship:
To sum up, the space scaling method 100 of interior panorama camera according to an embodiment of the present invention, passes through video pictures
Calibration point is calibrated respectively in reference panorama camera and remaining panorama camera, derives that panorama camera is complete relative to the benchmark
The position of scape camera, this method is easy to operate, and workload is small, convenient for positioning and measuring distance.
As shown in figure 3, the space caliberating device 200 of the indoor panorama camera of the embodiment of the present invention includes: labeling module
210, the labeling module 210 is for selecting calibration point on the ground of space；Reference panorama camera 220, the reference panorama phase
Machine 220 is used to record the coordinate of the calibration point；Panorama camera 230, the panorama camera 230 and the reference panorama camera
220 are spaced apart setting, and the panorama camera 230 is used to record the coordinate of the calibration point；Modeling module 240, the modeling mould
Block 240 is for establishing three-dimensional system of coordinate；Computing module 250, the computing module 250 is for calculating the panorama camera 230
Three-dimensional coordinate is to calculate position of the panorama camera 230 relative to the reference panorama camera 220.
The space caliberating device 200 of indoor panorama camera according to an embodiment of the present invention as a result, by video pictures in base
Calibration point is calibrated respectively in quasi- panorama camera 220 and remaining panorama camera 230, and derives panorama camera 230 relative to institute
The position of reference panorama camera 220 is stated, which can demarcate video pictures and derive relative coordinate, workload
Small, work efficiency is high.
In one embodiment of the invention, the standard module is by checking the reference panorama camera 220 or described
Calibration point on the video selection ground of panorama camera 230.
According to one embodiment of present invention, the calibration point that the labeling module 210 selects is point A and point B, the benchmark
The PT coordinate that panorama camera 220 records point A is (P1A, T1A), the PT coordinate for recording point B is (P1B, T1B), the panorama camera
The PT coordinate of 230 record point A is (P2A, T2A), the PT coordinate for recording point B is (P2B, T2B)。
According to still another embodiment of the invention, the modeling module 240 determines the reference panorama camera 220 apart from ground
The height H in face1, and define it and be projected as three-dimensional system of coordinate origin on ground.
Preferably, the computing module 250 calculates coordinate (X of the point A in three-dimensional system of coordinateA, YA) and point B in three-dimensional
Coordinate (X in coordinate systemB, YB), it is assumed that the three-dimensional coordinate of the panorama camera 230 is (X2, Y2, Z2), calculate the panorama phase
The three-dimensional coordinate of machine 230:
Z2=[(XA-X2)·tan T2A]/sin(P2A)。
Optionally, the computing module 250 includes the first computing module, and first computing module is closed according to solid geometry
System calculates coordinate (X of the point A in three-dimensional system of coordinateA, YA):
Further, the computing module 250 further includes the second computing module, and second computing module 250 is according to vertical
Body geometrical relationship calculates coordinate (X of the point B in three-dimensional system of coordinateB, YB):
Some specific embodiments according to the present invention, the computing module 250 further include third computing module, the third
Computing module calculates the three-dimensional coordinate (X of the panorama camera 230 according to solid geometry relationship2, Y2, Z2) and point A and point B between
Positional relationship:
To sum up, the space caliberating device 200 of interior panorama camera according to an embodiment of the present invention, passes through video pictures
Calibration point is calibrated respectively in reference panorama camera 220 and remaining panorama camera 230, and derives that panorama camera 230 is opposite
In the position of the reference panorama camera 220, which can demarcate video pictures and derive relative coordinate, work
Measure small, work efficiency is high.
Positioning device according to an embodiment of the present invention includes being demarcated according to the space of the indoor panorama camera of above-described embodiment
Device 200, since the space caliberating device 200 of indoor panorama camera according to the above embodiment of the present invention is imitated with above-mentioned technology
Fruit, therefore, positioning device according to an embodiment of the present invention also have corresponding technical effect, can demarcate to video pictures
And derive relative coordinate, workload is small, and work efficiency is high.
The composition of positioning device according to an embodiment of the present invention and operation are that can manage to those skilled in the art
It solves and easy to accomplish, therefore is not described in detail.
In addition, the computer storage medium includes one the embodiment of the invention also provides a kind of computer storage medium
Item or a plurality of computer instruction, one or more computer instruction realize any of the above-described indoor panorama when being executed
The space scaling method of camera 230.
That is, the computer storage medium is stored with computer program, the computer program is transported by processor
When row, so that the processor executes the space scaling method of any of the above-described indoor panorama camera 230.
As shown in figure 4, the embodiment of the invention provides a kind of electronic equipment 300, including memory 310 and processor 320,
The memory 310 is for storing one or more computer instruction, and the processor 320 is for calling and executing described one
Or a plurality of computer instruction, to realize any of the above-described method 100.
That is, electronic equipment 300 includes: processor 320 and memory 310, it is stored in the memory 310
Computer program instructions, wherein when the computer program instructions are run by the processor, so that the processor 320
Execute any of the above-described method 100.
Further, as shown in figure 4, electronic equipment 300 further include network interface 330, input equipment 340, hard disk 350,
With display equipment 360.
It can be interconnected by bus architecture between above-mentioned each interface and equipment.It may include any that bus architecture, which can be,
The bus and bridge of the interconnection of quantity.One or more central processing unit (CPU) specifically represented by processor 320, Yi Jiyou
The various circuit connections for one or more memory that memory 310 represents are together.Bus architecture can also will be such as outer
Peripheral equipment, voltage-stablizer are together with the various other circuit connections of management circuit or the like.It is appreciated that bus architecture is used
Connection communication between these components of realization.Bus architecture further includes power bus, controls always in addition to including data/address bus
Line and status signal bus in addition, these are all it is known in the art, therefore is no longer described in greater detail herein.
The network interface 330 can connect to network (such as internet, local area network), dependency number obtained from network
According to, and can be stored in hard disk 350.
The input equipment 340, can receive operator input various instructions, and be sent to processor 320 for
It executes.The input equipment 340 may include keyboard or pointing device (for example, mouse, trace ball (trackball), sense of touch
Plate or touch screen etc..
The display equipment 360, the result that processor 320 executes instruction acquisition can be shown.
The memory 310, program necessary to running for storage program area and data and processor 320 are counted
The data such as the intermediate result during calculation.
It is appreciated that the memory 310 in the embodiment of the present invention can be volatile memory or nonvolatile memory,
It or may include both volatile and non-volatile memories.Wherein, nonvolatile memory can be read-only memory (ROM),
Programmable read only memory (PROM), Erasable Programmable Read Only Memory EPROM (EPROM), electrically erasable programmable read-only memory
(EEPROM) or flash memory.Volatile memory can be random access memory (RAM), be used as External Cache.Herein
The memory 310 of the device and method of description is intended to include but is not limited to the memory of these and any other suitable type.
In some embodiments, memory 310 stores following element, executable modules or data structures, or
Their subset of person or their superset: operating system 311 and application program 312.
Wherein, operating system 311 include various system programs, such as ccf layer, core library layer, driving layer etc., for real
Existing various basic businesses and the hardware based task of processing.Application program 312 includes various application programs, such as browser
(Browser) etc., for realizing various applied business.Realize that the program of present invention method may be embodied in application program
In 312.
Above-mentioned processor 320, when calling and executing the application program and data that are stored in the memory 310, specifically
, when can be the program or instruction that store in application program 312, determine reference panorama camera 220, and in the reference panorama
The calibration point on ground is demarcated in camera 220；In remaining panorama camera 230, the calibration point on ground is demarcated；Calculate institute
State position of the panorama camera 230 relative to the reference panorama camera 220.
The method that the above embodiment of the present invention discloses can be applied in processor 320, or be realized by processor 320.
Processor 320 may be a kind of IC chip, the processing capacity with signal.During realization, the above method it is each
Step can be completed by the integrated logic circuit of the hardware in processor 320 or the instruction of software form.Above-mentioned processing
Device 320 can be general processor, digital signal processor (DSP), specific integrated circuit (ASIC), ready-made programmable gate array
(FPGA) either other programmable logic device, discrete gate or transistor logic, discrete hardware components, may be implemented or
Person executes disclosed each method, step and the logic diagram in the embodiment of the present invention.General processor can be microprocessor or
Person's processor is also possible to any conventional processor etc..The step of method in conjunction with disclosed in the embodiment of the present invention, can be straight
Connect and be presented as that hardware decoding processor executes completion, or in decoding processor hardware and software module combination executed
At.Software module can be located at random access memory, and flash memory, read-only memory, programmable read only memory or electrically-erasable can
In the storage medium of this fields such as programmable memory, register maturation.The storage medium is located at memory 310, and processor 320 is read
Information in access to memory 310, in conjunction with the step of its hardware completion above method.
It is understood that embodiments described herein can with hardware, software, firmware, middleware, microcode or its
Combination is to realize.For hardware realization, processing unit be may be implemented in one or more specific integrated circuits (ASIC), number letter
Number processor DSP), digital signal processing appts (DSPD), programmable logic device (PLD), field programmable gate array
(FPGA), general processor, controller, microcontroller, microprocessor, other electronics lists for executing herein described function
In member or combinations thereof.
For software implementations, it can be realized herein by executing the module (such as process, function etc.) of function described herein
The technology.Software code is storable in memory and is executed by processor.Memory can in the processor or
It is realized outside processor.
Specifically, processor 320 is also used to read the computer program, executes any of the above-described method.
In several embodiments provided herein, it should be understood that disclosed method and apparatus, it can be by other
Mode realize.For example, the apparatus embodiments described above are merely exemplary, for example, the division of the unit, only
For a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components can combine
Or it is desirably integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed phase
Coupling, direct-coupling or communication connection between mutually can be through some interfaces, the INDIRECT COUPLING or communication of device or unit
Connection can be electrical property, mechanical or other forms.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that the independent physics of each unit includes, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of hardware adds SFU software functional unit.
The above-mentioned integrated unit being realized in the form of SFU software functional unit can store and computer-readable deposit at one
In storage media.Above-mentioned SFU software functional unit is stored in a storage medium, including some instructions are used so that a computer
Equipment (can be personal computer, server or the network equipment etc.) executes receiving/transmission method described in each embodiment of the present invention
Part steps.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (Read-Only Memory, abbreviation
ROM), random access memory (Random Access Memory, abbreviation RAM), magnetic or disk etc. are various can store
The medium of program code.
The above is a preferred embodiment of the present invention, it is noted that for those skilled in the art
For, without departing from the principles of the present invention, it can also make several improvements and retouch, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of space scaling method of interior panorama camera, which is characterized in that the described method includes:
It determines reference panorama camera, and demarcates the calibration point on ground in the reference panorama camera；
In remaining panorama camera, the calibration point on ground is demarcated；
Calculate position of the panorama camera relative to the reference panorama camera.
2. the method according to claim 1, wherein the determining reference panorama camera, and it is complete in the benchmark
Two different points on ground are demarcated in scape camera, comprising:
It determines reference panorama camera, determines its height H apart from ground1, and define it and be projected as three-dimensional system of coordinate original on ground
Point；
The point A and point B on ground are demarcated in the reference panorama camera.
3. according to the method described in claim 2, it is characterized in that, described demarcate on ground in the reference panorama camera
Point A and point B, comprising:
The video of the reference panorama camera is checked by tool, point A, the point B chosen on ground is demarcated, and records point A
PT coordinate be (P1A, T1A), the PT coordinate for recording point B is (P1B, T1B)；Wherein, T1A is the company of point A and reference panorama camera
Angle between line and X/Y plane；P1Folder of the A between point A and the reference panorama camera line projected on X/Y plane and Y-axis
Angle；T1Angle of the B between point B and reference panorama camera line and X/Y plane；P1B is point B and reference panorama camera in X/Y plane
Angle between the line and Y-axis of upper projection.
4. according to the method described in claim 3, demarcating described on ground it is characterized in that, described in remaining panorama camera
Two different points, comprising:
The video of remaining panorama camera is checked by tool, point A, the point B chosen on ground is demarcated, and recorded the PT of point A
Coordinate is (P2A, T2A), the PT coordinate for recording point B is (P2B, T2B)；
T2Angle of the A between point A and the line and X/Y plane of panorama camera；P2A is point A and panorama camera in X/Y plane upslide
Angle between the line and Y-axis of shadow；T2Angle of the B between point B and the line and X/Y plane of panorama camera；P2B be point B with
Angle between the line that panorama camera projects on X/Y plane and Y-axis.
5. according to the method described in claim 4, it is characterized in that, described calculate the panorama camera relative to the benchmark
The position of panorama camera, comprising:
Calculate coordinate (X of the point A in three-dimensional system of coordinateA, YA) and coordinate (X of the point B in three-dimensional system of coordinateB, YB)；
Assuming that the three-dimensional coordinate of the panorama camera is (X2, Y2, Z2), calculate the three-dimensional coordinate of the panorama camera are as follows:
Z2=[(XA-X2)·tanT2A]/sin(P2A)。
6. according to the method described in claim 5, it is characterized in that, the method also includes:
Coordinate (X of the point A in three-dimensional system of coordinate is calculated according to solid geometry relationshipA, YA):
7. according to the method described in claim 5, it is characterized in that, the method also includes:
Coordinate (X of the point B in three-dimensional system of coordinate is calculated according to solid geometry relationshipB, YB):
8. according to the method described in claim 5, it is characterized in that, the method also includes:
Three-dimensional coordinate (the X of the panorama camera is calculated according to solid geometry relationship2, Y2, Z2) and point A and point B between position close
System:
9. a kind of computer storage medium, which is characterized in that including one or more computer instruction, one or more meter
Such as method of any of claims 1-8 is realized in the instruction of calculation machine when being executed.
10. a kind of electronic equipment, including memory and processor, which is characterized in that
The memory is for storing one or more computer instruction；
The processor is for calling and executing one or more computer instruction, to realize as in claim 1-8
Described in any item methods.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811076490.8A CN109300163B (en) | 2018-09-14 | 2018-09-14 | Space calibration method of indoor panoramic camera, storage medium and electronic equipment |
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