CN111197973A - Sea surface distance acquisition method and device, computer equipment and storage medium - Google Patents
Sea surface distance acquisition method and device, computer equipment and storage medium Download PDFInfo
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- CN111197973A CN111197973A CN202010031697.4A CN202010031697A CN111197973A CN 111197973 A CN111197973 A CN 111197973A CN 202010031697 A CN202010031697 A CN 202010031697A CN 111197973 A CN111197973 A CN 111197973A
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
- G01C3/10—Measuring distances in line of sight; Optical rangefinders using a parallactic triangle with variable angles and a base of fixed length in the observation station, e.g. in the instrument
- G01C3/20—Measuring distances in line of sight; Optical rangefinders using a parallactic triangle with variable angles and a base of fixed length in the observation station, e.g. in the instrument with adaptation to the measurement of the height of an object
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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Abstract
The present application relates to the field of computer technologies, and in particular, to a method and an apparatus for obtaining a sea surface distance, a computer device, and a storage medium. The method comprises the following steps: receiving a sea surface image about a sea surface area, which is acquired by an image acquisition device; determining auxiliary position points on the sea level corresponding to the sea surface area, and respectively acquiring each preset auxiliary parameter corresponding to the auxiliary position points and the sea level line; respectively extracting reference position points corresponding to the sea horizon and the auxiliary position points from the sea surface image, and acquiring each preset reference parameter corresponding to each reference position point; and obtaining the actual distance of the sea surface area corresponding to the distance between the pixels on the sea surface image according to the preset auxiliary parameters and the preset reference parameters. By adopting the method, the efficiency of calculating the actual distance on the sea surface can be improved.
Description
Technical Field
The present application relates to the field of computer technologies, and in particular, to a method and an apparatus for obtaining a sea surface distance, a computer device, and a storage medium.
Background
The weather prediction technology is one of the important research directions in the artificial intelligence era, and the weather prediction needs to process and calculate earth surface and sea surface pictures to obtain various weather data.
In the traditional technology, the actual distance from one point on the sea surface to the seaside in the sea surface image is calculated, and a reference object needs to be set on the sea surface, so that the calculation process of the distance from each point on the sea surface to the seaside is complex and the efficiency is low.
Disclosure of Invention
In view of the above, it is necessary to provide a method, an apparatus, a computer device and a storage medium capable of improving the calculation efficiency of the sea surface distance.
A sea surface distance acquisition method, comprising:
receiving a sea surface image about a sea surface area, which is acquired by an image acquisition device;
determining auxiliary position points on the sea level corresponding to the sea surface area, and respectively acquiring each preset auxiliary parameter corresponding to the auxiliary position points and the sea level line;
respectively extracting reference position points corresponding to the sea horizon and the auxiliary position points from the sea surface image, and acquiring each preset reference parameter corresponding to each reference position point;
and obtaining the actual distance of the sea surface area corresponding to the distance between the pixels on the sea surface image according to the preset auxiliary parameters and the preset reference parameters.
In one embodiment, the obtaining of the preset auxiliary parameters corresponding to the auxiliary position point and the sea horizon respectively includes:
acquiring a first horizontal distance from the image acquisition equipment to the sea level and the height from the image acquisition equipment to the sea level; obtaining a first preset auxiliary parameter corresponding to the sea horizon according to the first horizontal distance and the height;
acquiring a second horizontal distance from the image acquisition equipment to the auxiliary position point and the height from the image acquisition equipment to the sea level; and obtaining a second preset auxiliary parameter corresponding to the auxiliary position point according to the height and the second horizontal distance.
In one embodiment, acquiring a first horizontal distance from the image capture device to the sea horizon comprises:
acquiring the earth radius corresponding to the position of the sea surface area;
obtaining a first horizontal distance from the image acquisition equipment to the sea level according to the height from the image acquisition equipment to the sea level and the radius of the earth by using the pythagorean theorem;
acquiring a second horizontal distance from the image acquisition device to the auxiliary location point, comprising:
acquiring an equipment mapping point of image acquisition equipment on the sea level;
and obtaining a second horizontal distance from the image acquisition equipment to the auxiliary position point according to the equipment mapping point and the auxiliary position point.
In one embodiment, the extracting the reference position points corresponding to the sea horizon and the auxiliary position point from the sea surface image, and obtaining the preset reference parameters corresponding to the reference position points respectively includes:
acquiring a first reference position point corresponding to a sea horizon in a sea surface image by using a small hole imaging principle, and acquiring a first preset reference parameter corresponding to the first reference position point by using a similar triangle principle;
and acquiring a second reference position point corresponding to the auxiliary position point in the sea surface image by using a small hole imaging principle, and acquiring a second preset reference parameter corresponding to the second reference position point by using a similar triangle principle.
In one embodiment, acquiring a first preset reference parameter corresponding to the first reference location point includes:
acquiring a corresponding equipment mapping point of a focus of the image acquisition equipment on the sea surface image;
acquiring a first reference horizontal distance from image acquisition equipment to an equipment mapping point, and acquiring a first reference height from a first reference position point to the equipment mapping point;
obtaining a first preset reference parameter corresponding to the first reference position point according to the first reference horizontal distance and the first reference height;
acquiring a second preset reference parameter corresponding to the second reference position point, wherein the second preset reference parameter comprises:
acquiring a corresponding equipment mapping point of a focus of the image acquisition equipment on the sea surface image;
acquiring a first reference horizontal distance from the image acquisition equipment to the equipment mapping point, and acquiring a second reference height from a second reference position point to the equipment mapping point;
and obtaining a second preset reference parameter corresponding to the second reference position point according to the first reference horizontal distance and the second reference height.
In one embodiment, obtaining the actual distance between the sea surface areas corresponding to the distances between the pixels on the sea surface image according to the preset auxiliary parameters and the preset reference parameters includes:
establishing a first relation between a first preset auxiliary parameter and a first preset reference parameter by using a similar triangle principle;
establishing a second relation between a second preset auxiliary parameter and a second preset reference parameter by using a similar triangle principle;
and obtaining a homography relation between the actual distance on the sea surface area and the pixel distance on the sea surface image according to the first relation and the second relation, and calculating the actual distance of the sea surface area corresponding to the distance between the pixels on the sea surface image according to the homography relation.
In one embodiment, determining the auxiliary location point on the sea level corresponding to the sea surface area comprises:
acquiring an acquisition view field angle corresponding to image acquisition equipment;
and determining the auxiliary position point on the sea level, so that the angle formed by the auxiliary position point and the image acquisition equipment on the sea level is half of the angle of the acquisition field of view.
A sea surface distance correspondence obtaining apparatus includes:
the image acquisition module is used for receiving a sea surface image about a sea surface area acquired by the image acquisition equipment;
the auxiliary information acquisition module is used for determining auxiliary position points on the sea level corresponding to the sea surface area and respectively acquiring each preset auxiliary parameter corresponding to the auxiliary position points and the sea level line;
the reference information acquisition module is used for respectively extracting reference position points corresponding to the sea horizon and the auxiliary position points from the sea surface image and acquiring each preset reference parameter corresponding to each reference position point;
and the corresponding relation establishing module is used for obtaining the actual distance of the sea surface area corresponding to the distance between the pixels on the sea surface image according to the preset auxiliary parameters and the preset reference parameters.
A computer device comprising a memory storing a computer program and a processor implementing the steps of the method when the processor executes the computer program.
A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned method.
The method, the device, the computer equipment and the storage medium for acquiring the sea surface distance receive the sea surface image of the sea surface area acquired by the image acquisition equipment; then, determining auxiliary position points on the sea level corresponding to the sea surface area, and respectively acquiring each preset auxiliary parameter corresponding to the auxiliary position points and the sea level line; respectively extracting reference position points corresponding to the sea horizon and the auxiliary position points from the sea surface image by using a preset rule, and acquiring each preset reference parameter corresponding to each reference position point; and further, an equation set can be established according to each preset auxiliary parameter and each preset reference parameter, and the actual distance between the pixels on the sea surface image and the sea surface area is calculated according to the established equation set, so that the actual distance from any point on the sea surface area to the sea edge can be obtained. Therefore, a reference object is not required to be introduced in the process of acquiring the actual distance, unnecessary parameters and unnecessary calculation processes are reduced, and the efficiency and the accuracy of acquiring the actual distance on the sea surface area are improved.
Drawings
FIG. 1 is a diagram of an application scenario of a sea-surface distance obtaining method in one embodiment;
FIG. 2 is a schematic flow chart of a sea surface distance obtaining method in one embodiment;
FIG. 3 is a diagram illustrating an exemplary acquisition location point and default parameters;
FIG. 4 is a schematic diagram of calculating a distance from an image capture device to a sea level in one embodiment;
FIG. 5 is a schematic illustration of a sea surface image provided in one embodiment;
FIG. 6 is a block diagram of a sea surface distance correspondence obtaining apparatus according to an embodiment;
FIG. 7 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The sea surface distance obtaining method provided by the application can be applied to the application environment shown in fig. 1. The server 104 communicates with the user terminal 102 and the image capturing device 103 via a network. The server 104 receives the sea surface image about the sea surface area acquired by the image acquisition device 103; determining auxiliary position points on the sea level corresponding to the sea surface area, and respectively acquiring each preset auxiliary parameter corresponding to the auxiliary position points and the sea level line; respectively extracting reference position points corresponding to the sea horizon and the auxiliary position points from the sea surface image, and acquiring each preset reference parameter corresponding to each reference position point; and obtaining the actual distance of the sea surface area corresponding to the distance between the pixels on the sea surface image according to the preset auxiliary parameters and the preset reference parameters. Further, the server 104 may also transmit the calculated actual distance to the user terminal 102, and the image capturing device 103 may also transmit the captured sea surface image to the user terminal 102 through the network.
The user terminal 102 may be, but is not limited to, various personal computers, notebook computers, smart phones, tablet computers, and portable wearable devices, and the server 104 may be implemented as a stand-alone server or a server cluster composed of a plurality of servers. The image capturing device 103 may be a device having an image capturing function such as a camera.
In one embodiment, as shown in fig. 2, a sea-surface distance obtaining method is provided, which is described by taking the method as an example applied to the server 104 in fig. 1, and in other embodiments, the method may also be applied to the user terminal 102, and the method includes the following steps:
The image acquisition equipment can be arranged in the sea surface area range and is used for acquiring the sea surface image corresponding to the sea surface area. Moreover, the position and height of the image capturing device and the performance parameters of the image capturing device all affect the quality of the captured sea surface image.
Sea level refers to the level at which the ocean surface can be maintained without sea level fluctuations. The auxiliary location point may be any point on the sea level, and the auxiliary location point may find a uniquely corresponding reference point in the sea surface image. Sea level line refers to the line where sea and sky intersect.
The preset auxiliary parameters may include: the corresponding parameters of the auxiliary position points in the sea surface area and the corresponding parameters of the sea horizon in the sea surface area. Specifically, mathematical relations corresponding to the preset auxiliary position point and the sea horizon may be respectively constructed in the sea surface area, and the corresponding preset auxiliary parameters may be obtained according to the mathematical relations.
And step 230, respectively extracting reference position points corresponding to the sea horizon and the auxiliary position points from the sea surface image, and acquiring each preset reference parameter corresponding to each reference position point.
Each pixel point on the sea surface image corresponds to each position point in the sea surface area, and the corresponding relation accords with a preset rule, wherein the preset rule can be determined by the acquisition principle of the image acquisition equipment, and can be a linear mapping relation. Specifically, the server extracts the reference position points corresponding to the sea horizon and the auxiliary position points from the sea surface image according to the preset rule corresponding to the image acquisition device.
More specifically, when the preset rule corresponds to the linear preset rule, the step of extracting the first reference position point corresponding to the sea horizon from the sea surface image by using the preset rule includes: in the sea surface area, a point is selected on the sea horizon, the point is connected with the image acquisition equipment and is extended to an imaging plane corresponding to the sea surface image, and the focus on the imaging plane is a first reference position point of the point on the sea horizon corresponding to the sea surface image. Further, the step of obtaining a first preset reference parameter corresponding to the first reference location point may include: and constructing a first reference triangle according to the first reference position point, the image acquisition equipment and the equipment mapping point of the image acquisition equipment on the sea surface image imaging plane, and obtaining a first preset reference parameter corresponding to the first reference position point according to each angle value and each side length value in the first reference triangle. Wherein the image imaging plane is perpendicular to the earth's surface.
When the preset rule corresponds to the linear preset rule, the step of extracting a second reference position point corresponding to the auxiliary position point from the sea surface image by using the preset rule may include: and connecting the auxiliary position point on the sea level with the image acquisition equipment, and extending to the imaging plane of the sea level image, wherein the focus on the imaging plane is a second reference position point corresponding to the auxiliary position point in the sea level image. Further, the step of obtaining a second preset reference parameter corresponding to the second reference location point may include: and constructing a second reference triangle according to the second reference position point, the image acquisition equipment and the equipment mapping point of the image acquisition equipment on the sea surface image imaging plane, and obtaining a second preset reference parameter corresponding to the second reference position point according to each angle value and each side length value in the second reference triangle.
And 240, obtaining the actual distance of the sea surface area corresponding to the distance between the pixels on the sea surface image according to the preset auxiliary parameters and the preset reference parameters.
Each preset auxiliary parameter is a parameter corresponding to a sea surface area, each preset reference parameter is a parameter corresponding to a sea surface image, and a certain preset mapping rule is corresponding to each preset auxiliary parameter and each preset reference parameter because a corresponding preset mapping rule is provided between the sea surface area and the sea surface image. Such as a linear mapping rule that can image a pinhole. And further, a homography relation between each preset auxiliary parameter and each preset reference parameter can be established by using a preset mapping rule, and the corresponding actual distance of the pixel distance between the pixels on the sea surface image in the sea surface area is obtained according to the homography relation. Wherein the homography can be used to characterize the corresponding actual distances in the sea surface region of the pixel distances between pixels on the sea surface image.
In this embodiment, an auxiliary position point is optionally selected on the sea level in the sea surface area, and the auxiliary position point and a reference position point corresponding to the sea horizon are respectively obtained in the sea surface image according to the acquisition mapping rule corresponding to the image acquisition device, so that mapping correspondence equations can be respectively established according to the preset auxiliary parameters corresponding to the auxiliary position point and the preset reference parameters corresponding to the reference position point, and the actual distance corresponding to the pixel distance between the pixels on the sea surface image on the sea surface area is obtained according to the mapping correspondence equations. The method and the device realize that the actual distance from any position point on the sea level to the sea edge can be calculated without setting any reference object in the sea area, and greatly improve the calculation efficiency of the sea distance.
In addition, the calculation method provided by the application only needs to find the auxiliary position point in the calculation process, and does not need to use any reference object, so that the calculation model can be applied to any scene, and the defect that the actual distance from any position point on the sea level to the sea edge cannot be calculated in the scene without the reference object is avoided.
In one embodiment, calculating the homographic distance of the sea surface image according to the preset auxiliary parameters and the preset reference parameters may include: and calculating a homography relation between the actual distance on the sea surface area and the pixel distance on the sea surface image according to the preset auxiliary parameters and the preset reference parameters, and calculating the homography distance on the sea surface image according to the homography relation. And further obtaining the actual distance from any position on the sea level to the sea edge.
In one embodiment, the obtaining of the preset auxiliary parameters corresponding to the auxiliary position point and the sea level line respectively may include: and acquiring a second preset auxiliary parameter corresponding to the auxiliary position point and acquiring a first preset auxiliary parameter corresponding to the sea horizon. Specifically, obtaining a first preset auxiliary parameter corresponding to the sea horizon may include: acquiring a first horizontal distance from the image acquisition equipment to the sea level and the height from the image acquisition equipment to the sea level; and obtaining a first preset auxiliary parameter corresponding to the sea horizon according to the first horizontal distance and the height.
In fig. 3, △ ACO is a range corresponding to the sea surface area, point a is any point on the sea level line in △ ACO, point B' is any point on the sea surface, i.e., an auxiliary position point, point B is a position point at the extreme edge in the sea surface area that can be acquired by the image acquisition device, and point C is a device mapping point corresponding to the image acquisition device O on the sea surface.
Specifically, the first preset auxiliary parameter corresponding to the sea horizon is obtained in the sea surface area, and the first preset auxiliary parameter comprises a first auxiliary triangle △ ACO corresponding to a first auxiliary position line, namely the sea horizon, which is constructed by taking a point A on the sea horizon as a reference and taking the point A on the sea horizon, the image acquisition device O and a device mapping point C of the image acquisition device on the sea horizon as parameters, in △ ACO, a first horizontal distance AC from the image acquisition device O to the point A on the sea horizon is obtained, the height OC. from the image acquisition device O to the sea horizon is obtained, and then the first preset auxiliary parameter corresponding to the sea horizon is obtained according to the parameters in the triangle △ ACO, such as the first horizontal distance AC and the height OC.
In this embodiment, a first auxiliary triangle is constructed by using any point on the sea horizon and the position of the image acquisition device, and then a first preset auxiliary parameter corresponding to the sea horizon can be obtained according to the auxiliary triangle, so that the acquisition efficiency of the first preset auxiliary parameter is higher.
In one embodiment, the obtaining of the second preset auxiliary parameter corresponding to the auxiliary location point may include: acquiring a second horizontal distance from the image acquisition equipment to the auxiliary position point and the height from the image acquisition equipment to the sea level; and obtaining a second preset auxiliary parameter corresponding to the auxiliary position point according to the height and the second horizontal distance.
The second horizontal distance is in a direction parallel to the sea level. Acquiring a second horizontal distance from the image acquisition device to the auxiliary location point, comprising: acquiring an equipment mapping point of image acquisition equipment on the sea level; and obtaining a second horizontal distance from the image acquisition equipment to the auxiliary position point according to the equipment mapping point and the auxiliary position point. Specifically, referring to fig. 3, the device mapping point of the image capturing device O on the sea level is C, and the second horizontal distance is B' C.
With reference to fig. 3, in △ ACO, based on a point on the sea level, that is, the auxiliary location point B ', the image capturing device O, and the device mapping point C of the image capturing device on the sea level, a second auxiliary triangle △ B ' CO corresponding to the second auxiliary location point is constructed, in △ B ' CO, a second horizontal distance B ' C from the image capturing device to the sea level is obtained, and a height OC. from the image capturing device to the sea level is obtained, so as to obtain a second preset auxiliary parameter corresponding to the auxiliary location point B ' according to the second horizontal distance B ' C and the height OC of the parameter in the triangle △ B ' CO.
In this embodiment, a second auxiliary triangle is constructed by using any point on the sea level and the position of the image acquisition device, so that a second preset auxiliary parameter corresponding to the auxiliary position point can be obtained according to the second auxiliary triangle, and the efficiency and accuracy of parameter acquisition are improved by simply constructing the triangle instead of setting a reference object in the sea surface area.
In one embodiment, acquiring a first horizontal distance from the image capture device to the sea horizon comprises: acquiring the earth radius corresponding to the position of the sea surface area; and obtaining a first horizontal distance from the image acquisition equipment to the sea level according to the height from the image acquisition equipment to the sea level and the radius of the earth through the pythagorean theorem.
Specifically, the server may obtain longitude and latitude information corresponding to a position of the sea area, and obtain the earth radius corresponding to the current position according to the longitude and latitude information. In another embodiment, considering that the radius of the earth varies with latitude, the average of the radius of the earth can be calculated and extracted as the radius of the earth.
In fig. 4, the server obtains the height between the image capturing device and the sea level as OP, the corresponding size is h, the radius of the earth is PQ and GQ, the corresponding size is R, the first horizontal distance from the image capturing device to the sea level is OG, the corresponding size is d, the view of the image capturing device is tangent to the earth surface, i.e. the radius of the earth at which the view is perpendicular to the horizon, so that a right triangle Rt △ qgo can be constructed using three points, point O, point G and point Q, as parameters, in Rt △ QGO, the hypotenuse is the distance from the image capturing device O to the earth center Q as R + h, the hypotenuse is the radius of the earth R and the first horizontal distance d, respectively, and then according to the pythagorean theorem (R + h)2＝R2+d2. Since R, h is a known parameter, the value of the first horizontal distance d can be calculated according to the pythagorean theorem.
In this embodiment, the first horizontal distance can be calculated by using the pythagorean theorem, so that the calculation process of the first horizontal distance is simplified to the greatest extent, unnecessary calculation processes are reduced, and the calculation efficiency is improved.
In one embodiment, the extracting the reference position points corresponding to the sea horizon and the auxiliary position point from the sea surface image, and obtaining the preset reference parameters corresponding to the reference position points respectively includes: and acquiring a first reference position point corresponding to a sea level line in the sea surface image by using a small hole imaging principle, and acquiring a first preset reference parameter corresponding to the first reference position point by using a similar triangle principle. And acquiring a second reference position point corresponding to the auxiliary position point in the sea surface image by using a small hole imaging principle, and acquiring a second preset reference parameter corresponding to the second reference position point by using a similar triangle principle.
In particular, the capture of sea surface images acquired by the image acquisition device can be simplified into an ideal linear model for pinhole imaging. As shown in fig. 3, the image capturing device captures the sea area by using the ideal linear model of pinhole imaging, and obtains the corresponding sea image area. FIG. 5 is a schematic illustration of a sea surface image provided in one embodiment. Referring to fig. 3 and 5, a first reference position point E corresponding to a point a on the sea level is obtained from an ideal linear model of pinhole imaging, wherein point A, O and point E are on a straight line; and acquiring a second reference position point F 'corresponding to the auxiliary position point B' according to the ideal linear model of the pinhole imaging, wherein the points B ', F' and O are on the same straight line.
With continued reference to fig. 3 and 5, the point O is crossed to form a perpendicular line to the image plane, and the intersection point is the point D, since OD/AC, ∠ θ 1 is ∠ EOD, so the right triangle Rt △ ACO is similar to Rt △ ODE, and therefore the first preset reference parameter corresponding to the first reference position point is obtained according to the corresponding relationship in the similar triangle, and since OD/AC, ∠ θ 2 is ∠ F ' OD, the right triangle Rt △ B ' CO is similar to Rt △ ODF ', and therefore the second preset reference parameter corresponding to the second reference position point is obtained according to the angle corresponding relationship and the side length corresponding relationship in the similar triangle.
In the embodiment, the process of image acquisition is simplified into a linear model of pinhole imaging, so that the calculation process is simplified, and the corresponding relation is obtained by utilizing the similar triangle principle, so that the calculation model is simplified, and the calculation efficiency is improved.
In one embodiment, acquiring a first preset reference parameter corresponding to the first reference location point includes: acquiring a corresponding equipment mapping point of a focus of the image acquisition equipment on the sea surface image; acquiring a first reference horizontal distance from image acquisition equipment to an equipment mapping point, and acquiring a first reference height from a first reference position point to the equipment mapping point; and obtaining a first preset reference parameter corresponding to the first reference position point according to the first reference horizontal distance and the first reference height.
With continued reference to fig. 3, point C is the corresponding device mapping point of the image capturing device O at sea level. Since the horizontal distance is a distance corresponding to a direction parallel to the sea level, the first reference horizontal distance from the image capturing device to the device mapping point is OD, and the size is m. The first reference height from the first reference location point E to the device mapping point D is ED and has a magnitude n. And then, a first preset reference parameter corresponding to the first reference position point E can be obtained according to the first reference horizontal distance OD and the first reference height ED.
In one embodiment, the obtaining of the second preset reference parameter corresponding to the second reference location point includes: acquiring a corresponding equipment mapping point of a focus of the image acquisition equipment on the sea surface image; acquiring a first reference horizontal distance from the image acquisition equipment to the equipment mapping point, and acquiring a second reference height from a second reference position point to the equipment mapping point; and obtaining a second preset reference parameter corresponding to the second reference position point according to the first reference horizontal distance and the second reference height.
With continued reference to fig. 3, a first reference horizontal distance from the image capture device O to the device mapping point D is OD and has a size m. A second reference height F 'D of the second reference location point F' to the device mapping point D is x + n. And then, a second preset reference parameter corresponding to the second reference position point F 'can be obtained according to the first reference horizontal distance OD and the second reference height F' D.
In one implementation, obtaining the corresponding actual distance of the distance between the pixels on the sea surface image in the sea surface area according to the preset auxiliary parameters and the preset reference parameters includes: and establishing a first relation between the first preset auxiliary parameter and the first preset reference parameter by using a similar triangle principle.
As shown in fig. 3, the first preset auxiliary parameter is the first horizontal distance AC and the height OC., and further includes obtaining a first included angle formed by the sea level line and the image capturing device at the sea level corresponding to the sea surface area, as shown in fig. 3, the first included angle is ∠ θ 1, the first included angle is also the first preset auxiliary parameter, and a triangle formed according to the first preset auxiliary parameter is △ ACO.
The first preset reference parameter is the first reference horizontal distance OD and the first reference height ED., further, the first preset reference parameter may further include a first reference included angle ∠ EOD, and ∠ θ 1 — ∠ EOD, the triangle formed according to the first preset reference parameter is △ ODE, according to a similar mathematical relationship between Rt △ ACO and Rt △ ODE, an equation of a similar triangle is established, specifically, a first relationship is established according to the first included angle θ 1, the first horizontal distance AC, the height OC, the first reference included angle ∠ EOD, the first reference horizontal distance OD and the first reference height ED.
More specifically, the establishing process of the first relation may include calculating a first sea surface sine value tan (θ 1) ═ OC/AC ═ h/d corresponding to the first included angle θ 1 from the first horizontal distance AC and the height OC in the sea surface region, calculating a first reference sine value tan (∠ EOD) ═ ED/OD ═ n/m corresponding to the first reference included angle ∠ EOD from the first reference horizontal distance OD and the first reference height ED in the sea surface image, and establishing an equality relation between the first sea surface sine value and the first reference sine value when the first included angle θ 1 is equal to the first reference included angle ∠ EOD, and obtaining the first relation according to the equality relation, wherein the first relation is tan (θ 1) ═ h/d ═ tan (∠ EOD) ═ n/m.
Obtaining a corresponding relationship between the distance on the sea surface image and the distance on the sea surface area according to each preset auxiliary parameter and each preset reference parameter, and may further include: and establishing a second relation between a second preset auxiliary parameter and a second preset reference parameter by using the similar triangle principle.
As shown in fig. 3, the second preset auxiliary parameter is a second horizontal distance B ' C and a height OC., further, the second preset auxiliary parameter may further include obtaining a second included angle formed by one of the position points on the sea surface area and the image capturing device on the sea surface corresponding to the sea surface area, as shown in fig. 3, the second included angle corresponding to the obtained auxiliary position point B ' is ∠ θ 2, the second included angle is also a second preset auxiliary parameter, and a triangle formed according to the second preset auxiliary parameter is △ B ' CO.
The second preset reference parameter is the first reference horizontal distance OD and the second reference height F'd, further, the second preset reference parameter may further include a second reference included angle ∠ F' OM, and the triangle formed by ∠ θ 2 ═ ∠ F 'OM. according to the first preset reference parameter is △ F' OD., and a similar triangle equation relation is established according to a similar mathematical relation between Rt △ B 'CO and Rt △ ODF'.
Specifically, a second relation is established according to the second included angle θ 2, the second horizontal distance B ' C, the height OC, the second reference included angle ∠ F ' OM, the first reference horizontal distance OD and the second reference height F ' D.
More specifically, the establishing process of the second relation may include calculating a second sea surface sine value tan (θ 2) ═ OC/B ' C ═ h/y corresponding to the second included angle θ 2 according to the second horizontal distance B ' C and the height OC, calculating a second reference sine value tan (∠ F ' OM) ═ F ' D/OD ═ n + x/m corresponding to the second reference included angle ∠ F ' OM according to the second horizontal distance B ' C and the second reference height F ' D in the sea surface image, and establishing an equality relationship between the second sea surface sine value and the second reference sine value when the second included angle θ 2 is equal to the second reference included angle ∠ F ' OM, and obtaining the second relation according to the equality relationship, wherein tan (θ 2) ═ h/y ═ tan (∠ F ' OM) ═ n + x)/m.
And obtaining the actual distance of the sea surface region corresponding to the distance between the pixels on the sea surface image according to the first relational expression and the second relational expression.
Specifically, an equation set may be obtained according to a first relational expression and a second relational expression simultaneous equation, and then the equation set is solved to obtain a relational expression f (x) of y with respect to x. Wherein, f (x) is a homography relation between the actual distance on the sea surface area and the pixel distance on the sea surface image, and then the actual distance from any point on the sea surface area to the sea edge is calculated according to the homography relation. And unknown quantities m and n are contained in the relationship of f (x).
In one embodiment, determining the auxiliary location point on the sea level corresponding to the sea surface area comprises: acquiring an acquisition view field angle corresponding to image acquisition equipment; and determining the auxiliary position point on the sea level, so that the angle formed by the auxiliary position point and the image acquisition equipment on the sea level is half of the angle of the acquisition field of view.
Due to the limitation of the field angle of a camera of the image acquisition equipment, a shot sea surface image has a shooting blind area BC. When theta 2 is theta/2, a point F ' on the sea level is just coincident with a point F which is the closest distance that a camera of the image acquisition equipment on the sea level image can shoot, namely x is equal to the distance from the sea level line of the image to the bottom of the sea level image, and since the size of the sea level image is known, namely x is known, the mapping B ' of the point F ' on the sea level in the sea level image in the actual scene is just coincident with the closest point B that the camera of the image acquisition equipment can shoot, and the horizontal distance BC from the camera of the image acquisition equipment is equal to the shooting blind area of the camera, namely y is h/tan (theta/2). By substituting the relationship into a relational expression f (x) of y with respect to x, the unknown variables m and n of y ═ f (x) can be eliminated, and the homography between the actual distance and the pixel on the image can be obtained.
Specifically, as shown in fig. 3, an acquisition field angle ∠ BOL, that is, θ, corresponding to the image acquisition device is obtained, and when the second included angle θ 2 is half of the acquisition field angle θ, a third relation is obtained according to the acquisition field angle θ, the second horizontal distance B' C, and the height OC, specifically, the third relation is that tan (θ 2) ═ tan (θ/2) ═ h/y., and then a correspondence between the pixel distance on the sea surface image and the actual distance on the sea surface area is obtained according to the first relation, the second relation, and the third relation.
With the rapid development of computer technology, the deep learning opens a new era of artificial intelligence. The method makes breakthrough progress in the fields of computer vision, speech recognition, natural language processing and the like, and brings opportunities for the development of meteorological prediction technology. The weather prediction technology is one of the important research directions in the artificial intelligence era, and the weather prediction needs to process and calculate earth surface and sea surface pictures to obtain various weather data. Among them, distance estimation based on the homography of sea surface images is one of the most fundamental and important tasks. The method can effectively calculate the actual distance from one point on the sea surface to the sea edge in the image, and does not need to set any reference object on the sea surface, thereby effectively saving financial resources, material resources and manpower.
It should be understood that, although the steps in the flowchart of fig. 2 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in fig. 2 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
In one embodiment, as shown in fig. 6, there is provided a sea surface distance correspondence relationship acquisition device, including: an image acquisition module 610, an auxiliary information acquisition module 620, a reference information acquisition module 630 and a corresponding relationship establishment module 640.
The image acquisition module 610 is used for receiving a sea surface image about a sea surface area acquired by the image acquisition equipment;
the auxiliary information obtaining module 620 is configured to determine an auxiliary position point on a sea level corresponding to the sea surface area, and obtain each preset auxiliary parameter corresponding to the auxiliary position point and the sea level line, respectively.
The reference information obtaining module 630 is configured to extract reference position points corresponding to the sea horizon and the auxiliary position points from the sea surface image, and obtain preset reference parameters corresponding to the reference position points.
The correspondence establishing module 640 is configured to obtain, according to each preset auxiliary parameter and each preset reference parameter, an actual distance between pixels on the sea surface image, which corresponds to the sea surface area.
In one embodiment, the auxiliary information obtaining module 620 includes:
the first auxiliary parameter acquiring unit is used for acquiring a first horizontal distance from the image acquisition equipment to the sea level and the height from the image acquisition equipment to the sea level.
And the first auxiliary parameter obtaining unit is used for obtaining a first preset auxiliary parameter corresponding to the sea level according to the first horizontal distance and the height.
And the second auxiliary parameter acquisition unit is used for acquiring a second horizontal distance from the image acquisition equipment to the auxiliary position point and the height from the image acquisition equipment to the sea level.
And the second auxiliary parameter obtaining unit is used for obtaining a second preset auxiliary parameter corresponding to the auxiliary position point according to the height and the second horizontal distance.
In one embodiment, the first auxiliary parameter obtaining unit includes:
and the radius acquiring subunit is used for acquiring the earth radius corresponding to the position of the sea surface area.
And the pythagorean theorem calculating subunit is used for obtaining the first horizontal distance from the image acquisition equipment to the sea level according to the height from the image acquisition equipment to the sea level and the radius of the earth through the pythagorean theorem.
A second auxiliary parameter acquisition unit comprising:
the device mapping point acquisition unit is used for acquiring a device mapping point of the image acquisition device on the sea level.
And the second auxiliary parameter acquisition subunit is used for acquiring a second horizontal distance from the image acquisition equipment to the auxiliary position point according to the equipment mapping point and the auxiliary position point.
In one embodiment, the reference information obtaining module 630 includes:
the first reference parameter acquiring unit is used for acquiring a first reference position point corresponding to a sea horizon in a sea surface image by using a small hole imaging principle, and acquiring a first preset reference parameter corresponding to the first reference position point by using a similar triangle principle.
And the second reference parameter acquisition unit is used for acquiring a second reference position point corresponding to the auxiliary position point in the sea surface image by using a small hole imaging principle and acquiring a second preset reference parameter corresponding to the second reference position point by using a similar triangle principle.
In one embodiment, the first reference parameter obtaining unit includes:
and the equipment mapping point acquisition subunit is used for acquiring the corresponding equipment mapping point of the focal point of the image acquisition equipment on the sea surface image.
The first reference parameter acquiring subunit is configured to acquire a first reference horizontal distance from the image acquisition device to the device mapping point, and acquire a first reference height from the first reference location point to the device mapping point.
And the first reference parameter obtaining subunit is used for obtaining a first preset reference parameter corresponding to the first reference position point according to the first reference horizontal distance and the first reference height.
A second reference parameter acquiring unit including:
and the second equipment mapping point acquisition subunit is used for acquiring the corresponding equipment mapping point of the focal point of the image acquisition equipment on the sea surface image.
And the second reference parameter acquisition subunit is used for acquiring a first reference horizontal distance from the image acquisition device to the device mapping point and acquiring a second reference height from the second reference position point to the device mapping point.
And the second reference parameter obtaining subunit is used for obtaining a second preset reference parameter corresponding to the second reference position point according to the first reference horizontal distance and the second reference height.
In one embodiment, the correspondence relationship establishing module 640 includes:
the first relation establishing unit is used for establishing a first relation between the first preset auxiliary parameter and the first preset reference parameter by utilizing the similar triangle principle.
And the second relation establishing unit is used for establishing a second relation between the second preset auxiliary parameter and the second preset reference parameter by utilizing the similar triangle principle.
And the corresponding relation establishing unit is used for obtaining a homography relation between the actual distance on the sea surface area and the pixel distance on the sea surface image according to the first relation and the second relation, and calculating the distance between the pixels on the sea surface image corresponding to the actual distance of the sea surface area according to the homography relation.
In one embodiment, the auxiliary information obtaining module 520 includes:
and the view field angle acquisition unit is used for acquiring an acquisition view field angle corresponding to the image acquisition equipment.
And the auxiliary point determining unit is used for determining an auxiliary position point on the sea level, so that the angle formed by the auxiliary position point and the image acquisition equipment on the sea level is half of the acquisition field angle.
The specific definition of the sea surface distance corresponding relation obtaining device can refer to the definition of the sea surface distance obtaining method in the foregoing, and is not described herein again. The above-mentioned various modules in the sea surface distance acquiring device can be realized in whole or in part by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as shown in fig. 7. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used for storing relevant data of sea surface image processing. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a sea-surface distance acquisition method.
Those skilled in the art will appreciate that the architecture shown in fig. 7 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory storing a computer program and a processor implementing the following steps when the processor executes the computer program: receiving a sea surface image about a sea surface area, which is acquired by an image acquisition device; determining auxiliary position points on the sea level corresponding to the sea surface area, and respectively acquiring each preset auxiliary parameter corresponding to the auxiliary position points and the sea level line; respectively extracting reference position points corresponding to the sea horizon and the auxiliary position points from the sea surface image, and acquiring each preset reference parameter corresponding to each reference position point; and obtaining the actual distance of the sea surface area corresponding to the distance between the pixels on the sea surface image according to the preset auxiliary parameters and the preset reference parameters.
In one embodiment, the processor, when executing the computer program, is further configured to perform the step of obtaining respective preset auxiliary parameters corresponding to the auxiliary location point and the sea level line: acquiring a first horizontal distance from the image acquisition equipment to the sea level and the height from the image acquisition equipment to the sea level; obtaining a first preset auxiliary parameter corresponding to the sea horizon according to the first horizontal distance and the height; acquiring a second horizontal distance from the image acquisition equipment to the auxiliary position point and the height from the image acquisition equipment to the sea level; and obtaining a second preset auxiliary parameter corresponding to the auxiliary position point according to the height and the second horizontal distance.
In one embodiment, the processor when executing the computer program further performs the step of obtaining a first horizontal distance to the sea level of the image capturing device for: acquiring the earth radius corresponding to the position of the sea surface area; obtaining a first horizontal distance from the image acquisition equipment to the sea level according to the height from the image acquisition equipment to the sea level and the radius of the earth by using the pythagorean theorem; the processor when executing the computer program further performs the step of obtaining a second horizontal distance from the image capturing device to the auxiliary location point by: acquiring an equipment mapping point of image acquisition equipment on the sea level; and obtaining a second horizontal distance from the image acquisition equipment to the auxiliary position point according to the equipment mapping point and the auxiliary position point.
In one embodiment, the step of extracting, when the processor executes the computer program, reference position points corresponding to the sea horizon and the auxiliary position point from the sea surface image, and acquiring preset reference parameters corresponding to the reference position points is further configured to: acquiring a first reference position point corresponding to a sea horizon in a sea surface image by using a small hole imaging principle, and acquiring a first preset reference parameter corresponding to the first reference position point by using a similar triangle principle; and acquiring a second reference position point corresponding to the auxiliary position point in the sea surface image by using a small hole imaging principle, and acquiring a second preset reference parameter corresponding to the second reference position point by using a similar triangle principle.
In one embodiment, the step of obtaining the first preset reference parameter corresponding to the first reference location point is further performed when the processor executes the computer program to: acquiring a corresponding equipment mapping point of a focus of the image acquisition equipment on the sea surface image; acquiring a first reference horizontal distance from image acquisition equipment to an equipment mapping point, and acquiring a first reference height from a first reference position point to the equipment mapping point; obtaining a first preset reference parameter corresponding to the first reference position point according to the first reference horizontal distance and the first reference height; the processor, when executing the computer program, is further configured to, when the step of obtaining a second preset reference parameter corresponding to the second reference location point is implemented: acquiring a corresponding equipment mapping point of a focus of the image acquisition equipment on the sea surface image; acquiring a first reference horizontal distance from the image acquisition equipment to the equipment mapping point, and acquiring a second reference height from a second reference position point to the equipment mapping point; and obtaining a second preset reference parameter corresponding to the second reference position point according to the first reference horizontal distance and the second reference height.
In one embodiment, the processor, when executing the computer program, is further configured to perform the step of obtaining, according to the preset auxiliary parameters and the preset reference parameters, a corresponding actual distance between pixels in the sea surface image in the sea surface region: establishing a first relation between a first preset auxiliary parameter and a first preset reference parameter by using a similar triangle principle; establishing a second relation between a second preset auxiliary parameter and a second preset reference parameter by using a similar triangle principle; and obtaining a homography relation between the actual distance on the sea surface area and the pixel distance on the sea surface image according to the first relation and the second relation, and calculating the actual distance of the sea surface area corresponding to the distance between the pixels on the sea surface image according to the homography relation.
In one embodiment, the processor, when executing the computer program, further performs the step of determining the auxiliary location point at sea level corresponding to the sea surface area by: acquiring an acquisition view field angle corresponding to image acquisition equipment; and determining the auxiliary position point on the sea level, so that the angle formed by the auxiliary position point and the image acquisition equipment on the sea level is half of the angle of the acquisition field of view.
In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which when executed by a processor performs the steps of: receiving a sea surface image about a sea surface area, which is acquired by an image acquisition device; determining auxiliary position points on the sea level corresponding to the sea surface area, and respectively acquiring each preset auxiliary parameter corresponding to the auxiliary position points and the sea level line; respectively extracting reference position points corresponding to the sea horizon and the auxiliary position points from the sea surface image, and acquiring each preset reference parameter corresponding to each reference position point; and obtaining the actual distance of the sea surface area corresponding to the distance between the pixels on the sea surface image according to the preset auxiliary parameters and the preset reference parameters.
In one embodiment, the computer program when executed by the processor further performs the step of obtaining respective preset auxiliary parameters corresponding to the auxiliary location point and the sea level line respectively: acquiring a first horizontal distance from the image acquisition equipment to the sea level and the height from the image acquisition equipment to the sea level; obtaining a first preset auxiliary parameter corresponding to the sea horizon according to the first horizontal distance and the height; acquiring a second horizontal distance from the image acquisition equipment to the auxiliary position point and the height from the image acquisition equipment to the sea level; and obtaining a second preset auxiliary parameter corresponding to the auxiliary position point according to the height and the second horizontal distance.
In one embodiment, the computer program when executed by the processor further performs the step of obtaining a first horizontal distance to the sea level of the image capturing device further comprises: acquiring the earth radius corresponding to the position of the sea surface area; obtaining a first horizontal distance from the image acquisition equipment to the sea level according to the height from the image acquisition equipment to the sea level and the radius of the earth by using the pythagorean theorem; the processor when executing the computer program further performs the step of obtaining a second horizontal distance from the image capturing device to the auxiliary location point by: acquiring an equipment mapping point of image acquisition equipment on the sea level; and obtaining a second horizontal distance from the image acquisition equipment to the auxiliary position point according to the equipment mapping point and the auxiliary position point.
In one embodiment, when the computer program is executed by the processor, the step of respectively extracting reference position points corresponding to the sea horizon and the auxiliary position point from the sea surface image, and acquiring each preset reference parameter corresponding to the reference position point is further configured to: acquiring a first reference position point corresponding to a sea horizon in a sea surface image by using a small hole imaging principle, and acquiring a first preset reference parameter corresponding to the first reference position point by using a similar triangle principle; and acquiring a second reference position point corresponding to the auxiliary position point in the sea surface image by using a small hole imaging principle, and acquiring a second preset reference parameter corresponding to the second reference position point by using a similar triangle principle.
In one embodiment, the computer program when being executed by the processor further performs the step of obtaining a first preset reference parameter corresponding to the first reference location point, further: acquiring a corresponding equipment mapping point of a focus of the image acquisition equipment on the sea surface image; acquiring a first reference horizontal distance from image acquisition equipment to an equipment mapping point, and acquiring a first reference height from a first reference position point to the equipment mapping point; and obtaining a first preset reference parameter corresponding to the first reference position point according to the first reference horizontal distance and the first reference height.
In one embodiment, the computer program when being executed by the processor further performs the step of obtaining a second preset reference parameter corresponding to the second reference location point, to: acquiring a corresponding equipment mapping point of a focus of the image acquisition equipment on the sea surface image; acquiring a first reference horizontal distance from the image acquisition equipment to the equipment mapping point, and acquiring a second reference height from a second reference position point to the equipment mapping point; and obtaining a second preset reference parameter corresponding to the second reference position point according to the first reference horizontal distance and the second reference height.
In one embodiment, the computer program when being executed by the processor performs the step of obtaining a corresponding actual distance between pixels in the sea surface image over the sea surface area according to the preset auxiliary parameters and the preset reference parameters is further configured to: establishing a first relation between a first preset auxiliary parameter and a first preset reference parameter by using a similar triangle principle; establishing a second relation between a second preset auxiliary parameter and a second preset reference parameter by using a similar triangle principle; and obtaining a homography relation between the actual distance on the sea surface area and the pixel distance on the sea surface image according to the first relation and the second relation, and calculating the actual distance of the sea surface area corresponding to the distance between the pixels on the sea surface image according to the homography relation.
In one embodiment, the computer program when being executed by the processor for carrying out the step of determining the auxiliary location point at sea level corresponding to the sea surface area is further adapted to: acquiring an acquisition view field angle corresponding to image acquisition equipment; and determining the auxiliary position point on the sea level, so that the angle formed by the auxiliary position point and the image acquisition equipment on the sea level is half of the angle of the acquisition field of view.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware related to instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above examples only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A method of sea surface distance acquisition, the method comprising:
receiving a sea surface image about a sea surface area, which is acquired by an image acquisition device;
determining auxiliary position points on the sea level corresponding to the sea surface area, and respectively acquiring each preset auxiliary parameter corresponding to the auxiliary position points and the sea level line;
respectively extracting reference position points corresponding to the sea level line and the auxiliary position points from the sea surface image, and acquiring each preset reference parameter corresponding to each reference position point;
and obtaining the actual distance of the sea surface region corresponding to the distance between the pixels on the sea surface image according to the preset auxiliary parameters and the preset reference parameters.
2. The method according to claim 1, wherein the obtaining respective preset auxiliary parameters corresponding to the auxiliary location point and the sea horizon respectively comprises:
acquiring a first horizontal distance from the image acquisition equipment to the sea level and a height from the image acquisition equipment to the sea level; obtaining a first preset auxiliary parameter corresponding to the sea horizon according to the first horizontal distance and the height;
acquiring a second horizontal distance from the image acquisition equipment to the auxiliary position point and the height from the image acquisition equipment to the sea level; and obtaining a second preset auxiliary parameter corresponding to the auxiliary position point according to the height and the second horizontal distance.
3. The method of claim 2, wherein said obtaining a first horizontal distance of the image capture device to the sea level comprises:
acquiring the earth radius corresponding to the position of the sea surface area;
obtaining a first horizontal distance from the image acquisition equipment to the sea level line according to the height from the image acquisition equipment to the sea level and the radius of the earth through the pythagorean theorem;
the obtaining a second horizontal distance from the image capture device to the auxiliary location point comprises:
acquiring an equipment mapping point of the image acquisition equipment on the sea level;
and obtaining a second horizontal distance from the image acquisition equipment to the auxiliary position point according to the equipment mapping point and the auxiliary position point.
4. The method according to claim 1, wherein the extracting reference position points corresponding to the sea horizon and the auxiliary position points from the sea surface image respectively and obtaining respective preset reference parameters corresponding to the reference position points comprises:
acquiring a first reference position point corresponding to the sea horizon in the sea surface image by using a small hole imaging principle, and acquiring a first preset reference parameter corresponding to the first reference position point by using a similar triangle principle;
and acquiring a second reference position point corresponding to the auxiliary position point in the sea surface image by using a small hole imaging principle, and acquiring a second preset reference parameter corresponding to the second reference position point by using a similar triangle principle.
5. The method according to claim 4, wherein obtaining the first preset reference parameter corresponding to the first reference location point comprises:
acquiring a device mapping point corresponding to the focal point of the image acquisition device on the sea surface image;
acquiring a first reference horizontal distance from the image acquisition equipment to the equipment mapping point, and acquiring a first reference height from a first reference position point to the equipment mapping point;
obtaining a first preset reference parameter corresponding to the first reference position point according to the first reference horizontal distance and the first reference height;
acquiring a second preset reference parameter corresponding to the second reference position point, including:
acquiring a device mapping point corresponding to the focal point of the image acquisition device on the sea surface image;
acquiring a first reference horizontal distance from the image acquisition equipment to the equipment mapping point, and acquiring a second reference height from the second reference position point to the equipment mapping point;
and obtaining a second preset reference parameter corresponding to the second reference position point according to the first reference horizontal distance and the second reference height.
6. The method according to claim 4 or 5, wherein the obtaining of the distance between the pixels on the sea surface image according to the preset auxiliary parameters and the preset reference parameters corresponds to the actual distance of the sea surface region, and comprises:
establishing a first relation between the first preset auxiliary parameter and the first preset reference parameter by using a similar triangle principle;
establishing a second relation between the second preset auxiliary parameter and the second preset reference parameter by using a similar triangle principle;
and obtaining a homography relation between the actual distance on the sea surface area and the pixel distance on the sea surface image according to the first relation and the second relation, and calculating the actual distance of the sea surface area corresponding to the distance between the pixels on the sea surface image according to the homography relation.
7. The method of claim 1, wherein said determining an auxiliary location point at a sea level corresponding to said sea surface area comprises:
acquiring an acquisition view field angle corresponding to the image acquisition equipment;
determining the auxiliary position point on the sea level so that the angle formed by the auxiliary position point and the image acquisition equipment on the sea level is half of the acquisition field angle.
8. A sea surface distance correspondence obtaining apparatus, characterized by comprising:
the image acquisition module is used for receiving a sea surface image about a sea surface area acquired by the image acquisition equipment;
the auxiliary information acquisition module is used for determining auxiliary position points on the sea level corresponding to the sea surface area and respectively acquiring each preset auxiliary parameter corresponding to the auxiliary position points and the sea level line;
a reference information obtaining module, configured to extract reference position points corresponding to the sea horizon and the auxiliary position points from the sea surface image, and obtain preset reference parameters corresponding to the reference position points;
and the corresponding relation establishing module is used for obtaining the actual distance of the sea surface area corresponding to the distance between the pixels on the sea surface image according to each preset auxiliary parameter and each preset reference parameter.
9. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of any one of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
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Application publication date: 20200526 |