CN112200875B - Method and system for cross-coupling error compensation and image matching correction of non-metrology camera - Google Patents
Method and system for cross-coupling error compensation and image matching correction of non-metrology camera Download PDFInfo
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Abstract
The invention provides a non-measurement camera cross coupling error compensation and image matching correction method and system. Under the change of the camera attitude, the rotation angle of the camera attitude is known, a rotation matrix under a new attitude is obtained through a transformation matrix obtained by the rotation angle of the camera and a rotation matrix under a reference, and a translation vector under the new attitude is obtained through a translation vector derivation formula. The non-measuring camera can obtain the internal and external parameters of the camera in real time in the zooming and rotating processes, so that the points of the object world coordinate system can be matched and mapped onto the camera image in real time. In addition, the invention improves the matching error of the object space and the image space caused by the cross coupling phenomenon in the rotation process of the camera.
Description
Technical Field
The invention relates to the field of camera photogrammetry, in particular to a method and a system for cross coupling error compensation and image matching correction of a non-metrology camera.
Background
With the development of social economy and science and technology, in recent years, people have higher and higher requirements on safety and technical prevention. With the introduction of various novel security concepts, the digital video monitoring system is widely applied to the security protection field of various industries and departments in the society, and the video monitoring technology plays an important role in the public security field.
With the development of camera technology, the monitoring camera adopted by a video monitoring system is changed from an analog camera to a digital camera, and the existing video monitoring system basically adopts a high-definition digital camera. The current video monitoring system mostly adopts a fixed camera to monitor a certain scene. For a wide range of areas, such as airports, customs, squares, train stations, etc., a single camera often cannot cover the entire area (populus construction. debate the crime prevention function and crime detection value of video surveillance [ J ]. crime research, 2011,01: 64-74.). In practical application, two methods can be adopted to solve the problem of large-scale video monitoring: one approach is to cover the entire monitoring area with multiple fixed cameras; the other method is to monitor the whole area by utilizing a PTZ camera which is arranged on a fixed cloud deck and can rotate left, right, up and down according to a control command, wherein the PTZ camera rotates and scans repeatedly in the monitored area according to the control command. Compared with the fixed camera in the first method, the PTZ camera can flexibly rotate according to the control instruction, can cover a larger area, and is a mainstream camera widely adopted in the current video monitoring system.
A PTZ (Pan/Tilt/Zoom) camera is a monitoring device integrating components such as a high-resolution camera, a variable-speed Pan/Tilt head, and an optical Zoom lens, and is widely used in various industries of modern industries because of its high flexibility. With the development of measurement technology, although the conventional fixed-parameter still camera can complete image matching through fixed internal orientation elements and external orientation elements (rotation matrix and translation matrix of the camera), the conventional fixed-parameter still camera is not sufficient for photogrammetry work under certain environments. The PTZ camera is more suitable for being applied to some photogrammetry fields due to the flexibility of the PTZ camera. Image matching of object space and image space is a common problem in these photogrammetry fields.
Due to the zooming and speed changing cloud deck of the PTZ camera, the inner orientation element and the outer orientation element of the camera need to be acquired in real time by using image matching. Although this can be done with a metrology PTZ camera designed specifically for measurement, the fabrication process is too complex and expensive. The non-measurement PTZ camera has no real-time inner orientation element and outer orientation element of the camera, and has cross coupling errors in the rotation process caused by defects of the camera. In the description of the present application, the internal orientation element of the camera is also referred to as an internal reference or an internal reference matrix of the camera; the exterior orientation element of the camera is also referred to as the exterior reference or exterior reference matrix of the camera.
At present, PTZ external orientation element solving based on SIFT matching cloud deck camera attitude change detection (forest Bixian; Shilin; Xuchanglu; Zhouyang, university of Nanjing teacher, 2016.12.28) has the problem that when the matching points of two frames of pictures of the PTZ camera are too few, the solving of the external orientation element of the camera is greatly distorted. Although the internal parameters of the PTZ camera can be obtained by a method (royal rui, yanggul, von tunnel, beijing university of aerospace, 2017.03.22) of calibrating the PTZ camera by only two scene images, in real-time image matching, one frame of image cannot be used for obtaining the internal parameters, and the real-time requirement cannot be met. Meanwhile, the mode of finding the internal and external orientation elements is based on the mode of finding the image feature points, and in actual work, in the image under the illumination condition, the matching of the image feature points may not have a good effect, so that the feature points of the two images are difficult to find. That is, the way of acquiring the internal and external orientation elements by the PTZ camera needs to be solved by other ways in the field of image matching.
In the field of camera photogrammetry, cameras used for photogrammetry can be generally divided into metrology cameras and non-metrology cameras. For metrology cameras designed specifically for measurement, with known internal orientation elements, focal length, less lens distortion, and orientation equipment, a relatively high degree of accuracy can be achieved. However, the manufacturing process of the measuring camera is too complex and expensive, so that the measuring camera is not suitable for the requirement of common scenes for civil use. Compared with a measuring camera which is expensive and complicated in equipment, a non-measuring camera is widely applied in practice due to the characteristics of low price, flexibility, portability and the like, but the non-measuring camera does not have a facility for accurately measuring the inner orientation elements and cannot acquire the inner orientation elements of the camera after zooming in real time; and in the camera rotation process, cross coupling errors in the rotation process caused by defects of the non-metrology camera exist.
Disclosure of Invention
The invention provides a method and a system for compensating cross coupling errors of a non-measuring camera and correcting image matching, which are used for improving the cross coupling errors in a rotating process caused by the defects of the non-measuring camera.
In a first aspect, an embodiment of the present invention provides a method for cross-coupling error compensation and image matching correction of a non-metrology camera, including:
s1, defining a world coordinate system, and acquiring an external reference matrix under the reference posture of the non-measuring camera; wherein the external parameter matrix comprises a rotation matrix and a translation vector;
s2, zooming the non-measurement camera to obtain an internal reference matrix under the zooming of the non-measurement camera;
s3, after the camera posture is rotated, a camera transformation matrix is obtained, and an external parameter matrix under the camera rotation posture is obtained according to the external parameter matrix under the reference posture and the transformation matrix;
s4, based on the camera internal and external parameters obtained in the steps S1-S3, correcting the camera transformation matrix by using a cross-coupling error compensation registration algorithm;
and S5, obtaining a corrected external reference matrix according to the corrected camera transformation matrix, and then matching the object space with the image space according to the internal reference matrix under zooming and the corrected external reference matrix.
Further, in step S1, defining a world coordinate system specifically includes:
and setting the origin of the world coordinate system at the position of the camera, acquiring the longitude and latitude of the target area point from the Shapefile file, and converting the longitude and latitude of the target area point into physical coordinates in the world coordinate system.
Further, in step S1, acquiring an external reference matrix in the non-metrology camera reference pose specifically includes:
and converting the solving problem of the rotation matrix and the translation vector of the non-measuring camera into a PnP problem for solving to obtain an external parameter matrix under the reference attitude of the non-measuring camera.
Further, in step S2, acquiring an internal reference matrix under the zoom of the non-metrology camera specifically includes:
s21, acquiring internal reference matrixes of the camera under multiple focal length multiplying powers through a Zhangyingyou calibration algorithm;
s22, according to the internal reference matrix of the camera under a plurality of focal length multiplying powersFitting the focal length multiplying power of the camera and the focal length of the pixel in the internal reference matrix to obtain the focal length multiplying power and the focal length of the pixelf x 、f y A one-dimensional linear equation of (2);
s23, obtaining the coordinate of the center point of the camera picture according to the resolution of the camerac x 、c y And then by zooming downf x 、f y 、c x 、c y And constructing an internal reference matrix under the zooming of the non-metrology camera.
Further, step S3 specifically includes:
s31, acquiring a camera transformation matrix according to the rotation angle of the camera attitude after the camera attitude changes;
s32, right multiplying the rotation matrix in the reference posture by the camera transformation matrix to obtain the rotation matrix in the camera rotation posture;
and S33, taking the translation vector in the reference posture as a reference, and obtaining the translation vector in the rotation posture through a translation vector derivation formula.
Further, in step S4, based on the camera internal and external parameters obtained in steps S1 to S3, correcting the camera transformation matrix by using a cross-coupling error compensation registration algorithm, which specifically includes:
s41, after the camera posture is rotated, the rotation of the non-measuring camera is divided into horizontal rotation and vertical rotation; acquiring an external parameter matrix of the non-measuring camera under the same-magnification focal length at intervals of 10 degrees in the horizontal rotation direction of the non-measuring camera;
s42, converting the rotation matrix in the external reference matrix into a roll angle, a pitch angle and a course angle of a world coordinate system;
s43, rotating the roll angle, the pitch angle and the course angle which are obtained according to the S42 in the world coordinate system to a corresponding camera coordinate system under the corresponding horizontal rotation angle of the camera to obtain the real postures of the camera coordinate system every 10 degrees in the horizontal rotation process of the non-measuring camera;
s44, obtaining a rotation matrix and a translation vector of which the middle value of the horizontal rotation angle of the camera is used as a reference, obtaining an external parameter matrix to be corrected at intervals of 10 degrees in the horizontal rotation direction of the camera through the steps S31-S32, and repeating the steps S42-S43 based on the external parameter matrix to be corrected to obtain the error posture of a camera coordinate system at intervals of 10 degrees in the horizontal rotation process of the non-measuring camera;
s45, comparing the real attitude and the error attitude of the camera coordinate system, and analyzing to obtain the compensation values of the roll angle and the pitch angle in the horizontal rotation process of the non-measuring camera;
s46, obtaining compensation values of a camera roll angle and a heading angle in the vertical rotation process of the camera in the same manner as S41-S45; and obtaining the corrected roll angle, pitch angle and course angle according to respective compensation values of the roll angle, pitch angle and course angle of the camera, and further obtaining a corrected camera transformation matrix.
Further, in step S5, obtaining a modified external reference matrix according to the modified camera transformation matrix, specifically including:
and right multiplying the rotation matrix in the reference posture by the corrected camera transformation matrix to obtain a corrected external parameter matrix.
In a second aspect, an embodiment of the present invention further provides a system for cross-coupling error compensation and image matching correction of a non-metrology camera, including:
the reference posture external reference acquisition module is used for defining a world coordinate system and acquiring an external reference matrix under the reference posture of the non-measuring camera; wherein the external parameter matrix comprises a rotation matrix and a translation vector;
the zoom internal reference acquisition module is used for zooming the non-metrology camera to acquire an internal reference matrix under the zoom of the non-metrology camera;
the camera comprises a rotation posture external parameter acquisition module, a reference posture external parameter acquisition module and a camera conversion module, wherein the rotation posture external parameter acquisition module is used for acquiring a camera conversion matrix after the camera posture is rotated, and acquiring an external parameter matrix under the camera rotation posture according to the external parameter matrix under the reference posture and the conversion matrix;
the cross coupling error compensation module is used for correcting the camera transformation matrix by utilizing a cross coupling error compensation registration algorithm based on the internal and external parameters of the camera;
and the image matching correction module is used for obtaining a corrected external reference matrix according to the corrected camera transformation matrix and then matching the object space with the image space according to the zoom internal reference matrix and the corrected external reference matrix.
In a third aspect, an embodiment of the present invention provides an electronic device, including a processor, a memory, a communication interface, and a bus; the processor, the memory and the communication interface complete mutual communication through the bus; the memory stores program instructions executable by the processor, and the processor invokes the program instructions to perform the steps of the non-metrology camera cross-coupling error compensation and image matching correction method described above.
In a fourth aspect, embodiments of the present invention provide a non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform the steps of the non-metrology camera cross-coupling error compensation and image matching correction method described above.
Compared with the prior art, the cross coupling error compensation and image matching correction method and system for the non-measurement camera provided by the embodiment of the invention have the following beneficial effects:
1. the invention can be realized on a civil low-cost non-measuring camera, and saves the cost compared with a measuring camera with high price.
2. According to the method provided by the invention, the internal and external parameters of the camera can be obtained in real time in the zooming and rotating processes of the non-measurement camera, so that the points of the object world coordinate system can be matched and mapped onto the camera image in real time.
3, the method can greatly improve the image matching error caused by cross coupling in the rotation process of the non-measurement PTZ camera.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic flow chart illustrating a cross-coupling error compensation and image matching correction method for a non-metrology camera according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a world coordinate system, a camera coordinate system, an image coordinate system, and a pixel coordinate system provided by an embodiment of the invention;
FIG. 3 is a diagram of a transformation relationship among a world coordinate system, a camera coordinate system, an image coordinate system, and a pixel coordinate system according to an embodiment of the present invention;
FIG. 4 is a comparison graph of true attitude and error attitude of a camera coordinate system according to an embodiment of the present invention;
FIG. 5 is a block diagram of a cross-coupling error compensation and image matching correction system for a non-metrology camera according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments. It is to be understood that the "non-metrology camera" in the present invention is also simply referred to as "camera" for brevity of description.
In the field of camera photogrammetry, cameras used for photogrammetry can be generally divided into metrology cameras and non-metrology cameras. For metrology cameras designed specifically for measurement, with known internal orientation elements, focal length, less lens distortion, and orientation equipment, a relatively high degree of accuracy can be achieved. However, the manufacturing process of the measuring camera is too complex and expensive, so that the measuring camera is not suitable for the requirement of common scenes for civil use. Compared with a measuring camera which is expensive and complicated in equipment, a non-measuring camera is widely applied in practice due to the characteristics of low price, flexibility, portability and the like, but the non-measuring camera does not have a facility for accurately measuring the inner orientation elements and cannot acquire the inner orientation elements of the camera after zooming in real time; and in the camera rotation process, cross coupling errors in the rotation process caused by defects of the non-metrology camera exist.
In view of the above problems in the prior art, embodiments of the present invention provide a cross-coupling error compensation and image matching correction method for a non-metrology camera, so that the non-metrology camera can obtain internal and external parameters of the camera in real time during zooming and rotating processes, and thus, points of an object world coordinate system can be matched and mapped onto a camera image in real time. And. The invention can greatly improve the image matching error caused by cross coupling in the rotation process of the non-measurement PTZ camera. The following description and description of various embodiments are presented in conjunction with the following drawings.
Fig. 1 is a schematic flow chart of a cross-coupling error compensation and image matching correction method for a non-metrology camera according to an embodiment of the present invention, and as shown in fig. 1, in order to improve a cross-coupling error in a rotation process caused by a defect of the non-metrology camera, a cross-coupling error compensation and image matching correction method for a non-metrology camera according to an embodiment of the present invention is provided. The method comprises the following steps:
s1, defining a world coordinate system, and acquiring an external reference matrix under the reference posture of the non-measuring camera; wherein the external parameter matrix comprises a rotation matrix and a translation vector. The reference posture is the posture of the camera at the moment when the camera shoots the target area picture, and the reference posture can be set manually.
Specifically, fig. 2 is a schematic diagram of a world coordinate system, a camera coordinate system, an image coordinate system, and a pixel coordinate system according to an embodiment of the present invention. The relationship of the four coordinate systems in image matching is shown in fig. 2. Wherein, the world coordinate system: xw、Yw、Zw. Camera coordinate system: xc、Yc、Zc. Image coordinate system: x and y. Pixel coordinate system: u and v. The axis of the camera coordinate system coincides with the optical axis, and is perpendicular to the plane of the image coordinate system and passes through the origin of the image coordinate system, and the distance between the camera coordinate system and the image coordinate system is the focal length f (i.e. the origin of the image coordinate system coincides with the focal point). The pixel coordinate system plane u-v coincides with the image coordinate system plane x-y, with the origin of the pixel coordinate system being located in the upper left corner of fig. 2.
In this embodiment, the origin of the world coordinate system is set at the position of the camera, the latitude and longitude of the target area point are obtained from the Shapefile file, and the latitude and longitude of the target area point are converted into the physical coordinates in the world coordinate system. And then, converting the solving problem of the rotation matrix and the translation vector of the non-measuring camera into a PnP problem for solving to obtain an external parameter matrix under the reference posture of the non-measuring camera. The external reference matrix includes a rotation matrix and a translation vector, which together describe how to convert the points from the world coordinate system to the camera coordinate system. Wherein the rotation matrix describes the direction of the coordinate axes of the world coordinate system with respect to the camera coordinate axes and the translation vector describes the position of the spatial origin in the camera coordinate system.
The conversion relationship among the world coordinate system, the camera coordinate system, the image coordinate system, and the pixel coordinate system is shown in fig. 3. The rigid body is transformed into coordinate transformation from a world coordinate system to a camera coordinate system, the perspective projection is the coordinate transformation from the camera coordinate system to an image coordinate system, and the second transformation is the coordinate transformation from the image coordinate system to a pixel coordinate system.
The object space and the image space are converted, and the conversion formula of the world coordinate system and the pixel coordinate system is as follows:
the non-metrology camera has an internal reference matrix of
。
Wherein the content of the first and second substances,f x andf y respectively the pixel focal length of the camera;c x 、c y representing the camera frame center point.
And
respectively a rotation matrix and a translation vector in the external parameters of the camera,
is a scale factor.
After the internal reference matrix and the external reference matrix in the non-measuring camera reference posture are obtained, in order to verify the subsequent non-measuring camera image matching correction, the invention matches the object space with the image space in the camera reference posture according to the conversion formula of the world coordinate system and the pixel coordinate system, namely, the world coordinate of the target area point is converted into the pixel coordinate in the camera reference posture. The object space is a space where an object shot by the camera is located, and the image space is a space where an image point is located.
S2, zooming the non-measurement camera to obtain an internal reference matrix under the zooming of the non-measurement camera;
the camera can realize the conversion between the object space and the image space under the fixed focal length and the fixed posture. But as the PTZ camera zooms, the camera's internal parameters change. The non-metrology camera does not have a facility for accurately measuring the inner orientation element, and during real-time non-metrology PTZ camera shooting, camera internal parameters cannot be obtained by calibrating all the time when the camera zooms, so that the existing non-metrology camera cannot obtain the inner orientation element after the camera zooms in real time.
To address this problem, in one embodiment, the present invention provides a method, through steps S21 to S23, for a non-metrology camera to obtain an internal reference matrix of the camera in real time during zooming.
And S21, acquiring internal reference matrixes of the camera under a plurality of focal length multiplying factors through a Zhangyingyou calibration algorithm. In the internal reference matrix of the camera,f x andf y are substantially equal, i.e.
，fIs the focal length of the camera and,dx，dywhich are the physical dimensions of a pixel in the x and y directions, respectively. Therefore, it is not only easy to usef x 、f y Andfthe focal length is in a direct proportional linear relationship.
S22, according to the internal reference matrix under the multiple focal length multiplying factors of the camera, fitting the focal length multiplying factor of the camera and the pixel focal length in the internal reference matrix to obtain the focal length multiplying factor and the pixel focal lengthf x 、f y A one-dimensional linear equation of (a).
Labeling internal reference matrixes with 1 time, 2 times and 3 times of magnification at 10 times of focal length, taking the focal length magnification as a dependent variable, and obtaining the parameters in the internal reference matrixesf x 、f y Fitting is carried out on the dependent variable to obtain a fitting function. It can be found at this time that the focal length magnification is the abscissa,f x andf y in a coordinate system of a vertical coordinate, points can be approximately connected into a straight line, and the sum of focal length multiplying power is verifiedf x 、f y Is a direct proportional linear relationship. Therefore, the focal length magnification and the pixel focal length can be obtainedf x 、f y A one-dimensional linear equation of (a).
S23, obtaining the coordinate of the center point of the camera picture according to the resolution of the camerac x 、c y And then by zooming downf x 、f y 、c x 、c y And constructing an internal reference matrix under the zooming of the non-metrology camera.
In an internal reference matrixc x 、c y The coordinate of the pixel point of the camera light beam on the image is the pixel coordinate point at the center of the image under the condition of neglecting the deviation of the lens of the camera, namelyc x 、c y Half the resolution of the camera. Obtaining the zoom lens of the camera through the steps S21-S23f x 、f y 、c x 、c y Then, the internal reference matrix of the camera under zooming can be obtained.
S3, after the camera posture is rotated, a camera transformation matrix is obtained, and an external parameter matrix under the camera rotation posture is obtained according to the external parameter matrix under the reference posture and the transformation matrix;
as the non-metrology camera pose varies, the camera's external parameters (rotation matrix and translation vector) change. The non-measuring camera does not have a facility for accurately measuring the exterior orientation element, and the camera pose cannot be always calibrated to acquire the camera exterior parameter when the camera pose changes in real-time non-measuring PTZ camera shooting, so that the existing non-measuring camera cannot acquire the exterior orientation element after the camera pose changes in real time.
To address this problem, in one embodiment, the present invention provides a method, through steps S31 to S33, for a non-metrology camera to obtain an external reference matrix of the camera in real time during rotation, so that points of an object world coordinate system can be matched and mapped onto a camera image in real time.
S31, acquiring a camera transformation matrix according to the rotation angle of the camera attitude after the camera attitude changes; the rotation angle of the camera attitude comprises a roll angle, a pitch angle and a heading angle.
And S32, right-multiplying the rotation matrix in the reference posture by the camera transformation matrix to obtain the rotation matrix in the camera rotation posture.
In the external parameter matrix of the camera, the rotation matrix after rotating the camera posture utilizes the rotation matrix synthesis rule
And (4) obtaining. C is the world coordinate system, a is the camera coordinate system after the camera pose is rotated, and B is the camera coordinate system before the camera pose is rotated, i.e. the camera coordinate system in the reference pose.
A rotation matrix for C to a,
for a rotation matrix of C to B,
the transformation matrix for B to a is rotated. Therein is known
Is required to obtain
. After the camera pose changes, the rotation angle parameters provided by the camera API are converted into a transformation matrix of B rotation to A
. The specific principle is as follows:
let the angles of rotation around the three XYZ axes be α, β, γ, respectively. Wherein alpha, beta and gamma are respectively a roll angle, a pitch angle and a course angle in the rotation process of the camera. Then transform the matrix
The calculation method of (2) is as follows:
wherein the content of the first and second substances,
、
and
which respectively represent transformation matrices that rotate only about the X-axis, only about the Y-axis, and only about the Z-axis.
According to the internal rotation mode, the rotation sequence of the Z-Y-X axis (firstly around the self axis Z, then around the self axis Y, and finally around the self axis X), a transformation matrix can be obtained: . Rotation matrix at reference attitude
Transformation matrix for right-handed camera
I.e. obtaining the rotation matrix in the rotation attitude of the camera
。
And S33, taking the translation vector in the reference posture as a reference, and obtaining the translation vector in the rotation posture through a translation vector derivation formula.
The translation vector in the reference pose of the known camera is
The translation vector of the A position after the attitude of the rotating camera needs to be obtained as
. Assuming P is a point in space, then there is
. Knowing the position of the origin of the camera coordinate system in world coordinatesIs arranged as
. The translation vector after rotating the camera can be obtained by this equation as:
。
after obtaining the internal reference matrix after zooming the non-measurement camera and the external reference matrix after rotating the camera attitude, the present invention can real-time convert the object space and the image space during the camera zooming rotation process by using the conversion formula of the world coordinate system and the pixel coordinate system in the step S1, so as to realize the real-time matching and mapping of the points of the object world coordinate system to the camera image.
In order to verify a matching error between an object space and an image space caused by a cross coupling phenomenon in a camera rotation process, in one embodiment of the invention, according to an internal reference matrix after a non-measurement camera is zoomed and an external reference matrix after a camera is rotated to a posture, a conversion formula of a world coordinate system and a pixel coordinate system is utilized, and after the camera is zoomed and the camera is rotated to a posture, the object space is matched with the image space, namely, the world coordinate of a target area point is converted into the pixel coordinate under the camera rotation posture.
And S4, based on the camera internal and external parameters obtained in the steps S1-S3, correcting the camera transformation matrix by using a cross-coupling error compensation registration algorithm.
In the actual conversion process between the object space and the image space, the horizontal and vertical rotations acquired by the non-metrology PTZ camera may not be completely the angle of the camera around the x, y, and z axes due to the installation or manufacturing process of the camera, which may cause the transformation matrix of the camera from the B position to the a position to be not completely equal to the actual transformation matrix, so that the conversion between the object space and the image space has a cross coupling error.
To address this problem, in one embodiment, the method provided by the present invention improves the image matching error caused by cross coupling during the rotation of the non-metrology PTZ camera through the following steps S41-S46.
S41, after the camera posture is rotated, the rotation of the non-measuring camera is divided into horizontal rotation and vertical rotation; acquiring an external parameter matrix of the non-measuring camera under the same-magnification focal length at intervals of 10 degrees in the horizontal rotation direction of the non-measuring camera;
specifically, any rotation of the camera can be split into horizontal rotation and vertical rotation, and the rotation of the non-metrology camera is split into horizontal rotation and vertical rotation in this embodiment. Firstly, aiming at horizontal rotation, converting the solving problem of the rotation matrix and the translation vector of the non-measuring camera into a PnP problem for solving through the external reference calibration method in the step S1, and obtaining a calibration external reference matrix at intervals of 10 degrees in the horizontal rotation direction of the non-measuring camera under the same magnification focal length. Here, the calibration external reference matrix is an accurate external reference matrix obtained by external reference calibration.
And S42, converting the rotation matrix in the external reference matrix into a roll angle, a pitch angle and a heading angle of a world coordinate system.
The rotation matrix obtained by the external reference calibration in step S41 is converted into a roll angle α, a pitch angle β, and a heading angle γ of the world coordinate system according to the following formulas. The roll angle, the pitch angle and the course angle are angles corresponding to a world coordinate system.
And S43, rotating the roll angle, the pitch angle and the course angle obtained according to the S42 in the world coordinate system to the corresponding camera coordinate system under the corresponding horizontal rotation angle of the camera, and obtaining the real postures of the camera coordinate system every 10 degrees in the horizontal rotation process of the non-measuring camera.
S44, obtaining a rotation matrix and a translation vector of which the middle value of the horizontal rotation angle of the camera is used as a reference, obtaining an external parameter matrix to be corrected at intervals of 10 degrees in the horizontal rotation direction of the camera through the steps S31-S32, and repeating the steps S42-S43 based on the external parameter matrix to be corrected to obtain the error posture of the camera coordinate system at intervals of 10 degrees in the horizontal rotation process of the non-measurement camera.
It will be appreciated that the horizontal and vertical rotation acquired by a non-metrology PTZ camera may not be exactly the angle of the camera about the x, y, z axes due to the camera mounting or manufacturing process, which may result in the transformation matrix of the camera from the B position to the a position not being exactly equal to the actual transformation matrix. Therefore, the external reference matrix to be corrected obtained in the manner of steps S31-S32 exists errors at intervals of 10 degrees in the horizontal rotation direction of the camera.
And S45, comparing the real attitude and the error attitude of the camera coordinate system, and analyzing to obtain the compensation values of the roll angle and the pitch angle in the horizontal rotation process of the non-measuring camera.
Specifically, fig. 4 is a comparison graph of the true attitude and the error attitude of the camera coordinate system provided by the embodiment of the invention, wherein X is1Y1Z1The coordinate system represents the error attitude, X, of the camera coordinate system2Y2Z2The coordinate system represents the true pose of the camera coordinate system. Referring to fig. 4, it can be seen that the error posture of the camera coordinate system can be returned to the real posture of the camera coordinate system through the rotation of the roll angle and the pitch angle.
And comparing the real posture and the error posture of the camera coordinate system corresponding to the horizontal angle of the rotation of the camera. Observing the change relationship of the x, y and z axes along with the horizontal rotation angle of the camera in the coordinate system of the camera, the camera can be found to be accompanied by roll rotation and pitch rotation due to the installation and manufacturing processes of the camera in the horizontal rotation process of the camera, and the change values of the two angles can be found to be in direct proportion to the horizontal rotation degree value of the camera. This direct proportional value can be obtained by measurement. Therefore, after the camera rotates horizontally, the process of converting the matrix can be solved according to the horizontal rotation angle, the rolling angle alpha and the pitching angle beta of the rotation of the camera are compensated correspondingly, the compensation values of the rolling angle and the pitching angle in the horizontal rotation process of the non-measuring camera are obtained, and the real conversion angle after the camera rotates in posture is obtained.
S46, obtaining compensation values of a camera roll angle and a heading angle in the vertical rotation process of the camera in the same manner as S41-S45; and obtaining the corrected roll angle, pitch angle and course angle according to respective compensation values of the roll angle, pitch angle and course angle of the camera, and further obtaining a corrected camera transformation matrix according to the corrected roll angle, pitch angle and course angle. Thereby reducing errors.
And S5, obtaining a corrected external reference matrix according to the corrected camera transformation matrix, and then matching the object space with the image space according to the internal reference matrix under zooming and the corrected external reference matrix.
Specifically, the rotation matrix in the reference posture is right-multiplied by the corrected camera transformation matrix to obtain a corrected external reference matrix.
According to the embodiment of the invention, according to the internal reference matrix under zooming and the corrected external reference matrix, the conversion formula of the world coordinate system and the pixel coordinate system is utilized, and after the camera zooms and rotates the camera posture, the matching of the object space and the image space is carried out, namely, the world coordinate of the target area point is converted into the pixel coordinate under the camera rotation posture. After the cross-coupling error in the rotation process of the non-metrology camera is compensated, the image matching is greatly improved.
Table 1 shows the comparison of the results of the object space to the image space before and after the cross-coupling error compensation, and as shown in table 1, the error of the object space to the image space is still relatively large when the cross-coupling error is not compensated, and the effect is obviously improved after the cross-coupling error is compensated.
TABLE 1
Compared with the prior art, the cross coupling error compensation and image matching correction method and system for the non-measurement camera provided by the embodiment of the invention have the following beneficial effects:
1. the invention can be realized on a civil low-cost non-measuring camera, and saves the cost compared with a measuring camera with high price.
2. According to the method provided by the invention, the internal and external parameters of the camera can be obtained in real time in the zooming and rotating processes of the non-measurement camera, so that the points of the object world coordinate system can be matched and mapped onto the camera image in real time.
3, the method can greatly improve the image matching error caused by cross coupling in the rotation process of the non-measurement PTZ camera.
In an embodiment, fig. 5 is a block diagram of a cross-coupling error compensation and image matching correction system of a non-metrology camera according to an embodiment of the present invention, and referring to fig. 5, the system includes:
the reference posture external reference acquisition module 601 is used for defining a world coordinate system and acquiring an external reference matrix under a reference posture of the non-surveying camera; wherein the external parameter matrix comprises a rotation matrix and a translation vector;
a zoom internal reference obtaining module 602, configured to zoom the non-metrology camera to obtain an internal reference matrix of the non-metrology camera;
the rotating posture external reference acquiring module 603 is configured to acquire a camera transformation matrix after the camera posture is rotated, and acquire the external reference matrix in the camera rotating posture according to the external reference matrix in the reference posture and the transformation matrix;
a cross-coupling error compensation module 604, configured to modify the camera transformation matrix by using a cross-coupling error compensation registration algorithm based on internal and external parameters of the camera;
and the image matching correction module 605 is configured to obtain a corrected external reference matrix according to the corrected camera transformation matrix, and then perform matching between the object space and the image space according to the zoomed internal reference matrix and the corrected external reference matrix.
Specifically, how to perform the non-metrology camera cross-coupling error compensation and the image matching correction by using the modules may refer to the method embodiments described above, and this embodiment is not described herein again.
In one embodiment, based on the same concept, an embodiment of the present invention provides an electronic device, which may include: a processor (processor)701, a communication Interface (Communications Interface)702, a memory (memory)703 and a communication bus 704, wherein the processor 701, the communication Interface 702 and the memory 703 complete communication with each other through the communication bus 704. The processor 701 may invoke logic instructions in the memory 703 to perform the steps of the non-metrology camera cross-coupling error compensation and image matching correction methods provided in the embodiments described above, including, for example: s1, defining a world coordinate system, and acquiring an external reference matrix under the reference posture of the non-measuring camera; wherein the external parameter matrix comprises a rotation matrix and a translation vector; s2, zooming the non-measurement camera to obtain an internal reference matrix under the zooming of the non-measurement camera; s3, after the camera posture is rotated, a camera transformation matrix is obtained, and an external parameter matrix under the camera rotation posture is obtained according to the external parameter matrix under the reference posture and the transformation matrix; s4, based on the camera internal and external parameters obtained in the steps S1-S3, correcting the camera transformation matrix by using a cross-coupling error compensation registration algorithm; and S5, obtaining a corrected external reference matrix according to the corrected camera transformation matrix, and then matching the object space with the image space according to the internal reference matrix under zooming and the corrected external reference matrix.
In an embodiment, based on the same concept, the embodiment of the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program is implemented by a processor to perform the steps of the non-metrology camera cross-coupling error compensation and image matching correction method provided in the foregoing embodiments, for example, the steps of the method include: s1, defining a world coordinate system, and acquiring an external reference matrix under the reference posture of the non-measuring camera; wherein the external parameter matrix comprises a rotation matrix and a translation vector; s2, zooming the non-measurement camera to obtain an internal reference matrix under the zooming of the non-measurement camera; s3, after the camera posture is rotated, a camera transformation matrix is obtained, and an external parameter matrix under the camera rotation posture is obtained according to the external parameter matrix under the reference posture and the transformation matrix; s4, based on the camera internal and external parameters obtained in the steps S1-S3, correcting the camera transformation matrix by using a cross-coupling error compensation registration algorithm; and S5, obtaining a corrected external reference matrix according to the corrected camera transformation matrix, and then matching the object space with the image space according to the internal reference matrix under zooming and the corrected external reference matrix.
The embodiments of the present invention can be arbitrarily combined to achieve different technical effects.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, the terms "upper," "lower," and the like, indicate orientations or positional relationships that are based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The above-described system embodiments are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A method for cross-coupling error compensation and image matching correction for a non-metrology camera, comprising:
s1, defining a world coordinate system, and acquiring an external reference matrix under the reference posture of the non-measuring camera; wherein the external parameter matrix comprises a rotation matrix and a translation vector;
s2, zooming the non-measurement camera to obtain an internal reference matrix under the zooming of the non-measurement camera;
s3, after the camera posture is rotated, a camera transformation matrix is obtained, and an external parameter matrix under the camera rotation posture is obtained according to the external parameter matrix under the reference posture and the transformation matrix;
s4, based on the camera internal and external parameters obtained in the steps S1-S3, correcting the camera transformation matrix by using a cross-coupling error compensation registration algorithm;
and S5, obtaining a corrected external reference matrix according to the corrected camera transformation matrix, and then matching the object space with the image space according to the internal reference matrix under zooming and the corrected external reference matrix.
2. The method of claim 1, wherein the step S1 of defining a world coordinate system comprises:
and setting the origin of the world coordinate system at the position of the camera, acquiring the longitude and latitude of the target area point from the Shapefile file, and converting the longitude and latitude of the target area point into physical coordinates in the world coordinate system.
3. The method of claim 2, wherein the step S1 of obtaining the extrinsic matrix in the non-metrology camera reference pose comprises:
and converting the solving problem of the rotation matrix and the translation vector of the non-measuring camera into a PnP problem for solving to obtain an external parameter matrix under the reference attitude of the non-measuring camera.
4. The method of claim 1, wherein the step S2 of obtaining the intra-reference matrix under the zoom condition of the non-metrology camera comprises:
s21, acquiring internal reference matrixes of the camera under multiple focal length multiplying powers through a Zhangyingyou calibration algorithm;
s22, according to the internal reference matrix under the multiple focal length multiplying factors of the camera, fitting the focal length multiplying factor of the camera and the pixel focal length in the internal reference matrix to obtain the focal length multiplying factor and the pixel focal lengthf x 、f y A one-dimensional linear equation of (2);
s23, obtaining the coordinate of the center point of the camera picture according to the resolution of the camerac x 、c y And then by zooming downf x 、f y 、c x 、c y And constructing an internal reference matrix under the zooming of the non-metrology camera.
5. The method of claim 1, wherein the step S3 comprises:
s31, acquiring a camera transformation matrix according to the rotation angle of the camera attitude after the camera attitude changes;
s32, right multiplying the rotation matrix in the reference posture by the camera transformation matrix to obtain the rotation matrix in the camera rotation posture;
and S33, taking the translation vector in the reference posture as a reference, and obtaining the translation vector in the rotation posture through a translation vector derivation formula.
6. The method of claim 5, wherein in step S4, based on the camera internal and external parameters obtained in steps S1-S3, the method for correcting the camera transformation matrix by using a cross-coupling error compensation registration algorithm comprises:
s41, after the camera posture is rotated, the rotation of the non-measuring camera is divided into horizontal rotation and vertical rotation; acquiring an external parameter matrix of the non-measuring camera under the same-magnification focal length at intervals of 10 degrees in the horizontal rotation direction of the non-measuring camera;
s42, converting the rotation matrix in the external reference matrix into a roll angle, a pitch angle and a course angle of a world coordinate system;
s43, rotating the roll angle, the pitch angle and the course angle which are obtained according to the S42 in the world coordinate system to a corresponding camera coordinate system under the corresponding horizontal rotation angle of the camera to obtain the real postures of the camera coordinate system every 10 degrees in the horizontal rotation process of the non-measuring camera;
s44, obtaining a rotation matrix and a translation vector of which the middle value of the horizontal rotation angle of the camera is used as a reference, obtaining an external parameter matrix to be corrected at intervals of 10 degrees in the horizontal rotation direction of the camera through the steps S31-S32, and repeating the steps S42-S43 based on the external parameter matrix to be corrected to obtain the error posture of a camera coordinate system at intervals of 10 degrees in the horizontal rotation process of the non-measuring camera;
s45, comparing the real attitude and the error attitude of the non-measuring camera, and analyzing to obtain the compensation values of the roll angle and the pitch angle in the horizontal rotation process of the non-measuring camera;
s46, obtaining compensation values of a camera roll angle and a heading angle in the vertical rotation process of the camera in the same manner as S41-S45; and obtaining the corrected roll angle, pitch angle and course angle according to respective compensation values of the roll angle, pitch angle and course angle of the camera, and further obtaining a corrected camera transformation matrix.
7. The method as claimed in claim 1 or 6, wherein the step S5 of obtaining the modified external reference matrix according to the modified camera transformation matrix comprises:
and right multiplying the rotation matrix in the reference posture by the corrected camera transformation matrix to obtain a corrected external parameter matrix.
8. A system for cross-coupling error compensation and image matching correction for a non-metrology camera, comprising:
the reference posture external reference acquisition module is used for defining a world coordinate system and acquiring an external reference matrix under the reference posture of the non-measuring camera; wherein the external parameter matrix comprises a rotation matrix and a translation vector;
the zoom internal reference acquisition module is used for zooming the non-metrology camera to acquire an internal reference matrix under the zoom of the non-metrology camera;
the camera comprises a rotation posture external parameter acquisition module, a reference posture external parameter acquisition module and a camera conversion module, wherein the rotation posture external parameter acquisition module is used for acquiring a camera conversion matrix after the camera posture is rotated, and acquiring an external parameter matrix under the camera rotation posture according to the external parameter matrix under the reference posture and the conversion matrix;
the cross coupling error compensation module is used for correcting the camera transformation matrix by utilizing a cross coupling error compensation registration algorithm based on the internal and external parameters of the camera;
and the image matching correction module is used for obtaining a corrected external reference matrix according to the corrected camera transformation matrix and then matching the object space with the image space according to the zoom internal reference matrix and the corrected external reference matrix.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program performs the steps of the method for non-metrology camera cross-coupling error compensation and image matching correction as recited in any one of claims 1 to 7.
10. A non-transitory computer readable storage medium having stored thereon a computer program, wherein the computer program when executed by a processor implements the steps of the non-metrology camera cross-coupling error compensation and image matching correction method as recited in any one of claims 1 to 7.
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Denomination of invention: Method and System for Cross Coupling Error Compensation and Image Matching Correction of Non metric Cameras Effective date of registration: 20231022 Granted publication date: 20210226 Pledgee: China Construction Bank Corporation Wuhan Guanggu Free Trade Zone Branch Pledgor: WUHAN OPTICS VALLEY INFORMATION TECHNOLOGY CO.,LTD. Registration number: Y2023980061788 |