CN112967179B - Large-breadth imaging load image remapping method and system - Google Patents
Large-breadth imaging load image remapping method and system Download PDFInfo
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Abstract
The invention provides a method and a system for remapping a large-width imaging load image, which comprise the following steps: inputting an original image data block in a period of time, imaging time, three-axis attitude of a satellite and satellite position information. And carrying out pixel-by-pixel geographic positioning on the original image data. The geolocation of each pixel in the undistorted image is calculated. And establishing a local projection coordinate system. And mapping the three-dimensional position coordinates of the original image and the undistorted image into a plane. And implementing two-dimensional linear interpolation in a plane to obtain a remapped image. And outputting the remapped image and longitude and latitude of each pixel. The method is reasonable and easy to implement, and can be effectively applied to the image remapping of the large-amplitude wide imaging load.
Description
Technical Field
The invention relates to the field of remote sensing, in particular to a method and a system for remapping a large-width imaging load image.
Background
The breadth is an important index of the satellite load, the observation coverage rate of the satellite is influenced, and with the maturity of the moving parts on the satellite, the imaging load with large breadth is widely applied to the field of remote sensing. To achieve large-width imaging, the implementation can take many forms, such as: high track height, vertical rail scanning, conical scanning, multi-camera splicing, multi-detector array splicing and the like.
When the imaging load width is increased, the influence of the earth curvature is obvious, so that obvious geometric distortion exists in the image, and the image data needs to be remapped (sampled). The remote sensing instrument for earth observation theoretically has imaging targets distributed on a curved surface of a three-dimensional space, but most of the existing remapping methods are established on the basis of longitude and latitude grid projection, such as a document [1] (building Xiu forest, a rapid algorithm for remote sensing image data resampling, a remote sensing report, volume 6, phase 2, 2002), a document [2] (leaf golden seal, meteorological remote sensing image and grid field resampling interpolation method, computer engineering and application, volume 49, phase 18, 2013), Chinese academy of sciences Shanghai technical and physical research institute patent' remote sensing image data resampling method, patent No. ZL 200910049112.5. The pixel points of the three-dimensional space are projected in the longitude and latitude grids, so that the size information of the imaging area corresponding to the original pixel is lost, and the high-latitude earth sampling points are denser corresponding to the imaging areas with the same size on the earth. In consideration of the problem of different sizes of imaging areas, the Beijing aerospace university patent 'a remote sensing image resampling method based on imaging area synthesis, patent number ZL201110379706. X' proposes a method for determining each pixel quadrilateral imaging area of an original image and calculating a pixel gray value according to the overlapping area of pixels before and after sampling. The method can retain the size information of the imaging area corresponding to the pixels in the original image to a certain extent, but does not consider the influence of factors such as the earth curvature, non-quadrilateral imaging area and the like.
Disclosure of Invention
In view of the defects in the prior art, the present invention provides a method and a system for remapping a large-width imaging load image.
The invention provides a large-width imaging load image remapping method, which comprises the following steps:
an information acquisition step: acquiring an original image, an imaging moment, a satellite three-axis attitude and satellite position information within a period of time;
a three-dimensional position coordinate obtaining step: performing pixel-by-pixel geographic positioning on an original image according to the imaging time, the three-axis attitude of the satellite and the satellite position information to obtain a three-dimensional position coordinate in an earth rotation coordinate system corresponding to each pixel;
a calculation step: calculating three-dimensional position coordinates in an earth rotation coordinate system corresponding to each pixel in the undistorted image and longitude and latitude in a geodetic coordinate system according to the original nominal ground sampling interval of the large-width imaging load;
establishing a local projection coordinate system: establishing a local projection coordinate system;
a mapping step: mapping the three-dimensional position coordinates of the original image and the three-dimensional position coordinates of the undistorted image to a plane;
a remapping step: implementing two-dimensional linear interpolation in the plane to obtain a remapped image;
an output step: and outputting the remapped image and longitude and latitude of each pixel.
Preferably, the distortion-free image constructing method in the calculating step is to construct a linear array exposed at equal time intervals under a satellite orbit coordinate system, the visual axis of each pixel in the linear array is set according to a large-breadth imaging load original nominal ground vertical rail sampling interval, and the time intervals are according to a large-breadth imaging load original nominal ground along rail sampling interval, and the specific steps include:
step 3.1, setting the visual axis vector of each pixel of the linear array in a satellite orbit coordinate system, and if the visual axis vector in the direction of the sub-satellite point is
If the visual axis of the pixel deviates from the sub-satellite point by an angle a in the vertical orbit direction, the visual axis vector of the pixel in the satellite orbit system
Is composed of
Step 3.2, setting the constructed linear array exposure time interval, wherein if the sampling interval of the original nominal ground track of the large-amplitude wide imaging load is d, the average radius of the earth is R, and the average angular velocity of the satellite motion is mu, the constructed linear array exposure time interval t is
Step 3.3, determining the satellite position at the exposure time according to the exposure time interval;
and 3.4, calculating a three-dimensional position coordinate in an earth rotation coordinate system corresponding to each pixel in the undistorted image and longitude and latitude in a geodetic coordinate system according to the linear array visual axis vector and the satellite position.
Preferably, in the step of establishing the local projection coordinate system, the local projection coordinate system O l X l Y l Z l Origin O of coordinate system l The three-dimensional position coordinate in the earth rotation coordinate system corresponding to the image center point in the undistorted image is set as (x) middle ,y middle ,z middle ) Coordinate system Z l Axis directed to the center of the earth, coordinate system Y l Axial direction Z l Direction of cross multiplication of axis with direction of instantaneous speed of satellite, X l The axes are determined by the right hand rule.
Preferably, the mapping step comprises:
and 5.1, calculating the coordinates of the three-dimensional positions of the original image and the undistorted image in a local projection coordinate system.
And 5.2, calculating the coordinates of the three-dimensional positions of the original image and the undistorted image mapped into a plane coordinate system.
Preferably, in the mapping step, if the earth rotates in the coordinate system, the local projection coordinate system O is determined as the local projection coordinate system l X l Y l Z l O of (A) to (B) l X l Shaft, O l Y l Shaft, O l Z l The unit vectors corresponding to the axes are respectively
Then the three-dimensional position (x) of the original image ij ,y ij ,z ij ) In a local projection coordinate system (O) l X l Y l Z l ) Coordinates of (2)
Is composed of
Three-dimensional position (x) of undistorted image pq ,y pq ,z pq ) In a local projection coordinate system (O) l X l Y l Z l ) The coordinates of the two points are obtained in the same way;
local projection coordinate system (O) l X l Y l Z l ) Coordinates of (2)
Mapping to X l O l Y l After the plane, at X l O l Y l Position coordinates in a planar coordinate system
Is composed of
According to the invention, the large-width imaging load image remapping system comprises:
an information acquisition module: acquiring an original image, an imaging moment, a satellite three-axis attitude and satellite position information within a period of time;
a three-dimensional position coordinate acquisition module: performing pixel-by-pixel geographic positioning on an original image according to the imaging time, the three-axis attitude of the satellite and the satellite position information to obtain a three-dimensional position coordinate in an earth rotation coordinate system corresponding to each pixel;
a calculation module: calculating three-dimensional position coordinates in an earth rotation coordinate system corresponding to each pixel in the undistorted image and longitude and latitude in a geodetic coordinate system according to the original nominal ground sampling interval of the large-width imaging load;
the local projection coordinate system establishing module: establishing a local projection coordinate system;
a mapping module: mapping the three-dimensional position coordinates of the original image and the three-dimensional position coordinates of the undistorted image to a plane;
a remapping module: implementing two-dimensional linear interpolation in the plane to obtain a remapped image;
an output module: and outputting the remapped image and longitude and latitude of each pixel.
Preferably, the method for constructing an undistorted image in the computing module is to construct a linear array exposed at equal time intervals in a satellite orbit coordinate system, a visual axis of each pixel in the linear array is set according to a sampling interval of an original nominal ground vertical rail of a large-width imaging load, and the time interval is according to a sampling interval of an original nominal ground vertical rail of a large-width imaging load, and the specific module includes:
a module 3.1, setting the visual axis vector of each pixel of the linear array in the satellite orbit coordinate system, if the visual axis vector of the direction of the point under the satellite is
If the visual axis of the pixel deviates from the sub-satellite point by an angle a in the vertical orbit direction, the visual axis vector of the pixel in the satellite orbit system
Is composed of
And 3.2, setting the constructed linear array exposure time interval, wherein if the sampling interval of the original nominal ground track of the large-amplitude wide imaging load is d, the average radius of the earth is R, and the average angular velocity of the satellite motion is mu, the constructed linear array exposure time interval t is
A module 3.3, determining the satellite position at the exposure time according to the exposure time interval;
and a module 3.4 for calculating the three-dimensional position coordinates in the earth rotation coordinate system and the longitude and latitude in the geodetic coordinate system corresponding to each pixel in the undistorted image according to the linear array visual axis vector and the satellite position.
Preferably, in the local projection coordinate system establishing module, the local projection coordinate system O l X l Y l Z l Origin O of coordinate system l The three-dimensional position coordinate in the earth rotation coordinate system corresponding to the image center point in the undistorted image is set as (x) middle ,y middle ,z middle ) Coordinate system Z l Axis directed to the center of the earth, coordinate system Y l Axial direction Z l Direction of cross multiplication of axis with direction of instantaneous speed of satellite, X l The axes are determined by the right hand rule.
Preferably, the mapping module comprises:
and the module 5.1 is used for calculating the coordinates of the three-dimensional positions of the original image and the undistorted image in the local projection coordinate system.
And the module 5.2 is used for calculating the coordinates of the three-dimensional positions of the original image and the undistorted image which are mapped into a plane coordinate system.
Preferably, in the mapping module, if the earth rotates in the coordinate system, the local projection coordinate system O is l X l Y l Z l O of (A) to (B) l X l Shaft, O l Y l Shaft, O l Z l The unit vectors corresponding to the axes are respectively
Then the three-dimensional position (x) of the original image ij ,y ij ,z ij ) In a local projection coordinate system (O) l X l Y l Z l ) Coordinates of (2)
Is composed of
Three-dimensional position (x) of undistorted image pq ,y pq ,z pq ) In a local projection coordinate system (O) l X l Y l Z l ) The coordinates are obtained in the same way;
local projection coordinate system (O) l X l Y l Z l ) Coordinates of (2)
Mapping to X l O l Y l After the plane, at X l O l Y l Position coordinates in a planar coordinate system
Is composed of
Compared with the prior art, the invention has the following beneficial effects:
according to the pixel resolution characteristic of the large-width imaging load, the method provided by the invention is a method for remapping three-dimensional space sampling points, and the size information of an imaging area corresponding to an original image is reserved while the geometric distortion in the original image is eliminated.
The image data remapping method is suitable for remapping the image data of a large-width imaging load. The method is reasonable and easy to implement, and can keep the size information of the imaging area in the image while correcting the geometric distortion.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a flow chart of the method of the present invention.
Fig. 2 is a schematic view of the constructed linear array at equal time interval exposure in the visual axis direction.
Fig. 3 is a schematic diagram of the relative position relationship between the local projection coordinate system and the mapping plane.
Fig. 4 shows the result of mapping the three-dimensional positions of the original image and the undistorted image to a plane, respectively.
Fig. 5 is a comparison of an original image with an output distortion-free image.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
As shown in fig. 1, for a large-width imaging load, due to the influence of factors such as a load working mode and the curvature of the earth, the image remapping method for the large-width imaging load provided by the invention can cause geometric distortion in a directly acquired image. The method for correcting the geometric distortion is effective, namely, pixel-by-pixel geographic positioning is carried out on pixels in the image, pixel-by-pixel geographic positioning is carried out on original image data according to imaging time, satellite three-axis attitude and satellite position information, and three-dimensional position coordinates in an earth rotation coordinate system corresponding to each pixel are obtained. If a certain pixel is the ith row and the jth column of data (i, j are positive integers) in the original image, the three-dimensional position coordinate in the corresponding earth rotation coordinate system is recorded as (x) ij ,y ij ,z ij )。
However, since the acquired image is two-dimensional, and the distribution of the sampling points in the image on the earth is three-dimensional, when the sampling points are projected to the longitude and latitude in the geodetic coordinate system, the size information of the imaging area corresponding to the original pixel is lost, and the sampling points in different latitude areas are different corresponding to the imaging areas with the same size on the earth. Therefore, when the image is remapped, processing in a three-dimensional space is required.
In order to eliminate the influence of geometric distortion on the image, a three-dimensional sampling grid is reconstructed, a linear array exposed at equal time intervals can be constructed under a satellite orbit coordinate system, the visual axis of each pixel in the linear array is set according to the original nominal ground vertical rail sampling interval of the large-width imaging load, and the time interval is according to the original nominal ground vertical rail sampling interval of the large-width imaging load, as illustrated in fig. 2.
Firstly, a visual axis vector of each pixel of the linear array under a satellite orbit coordinate system is set. If the visual axis vector of the direction of the sub-satellite point is
If the visual axis of a pixel deviates from the sub-satellite point by an angle a (unit: radian), the visual axis vector of the pixel under the satellite orbital system
Is composed of
And then setting the constructed linear array exposure time interval. If the sampling interval of the original nominal ground track of the large-width imaging load is d, the average radius of the earth is R, and the average angular velocity of the satellite motion is mu, the constructed linear array exposure time interval t is
And determining the satellite position at the exposure time according to the exposure time interval.
Calculating three-dimensional position coordinates (x) in an earth rotation coordinate system corresponding to each pixel (p th row along the orbit and q th column along the orbit) in the undistorted image according to the linear array visual axis vector and the satellite position pq ,y pq ,z pq ) And longitude and latitude (lon) in geodetic coordinate system pq ,lat pq )。
After the three-dimensional position coordinates of the original image and the undistorted image are obtained, the three-dimensional position needs to be mapped into a two-dimensional coordinate system for resampling. For resampling, the relative relation of the space positions of all sampling points is used as a decision, but not the absolute position relation, so that a local projection coordinate system can be adopted, imaging sampling points in a period of time are continuously and intensively close to the origin of coordinates in the local projection coordinate system, and jump of-180 degrees and +180 degrees in a geodetic coordinate system does not exist.
Local projection coordinate system (O) l X l Y l Z l ) Origin of coordinate system (O) l ) The three-dimensional position coordinate in the earth rotation coordinate system corresponding to the image center point in the undistorted image is selected as (x) middle ,y middle ,z middle ) Coordinate system Z l Axis directed to the center of the earth, coordinate system Y l Axial direction Z l Direction of cross multiplication of axis with direction of instantaneous speed of satellite, X l The axes are determined by the right hand rule.
Mapping the three-dimensional position coordinates of the original image and the three-dimensional position coordinates of the undistorted image to X l O l Y l In a plane. The mapping method is as follows.
And calculating the coordinates of the three-dimensional positions of the original image and the undistorted image in the local projection coordinate system.
If the earth rotates in the coordinate system, the coordinate system (O) l X l Y l Z l ) O of (A) to (B) l X l Shaft, O l Y l Shaft, O l Z l The unit vectors corresponding to the axes are respectively
Then the three-dimensional position (x) of the original image ij ,y ij ,z ij ) In a local projection coordinate system (O) l X l Y l Z l ) Coordinates of (2)
Is composed of
Three-dimensional position (x) of undistorted image pq ,y pq ,z pq ) In a local projection coordinate system (O) l X l Y l Z l ) The coordinates of (2) can be obtained in the same way.
Then calculating the seat of the three-dimensional position mapping of the original image and the undistorted image to the plane coordinate systemAnd (4) marking. As shown in fig. 3, a local projection coordinate system (O) l X l Y l Z l ) Coordinates of (2)
Mapping to X l O l Y l After the plane, at X l O l Y l Position coordinates in a planar coordinate system
Is composed of
And after two-dimensional linear interpolation is implemented in the plane to obtain the remapped image, the remapped image and the longitude and latitude of each pixel can be output.
The implementation process of the present invention is described below with reference to a large wide load imaged by using a 45-degree rotating mirror through cross-track scanning, and fig. 4 shows the coordinate result (for clear display, a point is displayed at every 20 points) obtained by respectively mapping the three-dimensional positions corresponding to the original image obtained by scanning within 30s and the undistorted image implemented by using the method of the present invention to a plane. As can be seen from fig. 4, the sampling position corresponding to the undistorted image keeps sparseness consistent with the original image, and there is no distortion and jitter of the original sampling position.
Fig. 5 shows a raw image of a large wide imaging load and a remapped image, as seen from the lower remapped image, where discontinuities in the upper raw image due to distortion have been eliminated.
It is well within the knowledge of a person skilled in the art to implement the system and its various devices, modules, units provided by the present invention in a purely computer readable program code means that the same functionality can be implemented by logically programming method steps in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system and various devices, modules and units thereof provided by the invention can be regarded as a hardware component, and the devices, modules and units included in the system for realizing various functions can also be regarded as structures in the hardware component; means, modules, units for performing the various functions may also be regarded as structures within both software modules and hardware components for performing the method.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (8)
1. A method for large width imaging payload image remapping, comprising:
an information acquisition step: acquiring an original image, an imaging moment, a satellite three-axis attitude and satellite position information within a period of time;
a three-dimensional position coordinate obtaining step: performing pixel-by-pixel geographic positioning on an original image according to the imaging time, the three-axis attitude of the satellite and the satellite position information to obtain a three-dimensional position coordinate in an earth rotation coordinate system corresponding to each pixel;
a calculation step: calculating three-dimensional position coordinates in an earth rotation coordinate system corresponding to each pixel in the undistorted image and longitude and latitude in a geodetic coordinate system according to the original nominal ground sampling interval of the large-width imaging load;
establishing a local projection coordinate system: establishing a local projection coordinate system;
a mapping step: mapping the three-dimensional position coordinates of the original image and the three-dimensional position coordinates of the undistorted image to a plane;
a remapping step: implementing two-dimensional linear interpolation in the plane to obtain a remapped image;
an output step: outputting the remapped image and longitude and latitude of each pixel;
the undistorted image construction method in the calculation step is to construct a linear array exposed at equal time intervals under a satellite orbit coordinate system, the visual axis of each pixel in the linear array is provided with sampling intervals according to the original nominal ground vertical rail of the large-width imaging load, and the time intervals are sampling intervals according to the original nominal ground vertical rail of the large-width imaging load, and the specific steps comprise:
step 3.1, setting the visual axis vector of each pixel of the linear array in a satellite orbit coordinate system, and if the visual axis vector in the direction of the sub-satellite point is
If the visual axis of the pixel deviates from the sub-satellite point by an angle a in the vertical orbit direction, the visual axis vector of the pixel in the satellite orbit system
Is composed of
Step 3.2, setting the constructed linear array exposure time interval, wherein if the sampling interval of the original nominal ground track of the large-amplitude wide imaging load is d, the average radius of the earth is R, and the average angular velocity of the satellite motion is mu, the constructed linear array exposure time interval t is
Step 3.3, determining the satellite position at the exposure time according to the exposure time interval;
and 3.4, calculating a three-dimensional position coordinate in an earth rotation coordinate system corresponding to each pixel in the undistorted image and longitude and latitude in a geodetic coordinate system according to the linear array visual axis vector and the satellite position.
2. The method of image remapping a large width imaging payload of claim 1, whereinIn the step of establishing the local projection coordinate system, the local projection coordinate system O l X l Y l Z l Origin O of coordinate system l The three-dimensional position coordinate in the earth rotation coordinate system corresponding to the image center point in the undistorted image is set as (x) middle ,y middle ,z middle ) Coordinate system Z l Axis directed to the center of the earth, coordinate system Y l Axial direction Z l Direction of cross-multiplication of axis with direction of instantaneous speed of satellite, X l The axes are determined by the right hand rule.
3. The method for large width imaging payload image remapping according to claim 1, wherein said mapping step comprises:
step 5.1, calculating coordinates of three-dimensional positions of the original image and the undistorted image in a local projection coordinate system;
and 5.2, calculating the coordinates of the three-dimensional positions of the original image and the undistorted image mapped into a plane coordinate system.
4. The method of claim 1, wherein the mapping step comprises a local projection coordinate system O if the earth rotation coordinate system is used as the local projection coordinate system l X l Y l Z l O of (A) to (B) l X l Shaft, O l Y l Shaft, O l Z l The unit vectors corresponding to the axes are respectively
Then the three-dimensional position (x) of the original image ij ,y ij ,z ij ) In a local projection coordinate system (O) l X l Y l Z l ) Coordinates of (2)
Is composed of
Three-dimensional position (x) of undistorted image pq ,y pq ,z pq ) In a local projection coordinate system (O) l X l Y l Z l ) The coordinates are obtained in the same way;
local projection coordinate system (O) l X l Y l Z l ) Coordinates of (2)
Mapping to X l O l Y l After the plane, at X l O l Y l Position coordinates in a planar coordinate system
Is composed of
5. A large format wide imaging payload image remapping system, comprising:
an information acquisition module: acquiring an original image, an imaging moment, a satellite three-axis attitude and satellite position information within a period of time;
a three-dimensional position coordinate acquisition module: performing pixel-by-pixel geographic positioning on an original image according to the imaging time, the three-axis attitude of the satellite and the satellite position information to obtain a three-dimensional position coordinate in an earth rotation coordinate system corresponding to each pixel;
a calculation module: calculating three-dimensional position coordinates in an earth rotation coordinate system corresponding to each pixel in the undistorted image and longitude and latitude in a geodetic coordinate system according to the original nominal ground sampling interval of the large-width imaging load;
the local projection coordinate system establishing module: establishing a local projection coordinate system;
a mapping module: mapping the three-dimensional position coordinates of the original image and the three-dimensional position coordinates of the undistorted image to a plane;
a remapping module: implementing two-dimensional linear interpolation in the plane to obtain a remapped image;
an output module: outputting the remapped image and longitude and latitude of each pixel;
the undistorted image construction method in the calculation module is to construct a linear array exposed at equal time intervals under a satellite orbit coordinate system, the visual axis of each pixel in the linear array is provided with sampling intervals according to the original nominal ground vertical rail of the large-breadth imaging load, and the time intervals are sampling intervals according to the original nominal ground vertical rail of the large-breadth imaging load, and the specific module comprises the following steps:
a module 3.1, setting the visual axis vector of each pixel of the linear array in the satellite orbit coordinate system, if the visual axis vector of the direction of the point under the satellite is
If the visual axis of the pixel deviates from the sub-satellite point by an angle a in the vertical orbit direction, the visual axis vector of the pixel in the satellite orbit system
Is composed of
And 3.2, setting the constructed linear array exposure time interval, wherein if the sampling interval of the original nominal ground track of the large-amplitude wide imaging load is d, the average radius of the earth is R, and the average angular velocity of the satellite motion is mu, the constructed linear array exposure time interval t is
A module 3.3, determining the satellite position at the exposure time according to the exposure time interval;
and a module 3.4 for calculating the three-dimensional position coordinates in the earth rotation coordinate system and the longitude and latitude in the geodetic coordinate system corresponding to each pixel in the undistorted image according to the linear array visual axis vector and the satellite position.
6. The large width imaging payload image remapping system of claim 5, wherein said local projection coordinate system establishing module is configured to establish a local projection coordinate system O l X l Y l Z l Origin O of coordinate system l The three-dimensional position coordinate in the earth rotation coordinate system corresponding to the image center point in the undistorted image is set as (x) middle ,y middle ,z middle ) Coordinate system Z l Axis directed to the center of the earth, coordinate system Y l Axial direction Z l Direction of cross multiplication of axis with direction of instantaneous speed of satellite, X l The axes are determined by the right hand rule.
7. The large width imaging payload image remapping system of claim 5, wherein the mapping module comprises:
the module 5.1 is used for calculating the coordinates of the three-dimensional positions of the original image and the undistorted image in a local projection coordinate system;
and the module 5.2 is used for calculating the coordinates of the three-dimensional positions of the original image and the undistorted image which are mapped into a plane coordinate system.
8. The system for remapping large width imaging payload images of claim 5, wherein said mapping module maps a local projection coordinate system O to a global rotation coordinate system l X l Y l Z l O of (A) to (B) l X l Shaft, O l Y l Shaft, O l Z l The unit vectors corresponding to the axes are respectively
Then the three-dimensional position (x) of the original image ij ,y ij ,z ij ) In a local projection coordinate system (O) l X l Y l Z l ) Coordinates of (2)
Is composed of
Three-dimensional position (x) of undistorted image pq ,y pq ,z pq ) In a local projection coordinate system (O) l X l Y l Z l ) The coordinates are obtained in the same way;
local projection coordinate system (O) l X l Y l Z l ) Coordinates of (2)
Mapping to X l O l Y l After the plane, at X l O l Y l Position coordinates in a planar coordinate system
Is composed of
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