CN113284188B - Thermal infrared target reporting system and calibration method thereof - Google Patents
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Abstract
The invention discloses a thermal infrared target reporting system and a calibration method thereof, wherein the thermal infrared target reporting system comprises a target board, a target paper is arranged on the target board, a target is arranged at the center position of the target paper, a plurality of positioning points are arranged on the target paper and around the target, an infrared camera is arranged in front of the target paper, and a light supplementing lamp is arranged in front of the target paper; the target reporting system solves the problems of time and labor waste and large error of the existing target reporting system, realizes automatic calibration by setting the locating points and detecting the pixel coordinates of the locating points in real time, and can automatically calibrate the positions of the locating points in real time according to the condition of target paper during target shooting, thereby selecting a calibration mode, and achieving accurate calibration and time and labor saving.
Description
Technical Field
The invention belongs to the technical field of thermal infrared target reporting, and particularly relates to a thermal infrared target reporting system and a calibration method of the target reporting system.
Background
The current target reporting system can realize the target reporting function through ultrasonic waves, infrared rays, visible light and the like. A four-point array ultrasonic automatic target reporting system patent (publication number CN 110132064A) discloses an ultrasonic target reporting system, which is characterized in that four ultrasonic sensors are arranged in a foam cavity target plate behind target paper and used for detecting target signals, but the foam cavity target plate has the problems of high manufacturing cost, easy damage to the sensors, high installation precision and the like; the prior art needs to debug a visible light camera and an infrared camera before the target is reported, so that the two cameras can calibrate the positioning points of the target paper, after the target is placed, a high-temperature fine object is manually positioned at a plurality of fixed positions of the target paper, and then a mouse is used at a plurality of fixed positions on a visible light image at the background.
Disclosure of Invention
The invention aims to provide a thermal infrared target reporting system, which solves the problems of time and labor waste and large error in the prior target reporting system.
The invention further aims at providing a calibration method of the thermal infrared target-reporting system.
The technical scheme includes that the thermal infrared target reporting system comprises a target plate, target paper is arranged on the target plate, a target is arranged at the center of the target paper, a plurality of positioning points are arranged on the target paper and around the target, and an infrared camera is arranged in front of the target paper.
The present invention is also characterized in that,
a light supplementing lamp is arranged in front of the target paper.
The number of the positioning points is at least 4, and the shape is a symmetrical graph.
The other technical scheme adopted by the invention is that a calibration method of a thermal infrared target-reporting system is implemented according to the following steps:
step 1, positioning points are arranged on target paper and positioned at the peripheral positions of targets;
step 2, shooting a full image of target paper by using an infrared camera to obtain an infrared image, detecting a 10-ring area on a target in the infrared image, and calculating the pixel area of the 10-ring area and the pixel coordinate of the center point of the 10-ring area;
step 3, obtaining the area and the position of the target in the infrared image according to the pixel area of the 10-ring area obtained in the step 2 and the area ratio of the actual 10-ring area to the target;
step 4, obtaining the position of the locating point in the infrared image through an edge detection algorithm according to the relative position of the actual locating point and the target;
step 5, according to the position of the locating point in the infrared image obtained in the step 4, obtaining the central pixel coordinate of the locating point in the infrared image, and obtaining a perspective matrix by perspective transformation of the central pixel coordinate of the locating point in the infrared image and the actual central coordinate of the locating point;
step 6, obtaining the pixel coordinates of the center point of the 10-ring area after perspective change through the perspective matrix obtained in the step 5;
step 7, the pixel coordinates of the center point of the 10-ring area after the perspective change obtained in the step 6 and the locating point in the infrared image are set through transformation, and the relative pixel distance between the pixel coordinates and the locating point is obtained according to a two-point distance formula;
obtaining the relative actual distance between the center point position of the actual 10-ring area and the actual positioning point position through measurement;
if the ratio of the relative pixel distance to the relative actual distance is consistent with the set ratio, executing the step 8;
if the ratio of the relative pixel distance to the relative actual distance is inconsistent with the set ratio, adjusting the position and the angle of the infrared camera, and repeating the steps 2-7;
step 8, executing the step 2-5 to determine whether the pixel coordinates of the positioning point in the infrared image are changed when the infrared camera detects that the bullet hits the target point on the target paper;
if the pixel coordinates of the positioning points in the infrared image are unchanged, adopting static calibration, obtaining the perspective target pixel coordinates of the infrared image through the perspective matrix obtained in the step 5, and calculating the relative positions of the perspective target pixel coordinates and the perspective changed pixel coordinates of the 10-ring area center point obtained in the step 6 through a two-point distance formula, namely the pixel distances of the target and the 10-ring area center point, and obtaining the actual distance between the target and the 10-ring area center point according to the set ratio of the actual distance to the pixel distance, thereby obtaining the targeting score;
if the pixel coordinates of the positioning points in the infrared image are changed, dynamic calibration is adopted;
and 9, executing the step 4 and the step 5 according to the pixel coordinates of the positioning points changed in the step 8 to obtain a new perspective matrix, obtaining corrected target pixel coordinates by the target pixel coordinates through the new perspective matrix, calculating the relative positions of the corrected target pixel coordinates and the pixel coordinates of the central point of the 10-ring area after perspective change obtained in the step 6 through a two-point distance formula, namely, the pixel distances of the target and the central point of the 10-ring area, and obtaining the actual distance between the target and the central point of the 10-ring area according to the set ratio of the actual distance to the pixel distance, thereby obtaining the targeting score.
The present invention is also characterized in that,
in step 7, the pixel coordinates of the positioning points are set to be the size of the image formed by sequentially connecting the positioning points in the infrared image, the transformation is carried out according to the set proportion of the actual distance to the pixel distance, the pixel coordinates of the positioning points at the upper left corner are set to be (0, 0), and the pixel coordinates of other positioning points are sequentially obtained.
The invention has the advantages that,
(1) The thermal infrared target reporting system provided by the invention only adopts one infrared camera, is convenient to install, and does not need time to correct before target shooting;
(2) The thermal infrared target reporting system is provided with the light supplementing lamp, and can still shoot normally under the condition of poor light;
(3) According to the calibration method of the thermal infrared target reporting system, the pixel coordinates of the locating points are set and detected in real time, so that automatic calibration is realized, and the positions of the locating points can be automatically calibrated in real time according to the condition of target paper during target shooting, so that a calibration mode is selected, the calibration is accurate, and time and labor are saved.
Drawings
FIG. 1 is a schematic diagram of a thermal infrared target system of the present invention;
FIG. 2 is an infrared image taken in a calibration method of a thermal infrared target system of the present invention;
FIG. 3 is an infrared image taken with differently shaped anchor points in a calibration method of a thermal infrared target system of the present invention.
In the figure, 1, target paper, 2, targets, 3, positioning points, 4, an infrared camera and 5, a light supplementing lamp.
Detailed Description
The invention will be described in detail below with reference to the drawings and the detailed description.
The invention discloses a thermal infrared target reporting system, which comprises a target board, wherein a target paper 1 is arranged on the target board, a target 2 is arranged in the center of the target paper 1, the colors of the target paper 1 and the target 2 have obvious differences, the shot infrared images can be ensured to distinguish the areas of the target paper 1 and the target 2, such as white target paper 1 and dark green target 2, a plurality of positioning points 3 are arranged on the target paper 1 and at the periphery of the target, the positioning points 3 are arranged on the target paper 1 in a printing, inserting or pasting mode and the like, the colors of the positioning points 3 are in contrast with the colors of the target paper, such as black, an infrared camera 4 is arranged in front of the target paper 1, the infrared camera 4 is connected with a processor, a light supplementing lamp 5 is arranged in front of the target paper 1, the light supplementing lamp 5 is a thermal light lamp or an infrared lamp, when the light conditions are bad, the contrast of the target paper 1 and the target 2 and the positioning points 3 is increased to obtain a better shot picture, the number of the positioning points is at least 4, and the optimal shapes such as a circular shape, a square shape, a figure, a round shape, a square shape, a round shape, a square shape, a position, and the like are not symmetrical, and the positions are not found.
The infrared camera 4 is arranged in front of the target paper and can be positioned above, below or beside the target paper, so that the target shooting can be realized without interference, the distance from the target position is required to be selected according to the focal length of the infrared camera, and the maximum and clearest pixel ratio of the infrared image of the shot target to the total infrared image is optimal.
The light supplementing lamp 5 is arranged above, below or beside the front of the target paper, can be placed together with the infrared camera without disturbing target shooting, and can be selected according to the infrared image which can enable the infrared camera to acquire the target paper as soon as possible.
The invention is applicable to, but not limited to, head targets, chest ring targets, half body targets, and round targets.
The invention relates to a calibration method of a thermal infrared target reporting system, which is implemented according to the following steps as shown in fig. 2 and 3:
step 1, positioning points are arranged on target paper and positioned at the peripheral positions of targets;
step 2, shooting a full image of target paper by using an infrared camera to obtain an infrared image, detecting a 10-ring area on a target in the infrared image, and calculating the pixel area of the 10-ring area and the pixel coordinate of the center point of the 10-ring area;
pixel area of 10-ring area = sum of number of pixels in 10-ring area;
10-ring region center point pixel coordinates x=10-ring region adjacency matrix upper left coordinates x+10-ring region adjacency matrix width/2;
the 10-ring region center point pixel coordinate y=10-ring region adjacency matrix upper left coordinate y+10-ring region adjacency matrix height/2.
Step 3, obtaining the area and the position of the target in the infrared image according to the pixel area of the 10-ring area obtained in the step 2 and the area ratio of the actual 10-ring area to the target, namely:
actual 10-ring area/actual target area = 10-ring area pixel area in the infrared image/target area in the infrared image;
step 4, obtaining the position of the locating point in the infrared image through an edge detection algorithm according to the relative position of the actual locating point and the target;
step 5, according to the position of the locating point in the infrared image obtained in the step 4, obtaining the central pixel coordinate of the locating point in the infrared image, and obtaining a perspective matrix by perspective transformation of the central pixel coordinate of the locating point in the infrared image and the actual central coordinate of the locating point;
perspective matrix calculation formula:
setting the center coordinates (x) of four positioning points in the infrared image obtained in the step 2 1 ,y 1 )，(x 2 ,y 2 )，(x 3 ,y 3 )，(x 4 ,y 4 ) The coordinate after perspective transformation is (x 1 ',y 1 ')，(x 2 ',y 2 ')，(x 3 ',y 3 ')，(x 4 ',y 4 ') setting the coordinate relation before and after perspective transformation as shown in the equation:
or written in matrix form: ha=b;
solving this equation set yields a unique set of coefficients, where a, b, c, d, e, f represents each coefficient.
Step 6, obtaining the pixel coordinates of the center point of the 10-ring area after perspective change through the perspective matrix obtained in the step 5;
step 7, the pixel coordinates of the center point of the 10-ring area after the perspective change obtained in the step 6 and the locating point in the infrared image are set through transformation, and the relative pixel distance between the pixel coordinates and the locating point is obtained according to a two-point distance formula;
setting pixel coordinates to be the size of an image formed by sequentially connecting positioning points in an infrared image, and transforming according to the set proportion of the actual distance to the pixel distance, for example, the actual distance: pixel distance = 1mm:1 pixel proportion, setting the pixel coordinates of locating points at the upper left corner as (0, 0), and sequentially obtaining the pixel coordinates of other locating points;
obtaining the relative actual distance between the center point position of the actual 10-ring area and the actual positioning point position through measurement;
if the ratio of the relative pixel distance to the relative actual distance is consistent with the set ratio, executing the step 8;
if the ratio of the relative pixel distance to the relative actual distance is inconsistent with the set ratio, adjusting the position and the angle of the infrared camera 4, and repeating the steps 2-7;
step 8, executing the step 2-5 to determine whether the pixel coordinates of the positioning point 3 in the infrared image are changed when the infrared camera 4 detects that the bullet hits the target point on the target paper 1;
if the pixel coordinates of the positioning point 3 in the infrared image are unchanged, adopting static calibration, obtaining the perspective target pixel coordinates of the infrared image through the perspective matrix obtained in the step 5, and calculating the relative positions of the perspective target pixel coordinates and the perspective changed pixel coordinates of the central point of the 10-ring area obtained in the step 6 through a two-point distance formula, namely, the pixel distances of the target and the central point of the 10-ring area, and obtaining the actual distance between the target and the central point of the 10-ring area according to the set ratio of the actual distance to the pixel distance, thereby obtaining the targeting score;
if the pixel coordinates of the positioning points in the infrared image are changed, dynamic calibration is adopted;
and 9, executing the step 4 and the step 5 according to the pixel coordinates of the positioning points changed in the step 8 to obtain a new perspective matrix, obtaining corrected target pixel coordinates by the target pixel coordinates through the new perspective matrix, calculating the relative positions of the corrected target pixel coordinates and the pixel coordinates of the central point of the 10-ring area after perspective change obtained in the step 6 through a two-point distance formula, namely, the pixel distances of the target and the central point of the 10-ring area, and obtaining the actual distance between the target and the central point of the 10-ring area according to the set ratio of the actual distance to the pixel distance, thereby obtaining the targeting score.
Example 1
Step 1, setting positioning points on target paper and at the periphery of a target, wherein a target graph is printed on the target paper, namely, setting positioning points on two sides of the target, wherein 4 positioning points are selected, and an upper left positioning point, an upper right positioning point, a lower left positioning point and a lower right positioning point form a square, and the side length of the square is 530mm;
step 2, shooting a full image of target paper by using an infrared camera to obtain an infrared image, and detecting a 10-ring area on the target in the infrared image, wherein the 10-ring area consists of 9355 pixels and pixel coordinates (382, 372) of a central point of the 10-ring area;
step 3, obtaining the position of a target in the infrared image according to the area of the 10-ring area obtained in the step 2, wherein the target area consists of 226108 pixels;
step 4, obtaining the position of the locating point in the infrared image through an edge detection algorithm according to the relative position of the actual locating point and the target;
step 5, according to the position of the locating point in the infrared image obtained in the step 4, obtaining the pixel coordinates of the locating point in the infrared image, wherein the specific coordinates are as follows: an upper left anchor point coordinate (96, 41), an upper right anchor point coordinate (665, 42), a lower left anchor point coordinate (74, 614), and a lower right anchor point coordinate (690, 615), and performing perspective transformation on the pixel coordinates of the anchor points in the infrared image and the actual anchor point coordinates to obtain a perspective matrix;
step 6, obtaining the pixel coordinates of the center point of the 10-ring area after perspective change through the perspective matrix obtained in the step 5, wherein the pixel coordinates of the center point of the 10-ring area are obtained in the step 2 (266, 316);
step 7, obtaining a locating point setting pixel coordinate by a perspective matrix from the pixel coordinate (266, 316) of the 10-ring area central point obtained in the step 6 after perspective change and a locating point in the infrared image, and obtaining the relative pixel distance between the two points according to a two-point distance formula, wherein the distances between the pixel coordinate of the 10-ring area central point and the upper left locating point coordinate, the upper right locating point coordinate, the lower left locating point coordinate and the lower right locating point coordinate are 413 pixels, 412 pixels, 341 pixels and 340 pixels respectively;
the pixel coordinates of the positioning points are set to be the image size (530 mm square) formed by sequentially connecting the positioning points in the infrared image according to actual distance: the pixel distance is 1mm:1 pixel ratio, the transformed image size is 530 pixels, the locating point pixel coordinate of the left upper corner position is set as (0, 0), the right upper locating point coordinate (530,0), the left lower locating point coordinate (0, 530), the right lower locating point coordinate (530 );
the relative actual distance between the center point coordinate of the 10-ring area and the left upper locating point coordinate, the right upper locating point coordinate, the left lower locating point coordinate and the right lower locating point coordinate is 412.5mm, 411.5mm, 340.5mm and 341mm according to the actual center point position of the 10-ring area and the actual locating point position through measurement;
if the ratio of the relative pixel distance to the relative actual distance is consistent with the set ratio (1 mm:1 pixel), executing step 8;
step 8, executing the step 2-5 to determine whether the pixel coordinates of the positioning point 3 in the infrared image are changed when the infrared camera 4 detects that the bullet hits the target point on the target paper 1;
if the pixel coordinates of the positioning point 3 in the infrared image are unchanged, adopting static calibration, obtaining target pixel coordinates (454, 366) after perspective by using a perspective matrix obtained in the step 5 through target pixel coordinates (596, 428) in the infrared image, calculating the relative position of the target pixel coordinates after perspective and the pixel coordinates of the central point of the 10-ring area after perspective change obtained in the step 6 to be 195 pixels through a two-point distance formula, and obtaining a targeting score of 7 rings (10-ring area is determined, and the rest ring numbers are sequentially and equidistantly arranged from 10 rings);
if the pixel coordinates of the positioning points in the infrared image are changed, adopting dynamic calibration, and executing the step 9;
step 9, according to the pixel coordinates of the positioning points changed in step 8, the coordinates of the upper left positioning point, the coordinates of the upper right positioning point, the coordinates of the lower left positioning point and the coordinates of the lower right positioning point are (96, 41), (665, 42), (74, 614) and (690, 615), respectively, step 4 and step 5 are executed to obtain a new perspective matrix, the target pixel coordinates obtain corrected target pixel coordinates (454, 366) through the new perspective matrix, and the relative position 195 pixels of the corrected target pixel coordinates and the pixel coordinates of the center point of the 10-ring region after perspective change obtained in step 6 are calculated through a two-point distance formula, so that the target score is 7 rings.
Claims (4)
1. The calibration method of the thermal infrared target reporting system is characterized by adopting the thermal infrared target reporting system, and the method is implemented according to the following steps:
the thermal infrared target reporting system comprises a target plate, wherein target paper (1) is arranged on the target plate, a target (2) is arranged at the center position of the target paper (1), a plurality of positioning points (3) are arranged on the target paper (1) and around the target, and an infrared camera (4) is arranged in front of the target paper (1);
step 1, positioning points are arranged on target paper and positioned at the peripheral positions of targets;
step 2, shooting a full image of target paper by using an infrared camera to obtain an infrared image, detecting a 10-ring area on a target in the infrared image, and calculating the pixel area of the 10-ring area and the pixel coordinate of the center point of the 10-ring area;
step 3, obtaining the position of the target in the infrared image according to the pixel area of the 10-ring area obtained in the step 2 and the area ratio of the actual 10-ring area to the target;
step 4, obtaining the position of the locating point in the infrared image through an edge detection algorithm according to the relative position of the actual locating point and the target;
step 5, according to the position of the locating point in the infrared image obtained in the step 4, obtaining the central pixel coordinate of the locating point in the infrared image, and obtaining a perspective matrix by perspective transformation of the central pixel coordinate of the locating point in the infrared image and the actual central coordinate of the locating point;
step 6, obtaining the pixel coordinates of the center point of the 10-ring area after perspective change through the perspective matrix obtained in the step 5;
step 7, the pixel coordinates of the center point of the 10-ring area after the perspective change obtained in the step 6 and the locating point in the infrared image are set through transformation, and the relative pixel distance between the pixel coordinates and the locating point is obtained according to a two-point distance formula;
obtaining the relative actual distance between the center point position of the actual 10-ring area and the actual positioning point position through measurement;
if the ratio of the relative pixel distance to the relative actual distance is consistent with the set ratio, executing the step 8;
if the ratio of the relative pixel distance to the relative actual distance is inconsistent with the set ratio, adjusting the position and the angle of the infrared camera (4), and repeating the steps 2-7;
step 8, executing the step 2-5 to determine whether the pixel coordinates of the positioning point in the infrared image are changed when the infrared camera detects that the bullet hits the target point on the target paper;
if the pixel coordinates of the positioning points in the infrared image are unchanged, adopting static calibration, obtaining the target pixel coordinates after perspective by using the perspective matrix obtained in the step 5, calculating the relative positions of the target pixel coordinates after perspective and the pixel coordinates of the center point of the 10-ring area after perspective change obtained in the step 6 through a two-point distance formula, and obtaining the actual distance between the target and the center point of the 10-ring area according to the set ratio of the actual distance to the pixel distance, thereby obtaining the targeting score;
if the pixel coordinates of the positioning points in the infrared image are changed, dynamic calibration is adopted;
and 9, executing the step 4 and the step 5 according to the pixel coordinates of the positioning points changed in the step 8 to obtain a new perspective matrix, obtaining corrected target pixel coordinates by the target pixel coordinates through the new perspective matrix, calculating the relative positions of the corrected target pixel coordinates and the pixel coordinates of the central point of the 10-ring area after perspective change obtained in the step 6 through a two-point distance formula, and obtaining the actual distance between the target and the central point of the 10-ring area according to the set ratio of the actual distance to the pixel distance, thereby obtaining the targeting result.
2. The method according to claim 1, wherein in the step 7, the pixel coordinates of the positioning points are set to be the size of the image formed by sequentially connecting the positioning points in the infrared image, the transformation is performed according to the set ratio of the actual distance to the pixel distance, the pixel coordinates of the positioning points at the upper left corner are set to be (0, 0), and the pixel coordinates of the other positioning points are sequentially obtained.
3. The calibration method of a thermal infrared target reporting system according to claim 1, wherein a light supplementing lamp (5) is arranged in front of the target paper (1).
4. The method for calibrating a thermal infrared target reporting system according to claim 1, wherein the number of the positioning points is at least 4, and the shape is a symmetrical graph.
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