Zoom camera attitude calibration method and system based on rectangular structure
A calibration method and focus camera technology, applied in the field of image processing, can solve problems such as limited use, and achieve the effect of wide applicability
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Embodiment 1
[0086] A comparative simulation experiment of the method of the present invention and the PNP algorithm for rectification of rectangles is designed below. The simulation experiment of this method is in the case that only the focal length is unknown in the internal parameters of the zoom camera, the focal length is first obtained by the focal length calculation formula, and then the camera pose is solved by combining the known internal camera parameters; the comparison experiment uses the PNP algorithm to solve the camera pose.
[0087] (1) Simulation experiment of this method
[0088] Set the coordinates of the camera in the world coordinate system as P cam =(100, 50, -1000) T , the world coordinates of the four corners of the rectangle are W 1 =(0,0,0) T , W 2 =(200,0,0) T , W 3 =(200,100,0) T , W 4 =(0,100,0) T , the camera internal parameter matrix is x-axis rotation angle θ x =pi / 10, y-axis rotation angle θ y =pi / 7, z-axis rotation angle θ z =pi / 9. After the...
Embodiment 2
[0095] The method is verified by using real images below.
[0096] (1) Real image experiment of this method
[0097] When using this method, first calibrate the camera internal parameters that have nothing to do with the focal length f, and obtain the camera internal parameters s=0, a=1, u 0 =310.61345268494381, v 0 =267.72960205430473. The original image is then extracted (see Figure 5 ), the pixel coordinates of the four corners of the football field in ) are I A =(192,129) T , I B =(455,192) T , I C =(423,348) T , I D =(140,278) T . Then find θ 1 =0.522088, θ 2 = 0.515549. Find the focal length again, and get f=702.338, then you can get the internal parameter matrix of the camera Then find the physical coordinates P corresponding to the four corner points on the normalized imaging plane 1 =(-0.168884, -0.197525, 1) T ,P 2 =(0.20558, -0.107825, 1) T ,P 3 =(0.160018, 0.11429, 1) T ,P 4 =(-0.242922, 0.0146231, 1) T . Then calculate the rotation transf...
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