Visual pyramid visual analysis method based on camera parameters

Abstract

The invention relates to the technical field of image processing, and discloses a visual pyramid visual analysis method based on camera parameters, which comprises the following steps: acquiring the sensor size of an unmanned aerial vehicle camera; acquiring an equivalent focal length of a camera lens of the unmanned aerial vehicle; calculating the size and the equivalent focal length of the sensor to obtain a horizontal view angle and a vertical view angle; constructing a visual pyramid model of the unmanned aerial vehicle camera according to the horizontal view angle and the vertical view angle; according to the flight parameters of the unmanned aerial vehicle and the visual pyramid model, calculating an intersected area; and analyzing the visual pyramid model of the unmanned aerial vehicle camera and the intersected area to obtain an unmanned aerial vehicle aerial photography planning result. According to the method, the pyramid model is constructed by acquiring the sensor size and the equivalent focal length of the camera of the unmanned aerial vehicle and calculating the horizontal visual angle and the vertical visual angle according to the optical geometry principle. The model can reflect the imaging coverage capability of the camera under different flight parameters, and provides more reliable data support for aerial photography planning of the unmanned aerial vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of image processing, and in particular to a view cone visualization analysis method based on camera parameters. Background Art

[0002] With the rapid development of drone technology, drones are increasingly used in aerial photography, topographic mapping, environmental monitoring, agricultural plant protection and other fields. In these application scenarios, drone cameras are the core sensors, and their imaging quality and coverage are crucial to the accuracy and integrity of the data. Traditional camera performance evaluation methods mainly rely on experimental measurements and empirical judgments, which are not only time-consuming and labor-intensive, but also difficult to accurately reflect the actual performance of cameras in different application scenarios.

[0003] In order to solve the above problems, the industry has begun to explore the visual analysis method of the view cone based on camera parameters. This method deeply analyzes the technical parameters of the drone camera, such as the size of the sensor, equivalent focal length, etc., and uses the principles of optical geometry to calculate the camera's field of view (FOV), thereby accurately evaluating the camera's imaging coverage capability.

[0004] However, most of the existing view cone visualization analysis methods have problems such as insufficient calculation accuracy and limited application scenarios, and cannot meet the complex and changeable needs of drone photography. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention proposes a view cone visualization analysis method based on camera parameters to solve the above technical problems.

[0006] In a first aspect, a method for visualizing and analyzing a viewing cone based on camera parameters is provided, comprising:

[0007] Get the sensor size of the drone camera, including the horizontal width and vertical height of the sensor;

[0008] Get the equivalent focal length of the drone camera lens;

[0009] Calculate the sensor size and equivalent focal length to obtain the horizontal and vertical viewing angles of the drone camera;

[0010] According to the horizontal and vertical viewing angles of the drone camera, a visual cone model of the drone camera is constructed;

[0011] According to the flight parameters of the UAV and the view pyramid model, the area where the view pyramid intersects with the object is calculated;

[0012] The viewing cone model of the UAV camera and the area where the viewing cone intersects with the object are analyzed to obtain the UAV aerial photography planning results.

[0013] Furthermore, obtaining the sensor size of the drone camera includes:

[0014] Get the diagonal size and aspect ratio of the sensor;

[0015] Convert the unit of the diagonal dimension to millimeters to obtain the converted diagonal dimension;

[0016] Using the Pythagorean theorem and aspect ratio, combined with the converted diagonal size, the sensor size of the drone camera is calculated.

[0017] Furthermore, the horizontal viewing angle and vertical viewing angle of the drone camera are calculated using the following formula:

[0018] Horizontal angle HFOV = 2 × arctan (w / 2f) * 180π

[0019] Vertical angle VFOV = 2 × arctan (h / 2f) * 180π

[0020] Where w is the horizontal width of the sensor, h is the vertical height of the sensor, and f is the equivalent focal length of the lens.

[0021] Furthermore, the construction of the viewing cone model of the drone camera includes:

[0022] A visual pyramid model is constructed with the optical center of the drone camera lens as the vertex and the calculated horizontal and vertical viewing angles as the side angles of the pyramid.

[0023] Furthermore, the calculation of the area where the view pyramid intersects the object according to the flight parameters of the UAV and the view pyramid model includes:

[0024] According to the aerial photography target and environment, the flight altitude, yaw angle and pitch angle of the UAV are adjusted to obtain the adjusted flight parameters of the UAV;

[0025] According to the view cone model and the adjusted UAV flight parameters, the area where the view cone intersects with the object is calculated.

[0026] Furthermore, the viewing cone model of the drone camera and the area where the viewing cone intersects with the object are analyzed to obtain the drone aerial photography planning result, including:

[0027] Geometric analysis and image processing techniques are used to analyze the viewing cone model of the UAV camera and the area where the viewing cone intersects with the object to obtain the UAV aerial photography planning results.

[0028] Furthermore, it also includes:

[0029] According to the UAV aerial photography planning results, set the UAV’s waypoints, flight path and shooting parameters.

[0030] The invention adopting the above technical solution has the following advantages:

[0031] 1. The present invention obtains the sensor size and equivalent focal length of the drone camera and uses optical geometry principles to calculate the horizontal and vertical viewing angles of the camera, thereby constructing a high-precision view cone model. This model can reflect the imaging coverage capability of the camera under different flight parameters and provide more reliable data support for drone aerial photography planning.

[0032] 2. The present invention dynamically displays the viewing cone model and the shooting area through visualization tools, so that users can intuitively understand the shooting range and effect of the drone, thereby improving the efficiency and accuracy of aerial photography planning.

[0033] 3. The present invention can also automatically set the waypoints, flight paths and shooting parameters of the drone according to the drone aerial photography planning results, further improving the automation and intelligence level of drone aerial photography. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the specific implementation of the present invention, the following will briefly introduce the drawings required for use in the specific implementation. In all the drawings, each element or part is not necessarily drawn according to the actual scale.

[0035] Figure 1 It is a flow chart of a method for visualizing and analyzing a view cone based on camera parameters of the present invention;

[0036] Figure 2 Taking photos of the drone in the visual cone visualization analysis method based on camera parameters of the present invention;

[0037] Figure 3 This is a cone viewing angle diagram of the Web side in a cone visualization analysis method based on camera parameters of the present invention. DETAILED DESCRIPTION

[0038] The following embodiments of the technical solution of the present invention are described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and are therefore only used as examples, and cannot be used to limit the protection scope of the present invention.

[0039] It should be noted that, unless otherwise specified, the technical terms or scientific terms used in this application should be the common meanings understood by technicians in the field to which the present invention belongs. The terms "first", "second", etc. in the specification and claims of the embodiments of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so as to implement the embodiments of the present disclosure described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions. Unless otherwise specified, the term "multiple" means two or more. In the embodiments of the present disclosure, the character " / " indicates that the objects before and after are in an "or" relationship. For example, A / B means: A or B. The term "and / or" is a description of the association relationship of objects, indicating that there can be three relationships. For example, A and / or B means: A or B, or, A and B. The term "corresponding" can refer to an association relationship or a binding relationship, and A and B correspondingly refer to an association relationship or a binding relationship between A and B.

[0040] like Figure 1 to Figure 3 As shown, a visual prism analysis method based on camera parameters of the present invention includes:

[0041] Step S01, obtaining the sensor size of the drone camera, including the horizontal width and vertical height of the sensor;

[0042] Step S02, obtaining the equivalent focal length of the drone camera lens; this can be achieved by consulting the technical parameters of the lens or performing actual measurements;

[0043] Step S03: Calculate the sensor size and equivalent focal length to obtain the horizontal and vertical viewing angles of the drone camera;

[0044] Step S04: construct a viewing cone model of the drone camera according to the horizontal viewing angle and vertical viewing angle of the drone camera;

[0045] Step S05: Calculate the area where the view pyramid intersects the object according to the flight parameters of the UAV and the view pyramid model;

[0046] Step S06: Analyze the viewing cone model of the drone camera and the area where the viewing cone intersects with the object to obtain the drone aerial photography planning result.

[0047] Specifically, the present invention obtains the sensor size and equivalent focal length of the drone camera and uses optical geometry principles to calculate the horizontal and vertical viewing angles of the camera, thereby constructing a high-precision view cone model. This model can reflect the imaging coverage capability of the camera under different flight parameters, providing more reliable data support for drone aerial photography planning.

[0048] The present invention dynamically displays the viewing cone model and the shooting area through a visualization tool, so that the user can intuitively understand the shooting range and effect of the UAV, thereby improving the efficiency and accuracy of aerial photography planning.

[0049] The present invention can also automatically set the waypoints, flight paths and shooting parameters of the drone according to the drone aerial photography planning results, further improving the automation and intelligence level of the drone aerial photography.

[0050] In some embodiments, obtaining the (CMOS) sensor size of the drone camera includes:

[0051] Get the diagonal size and aspect ratio of the sensor;

[0052] Convert the unit of the diagonal dimension to millimeters to obtain the converted diagonal dimension;

[0053] Using the Pythagorean theorem and aspect ratio, combined with the converted diagonal size, the sensor size of the drone camera is calculated.

[0054] Specifically, CMOS size: This is a basic parameter of the camera sensor, usually expressed in inches, and its diagonal length is expressed in inches. For example, common CMOS sizes are 1 / 2.3 inches, 1 inch, etc.

[0055] Diagonal size conversion: Convert the diagonal size of the CMOS from inches to millimeters, because subsequent calculations require millimeters as the unit.

[0056] Pythagorean theorem to calculate width and height: Knowing the diagonal length and aspect ratio of the CMOS (which is usually known, such as 4:3, 3:2, etc.), the physical width and height of the sensor can be calculated using the Pythagorean theorem.

[0057] In some implementations, the equivalent focal length of the lens is obtained by referring to technical parameters of the lens or performing actual measurement.

[0058] In some embodiments, the horizontal viewing angle and the vertical viewing angle of the drone camera are calculated using the following formula:

[0059] Horizontal angle HFOV = 2 × arctan (w / 2f) * 180π

[0060] Vertical angle VFOV = 2 × arctan (h / 2f) * 180π

[0061] Where w is the horizontal width of the sensor, h is the vertical height of the sensor, and f is the equivalent focal length of the lens.

[0062] In some embodiments, constructing a viewing cone model of a drone camera includes:

[0063] A visual pyramid model is constructed with the optical center of the drone camera lens as the vertex and the calculated horizontal and vertical viewing angles as the side angles of the pyramid.

[0064] In some embodiments, the area where the view pyramid intersects the object is calculated based on the flight parameters of the drone and the view pyramid model, including:

[0065] According to the aerial photography target and environment, the flight altitude, yaw angle and pitch angle of the UAV are adjusted to obtain the adjusted flight parameters of the UAV;

[0066] According to the view cone model and the adjusted UAV flight parameters, the area where the view cone intersects with the object is calculated.

[0067] Specifically, the yaw angle: This is the angle at which the drone is tilted relative to its current flight direction. By adjusting the yaw angle, you can change the direction in which the camera is pointing.

[0068] Pitch angle: This is the up and down tilt angle of the drone camera relative to the drone body. By adjusting the pitch angle, you can change the camera's shooting height and viewing angle.

[0069] By combining the adjustment of the yaw angle and the pitch angle, you can take photos or videos of different angles and areas.

[0070] In some embodiments, the viewing pyramid model of the drone camera and the area where the viewing pyramid intersects with the object are analyzed to obtain the drone aerial photography planning result, including:

[0071] Geometric analysis and image processing techniques are used to analyze the viewing cone model of the UAV camera and the area where the viewing cone intersects with the object to obtain the UAV aerial photography planning results.

[0072] In some embodiments, it also includes:

[0073] According to the UAV aerial photography planning results, set the UAV’s waypoints, flight path and shooting parameters.

[0074] In some implementations, the method further includes:

[0075] Web-side view frustum and final drone photo

[0076] Web Application:

[0077] A web application can be developed to visualize the drone's view cone and shooting area. This application can dynamically generate a 3D model of the view cone based on the camera parameters (such as CMOS size, equivalent focal length, etc.) and drone flight parameters (such as altitude, yaw angle, pitch angle, etc.) input by the user and display it to the user in real time.

[0078] Users can adjust these parameters in the app and observe changes in the view frustum and capture area for more precise aerial photography planning.

[0079] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and specification of the present invention.

Claims

1. A visual frustum analysis method based on camera parameters, characterized in that: include: Get the sensor size of the drone camera, including the horizontal width and vertical height of the sensor; Get the equivalent focal length of the drone camera lens; Calculate the sensor size and equivalent focal length to obtain the horizontal and vertical viewing angles of the drone camera; According to the horizontal and vertical viewing angles of the drone camera, a visual cone model of the drone camera is constructed; According to the flight parameters of the UAV and the view pyramid model, the area where the view pyramid intersects with the object is calculated; The viewing cone model of the UAV camera and the area where the viewing cone intersects with the object are analyzed to obtain the UAV aerial photography planning results.

2. The method for visualizing and analyzing a view cone based on camera parameters according to claim 1, characterized in that: The obtaining of the sensor size of the drone camera includes: Get the diagonal size and aspect ratio of the sensor; Convert the unit of the diagonal dimension to millimeters to obtain the converted diagonal dimension; Using the Pythagorean theorem and aspect ratio, combined with the converted diagonal size, the sensor size of the drone camera is calculated.

3. The method for visualizing and analyzing a view cone based on camera parameters according to claim 1, characterized in that: The calculation of the horizontal and vertical viewing angles of the drone camera uses the following formula: Horizontal angle HFOV = 2 × arctan (w / 2f) * 180π Vertical angle VFOV = 2 × arctan (h / 2f) * 180π Where w is the horizontal width of the sensor, h is the vertical height of the sensor, and f is the equivalent focal length of the lens.

4. The method for visualizing and analyzing a view cone based on camera parameters according to claim 1, characterized in that: The method of constructing a viewing cone model of a drone camera includes: A visual pyramid model is constructed with the optical center of the drone camera lens as the vertex and the calculated horizontal and vertical viewing angles as the side angles of the pyramid.

5. The method for visualizing and analyzing a view cone based on camera parameters according to claim 1, characterized in that: The method of calculating the intersection area between the view pyramid and the object according to the flight parameters of the UAV and the view pyramid model includes: According to the aerial photography target and environment, the flight altitude, yaw angle and pitch angle of the UAV are adjusted to obtain the adjusted flight parameters of the UAV; According to the view cone model and the adjusted UAV flight parameters, the area where the view cone intersects with the object is calculated.

6. The method for visualizing and analyzing a view cone based on camera parameters according to claim 1, characterized in that: The analysis of the viewing cone model of the drone camera and the area where the viewing cone intersects with the object to obtain the drone aerial photography planning result includes: Geometric analysis and image processing techniques are used to analyze the viewing cone model of the UAV camera and the area where the viewing cone intersects with the object to obtain the UAV aerial photography planning results.

7. The method for visualizing and analyzing a view cone based on camera parameters according to claim 1, further comprising: According to the UAV aerial photography planning results, set the UAV’s waypoints, flight path and shooting parameters.

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