The invention provides an
underwater environment three-dimensional reconstruction pixel
point mapping relation construction method and a
reconstruction method. The method comprises the following steps: acquiring parameters of a physical camera, a
refraction coefficient of water in a reconstruction
water area, a distance between the physical camera and the inner surface of a visual light-transmitting plate, the thickness of the visual light-transmitting plate and a
refraction coefficient of the visual light-transmitting plate; obtaining a
virtual pixel point position of the imaging plane of the
virtual camera; analyzing to obtain a virtual
object point position Pw; calculating a refracted light path after the virtual
object point passes through the visible light-transmitting plate; calculating the physical pixel point position Pp of each virtual
object point on the imaging plane of the physical camera according to the parameters of the physical camera and the
refraction path; and establishing a mapping relation table according to the corresponding relation between the
virtual pixel point position {Pv} and the physical pixel point position {Pp}. By calculating the position relation between the physical pixel points on the physical camera and the
virtual pixel points on the
virtual camera, the position relation of each pixel is established into a mapping relation table, so that the image of the physical camera can be corrected
underwater in real time, and the
distortion of the image is eliminated.