CN110807814A - Camera pose calculation method, device, equipment and storage medium - Google Patents

Abstract

The invention discloses a method, a device and equipment for calculating the attitude of a camera and a storage medium, wherein the method comprises the following steps: acquiring N groups of coordinate parameters corresponding to N different positions of a pose calibration plate of an infrared camera in an optical virtual space coordinate system, wherein a preset number of light reflecting pastes are pasted on one surface of the pose calibration plate, one light reflecting paste is pasted on a preset central point of the pose calibration plate, the optical virtual space coordinate system is a preset three-dimensional world coordinate system, each group of coordinate parameters comprises a three-dimensional coordinate of the preset central point in the optical virtual space coordinate system and a two-dimensional coordinate in a preset image coordinate system, and N is a preset value; obtaining pre-stored internal parameters of the infrared camera; and substituting the acquired N groups of coordinate parameters and internal parameters into a preset camera attitude estimation algorithm for calculation to obtain the pose of the infrared camera in the optical virtual space coordinate system. The invention realizes the calculation of the pose of the infrared camera in the virtual space coordinate system.

Description

Camera pose calculation method, device, equipment and storage medium

technical field

The present invention relates to the technical field of computer vision, and in particular, to a camera pose calculation method, device, device and storage medium.

Background technique

In recent years, the virtual-real hybrid shooting system has been widely used in the film and television drama shooting industry. The system has three main features: (1) the camera image is projected in the virtual scene; (2) the real camera and the virtual camera are synchronized in the virtual 3D space. ; (3) real-time operation. Mixed reality (MR) technology is used in mixed reality shooting, which is a further development of virtual reality technology. Enhance the realism of the user experience.

In the virtual-real hybrid shooting system, in order to be able to see the superimposed visual 3D world from the perspective of the real camera and the virtual camera at the same time, the poses of the real camera and the virtual camera must be synchronized, which requires the transformation of the body coordinate system of the real camera to In the virtual space coordinate system, that is, the pose of the camera in the virtual space coordinate system needs to be obtained. At present, there is a lack of a method for calculating the pose of an infrared camera in a virtual space coordinate system based on an infrared camera spatial positioning technology.

SUMMARY OF THE INVENTION

The main purpose of the present invention is to propose a camera pose calculation method, device, equipment and storage medium, aiming at realizing the calculation of the pose of an infrared camera in a virtual space coordinate system.

In order to achieve the above purpose, the present invention provides a camera pose calculation method, the method includes the following steps:

Collect N sets of coordinate parameters corresponding to N different positions of the pose calibration board of the infrared camera in the optical virtual space coordinate system, wherein a preset number of reflective stickers are pasted on one surface of the pose calibration board, wherein A reflective sticker is pasted on the preset center point of the pose calibration plate, the optical virtual space coordinate system is a preset coordinate system of the three-dimensional world, and each set of coordinate parameters includes the preset center point in the optical The three-dimensional coordinates in the virtual space coordinate system and the two-dimensional coordinates in the preset image coordinate system, N is the preset value;

obtaining the pre-saved internal parameters of the infrared camera;

Substitute the collected N sets of coordinate parameters and the internal reference into a preset camera pose estimation algorithm for calculation to obtain the pose of the infrared camera in the optical virtual space coordinate system.

Optionally, a two-dimensional code image is also provided on the surface pasted with the reflective stickers;

Before the step of collecting the N groups of coordinate parameters corresponding to N different positions of the infrared camera's pose calibration board in the optical virtual space coordinate system, the method further includes:

A center point setting instruction is received, and a corner point of the two-dimensional code image is set as the center point of the pose calibration board according to the center point setting instruction.

Optionally, before the step of collecting N sets of coordinate parameters corresponding to N different positions of the infrared camera's pose calibration board in the optical virtual space coordinate system, the method further includes:

A coordinate system setting instruction is received, and an optical virtual space coordinate system and an image coordinate system are set according to the coordinate system setting instruction.

Optionally, substituting the collected N sets of coordinate parameters and the internal reference into a preset camera pose estimation algorithm for calculation to obtain the pose of the infrared camera in the optical virtual space coordinate system. Steps include:

Substitute the collected N sets of coordinate parameters and the internal reference into the camera attitude estimation algorithm EPNP, and calculate the pose transformation data from the optical virtual space coordinate system to the infrared camera, where the pose transformation data includes rotation. matrix and translation vector;

The pose of the infrared camera in the optical virtual space coordinate system is calculated according to the pose transformation data.

Optionally, the step of calculating the pose of the infrared camera in the optical virtual space coordinate system according to the pose transformation data includes:

和分别计算所述红外摄影机在所述光学虚拟空间坐标系下的位置t_c和姿态r_c；According to the formula

and respectively calculating the position _{t c} and the attitude rc of the infrared camera in the optical virtual space coordinate system;

为所述旋转矩阵，

为所述平移向量。in,

is the rotation matrix,

is the translation vector.

In addition, in order to achieve the above object, the present invention also provides a camera pose calculation device, the device comprising:

The acquisition module is used to collect N sets of coordinate parameters corresponding to N different positions of the infrared camera's pose calibration board in the optical virtual space coordinate system, wherein a surface of the pose calibration board is pasted with a preset number of reflective stickers, one of which is pasted on the preset center point of the pose calibration board, the optical virtual space coordinate system is the preset three-dimensional world coordinate system, and each set of coordinate parameters includes the preset center the three-dimensional coordinates of the point in the optical virtual space coordinate system, and the two-dimensional coordinates in the preset image coordinate system, where N is a preset value;

an acquisition module for acquiring the pre-saved internal parameters of the infrared camera;

The calculation module is used for substituting the collected N sets of coordinate parameters and the internal reference into a preset camera attitude estimation algorithm for calculation, so as to obtain the pose of the infrared camera in the optical virtual space coordinate system.

In addition, in order to achieve the above object, the present invention also provides a camera pose calculation device, the device includes: a memory, a processor, and a camera pose calculation program stored on the memory and running on the processor , when the camera pose calculation program is executed by the processor to implement the steps of the camera pose calculation method as described above.

In addition, in order to achieve the above object, the present invention also provides a storage medium on which a camera pose calculation program is stored, and when the camera pose calculation program is executed by a processor, the above-mentioned camera pose calculation is realized steps of the method.

In the present invention, a preset number of reflective stickers are pasted on the surface of the posture calibration plate of the infrared camera, so that the infrared camera can locate the position of the posture calibration plate in the optical virtual space based on the reflective stickers, and one of the reflective stickers is pasted on the optical virtual space. On the preset center point, it is convenient to collect the three-dimensional coordinates of the center point under the optical virtual space coordinate system through the infrared camera; The corresponding N sets of coordinate parameters, and then the collected N sets of coordinate parameters and the pre-saved internal reference of the infrared camera are substituted into the preset camera pose estimation algorithm for calculation, and the pose of the infrared camera in the optical virtual space coordinate system can be obtained. .

Description of drawings

1 is a schematic diagram of a device structure of a hardware operating environment involved in an embodiment of the present invention;

FIG. 2 is a schematic flowchart of an embodiment of a camera pose calculation method according to the present invention;

FIG. 3 is a schematic block diagram of an embodiment of a camera pose calculation apparatus according to the present invention.

The realization, functional characteristics and advantages of the present invention will be further described with reference to the accompanying drawings in conjunction with the embodiments.

Detailed ways

It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.

As shown in FIG. 1 , FIG. 1 is a schematic diagram of a device structure of a hardware operating environment involved in an embodiment of the present invention.

The camera pose computing device in this embodiment of the present invention may be a computer or a server.

As shown in FIG. 1 , the camera pose computing device may include: a processor 1001 , such as a CPU, a network interface 1004 , a user interface 1003 , a memory 1005 , and a communication bus 1002 . Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. Optionally, the network interface 1004 may include a standard wired interface and a wireless interface (eg, a WI-FI interface). The memory 1005 may be high-speed RAM memory, or may be non-volatile memory, such as disk memory. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001 .

Those skilled in the art can understand that the device structure shown in FIG. 1 does not constitute a limitation on the device, and may include more or less components than the one shown, or combine some components, or arrange different components.

As shown in FIG. 1 , the memory 1005 as a computer storage medium may include an operating system, a network communication module, a user interface module, and a camera pose calculation program.

In the terminal shown in FIG. 1 , the network interface 1004 is mainly used to connect an infrared camera and perform data communication with the infrared camera; the user interface 1003 is mainly used to connect a client (client) and perform data communication with the client; and the processor 1001 can be used to call the camera pose calculation program stored in the memory 1005, and perform the operations in various embodiments of the camera pose calculation method described below.

Based on the above hardware structure, an embodiment of the camera pose calculation method of the present invention is proposed.

Referring to FIG. 2, FIG. 2 is a schematic flowchart of an embodiment of a camera pose calculation method according to the present invention. The method includes:

Step S10, collecting N groups of coordinate parameters corresponding to N different positions of the pose calibration board of the infrared camera in the optical virtual space coordinate system, wherein a preset number of reflective stickers are pasted on one surface of the pose calibration board, One of the reflective stickers is pasted on the preset center point of the pose calibration board. The optical virtual space coordinate system is the preset coordinate system of the three-dimensional world. Each set of coordinate parameters includes the three-dimensional coordinate system of the preset center point in the optical virtual space coordinate system. coordinates, and the two-dimensional coordinates in the preset image coordinate system, N is the preset value;

In this embodiment, in order to calculate the pose of the infrared camera in the optical virtual space coordinate system, a pose calibration board needs to be made first. The size of the pose calibration board can be set flexibly, such as 40*40cm. A reflective ball can be fixed on the attitude calibration board or a reflective sticker can be attached as a rigid body in the optical space (referring to an object whose shape and size remain unchanged during motion and after being subjected to force, and the relative position of each internal point remains unchanged), In this embodiment, a preset number of reflective stickers are pasted on one surface of the pose calibration board, which can facilitate the infrared camera to locate the position of the pose calibration board in the optical virtual space based on the reflective stickers. One of the reflective stickers is pasted in place. On the preset center point of the attitude calibration plate, it is convenient to collect the three-dimensional coordinates of the center point in the optical virtual space coordinate system through the infrared camera.

Further, before the above step S10, the method may further include: receiving a coordinate system setting instruction, and setting the optical virtual space coordinate system and the image coordinate system according to the coordinate system setting instruction.

For ease of understanding, the following briefly introduces several coordinate systems used in the existing camera calibration process:

The world coordinate system, since the camera can be placed in any position, select a reference coordinate in the environment to describe the position of the camera, and use it to describe the position of any object in the environment, this coordinate system is called the world coordinate system.

Camera coordinate system: The coordinate system established on the camera is defined to describe the position of the object from the camera's point of view, as an intermediate link between the world coordinate system and the image/pixel coordinate system.

Image coordinate system: Each digital image is an M*N array in the computer, and the value of each element (called pixel) in the image with M rows and N columns is the gray value of the image point. Define the rectangular coordinate system u, v in the image, the coordinates (u, v) of each pixel are the number of columns and rows of the pixel in the array, so (u, v) is the image coordinate system in pixel units coordinate.

Pixel coordinate system: Introduced to describe the coordinates of the image point on the digital image (photo) after the object is imaged. It is the coordinate system where the information we actually read from the camera is located.

In this embodiment, the optical virtual space coordinate system is the above-mentioned world coordinate system, the image coordinate system is a transition coordinate system between the camera coordinate system and the pixel coordinate system, and both the optical virtual space coordinate system and the image coordinate system are manually set.

After the pose calibration board is made, and the optical virtual space coordinate system and the image coordinate system are set, the camera pose can be calculated by moving the pose calibration board in the three-dimensional space to collect data. The description will take the device that executes the camera pose calculation method as the server. First, the infrared camera captures images of N different positions of the pose calibration board in the optical virtual space coordinate system, and sends the images to the server, so that the server can collect the N groups corresponding to the N different positions through the infrared camera Coordinate parameters, wherein each set of coordinate parameters includes the three-dimensional coordinates of the center point of the pose calibration plate in the optical virtual space coordinate system, denoted as R _i =(x _i ,y _i ,z _i ), and in the preset image coordinate system The two-dimensional coordinates in , denoted as Q _i =(U _i ,V _i ), i is the position serial number, x, y, z are three-dimensional coordinates, and U, V are pixel coordinates.

It should be noted that the center point of the pose calibration board can be set flexibly, for example, it can be the geometric center of the surface of the pose calibration board, or it can be other designated positions; the value of N can be set flexibly, for example, it can be set between 8 and 20. Any integer between , that is, 8 to 20 sets of coordinate parameters are collected.

In one embodiment, a two-dimensional code image may be provided on the surface of the calibration plate pasted with the reflective sticker. Before the above-mentioned step S10, it may also include: receiving a center point setting instruction, and converting one of the two-dimensional code images according to the center point setting instruction. The corner point is set as the center point of the pose calibration plate.

Specifically, the server receives the center point setting instruction, and according to the instruction, sets one corner of the two-dimensional code image as the center point of the pose calibration board. It should be noted that any one of the four corner points of the two-dimensional code image can be set. A corner point (any one of the upper left corner point, the lower left corner point, the upper right corner point, and the lower right corner point) is set as the center point of the pose calibration board. Since it is easier for the server to recognize the QR code image, by setting any corner of the QR code image as the center point of the pose calibration board, it is convenient for the server to quickly locate the center point from multiple reflective markers, and then obtain the center point. Two-dimensional coordinates in the image coordinate system.

Step S20, acquiring the pre-saved internal parameters of the infrared camera;

In this step, the server obtains the pre-saved internal parameters of the infrared camera, the internal parameters are internal parameters, and are used to determine the projection relationship of the camera from the three-dimensional space to the two-dimensional image. Internal parameters are only related to the optical and mechanical properties of the camera, and are inherent properties of the camera. Intrinsic parameters include focal length, principal point, scaling factor and camera distortion factor.

Step S30: Substitute the collected N sets of coordinate parameters and internal reference into a preset camera pose estimation algorithm for calculation, and obtain the pose of the infrared camera in the optical virtual space coordinate system.

In this step, the server substitutes the collected N sets of coordinate parameters and the internal reference of the infrared camera into a preset camera pose estimation algorithm for calculation, so as to obtain the pose of the infrared camera in the optical virtual space coordinate system.

Specifically, this step S30 may further include: substituting the collected N sets of coordinate parameters and internal reference into the camera attitude estimation algorithm EPNP, and calculating the pose transformation data from the optical virtual space coordinate system to the infrared camera, and the pose transformation data includes rotation. Matrix and translation vector; calculate the pose of the infrared camera in the optical virtual space coordinate system according to the pose transformation data.

和平移向量进而根据

和

可以计算出红外摄影机在光学虚拟空间坐标系下的位姿，其中，根据相机位姿估计算法EPNP计算旋转矩阵

和平移向量

的具体方式可以参照现有技术，此处不做赘述。The server takes the collected N sets of coordinate parameters and the internal parameters of the infrared camera as input parameters into the camera pose estimation algorithm (efficient perspective-n-point, EPNP), and can calculate the pose transformation data from the optical virtual space coordinate system to the infrared camera. , the pose transformation data includes the rotation matrix

and translation vector and then according to

and

The pose of the infrared camera in the optical virtual space coordinate system can be calculated, wherein the rotation matrix is calculated according to the camera pose estimation algorithm EPNP

and translation vector

For the specific manner, reference may be made to the prior art, which will not be repeated here.

分别计算红外摄影机在光学虚拟空间坐标系下的位置t_c和姿态r_c；其中，

为旋转矩阵，

为平移向量。Further, the step of calculating the pose of the infrared camera in the optical virtual space coordinate system according to the pose transformation data may include: according to the formula and

Calculate the position _{t c} and attitude rc of the infrared camera in the optical virtual space coordinate system respectively; where,

is the rotation matrix,

is the translation vector.

In this embodiment, by pasting a preset number of reflective stickers on the surface of the pose calibration plate of the infrared camera, it is convenient for the infrared camera to locate the position of the pose calibration board in the optical virtual space based on the reflective stickers, one of which The reflective sticker is pasted on the preset center point, which can easily collect the three-dimensional coordinates of the center point in the optical virtual space coordinate system through the infrared camera; by collecting N different positions of the infrared camera's pose calibration board in the optical virtual space coordinate system The N sets of coordinate parameters corresponding to the position, and then the collected N sets of coordinate parameters and the pre-saved internal parameters of the infrared camera are substituted into the preset camera attitude estimation algorithm for calculation, and the infrared camera in the optical virtual space coordinate system can be obtained. pose.

The invention also provides a camera pose calculation device. Referring to FIG. 3 , FIG. 3 is a schematic block diagram of an embodiment of a camera pose calculation apparatus according to the present invention. In this embodiment, the camera pose calculation device includes:

The acquisition module 10 is used to collect N sets of coordinate parameters corresponding to N different positions of the pose calibration board of the infrared camera in the optical virtual space coordinate system, wherein a surface of the pose calibration board is pasted with a preset A number of reflective stickers, one of which is pasted on the preset center point of the pose calibration board, the optical virtual space coordinate system is a preset three-dimensional world coordinate system, and each set of coordinate parameters includes the preset the three-dimensional coordinates of the center point in the optical virtual space coordinate system, and the two-dimensional coordinates in the preset image coordinate system, where N is a preset value;

an acquisition module 20, configured to acquire the pre-saved internal parameters of the infrared camera;

The calculation module 30 is used for substituting the collected N sets of coordinate parameters and the internal reference into a preset camera pose estimation algorithm for calculation to obtain the pose of the infrared camera in the optical virtual space coordinate system.

Further, a two-dimensional code image is also provided on the surface on which the reflective stickers are pasted; the camera pose calculation device further includes:

The center point setting module is configured to receive a center point setting instruction, and set a corner point of the two-dimensional code image as the center point of the pose calibration board according to the center point setting instruction.

Further, the camera pose calculation device also includes:

The coordinate system setting module is used for receiving the coordinate system setting instruction, and setting the optical virtual space coordinate system and the image coordinate system according to the coordinate system setting instruction.

Further, the computing module is also used for:

Substitute the collected N sets of coordinate parameters and the internal reference into the camera attitude estimation algorithm EPNP, and calculate the pose transformation data from the optical virtual space coordinate system to the infrared camera, where the pose transformation data includes rotation. matrix and translation vector;

The pose of the infrared camera in the optical virtual space coordinate system is calculated according to the pose transformation data.

Further, the computing module is also used for:

和

分别计算所述红外摄影机在所述光学虚拟空间坐标系下的位置t_c和姿态r_c；According to the formula

and

respectively calculating the position _{t c} and the attitude rc of the infrared camera in the optical virtual space coordinate system;

为所述旋转矩阵，为所述平移向量。in,

is the rotation matrix, is the translation vector.

For the functions and beneficial effects implemented by the above modules, reference may be made to the embodiments of the camera pose calculation method of the present invention, which will not be repeated here.

The present invention also provides a storage medium.

A camera pose calculation program is stored on the storage medium of the present invention, and when the camera pose calculation program is executed by the processor, the steps of the above-mentioned camera pose calculation method are implemented.

For the method implemented when the camera pose calculation program running on the processor is executed, reference may be made to the various embodiments of the camera pose calculation method of the present invention, which will not be repeated here.

It should be noted that, herein, the terms "comprising", "comprising" or any other variation thereof are intended to encompass non-exclusive inclusion, such that a process, method, article or system comprising a series of elements includes not only those elements, It also includes other elements not expressly listed or inherent to such a process, method, article or system. Without further limitation, an element qualified by the phrase "comprising a..." does not preclude the presence of additional identical elements in the process, method, article or system that includes the element.

The above-mentioned serial numbers of the embodiments of the present invention are only for description, and do not represent the advantages or disadvantages of the embodiments.

From the description of the above embodiments, those skilled in the art can clearly understand that the method of the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is better implementation. Based on such understanding, the technical solutions of the present invention can be embodied in the form of software products in essence or the parts that make contributions to the prior art, and the computer software products are stored in a storage medium (such as ROM/RAM) as described above. , magnetic disk, optical disk), including several instructions to make a terminal device (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) execute the methods described in the various embodiments of the present invention.

The above are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the description and drawings of the present invention, or directly or indirectly applied in other related technical fields , are similarly included in the scope of patent protection of the present invention.

Claims (10)

1. A camera pose calculation method, wherein the camera pose calculation method comprises the steps: Collect N sets of coordinate parameters corresponding to N different positions of the pose calibration board of the infrared camera in the optical virtual space coordinate system, wherein a preset number of reflective stickers are pasted on one surface of the pose calibration board, wherein A reflective sticker is pasted on the preset center point of the pose calibration plate, the optical virtual space coordinate system is a preset coordinate system of the three-dimensional world, and each set of coordinate parameters includes the preset center point in the optical The three-dimensional coordinates in the virtual space coordinate system and the two-dimensional coordinates in the preset image coordinate system, N is the preset value; obtaining the pre-saved internal parameters of the infrared camera; Substitute the collected N sets of coordinate parameters and the internal reference into a preset camera pose estimation algorithm for calculation to obtain the pose of the infrared camera in the optical virtual space coordinate system. 2. The camera pose calculation method according to claim 1, wherein a two-dimensional code image is further provided on the surface on which the reflective stickers are pasted; Before the step of collecting the N groups of coordinate parameters corresponding to N different positions of the infrared camera's pose calibration board in the optical virtual space coordinate system, the method further includes: A center point setting instruction is received, and a corner point of the two-dimensional code image is set as the center point of the pose calibration board according to the center point setting instruction. 3 . The camera pose calculation method according to claim 1 , wherein the step of collecting N groups of coordinate parameters corresponding to N different positions of the pose calibration plate of the infrared camera in the optical virtual space coordinate system. 4 . Before, also included: A coordinate system setting instruction is received, and an optical virtual space coordinate system and an image coordinate system are set according to the coordinate system setting instruction. 4 . The camera pose calculation method according to claim 1 , wherein the collected N sets of coordinate parameters and the internal reference are substituted into a preset camera pose estimation algorithm for calculation to obtain the said 4 . The steps of the pose of the infrared camera in the optical virtual space coordinate system include: Substitute the collected N sets of coordinate parameters and the internal reference into the camera attitude estimation algorithm EPNP, and calculate the pose transformation data from the optical virtual space coordinate system to the infrared camera, where the pose transformation data includes rotation. matrix and translation vector; The pose of the infrared camera in the optical virtual space coordinate system is calculated according to the pose transformation data. 5. The camera pose calculation method according to claim 4, wherein the step of calculating the pose of the infrared camera in the optical virtual space coordinate system according to the pose transformation data comprises: According to the formula

and

respectively calculating the position _{t c} and the attitude rc of the infrared camera in the optical virtual space coordinate system; in,

is the rotation matrix,

is the translation vector. 6. A camera pose computing device, wherein the camera pose computing device comprises: The acquisition module is used to collect N sets of coordinate parameters corresponding to N different positions of the infrared camera's pose calibration board in the optical virtual space coordinate system, wherein a surface of the pose calibration board is pasted with a preset number of reflective stickers, one of which is pasted on the preset center point of the pose calibration board, the optical virtual space coordinate system is the preset three-dimensional world coordinate system, and each set of coordinate parameters includes the preset center the three-dimensional coordinates of the point in the optical virtual space coordinate system, and the two-dimensional coordinates in the preset image coordinate system, where N is a preset value; an acquisition module for acquiring the pre-saved internal parameters of the infrared camera; The calculation module is used for substituting the collected N sets of coordinate parameters and the internal reference into a preset camera attitude estimation algorithm for calculation, so as to obtain the pose of the infrared camera in the optical virtual space coordinate system. 7. The camera pose calculation device according to claim 6, wherein the calculation module is further used for: Substitute the collected N sets of coordinate parameters and the internal reference into the camera attitude estimation algorithm EPNP, and calculate the pose transformation data from the optical virtual space coordinate system to the infrared camera, where the pose transformation data includes rotation. matrix and translation vector; The pose of the infrared camera in the optical virtual space coordinate system is calculated according to the pose transformation data. 8. The camera pose calculation device according to claim 7, wherein the calculation module is further used for: According to the formula

and

respectively calculating the position _{t c} and the attitude rc of the infrared camera in the optical virtual space coordinate system; in,

is the rotation matrix,

is the translation vector. 9. A camera pose computing device, characterized in that the camera pose computing device comprises: a memory, a processor, and a camera pose computing program stored on the memory and running on the processor, When the camera pose calculation program is executed by the processor, the steps of the camera pose calculation method according to any one of claims 1 to 5 are implemented. 10 . A storage medium, wherein a camera pose calculation program is stored on the storage medium, and the camera pose calculation program is executed by a processor to implement the method according to any one of claims 1 to 5 . The steps of the camera pose calculation method.

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