CN104217429A - Design and detection method of camera calibration board - Google Patents
Design and detection method of camera calibration board Download PDFInfo
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- CN104217429A CN104217429A CN201410421818.0A CN201410421818A CN104217429A CN 104217429 A CN104217429 A CN 104217429A CN 201410421818 A CN201410421818 A CN 201410421818A CN 104217429 A CN104217429 A CN 104217429A
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Abstract
The invention discloses a design and detection method of a camera calibration board. The design and detection method comprises the following steps: carrying out integral layout and design of the calibration board; measuring and storing calibration board information; and carrying out camera calibration. Firstly, the gesture of the calibration board is automatically transformed by a machine to avoid work of artificially frequently regulating the calibration board and realize the automatic camera calibration; secondly, during big-angle shooting, the peripheral edge of the calibration board is provided with enough coding patterns which can be clearly imaged; and finally, when a telephoto lens is calibrated, the coding patterns with a proper size always can be calibrated on various zoom ring positions which aim at a camera lens so as to be identified.
Description
Technical field
The present invention relates to a kind of camera lens caliberating device and scaling method, particularly a kind of robotization Zoom lens calibration device and scaling method.
Background technology
Camera calibration technology is by scaling board, world coordinates and image coordinate to be connected, and calculates the inside and outside parameter of video camera according to corresponding relation.Particularly, by calibration technique, the funtcional relationship obtaining between focusing, focal length, lens distortion is the basis of virtual special efficacy technique for taking.
In application, usually complete the calibration process of video camera with the scaling board of gridiron pattern or round dot.The use of scaling board is usually: by taking several gridiron patterns or the round dot scaling board image under different attitudes, and according to the coordinate of corresponding point in image coordinate system and world coordinate system, try to achieve camera interior and exterior parameter but in the calibration process of the different focal to same camera lens the traditional scaling board defect below existing:
1), while taking the scaling board image of diverse location, need to not stop to regulate the position of scaling board to make imaging clearly;
2) scaling board is in the time that shooting angle is excessive, and the imaging in image of the pattern of scaling board peripheral edge is less, fuzzy, affects the accuracy of corresponding point;
3) for demarcating telephoto lens, cannot take complete scaling board image is also the difficult problem running in traditional scaling method.
Therefore, the present invention has designed a kind of scaling board with specific coding pattern, can, by making scaling board automatically change the plant equipment of attitude, make calibration process robotization, and solve by the design of scaling board the problem running in above-mentioned calibration process.
Summary of the invention
Goal of the invention: for a kind of scaling board and recognition methods with specific coding pattern of demarcation design of video camera, demarcate solution is provided for the robotization of camera lens.The present invention is by design the specific coding pattern of some on scaling board, by its identification and location, obtains point in the image coordinate in scaling board coordinate system.Simultaneously, use scaling board of the present invention, can be in wide-angle, remote and long burnt in the situation that, in image, all obtain the scaling board pattern of enough imaging clearlies, therefore, can convert scaling board attitude by machine automatization, avoid the artificial frequent work that regulates scaling board, realize the automatic Calibration of video camera.
1. technical scheme: in order to realize above object, the invention discloses a kind of design and test method of camera calibration plate, comprise the following steps:
S1: scaling board integral layout and design;
S2: measure and preserve scaling board information;
S3: camera calibration.
Further, described step S1 specifically comprises the following steps:
S11: determine according to actual needs length and the area of scaling board, ensured that scaling board peripheral edge has enough coding patterns can be by blur-free imaging in the time that wide-angle is taken;
S12: design coding pattern unduplicated, not of uniform size, having ensured, in the time demarcating telephoto lens, always has the coding pattern of suitable size to demarcate and to be identified at the various zoom ring positions for camera lens;
S13: by described coding pattern layout in scaling board.
Further, in described step S1, convert scaling board attitude by machine automatization, avoided the artificial frequent work that regulates scaling board, realized the automatic Calibration of video camera.
Further, the coding pattern in described step S12 is foursquare coding pattern or circle codification pattern.Wherein, foursquare coding pattern, integral calibrating plate adopts rectangle, and length is larger, and coding pattern uses multiple size, the pattern minimum of close centre, the pattern maximum on both sides; Adopt circle codification pattern, integral calibrating plate adopts the rectangle that length is larger equally, and coding pattern uses the circle codification pattern of two kinds big or small, is respectively distributed in scaling board.
Further, described step S2 specifically comprises the following steps:
S21: the code storage of scaling board pattern, in database, is set up to the corresponding relation of coding and pattern;
S22: by precision measurement equipment, measure each and demarcate the size of pattern, the coordinate of coordinate, pattern characteristics point and sampled point in scaling board.
Further, described step S3 specifically comprises the following steps:
S31: unique point identification;
S32: camera calibration;
S33: set up the funtcional relationship between each element in burnt ring value and video camera internal reference matrix.
Further, described step S31 specifically comprises the following steps:
S311: connected domain processing obtains the region of containing data block in image;
S312: angle point extracts;
S313: screening angle point, obtains tetragonal four angle points of composition data piece pattern;
S314: calculation template data block is to the projection matrix H of data block in image;
S315: decoded data block, obtains data block in the image positional information for this data block in scaling board.
Further, described step S32 specifically comprises the following steps:
S321: obtain the data block centre coordinate that can identify in scaling board image, adopt the method for step S31, set up the corresponding relation with world coordinate system;
S322: the initial value that obtains the inside and outside ginseng of video camera and distortion parameter;
S323: screening is passed through L-M optimized algorithm to camera interior and exterior parameter and distortion factor optimization.
Further, described step S33 specifically comprises the following steps:
S331: under zooming range, regulate zoom level;
S332: by the method described in step S22, demarcate at the camera parameters when under front focal length, thereby set up the funtcional relationship between burnt ring value and each camera parameters;
S333: under next zoom level, zoom level is generally got more than 20 groups in span, repeating step S322.
Beneficial effect: compared with prior art, the present invention has the following advantages:
1. convert scaling board attitude by machine automatization, avoided the artificial frequent work that regulates scaling board, realized the automatic Calibration of video camera;
2. in the time that wide-angle is taken, scaling board peripheral edge has enough coding patterns can be by blur-free imaging;
3. in the time demarcating telephoto lens, always there is the coding pattern of suitable size to demarcate and to be identified at the various zoom ring positions for camera lens.
Brief description of the drawings
Fig. 1 is the scaling board schematic diagram that adopts square numbering pattern;
Fig. 2 is the scaling board schematic diagram that adopts circle codification pattern;
Fig. 3 is square scaling board pattern schematic diagram 1;
Fig. 4 is square scaling board pattern schematic diagram 2;
Fig. 5 is the schematic diagram of circle codification pattern;
Fig. 6 is a kind of design and test method flow diagram of camera calibration plate.
Embodiment
Below in conjunction with the drawings and specific embodiments, further illustrate the present invention, should understand these embodiment is only not used in and limits the scope of the invention for the present invention is described, after having read the present invention, those skilled in the art all fall within the application's claims limited range to the amendment of the various equivalent form of values of the present invention.
Embodiment:
Embodiment 1:
A design and test method for camera calibration plate, comprises the following steps (as shown in Figure 6):
S1: scaling board integral layout and design;
S2: measure and preserve scaling board information;
S3: camera calibration.
Further, described step S1 specifically comprises the following steps:
S11: determine according to actual needs length and the area of scaling board, ensured that scaling board peripheral edge has enough coding patterns can be by blur-free imaging in the time that wide-angle is taken;
S12: design coding pattern unduplicated, not of uniform size, having ensured, in the time demarcating telephoto lens, always has the coding pattern of suitable size to demarcate and to be identified at the various zoom ring positions for camera lens;
S13: by described coding pattern layout in scaling board.
Further, in described step S1, convert scaling board attitude by machine automatization, avoided the artificial frequent work that regulates scaling board, realized the automatic Calibration of video camera.
Further, the coding pattern in described step S12 is foursquare coding pattern, and integral calibrating plate adopts rectangle, and length is larger, and coding pattern uses multiple size, the pattern minimum of close centre, the pattern maximum on both sides.Square rectangle coding pattern entirety is a rectangle, and the inner grid type layout that adopts m*n is used another kind of color to encode.Can encode by rectangular coordinate system from left to right, from top to bottom, foreground is 1, background colour is 0, is a string 2 carry system codes by pattern transfer.
The schematic diagram of a rectangle coding pattern as shown in Figure 3, this pattern uses square, in the middle of it, the part of 5*5 is data division, encode with order from left to right, from top to bottom, white is 1, black is 0, being encoded to of this coding pattern: 00,001 11,000 01,110 00,010 00100.
Be the coding pattern of a 8*8 as shown in Figure 4 again, it is encoded to: 00,000,001 0,010,001,000,011,110 01,001,110 01,100,010 00,001,010 11,000,100 11000000, can simply be written as with 16 systems: 01221E4E620AC4C0.
Further, described step S2 specifically comprises the following steps:
S21: the code storage of scaling board pattern, in database, is set up to the corresponding relation of coding and pattern;
S22: by precision measurement equipment, measure each and demarcate the size of pattern, the coordinate of coordinate, pattern characteristics point and sampled point in scaling board.
Further, described step S3 specifically comprises the following steps:
S31: unique point identification;
S32: camera calibration;
S33: set up the funtcional relationship between each element in burnt ring value and video camera internal reference matrix.
Further, described step S31 specifically comprises the following steps:
S311: connected domain processing obtains the region of containing data block in image;
S312: angle point extracts, and the present invention adopts Harris Angular Point Extracting Method, and other Robust Algorithm of Image Corner Extractions are all feasible;
S313: screening angle point, obtain tetragonal four angle points of composition data piece pattern, in a connected domain, the angle point that is useful on the angle point of demarcation and data block coding is produced, from these angle points, extract 4 the angle point (u1 on four angles of square or rectangular that are in for demarcating, v1), (u2, v2), (u3, v3), (u4, v4), and calculate tetragonal cornerwise intersection point (u0, v0) that these 4 angle points form, as the centre coordinate of data block pattern;
S314: calculation template data block, to the projection matrix H of data block in image, is asked for transformation matrix by 4 groups of corresponding point.Method is as follows:
S315: decoded data block, obtains data block in the image positional information corresponding to this data block in scaling board.Method is as follows:
Sample point coordinate in template, according to projective transformation matrix H, obtains the sample coordinate in image, and in the m*n of sample coordinate neighborhood, the pixel value in zoning, obtains the encoded radio (0 or 1) in this region.Record in order sampled value, obtained the coding of data block, obtain the correspondence position of this data block in scaling board by code search, and using pattern center (u0, v0) as this data block the position in image.
Further, described step S32 specifically comprises the following steps:
S321: obtain the data block centre coordinate that can identify in scaling board image, adopt the method for step S31, set up the corresponding relation with world coordinate system;
S322: the initial value that obtains the inside and outside ginseng of video camera and distortion parameter;
S323: screening is passed through L-M optimized algorithm to camera interior and exterior parameter and distortion factor optimization.
Further, described step S33 specifically comprises the following steps:
S331: under zooming range, regulate zoom level;
S332: by the method described in step S22, demarcate at the camera parameters when under front focal length, thereby set up the funtcional relationship between burnt ring value and each camera parameters;
S333: under next zoom level, zoom level is generally got more than 20 groups in span, repeating step S322.
Embodiment 2:
A design and test method for camera calibration plate, comprises the following steps (as shown in Figure 6):
S1: scaling board integral layout and design;
S2: measure and preserve scaling board information;
S3: camera calibration.
Further, described step S1 specifically comprises the following steps:
S11: determine according to actual needs length and the area of scaling board, ensured that scaling board peripheral edge has enough coding patterns can be by blur-free imaging in the time that wide-angle is taken;
S12: design coding pattern unduplicated, not of uniform size, having ensured, in the time demarcating telephoto lens, always has the coding pattern of suitable size to demarcate and to be identified at the various zoom ring positions for camera lens;
S13: by described coding pattern layout in scaling board.
Further, in described step S1, convert scaling board attitude by machine automatization, avoided the artificial frequent work that regulates scaling board, realized the automatic Calibration of video camera.
Further, the coding pattern in described step S12 is for adopting circle codification pattern, and integral calibrating plate adopts the rectangle that length is larger equally, and coding pattern uses the circle codification pattern of two kinds big or small, is respectively distributed in scaling board.Circle codification pattern entirety is a circle, and inside is divided into n donut, on each annulus, encodes by dividing angle (m decile) equally, encodes by polar coordinate system.For example can adopt from inside to outside, be positive dirction clockwise, and every 2 π/m radian is that a unit encodes.It should be noted that in circle codification pattern, the coding starting point of an angle must be provided, to determine the position of 0 degree.
The schematic diagram of a circle codification pattern as shown in Figure 5, this pattern uses circular, it is the coding pattern of a 8*2, pair radius 5 deciles, circular dividing is become to 5 annulus, and each annulus is divided into 8 deciles by dividing angle equally, and wherein first lap and the 5th circle (i.e. interior and outermost) are not encoded, the 2nd circle and the 4th Quan Shi data encoding district, the 3rd circle is that the region at identification point place is for the direction of definite circle codification pattern.Coding method is: encode by clockwise order from inside to outside, 0 degree position is 12 o'clock direction, and white is 1, black is 0, being encoded to of this coding pattern: 10,000,000 00111010.
Further, described step S2 specifically comprises the following steps:
S21: the code storage of scaling board pattern, in database, is set up to the corresponding relation of coding and pattern;
S22: by precision measurement equipment, measure each and demarcate the size of pattern, the coordinate of coordinate, pattern characteristics point and sampled point in scaling board.
Further, described step S3 specifically comprises the following steps:
S31: unique point identification;
S32: camera calibration;
S33: set up the funtcional relationship between each element in burnt ring value and video camera internal reference matrix.
Further, described step S31 specifically comprises the following steps:
S311: edge extracting, obtains the edge of target in image with Canny Boundary extracting algorithm;
S312: the circular scaling board in positioning image, due to shooting angle, circular scaling board pattern presents ellipse in image.Adopt the ellipse in RHT Ellipses Detection positioning image, and be partitioned into elliptic region, for identifying circular scaling board;
S313: in region, by the projection of 4 mark circles in RHT Ellipses Detection positioning image, and coordinate using their center as identification point, be respectively: (u1, v1), (u2, v2), (u3, v3), (u4, v4), they are (x1 corresponding to the identification point coordinate in scaling board, y1), (x2, y2), (x3, y3), (x4, y4), the wherein center as this pattern corresponding to the identification point of scaling board pattern center, coordinate is (u0, v0);
S314: calculation template data block, to the projection matrix H of data block in image, is asked for transformation matrix by 4 groups of corresponding point.Method is as follows:
S315: decoded data block, obtains data block in the image positional information for this data block in scaling board.Method is as follows:
Sample point coordinate in template, according to projective transformation matrix H, obtains the sample coordinate in image, and in the m*n of sample coordinate neighborhood, the pixel value in zoning, obtains the encoded radio (0 or 1) in this region.Record in order sampled value, obtained the coding of data block, obtain the correspondence position of this data block in scaling board by code search, and using pattern center (u0, v0) as this data block the position in image.
Further, described step S32 specifically comprises the following steps:
S321: obtain the data block centre coordinate that can identify in scaling board image, adopt the method for step S31, set up the corresponding relation with world coordinate system;
S322: the initial value that obtains the inside and outside ginseng of video camera and distortion parameter;
S323: screening is passed through L-M optimized algorithm to camera interior and exterior parameter and distortion factor optimization.
Further, described step S33 specifically comprises the following steps:
S331: under zooming range, regulate zoom level;
S332: by the method described in step S22, demarcate at the camera parameters when under front focal length, thereby set up the funtcional relationship between burnt ring value and each camera parameters;
S333: under next zoom level, zoom level is generally got more than 20 groups in span, repeating step S322.
Claims (8)
1. a design and test method for camera calibration plate, is characterized in that, comprises the following steps:
S1: scaling board integral layout and design;
S2: measure and preserve scaling board information;
S3: camera calibration.
2. the design and test method of a kind of camera calibration plate according to claim 1, is characterized in that, described step S1 specifically comprises the following steps:
S11: length and the area of determining scaling board;
S12: design coding pattern unduplicated, not of uniform size;
S13: by described coding pattern layout in scaling board.
3. the design and test method of a kind of camera calibration plate according to claim 1 and 2, is characterized in that, the coding pattern in described step S12 is foursquare coding pattern or circle codification pattern.
4. the design and test method of a kind of camera calibration plate according to claim 1, is characterized in that, described step S2 specifically comprises the following steps:
S21: the code storage of scaling board pattern, in database, is set up to the corresponding relation of coding and pattern;
S22: by precision measurement equipment, measure each and demarcate the size of pattern, the coordinate of coordinate, pattern characteristics point and sampled point in scaling board.
5. the design and test method of a kind of camera calibration plate according to claim 1, is characterized in that, described step S3 specifically comprises the following steps:
S31: unique point identification;
S32: camera calibration;
S33: set up the funtcional relationship between each element in burnt ring value and video camera internal reference matrix.
6. a kind of design and test method of camera calibration plate according to claim 1 or 5, is characterized in that, described step S31 specifically comprises the following steps:
S311: connected domain processing obtains the region of containing data block in image;
S312: angle point extracts;
S313: screening angle point, obtains tetragonal four angle points of composition data piece pattern;
S314: calculation template data block is to the projection matrix H of data block in image;
S315: decoded data block, obtains data block in the image positional information for this data block in scaling board.
7. a kind of design and test method of camera calibration plate according to claim 1 or 5, is characterized in that, described step S32 specifically comprises the following steps:
S321: obtain the data block centre coordinate that can identify in scaling board image, adopt the method for step 1, set up the corresponding relation with world coordinate system;
S322: the initial value that obtains the inside and outside ginseng of video camera and distortion parameter;
S323: screening is passed through L-M optimized algorithm to camera interior and exterior parameter and distortion factor optimization.
8. a kind of design and test method of camera calibration plate according to claim 1 or 5, is characterized in that, described step S33 specifically comprises the following steps:
S331: under zooming range, regulate zoom level;
S332: by the method described in step S22, demarcate at the camera parameters when under front focal length, thereby set up the funtcional relationship between burnt ring value and each camera parameters;
S333: under next zoom level, zoom level is generally got more than 20 groups in span, repeating step S322.
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| CN112419422B (en) * | 2020-10-23 | 2024-03-15 | 福瑞泰克智能***有限公司 | Camera calibration method, device, equipment and storage medium |
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