CN107123148A - A kind of camera parameter scaling method and device - Google Patents
A kind of camera parameter scaling method and device Download PDFInfo
- Publication number
- CN107123148A CN107123148A CN201710321268.9A CN201710321268A CN107123148A CN 107123148 A CN107123148 A CN 107123148A CN 201710321268 A CN201710321268 A CN 201710321268A CN 107123148 A CN107123148 A CN 107123148A
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- target
- adjuster
- tessellated
- gridiron pattern
- light
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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- Engineering & Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of camera parameter scaling method and device, this method includes：Target gridiron pattern is fixed using adjuster, and one baffle plate is set in the tessellated side of the target, the baffle plate is provided with parallel to the tessellated bar shaped loophole of the target；The light of transmitting is coated with the target gridiron pattern by control monochromatic line structured light device by the bar shaped loophole；The tessellated angle of inclination of target is adjusted by the adjuster, until the uniform light is paved with the target gridiron pattern.As can be seen here, this method realizes the projection of area-structure light using the mode of delivery of line-structured light, and cost is relatively low for area-structure light transmitter for it, is readily available.Further, since line-structured light transmitter is monochrome, therefore the just high-purity monochromatic light cast out, it is to avoid the generation of aberration.Camera parameter caliberating device disclosed by the invention also has above-mentioned advantage.
Description
Technical field
The present invention relates to image measurement technology field, more particularly to a kind of camera parameter scaling method and device.
Background technology
In image measurement process and machine vision applications, either in image measurement or machine vision applications,
The demarcation of camera parameter is all unusual the key link, and the precision of its calibration result and the stability of algorithm directly affect camera work
Make the accuracy of generation result.
It is the premise for carrying out follow-up work to carry out camera calibration, improves the emphasis place that stated accuracy is research work.Mesh
Before, camera calibration method has：Traditional camera standardization, active vision camera calibration method and Camera Self-Calibration method.The most
Generally traditional camera standardization, and gridiron pattern is a calibrating template being used in traditional camera demarcation, in demarcation
During, the irradiating angle of light source is most important factor in lighting system.Spectrum is that the glow color of light source is equally light source
The important content of system design.Experiment shows that surface is that the object of white is not required light source colour；Surface colored will
According to the big light source colour of the color comparative selection degree on surface；As far as possible monochromatic light should be selected to avoid aberration in illumination.With
Toward gridiron pattern demarcation in, the mode of polishing has natural light or area-structure light, but the degree of monochromaticity of natural light is relatively low, and face tie
The photophore of structure light is again costly.
Therefore, aberration when how to reduce the cost of gridiron pattern demarcation, and avoiding illuminating, is that those skilled in the art are current
The technical issues that need to address.
The content of the invention
It is an object of the invention to provide a kind of camera parameter scaling method and device, for reduce gridiron pattern demarcation into
This, and aberration when avoiding illuminating.
In order to solve the above technical problems, the present invention provides a kind of camera parameter scaling method, including：
Target gridiron pattern is fixed using adjuster, and one baffle plate, the baffle plate are set in the tessellated side of the target
It is provided with parallel to the tessellated bar shaped loophole of the target；
The light of transmitting is coated with the target chess by control monochromatic line structured light device by the bar shaped loophole
On disk lattice；
The tessellated angle of inclination of target is adjusted by the adjuster, until the uniform light is paved with the mesh
Mark gridiron pattern；
Parameter calibration is carried out to target camera by the target gridiron pattern.
Preferably, after the uniform light is paved with the target gridiron pattern, in addition to：
The adjuster is locked to stop adjusting the tessellated angle of inclination of the target.
Preferably, adjusting the tessellated angle of inclination of target by the adjuster is specially：Pass through rough adjustment feature
The tessellated angle of inclination of target is adjusted with trimming assembly.
Preferably, the length of the bar shaped loophole is identical with the tessellated length of side of the target.
In order to solve the above technical problems, the present invention provides a kind of camera parameter caliberating device, including for fixing target chess
Disk lattice and the adjuster for adjusting the tessellated angle of inclination of target, are arranged on the baffle plate of the tessellated side of the target,
The baffle plate is provided with parallel to the tessellated bar shaped loophole of the target, for by the bar shaped loophole by transmitting
Light is coated with the monochromatic line structured light device on the target gridiron pattern；
Wherein, the adjuster adjusts the tessellated angle of inclination of target, until the uniform light be paved with it is described
Target gridiron pattern.
Preferably, in addition to the locking device that is arranged on the adjuster, for when the uniform light be paved with it is described
During target gridiron pattern, lock the adjuster to stop adjusting the tessellated angle of inclination of the target.
Preferably, the adjuster includes rough adjustment feature and trimming assembly.
Preferably, the length of the bar shaped loophole is identical with the tessellated length of side of the target.
Preferably, in addition to the adjuster it is connected to support the base of the adjuster.
Preferably, the adjuster is fixedly connected with the base.
Camera parameter scaling method provided by the present invention, by installing a monochromatic line-structured light above target gridiron pattern
Transmitter so that the light emitted is radiated above target gridiron pattern by the bar shaped loophole on baffle plate.Utilize fixation
The tessellated tessellated angle of inclination of adjuster regulation target of target so that light can uniformly be paved with whole target chessboard
Lattice, so as to reach the launching effect of area-structure light transmitter.As can be seen here, this method is realized using the mode of delivery of line-structured light
The projection of area-structure light, cost is relatively low for area-structure light transmitter for it, be readily available.Further, since line
Structured light device is monochrome, therefore the just high-purity monochromatic light cast out, it is to avoid the generation of aberration.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are the present invention
Some embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can also basis
These accompanying drawings obtain other accompanying drawings.
Fig. 1 is a kind of flow chart of camera parameter scaling method provided in an embodiment of the present invention；
Fig. 2 is the flow chart of another camera parameter scaling method provided in an embodiment of the present invention；
Fig. 3 is a kind of structure chart of camera parameter caliberating device provided in an embodiment of the present invention；
Fig. 4 is a kind of top view of camera parameter caliberating device provided in an embodiment of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.Based on this
Embodiment in invention, those of ordinary skill in the art are not under the premise of creative work is made, and what is obtained is every other
Embodiment, belongs to the scope of the present invention.
The present invention core be to provide a kind of camera parameter scaling method and device, for reduce gridiron pattern demarcation into
This, and aberration when avoiding illuminating.
In order that those skilled in the art more fully understand the present invention program, with reference to the accompanying drawings and detailed description
The present invention is described in further detail.
Fig. 1 is a kind of flow chart of camera parameter scaling method provided in an embodiment of the present invention.As shown in figure 1, this method
Including：
S10：Target gridiron pattern is fixed using adjuster, and set on target one baffle plate of tessellated side setting, baffle plate
It is parallel to the tessellated bar shaped loophole of target.
S11：The light of transmitting is coated with target gridiron pattern by control monochromatic line structured light device by bar shaped loophole
On.
S12：The tessellated angle of inclination of target is adjusted by adjuster, until uniform light is paved with target gridiron pattern.
S13：Parameter calibration is carried out to target camera by target gridiron pattern.
In the present embodiment, due to using monochromatic line structured light device, it is therefore necessary to by parallel to target gridiron pattern
Bar shaped loophole light is radiated on target gridiron pattern, with replace area-structure light transmitter light effects.Monochromatic knot
The lasing area that structure optical transmitting set is emitted, into certain angle of inclination, when angle of inclination is suitable, can make with target gridiron pattern
The uniform light that monochromatic line structured light device is emitted is paved with whole target gridiron pattern, when uniform light is paved with whole target
Gridiron pattern, then just can carry out parameter calibration by target gridiron pattern to target camera.During regulation angle of inclination,
Adjuster is used, the effect for adjusting machine is fixed target gridiron pattern respectively, and the tessellated angle of inclination of adjustment target.
It should be noted that carrying out parameter calibration to target camera by target gridiron pattern may refer to prior art, this
Embodiment is repeated no more.In specific implementation, monochromatic line structured light device can be using the monochromatic knot for launching red light
Structure optical transmitting set, could be used that and launches the monochromatic line structured light device of other colors to substitute, principle is the same certainly, no longer go to live in the household of one's in-laws on getting married
State.
For step is S12, in order to rapidly and accurately find suitable angle of inclination, adjuster can be set to have
Many gear regulations, such as adjuster includes rough adjustment feature and trimming assembly, then adjusts the tessellated inclination of target by adjuster
Angle is specially：The tessellated angle of inclination of target is adjusted by rough adjustment feature and trimming assembly., can two in specific implementation
Regulative mode is planted to be used in combination.If for example, when current angle of inclination differs more with final angle of inclination, can first lead to
Rough adjustment feature regulation is crossed, then is adjusted by trimming assembly.
Preferred ground embodiment, the length of bar shaped loophole is identical with the tessellated length of side of target.
It should be noted that the length of bar shaped loophole can be more than the tessellated length of side of target, but when bar shaped printing opacity
When the length in hole is longer, then the length of baffle plate is also required to lengthen, and undoubtedly adds the volume of whole device, therefore, the present embodiment
In, set the length of bar shaped loophole identical with the tessellated length of side of target.
The camera parameter scaling method that the present embodiment is provided, by installing a monochromatic line-structured light above target gridiron pattern
Transmitter so that the light emitted is radiated above target gridiron pattern by the bar shaped loophole on baffle plate.Utilize fixation
The tessellated tessellated angle of inclination of adjuster regulation target of target so that light can uniformly be paved with whole target chessboard
Lattice, so as to reach the launching effect of area-structure light transmitter.As can be seen here, this method is realized using the mode of delivery of line-structured light
The projection of area-structure light, cost is relatively low for area-structure light transmitter for it, be readily available.Further, since line
Structured light device is monochrome, therefore the just high-purity monochromatic light cast out, it is to avoid the generation of aberration.
Fig. 2 is the flow chart of another camera parameter scaling method provided in an embodiment of the present invention.As shown in Fig. 2 upper
On the basis of stating embodiment, after uniform light is paved with target gridiron pattern, in addition to：
S20：Lock adjustment device is to stop regulation target tessellated angle of inclination.
It is understood that after the tessellated angle of inclination regulation of target is appropriate, it is possible to which target camera is joined
Number demarcation, now, if target gridiron pattern not being fixed, it is likely that cause the tessellated angle of inclination hair of target
Changing.Therefore, in the present embodiment, after uniform light is paved with target gridiron pattern, locking device lock adjustment device is just passed through.
The corresponding embodiment of camera parameter scaling method is hereinbefore described in detail, the present invention also provides a kind of with being somebody's turn to do
The corresponding camera parameter caliberating device of method.Fig. 3 is a kind of structure of camera parameter caliberating device provided in an embodiment of the present invention
Figure.As shown in figure 3, the device includes the adjuster for being used to fix target gridiron pattern and the tessellated angle of inclination of regulation target
10, the baffle plate 12 of the side of target gridiron pattern 11 is arranged on, baffle plate 12 is provided with the bar shaped printing opacity parallel to target gridiron pattern 11
Hole 13, for the light of transmitting to be coated with to the monochromatic line structured light device on target gridiron pattern by bar shaped loophole 13
14；
Wherein, the angle of inclination of the regulation target of adjuster 10 gridiron pattern 11, until uniform light is paved with target gridiron pattern 11.
Because the embodiment of device part and the embodiment of method part are mutually corresponding, therefore the embodiment of device part please
Referring to the description of the embodiment of method part, it wouldn't repeat here.
In order to allow those skilled in the art more to understand bar shaped loophole in the camera parameter caliberating device that the present invention is provided
With the position of baffle plate, Fig. 4 is provided.Fig. 4 is a kind of top view of camera parameter caliberating device provided in an embodiment of the present invention.As schemed
Shown in 4, bar shaped loophole 13 is in the top position of target gridiron pattern 10.
On the basis of above-described embodiment, in addition to the locking device being arranged on adjuster 10, for working as uniform light
When being paved with target gridiron pattern, lock adjustment device 10 is to stop adjusting the angle of inclination of target gridiron pattern 10.
On the basis of above-described embodiment, adjuster includes rough adjustment feature and trimming assembly.
On the basis of above-described embodiment, the length of bar shaped loophole 13 is identical with the length of side of target gridiron pattern 10.
On the basis of above-described embodiment, in addition to it is connected to adjuster 10 base 15 of support adapter.
On the basis of above-described embodiment, adjuster 10 is fixedly connected with base 15.
Wherein, adjuster 10 is fixedly connected with base 15, can preferably fix target gridiron pattern 10.Further, bottom
Seat 15 can be square, and adjuster 10 is arranged on the center of base 15.
The camera parameter caliberating device that the present embodiment is provided, by installing a monochromatic line-structured light above target gridiron pattern
Transmitter so that the light emitted is radiated above target gridiron pattern by the bar shaped loophole on baffle plate.Utilize fixation
The tessellated tessellated angle of inclination of adjuster regulation target of target so that light can uniformly be paved with whole target chessboard
Lattice, so as to reach the launching effect of area-structure light transmitter.As can be seen here, the present apparatus is realized using the mode of delivery of line-structured light
The projection of area-structure light, cost is relatively low for area-structure light transmitter for it, be readily available.Further, since line
Structured light device is monochrome, therefore the just high-purity monochromatic light cast out, it is to avoid the generation of aberration.
Camera parameter scaling method provided by the present invention and device are described in detail above.Each in specification
Embodiment is described by the way of progressive, and what each embodiment was stressed is the difference with other embodiment, each
Between embodiment identical similar portion mutually referring to.For device disclosed in embodiment, because it is public with embodiment
The method opened is corresponding, so description is fairly simple, related part is referring to method part illustration.It should be pointed out that for
For those skilled in the art, under the premise without departing from the principles of the invention, if can also be to present invention progress
Dry to improve and modify, these are improved and modification is also fallen into the protection domain of the claims in the present invention.
Professional further appreciates that, with reference to the unit of each example of the embodiments described herein description
And algorithm steps, can be realized with electronic hardware, computer software or the combination of the two, in order to clearly demonstrate hardware and
The interchangeability of software, generally describes the composition and step of each example according to function in the above description.These
Function is performed with hardware or software mode actually, depending on the application-specific and design constraint of technical scheme.Specialty
Technical staff can realize described function to each specific application using distinct methods, but this realization should not
Think beyond the scope of this invention.
Claims (10)
1. a kind of camera parameter scaling method, it is characterised in that including：
Target gridiron pattern is fixed using adjuster, and set on the target one baffle plate of tessellated side setting, the baffle plate
It is parallel to the tessellated bar shaped loophole of the target；
The light of transmitting is coated with the target gridiron pattern by control monochromatic line structured light device by the bar shaped loophole
On；
The tessellated angle of inclination of target is adjusted by the adjuster, until the uniform light is paved with the target chess
Disk lattice；
Parameter calibration is carried out to target camera by the target gridiron pattern.
2. according to the method described in claim 1, it is characterised in that after the uniform light is paved with the target gridiron pattern,
Also include：
The adjuster is locked to stop adjusting the tessellated angle of inclination of the target.
3. according to the method described in claim 1, it is characterised in that incline by the way that the adjuster regulation target is tessellated
Rake angle is specially：The tessellated angle of inclination of target is adjusted by rough adjustment feature and trimming assembly.
4. the method according to claims 1 to 3 any one, it is characterised in that the length of the bar shaped loophole and institute
State the tessellated length of side of target identical.
5. a kind of camera parameter caliberating device, it is characterised in that including for fixing target gridiron pattern and adjusting the target chess
The adjuster at the angle of inclination of disk lattice, is arranged on the baffle plate of the tessellated side of the target, the baffle plate be provided with parallel to
The tessellated bar shaped loophole of target, for the light of transmitting to be coated with the target chess by the bar shaped loophole
Monochromatic line structured light device on disk lattice；
Wherein, the adjuster adjusts the tessellated angle of inclination of target, until the uniform light is paved with the target
Gridiron pattern.
6. device according to claim 5, it is characterised in that also including the locking device being arranged on the adjuster,
For when the uniform light is paved with the target gridiron pattern, locking the adjuster to stop adjusting the target gridiron pattern
Angle of inclination.
7. device according to claim 5, it is characterised in that the adjuster includes rough adjustment feature and trimming assembly.
8. device according to claim 5, it is characterised in that the length of the bar shaped loophole and the target gridiron pattern
The length of side it is identical.
9. the device according to claim 5-8 any one, it is characterised in that also including being connected to the adjuster
Support the base of the adjuster.
10. device according to claim 9, it is characterised in that the adjuster is fixedly connected with the base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710321268.9A CN107123148A (en) | 2017-05-09 | 2017-05-09 | A kind of camera parameter scaling method and device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710321268.9A CN107123148A (en) | 2017-05-09 | 2017-05-09 | A kind of camera parameter scaling method and device |
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| Publication Number | Publication Date |
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| CN107123148A true CN107123148A (en) | 2017-09-01 |
Family
ID=59727055
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| CN201710321268.9A Pending CN107123148A (en) | 2017-05-09 | 2017-05-09 | A kind of camera parameter scaling method and device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109443214A (en) * | 2018-12-19 | 2019-03-08 | 广东工业大学 | A kind of scaling method of structured light three-dimensional vision, device and measurement method, device |
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| CN105043251A (en) * | 2015-06-01 | 2015-11-11 | 河北工业大学 | Calibration method for line-structured light sensor based on mechanical movement and device |
| CN105783773A (en) * | 2016-03-18 | 2016-07-20 | 河北科技大学 | Numerical value calibration method for line structured light vision sensor |
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| US4942539A (en) * | 1988-12-21 | 1990-07-17 | Gmf Robotics Corporation | Method and system for automatically determining the position and orientation of an object in 3-D space |
| US20010021898A1 (en) * | 1996-02-06 | 2001-09-13 | Greer Dale R. | Method and apparatus for calibrating a non-contact gauging sensor with respect to an external coordinate system |
| CN202278307U (en) * | 2011-08-19 | 2012-06-20 | 广州有色金属研究院 | An adjustable double line structured light weld tracking visual sensing system |
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| CN109443214A (en) * | 2018-12-19 | 2019-03-08 | 广东工业大学 | A kind of scaling method of structured light three-dimensional vision, device and measurement method, device |
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