CN107576282A - Camera deflects angle measuring method and device - Google Patents
Camera deflects angle measuring method and device Download PDFInfo
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- CN107576282A CN107576282A CN201710779928.8A CN201710779928A CN107576282A CN 107576282 A CN107576282 A CN 107576282A CN 201710779928 A CN201710779928 A CN 201710779928A CN 107576282 A CN107576282 A CN 107576282A
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Abstract
The embodiment of the present invention provides camera deflection angle measuring method and device, and in one embodiment, the camera deflection angle measuring method includes：Multipair characteristic point pair is obtained from several test images, to being formed to be put corresponding to the same object in any two width test image, the test image is shot to obtain the characteristic point by camera to be tested；Incident point is obtained on the sphere that the characteristic point of the characteristic point centering is projected in specified coordinate system according to projection model；Obtain error sum of squares expression formula of the characteristic point comprising unknown deflection angle to corresponding incident point；The value of the unknown deflection angle obtains the deflection angle of the camera to be tested when according to the error sum of squares expression formula being minimum value.
Description
Technical field
The present invention relates to image processing field, and angle measuring method and device are deflected in particular to a kind of camera.
Background technology
Due to the limited viewing angle of the image of the equipment such as common camera shooting, therefore, fisheye camera shooting figure can be passed through
As to shoot wider array of visual angle.But the image that fisheye camera is taken pictures can cause distortion, it is therefore desirable to fisheye camera shooting
Image is corrected.But after typically may require that the deflection angle for knowing each fisheye camera to facilitate progress before image rectification
Continuous image correction process, generally by the deflection angle of each fisheye camera of artificial duplicate measurements.But manual measurement has
Error, error can cause error to add up caused by multiple manual measurement, cause that there is also inaccurate followed by other Data corrections
True possibility.Therefore, a kind of mode of the more effectively test to the deflection angle of fisheye camera is active demand.
The content of the invention
In view of this, the purpose of the embodiment of the present invention is to provide a kind of camera deflection angle measuring method and device.
A kind of camera deflection angle measuring method provided in an embodiment of the present invention, the camera deflection angle measuring method include：
Obtain multipair characteristic point pair from several test images, the characteristic point is to be same in any two width test image
Point is formed corresponding to one object, and the test image is shot to obtain by camera to be tested；
Obtained on the sphere that the characteristic point of the characteristic point centering is projected in specified coordinate system according to projection model
Incident point；
Obtain error sum of squares expression formula of the characteristic point comprising unknown deflection angle to corresponding incident point；
The value of the unknown deflection angle obtains described to be tested when according to the error sum of squares expression formula being minimum value
The deflection angle of camera.
The embodiment of the present invention also provides a kind of camera deflection angle measuring device, and the camera deflection angle measuring device includes：
First acquisition module, for obtaining multipair characteristic point pair from several test images, the characteristic point is to be any
Point is formed corresponding to same object in two width test images, and the test image is shot to obtain by camera to be tested；
Projection module, for the characteristic point of the characteristic point centering to be projected in specified coordinate system according to projection model
Incident point is obtained on one sphere；
Second acquisition module, the error in corresponding incident point is put down for obtaining the characteristic point comprising unknown deflection angle
Side and expression formula；
Module is obtained, the value of the unknown deflection angle obtains during for being minimum value according to the error sum of squares expression formula
To the deflection angle of the camera to be tested.
Compared with prior art, camera deflection angle measuring method and device provided in an embodiment of the present invention, by be tested
The deflection angle of corresponding camera is calculated in the test image that camera shoots to obtain, and reduces the artificial manpower labor for going to measure camera
It is dynamic, the testing efficiency of camera deflection angle can be also improved, the data that camera deflection angle can also tested are more accurate.
To enable the above objects, features and advantages of the present invention to become apparent, preferred embodiment cited below particularly, and coordinate
Appended accompanying drawing, is described in detail below.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below by embodiment it is required use it is attached
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore be not construed as pair
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other related accompanying drawings.
Fig. 1 is the block diagram for the electric terminal that present pre-ferred embodiments provide.
Fig. 2 is the flow chart that the camera that present pre-ferred embodiments provide deflects angle measuring method.
Fig. 3 is that the camera that present pre-ferred embodiments provide deflects throwing of the image in specified coordinate system in angle measuring method
Penetrate schematic diagram.
Fig. 4 is the detail flowchart for the step S102 that the camera that present pre-ferred embodiments provide deflects angle measuring method.
Fig. 5 is the flow chart for the step S103 that the camera that present pre-ferred embodiments provide deflects angle measuring method.
Fig. 6 is the flow chart for the step S104 that the camera that present pre-ferred embodiments provide deflects angle measuring method.
Fig. 7 is the high-level schematic functional block diagram that the camera that present pre-ferred embodiments provide deflects angle measuring device.
Embodiment
Below in conjunction with accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Ground describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.Generally exist
The component of the embodiment of the present invention described and illustrated in accompanying drawing can be configured to arrange and design with a variety of herein.Cause
This, the detailed description of the embodiments of the invention to providing in the accompanying drawings is not intended to limit claimed invention below
Scope, but it is merely representative of the selected embodiment of the present invention.Based on embodiments of the invention, those skilled in the art are not doing
The every other embodiment obtained on the premise of going out creative work, belongs to the scope of protection of the invention.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent accompanying drawing in individual accompanying drawing.Meanwhile the present invention's
In description, term " first ", " second " etc. are only used for distinguishing description, and it is not intended that instruction or hint relative importance.
As shown in figure 1, it is the block diagram of an electric terminal 100.The electric terminal 100 is surveyed including camera deflection angle
Measure device 110, memory 111, storage control 112, processor 113, Peripheral Interface 114, input-output unit 115, display
Unit 116.It will appreciated by the skilled person that the structure shown in Fig. 1 is only to illustrate, it is not to electric terminal 100
Structure cause to limit.For example, electric terminal 100 may also include more either less components than shown in Fig. 1 or have
The configuration different from shown in Fig. 1.Electric terminal 100 described in the present embodiment can be personal computer, image processing server,
Or mobile electronic device etc. has the computing device of image-capable.
The memory 111, storage control 112, processor 113, Peripheral Interface 114, input-output unit 115 and aobvious
Show that 116 each element of unit is directly or indirectly electrically connected between each other, to realize the transmission of data or interaction.For example, these
Element can be realized by one or more communication bus or signal wire be electrically connected between each other.The camera deflection angular measurement dress
Putting 110 can be stored in the memory 111 or be solidificated in the form of software or firmware (Firmware) including at least one
Software function module in the operating system (Operating System, OS) of the electric terminal 100.The processor 113
For performing the executable module stored in memory, such as the software function that camera deflection angle measuring device 110 includes
Module or computer program.
Wherein, the memory 111 may be, but not limited to, random access memory (Random Access
Memory, RAM), read-only storage (Read Only Memory, ROM), programmable read only memory (Programmable
Read-Only Memory, PROM), erasable read-only memory (Erasable Programmable Read-Only
Memory, EPROM), electricallyerasable ROM (EEROM) (Electric Erasable Programmable Read-Only
Memory, EEPROM) etc..Wherein, memory 111 is used for storage program, the processor 113 after execute instruction is received,
Described program is performed, the method performed by electric terminal 100 that the process that any embodiment of the embodiment of the present invention discloses defines can
To be realized applied in processor 113, or by processor 113.
The processor 113 is probably a kind of IC chip, has the disposal ability of signal.Above-mentioned processor
113 can be general processor, including central processing unit (Central Processing Unit, abbreviation CPU), network processes
Device (Network Processor, abbreviation NP) etc.；It can also be digital signal processor (DSP), application specific integrated circuit
(ASIC), field programmable gate array (FPGA) either other PLDs, discrete gate or transistor logic,
Discrete hardware components.It can realize or perform disclosed each method, step and the logic diagram in the embodiment of the present invention.It is general
Processor can be microprocessor or the processor can also be any conventional processor etc..
Various input/output devices are coupled to processor 113 and memory 111 by the Peripheral Interface 114.At some
In embodiment, Peripheral Interface 114, processor 113 and storage control 112 can be realized in one single chip.Other one
In a little examples, they can be realized by independent chip respectively.
The input-output unit 115 is used to be supplied to user input data.The input-output unit 115 can be,
But it is not limited to, mouse and keyboard etc..
The display unit 116 provided between the electric terminal 100 and user an interactive interface (such as user behaviour
Make interface) or for display image data give user reference.In the present embodiment, the display unit can be liquid crystal display
Or touch control display.If touch control display, it can be the capacitance type touch control screen or resistance for supporting single-point and multi-point touch operation
Formula touch screen etc..Single-point and multi-point touch operation is supported to refer to that touch control display can sense on the touch control display one
Or multiple opening positions touch control operation with caused by, and the touch control operation that this is sensed transfers to processor to be calculated and located
Reason.
Referring to Fig. 2, it is that the camera for being applied to the electric terminal 100 shown in Fig. 1 that present pre-ferred embodiments provide is inclined
The flow chart of Rotating Angle Measurement.The idiographic flow shown in Fig. 2 will be described in detail below.
Step S101, multipair characteristic point pair is obtained from several test images.
In the present embodiment, the characteristic point to be put corresponding to the same object in any two width test image to forming, institute
Test image is stated to shoot to obtain by camera to be tested.
In the present embodiment, the camera to be tested can be fisheye camera.
In an example, several described test images can be the image of four angles of four fisheye camera shootings.
Because the shooting angle of fisheye camera is more than 90 degree, it might even be possible to reach 180 degree, therefore two neighboring fisheye camera
The test image of shooting may have the picture of same area.The characteristic point is to the test image for adjacent fisheye camera shooting
In to the point pair of same thing.For example, have chair C in the picture of test image A and test image B shootings, wherein chair C's
Any in the chair back is point P1 and is point P2 in test image B in test image A, then the point P1 and point P2 forms a pair of spies
Sign point pair.
In the present embodiment, the test image of two fisheye camera shootings of arbitrary neighborhood can include multipair characteristic point pair.Institute
State characteristic point pair quantity can by the same area of the test image of two fisheye cameras of arbitrary neighborhood shooting picture really
It is fixed.For example, the more big characteristic point of picture area of the same area of the test image of two fisheye camera shootings of arbitrary neighborhood
To quantity it is more.
In one embodiment, the electric terminal receives user and several described test images is marked, and obtains
Represent the point of same object to obtain the spy in the test image of two neighboring fisheye camera shooting in the point of user's mark
Sign point pair.In another embodiment, the test image that the electric terminal is shot to two neighboring fisheye camera is known
Characteristic point corresponding to same object is not found out in test image with labeled as characteristic point pair.
In an example, when if desired testing the deflection angle of four fisheye cameras, several described test images include ring
All pictures for thinking visual angle on four fisheye camera directions.
In other examples, need the camera quantity tested for other quantity such as one, two or three when, it is described several
Test image includes the picture at the visual angle that each fisheye camera can obtain.
Step S102, the ball being projected to the characteristic point of the characteristic point centering according to projection model in specified coordinate system
Incident point is obtained on face.
As shown in figure 3, coordinate system shown in figure includes plane coordinate system xoy and three-dimensional system of coordinate xoyz.Assuming that characteristic point P
Incident point on the sphere is P'.
In one embodiment, as shown in figure 4, the step S102 includes step S1021 and step S1022.
Step S1021, the characteristic point of the characteristic point centering is projected in the specified coordinate system according to projection model
A sphere obtain original projection point.
In the present embodiment, the projection model can be equidistant projection model, etc. solid angle projection model, rectangular projection mould
Type, stereo projection model etc..It can be described in the present embodiment with equidistant projection model.
In an example, the equidistant projection model is：R=f θ.
Wherein, r represents that the P (x, y) arrives the distance of origin, that is,Phase to be tested corresponding to f expressions
The focal length of machine；θ represents the angle between incident ray and camera optical axis to be tested, i.e. incidence angle.
In an example, referring to Fig. 3, a sphere that characteristic point P (x, y) is projected in the specified coordinate system
Original projection point P' coordinate is corresponding to upper：
Step S1022, unknown deflection angle corresponding to camera to be tested is to described first according to corresponding to the original projection point
Beginning, incident point carried out rotation transformation to obtain the incident point corresponding to the characteristic point.
In an example, it can be assumed that unknown deflection angle of the camera to be tested in three directions of x-axis y-axis z-axis is distinguished
It isφ and γ.
In an example, the original projection point can be rotated by Euler's rotation formula to obtain the projection
Point.
In an example, the original projection point P' obtains incident point P " by Euler's rotation transformation.
Wherein：
Step S103, obtain the characteristic point comprising unknown deflection angle and the error sum of squares in corresponding incident point is expressed
Formula.
In one embodiment, as shown in figure 5, the step S103 includes step S1031 and step S1032.
Step S1031, the incident point is represented using the unknown deflection angle as variable.
In an example, characteristic point described in one pair of which to corresponding incident point to be respectively point Pi1[xi1yi1zi1]TWith
Pi2[xi2yi2zi2]T.This is to the expression formula of corresponding error to incident point corresponding to characteristic point：
In the present embodiment, because the incident point carries the unknown deflection angle, therefore expressed by the incident point
The expression formula of the error in incident point pair also carries the unknown deflection angle.
Step S1032, obtain quadratic sum expression formula of the characteristic point to the error in incident point corresponding to difference.
In an example, the characteristic point is to the error sum of squares expression formula in corresponding incident point：
Wherein, N represents the quantity of the characteristic point pair that several test images include in the present embodiment.
In an example, several described test images include the four width test charts that the camera to be tested of four direction is shot
Picture, the camera to be tested of four direction is camera A, camera B to be tested, camera C to be tested and camera to be tested to be tested respectively
D, the corresponding one group of unknown correction parameter of test image of each camera shooting to be tested, such as it is respectivelyAndIn this example, the e is to include
The function of 12 unknown numbers, that is,
Step S104, according to the error sum of squares expression formula for minimum value when the unknown deflection angle value obtain institute
State the deflection angle of camera to be tested.
In one embodiment, as shown in fig. 6, the step S104 includes step S1041 and step S1042.
Step S1041, it is minimum value to calculate the error sum of squares expression formula using optimization algorithm.
The optimization algorithm can include gradient descent method, conjugate gradient method, Gauss-Newton algorithms,
Levenberg-Marquardt algorithms etc..The embodiment of the present invention is not to calculate the error sum of squares expression formula as minimum value
Used optimization algorithm is limited, and those skilled in the art can select suitable optimization algorithm according to demand.
Step S1042, when to obtain the error sum of squares expression formula be minimum value, the value of the unknown deflection angle obtains
The deflection angle of the camera to be tested.
In the present embodiment, the error sum of squares expression formula represents that two points of all characteristic point centerings exist when being minimum value
It is minimum apart from summation on the sphere.
Referring again to Fig. 2, methods described also includes：Step S105, the camera to be tested is obtained in specified coordinate system
Estimate deflection angle.
The step of step S1041, includes：Using the iterative calculation for estimating deflection angle as the optimization algorithm
Calculation of initial value described in error sum of squares expression formula be minimum value.
By the way that deflection angle will be estimated described in book be used as the initial value of optimization algorithm iteration, can make calculating it is described it is unknown partially
The speed of corner faster, can be also prevented because initial value causes optimization algorithm not restrain farther out with the desired value calculated.
The camera deflection angle measuring method provided according to embodiments of the present invention, the test for shooting to obtain by camera to be tested
The deflection angle of corresponding camera is calculated in image, reduces the artificial manual labor for going to measure camera, it is inclined can also to improve camera
The testing efficiency of corner, the data that camera deflection angle can also tested are more accurate.
Referring to Fig. 7, it is the work(of the camera deflection angle measuring device 110 shown in Fig. 1 of present pre-ferred embodiments offer
Can module diagram.In the present embodiment camera deflection angle measuring device 110 in modules or unit be used for perform it is above-mentioned
Each step in embodiment of the method, the camera deflection angle measuring device 110 include the first acquisition module 1101, projection module
1102nd, the second acquisition module 1103 and module 1104 is obtained.
First acquisition module 1101, for obtaining multipair characteristic point pair, the characteristic point from several test images
To being formed to be put corresponding to the same object in any two width test image, the test image is shot by camera to be tested
Arrive.
The projection module 1102, for the characteristic point of the characteristic point centering to be projected into specified seat according to projection model
Incident point is obtained on a sphere in mark system.
Second acquisition module 1103, for obtaining the characteristic point comprising unknown deflection angle to corresponding incident point
Error sum of squares expression formula.
It is described to obtain module 1104, unknown deflection angle during for being minimum value according to the error sum of squares expression formula
Value obtain the deflection angle of the camera to be tested.
In the present embodiment, the module 1104 that obtains includes：Computing unit and first acquisition unit.
The computing unit, it is minimum value for calculating the error sum of squares expression formula using optimization algorithm.
When the first acquisition unit for obtaining the error sum of squares expression formula is minimum value, the unknown deflection
The value at angle obtains the deflection angle of the camera to be tested.
In one embodiment, described device also includes：3rd acquisition module 1105, for obtaining the phase to be tested
Machine estimates deflection angle in specified coordinate system.
The computing unit for obtaining module 1104 is additionally operable to using the deflection angle of estimating as the optimization algorithm
Error sum of squares expression formula described in the calculation of initial value of iterative calculation is minimum value.
In the present embodiment, the projection module 1102 includes：Projecting unit and rotary unit.
The projecting unit, for the characteristic point of the characteristic point centering to be projected into the specified seat according to projection model
A sphere in mark system obtains original projection point；
The rotary unit, for the unknown deflection angle pair corresponding to camera to be tested according to corresponding to the original projection point
The original projection point carries out rotation transformation to obtain the incident point corresponding to the characteristic point.
In the present embodiment, second acquisition module 1103 includes：Represent unit and second acquisition unit.
The expression unit, for the incident point to be indicated using the unknown deflection angle as variable.
The second acquisition unit, for obtaining quadratic sum table of the characteristic point to the error in incident point corresponding to difference
Up to formula.
Other details on the present embodiment can further refer to the description in above method embodiment, herein no longer
Repeat.
The camera deflection angle measuring device provided according to embodiments of the present invention, the test for shooting to obtain by camera to be tested
The deflection angle of corresponding camera is calculated in image, reduces the artificial manual labor for going to measure camera, it is inclined can also to improve camera
The testing efficiency of corner, the data that camera deflection angle can also tested are more accurate.
In several embodiments provided herein, it should be understood that disclosed apparatus and method, can also pass through
Other modes are realized.Device embodiment described above is only schematical, for example, flow chart and block diagram in accompanying drawing
Show the device of multiple embodiments according to the present invention, method and computer program product architectural framework in the cards,
Function and operation.At this point, each square frame in flow chart or block diagram can represent the one of a module, program segment or code
Part, a part for the module, program segment or code include one or more and are used to realize holding for defined logic function
Row instruction.It should also be noted that at some as in the implementation replaced, the function that is marked in square frame can also with different from
The order marked in accompanying drawing occurs.For example, two continuous square frames can essentially perform substantially in parallel, they are sometimes
It can perform in the opposite order, this is depending on involved function.It is it is also noted that every in block diagram and/or flow chart
The combination of individual square frame and block diagram and/or the square frame in flow chart, function or the special base of action as defined in performing can be used
Realize, or can be realized with the combination of specialized hardware and computer instruction in the system of hardware.
In addition, each functional module in each embodiment of the present invention can integrate to form an independent portion
Point or modules individualism, can also two or more modules be integrated to form an independent part.
If the function is realized in the form of software function module and is used as independent production marketing or in use, can be with
It is stored in a computer read/write memory medium.Based on such understanding, technical scheme is substantially in other words
The part to be contributed to prior art or the part of the technical scheme can be embodied in the form of software product, the meter
Calculation machine software product is stored in a storage medium, including some instructions are causing a computer equipment (can be
People's computer, server, or network equipment etc.) perform all or part of step of each embodiment methods described of the present invention.
And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), magnetic disc or CD etc. are various can be with the medium of store program codes.Need
Illustrate, herein, such as first and second or the like relational terms be used merely to by an entity or operation with
Another entity or operation make a distinction, and not necessarily require or imply between these entities or operation any this reality be present
The relation or order on border.Moreover, term " comprising ", "comprising" or its any other variant are intended to the bag of nonexcludability
Contain, so that process, method, article or equipment including a series of elements not only include those key elements, but also including
The other element being not expressly set out, or also include for this process, method, article or the intrinsic key element of equipment.
In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that including the key element
Process, method, other identical element also be present in article or equipment.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should be included in the scope of the protection.It should be noted that：Similar label and letter exists
Similar terms is represented in following accompanying drawing, therefore, once being defined in a certain Xiang Yi accompanying drawing, is then not required in subsequent accompanying drawing
It is further defined and explained.
The foregoing is only a specific embodiment of the invention, but protection scope of the present invention is not limited thereto, any
Those familiar with the art the invention discloses technical scope in, change or replacement can be readily occurred in, should all be contained
Cover within protection scope of the present invention.Therefore, protection scope of the present invention described should be defined by scope of the claims.
Claims (10)
1. a kind of camera deflects angle measuring method, it is characterised in that the camera deflection angle measuring method includes：
Obtain multipair characteristic point pair from several test images, the characteristic point is to for the same thing in any two width test image
Point is formed corresponding to body, and the test image is shot to obtain by camera to be tested；
Projected on the sphere that the characteristic point of the characteristic point centering is projected in specified coordinate system according to projection model
Point；
Obtain error sum of squares expression formula of the characteristic point comprising unknown deflection angle to corresponding incident point；
The value of the unknown deflection angle obtains the camera to be tested when according to the error sum of squares expression formula being minimum value
Deflection angle.
2. camera as claimed in claim 1 deflects angle measuring method, it is characterised in that described according to the error sum of squares table
The step of value of the unknown deflection angle obtains the deflection angle of the camera to be tested when up to formula being minimum value includes：
The minimum value of the error sum of squares expression formula is calculated using optimization algorithm；
When to obtain the error sum of squares expression formula be minimum value, the value of the unknown deflection angle obtains the camera to be tested
Deflection angle.
3. camera as claimed in claim 2 deflects angle measuring method, it is characterised in that methods described also includes：Described in acquisition
Camera to be tested estimates deflection angle in specified coordinate system；
Described the step of utilizing the optimization algorithm calculating error sum of squares expression formula to be minimum value, includes：
Using error sum of squares table described in the calculation of initial value of the iterative calculation as the optimization algorithm of estimating deflection angle
Up to the minimum value of formula.
4. the camera deflection angle measuring method as described in claim 1-3 any one, it is characterised in that described according to projective module
The step of obtaining incident point on the sphere that the characteristic point of the characteristic point centering is projected in specified coordinate system by type includes：
The sphere that the characteristic point of the characteristic point centering is projected in the specified coordinate system is obtained just according to projection model
Beginning incident point；
Unknown deflection angle corresponding to camera to be tested is revolved to the original projection point according to corresponding to the original projection point
Transformation is changed to obtain incident point corresponding to the characteristic point.
5. camera as claimed in claim 4 deflects angle measuring method, it is characterised in that described to obtain comprising unknown deflection angle
The characteristic point includes to the step of error sum of squares expression formula in corresponding incident point：
The incident point is represented using the unknown deflection angle as variable；
Obtain error sum of squares expression formula of the characteristic point to incident point corresponding to difference.
6. a kind of camera deflects angle measuring device, it is characterised in that the camera deflection angle measuring device includes：
First acquisition module, for obtaining multipair characteristic point pair from several test images, the characteristic point is to for any two width
Point is formed corresponding to same object in test image, and the test image is shot to obtain by camera to be tested；
Projection module, for the ball being projected to the characteristic point of the characteristic point centering according to projection model in specified coordinate system
Incident point is obtained on face；
Second acquisition module, for obtaining error sum of squares of the characteristic point comprising unknown deflection angle to corresponding incident point
Expression formula；
Obtain module, for according to the error sum of squares expression formula for minimum value when the unknown deflection angle value obtain institute
State the deflection angle of camera to be tested.
7. camera as claimed in claim 6 deflects angle measuring device, it is characterised in that the module that obtains includes：
Computing unit, for calculating the minimum value of the error sum of squares expression formula using optimization algorithm；
When first acquisition unit for obtaining the error sum of squares expression formula is minimum value, the value of the unknown deflection angle
Obtain the deflection angle of the camera to be tested.
8. camera as claimed in claim 7 deflects angle measuring device, it is characterised in that described device also includes：3rd obtains
Module, deflection angle is estimated in specified coordinate system for obtaining the camera to be tested；
The computing unit is additionally operable to the initial value meter of the iterative calculation as the optimization algorithm of estimating deflection angle
Calculate the minimum value of the error sum of squares expression formula.
9. the camera deflection angle measuring device as described in claim 6-8 any one, it is characterised in that the projection module bag
Include：
Projecting unit, for the characteristic point of the characteristic point centering to be projected in the specified coordinate system according to projection model
One sphere obtains original projection point；
Rotary unit, for according to corresponding to the original projection point unknown deflection angle corresponding to camera to be tested to described initial
Incident point carries out rotation transformation to obtain the incident point corresponding to the characteristic point.
10. camera as claimed in claim 9 deflects angle measuring device, it is characterised in that second acquisition module includes：
Unit is represented, for the incident point to be indicated using the unknown deflection angle as variable；
Second acquisition unit, for obtaining quadratic sum expression formula of the characteristic point to the error in incident point corresponding to difference.
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