CN109685800B - Calibration template and method for quickly calibrating external parameters of camera - Google Patents
Calibration template and method for quickly calibrating external parameters of camera Download PDFInfo
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Abstract
The invention provides a calibration template, which comprises three identical calibration surfaces which are vertically intersected in pairs, wherein the calibration surfaces are provided with calibration patterns consisting of a plurality of squares with the same size; further, the invention improves the correction speed and the algorithm speed; furthermore, the invention improves the precision of the subsequent algorithm.
Description
Technical Field
The invention relates to the technical field of image shooting, in particular to a method for quickly calibrating external parameters of a camera.
Background
The image and video pictures are gradually the most important tools and means for people to record information and transmit and communicate because of the advantages of intuition, reality, convenient transmission and the like. Along with the comprehensive and rapid development of the camera shooting technology, the application of the camera is more and more extensive, for example, mobile phone camera shooting, digital camera shooting, traffic monitoring camera shooting and the like, so that the popularization of the camera is promoted, the camera is almost universally applied to the aspects of work and daily life of people, and meanwhile, the requirement of people on the shooting imaging quality of the camera is higher and higher.
As is known, if the lens of the camera rotates greatly, the captured picture will deform or rotate, which greatly affects the quality of the picture, and therefore, the precision of the camera parameter calibration result directly affects the imaging quality of the camera. In real life, people generally fix a camera by holding the camera with a hand or a tripod when shooting with the camera, and the camera and a shot object rotate due to shaking, uneven placement of the tripod, change of the installation position of a camera and the like in the shooting process.
In the prior art, a plurality of calibration templates are usually shot in different directions by utilizing checkered templates, and then a complex algorithm is adopted to calculate the rotation angle of a camera in different x-y-z axial directions. Therefore, how to quickly and effectively detect whether the camera rotates in different x-y-z axes and the size of the rotation angle is becoming an urgent technical problem to be solved by those skilled in the art.
Disclosure of Invention
The invention aims to solve the problems that in the prior art, templates such as checkerboards are adopted, twenty pictures are shot at different angles of a camera, and a subsequent algorithm is complex and low in efficiency, and provides a calibration template.
In order to achieve the purpose, the invention is realized by the following technical scheme: a calibration template is used for calibrating external parameters of a camera and comprises three calibration surfaces; every two of the three calibration surfaces are perpendicularly intersected at an intersection point to form three intersection lines; each calibration surface is provided with a calibration original image, and line segments of the calibration original image, which are intersected and overlapped with two intersection lines on the corresponding calibration surface, are two side lines of the calibration original image; each calibration original image is provided with a plurality of mutually perpendicular and intersected reference lines, and the reference lines are parallel to one of the two side lines on the corresponding calibration surface.
Preferably, each of the calibration original images is a square, the edge line of the calibration original image and the reference lines form a plurality of squares, and each square is a square.
Preferably, the calibration original on each calibration surface is the same; each reference line on each calibration surface is composed of a plurality of points with the same interval.
The invention also provides a method for quickly calibrating the external parameters of the camera, which adopts any one of the calibration templates for calibration and comprises the following steps:
s1, selecting the calibration template, and shooting a calibration image by the camera facing the first calibration original image of the calibration template;
s2: calibrating the rotation angle of the camera in the first axial direction, the second axial direction and/or the third axial direction according to the rotation angle of the sideline image on the calibration image;
wherein the first axial direction, the second axial direction and the third axial direction are respectively the directions of the three intersecting lines;
the first alignment artwork is located on the alignment surface formed in the first axial direction and the second axial direction.
Preferably, in step S2, the rotation angle of the camera along the third axial direction is α, and along the second axial direction, the rotation angle α is equal to the included angle between the first image edge line and the first axial direction;
the rotation angle of the camera along the second axial direction is beta, and along the third axial direction, the rotation angle beta is equal to the included angle between the first image sideline and the first axial direction;
the rotation angle of the camera along the first axial direction is theta, and the rotation angle theta is equal to the included angle between the second image side line and the second axial direction;
wherein the first image edge is an image of the first edge; the first edge is the edge in a first axial direction;
the second image edge is an image of the second edge; the second edge is the edge in a second axial direction;
the third image edge is an image of the third edge; the third edge line is the edge line in a third axial direction.
Preferably, the rotation angle α is:
and taking the intersection point of the first image edge line and the second image edge line as a starting point, h is the length of the first image edge line in the second axial direction, and w is the length of the first image edge line in the first axial direction.
Preferably, in the second axial direction, the rotation angle α is equal to an angle between the first image reference line and the first vanishing line, and the rotation angle α is:
the first graph reference line is an image of a first reference line, and the first reference line is parallel to the first edge line and close to the middle point of the second edge line;
and taking an intersection point of the first image reference line and the second image edge line as a starting point, wherein h is the length of the first image reference line in the second axial direction, and w is the length of the first image reference line in the first axial direction.
Preferably, the rotation angle β is:
and taking the intersection point of the first image edge line and the third image edge line as a starting point, h is the length of the first image edge line in the third axial direction, and w is the length of the first image edge line in the first axial direction.
Preferably, in the direction of the third image edge, the rotation angle β is equal to the angle between the first image edge and the second parallel line, and the rotation angle β is:
wherein, taking an intersection point of the first image edge and the third image edge as a starting point, h is a length of the first image reference line in the third axial direction, and w is a length of the first image edge in the second parallel line direction;
the second parallel line is a parallel line of a second vanishing line, the parallel line is intersected with the first image side line, and the second vanishing line is a vanishing line of a third calibration original drawing along the first axial direction; the third alignment artwork is located on the alignment surface formed by the first axial direction and the third axial direction.
Preferably, the rotation angle θ is:
and taking the intersection point of the second image edge and the third image edge as a starting point, h is the length of the second image edge in the direction of the third image edge, and w is the length of the second image edge in the second axial direction.
Preferably, in the third axial direction, the rotation angle θ is equal to an angle between the second image edge line and a third parallel line, and the rotation angle θ is:
wherein, taking an intersection point of the second image edge and the third image edge as a starting point, h is a length of the second image edge in the third axial direction, and w is a length of the second image edge in the third parallel line direction;
the third parallel line is a parallel line of a third vanishing line, and the third parallel line intersects with the second image edge line;
in the second axial direction, the third vanishing line is a vanishing line of second calibration artwork, and the second calibration artwork is located on the calibration surface formed by the second axial direction and the third axial direction.
Compared with the prior art, the invention has the following advantages and technical effects: only one correction photo needs to be taken, and the algorithm is simple; further, the invention improves the correction speed and the algorithm speed; furthermore, the invention improves the precision of the subsequent algorithm.
Drawings
FIG. 1 is a schematic diagram of a calibration template according to an embodiment of the present invention;
FIG. 2 is a diagram illustrating a first calibration original of a calibration template according to an embodiment of the invention;
FIG. 3 is a flowchart of a method for fast calibrating external parameters of a camera according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of calculating an α angle according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of calculating an α angle in consideration of the effect of reducing the θ angle according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of calculating an angle α in consideration of the effect of reducing the angle β according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a method for calculating the beta angle according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of a calculation of the beta angle in consideration of the effect of reducing the alpha angle according to an embodiment of the present invention;
FIG. 9 is a schematic diagram of calculating a beta angle in consideration of the effect of reducing the theta angle according to an embodiment of the present invention;
FIG. 10 is a schematic diagram of one embodiment of the present invention for calculating the θ angle;
FIG. 11 is a schematic diagram of the calculation of the θ angle in consideration of the effect of reducing the α angle according to the embodiment of the present invention;
fig. 12 is a schematic diagram of calculating the theta angle in consideration of reducing the influence of the beta angle according to an embodiment of the present invention, wherein the reference numerals of fig. 1 to 12 are as follows:
11-first calibration master, 12-second calibration master, 13-third calibration master, 21-first edge, 22-second edge, 23-third edge, 24-reference line, 25-grid, 31-first image edge, 32-second image edge, 33-third image edge, 34-first image reference line, 41-first vanishing line, 42-second vanishing line, 43-second parallel line, 44-third parallel line.
Detailed Description
The core idea of the invention is to solve the problem that external parameters of a calibration camera in different axial directions of an x axis, a y axis and a z axis need to take multiple pictures in the prior art, and provide a solution, the algorithm of the solution is simple, and the speed and the precision of the subsequent algorithm are improved.
In order to realize the idea, the invention provides a calibration template, which is used for calibrating external parameters of a camera and is characterized in that the calibration template comprises three calibration surfaces; every two of the three calibration surfaces are perpendicularly intersected at an intersection point to form three intersection lines; each calibration surface is provided with a calibration original image, and line segments of the calibration original image, which are intersected and overlapped with two intersection lines on the corresponding calibration surface, are two side lines of the calibration original image; each calibration original image is provided with a plurality of mutually perpendicular and intersected reference lines, and the reference lines are parallel to one of the two side lines on the corresponding calibration surface.
To make the objects, advantages and features of the present invention more clear, a method for rapidly calibrating external parameters of a camera according to the present invention is described in further detail below with reference to fig. 1-12. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention.
As shown in fig. 1, which is a schematic diagram of a calibration template according to an embodiment of the present invention, the calibration template of this embodiment includes three calibration surfaces, two calibration surfaces of which are perpendicularly intersected with each other at three intersecting lines, the three intersecting lines form a right-handed rectangular coordinate system, and the three intersecting lines are respectively located at an x-axis, a y-axis and a z-axis; each calibration surface is provided with a calibration original image, the calibration original images on each calibration surface can be the same or different, the calibration original image on the coordinate surface formed by the x axis and the y axis is a first calibration original image 11, two borderlines of the first calibration original image 11 are respectively positioned on the x axis and the y axis, wherein the first borderline 21 is positioned on the x axis, and the second borderline 22 is positioned on the y axis; positioned on the y-axis and the z-axis are second calibration artwork 12, wherein positioned on the z-axis is a third line 23; located on the x-axis and the z-axis is a third calibration original 13.
In this embodiment, the calibration original on each calibration surface is taken as an example for description, as shown in fig. 2, the first calibration original 11 may be a square, and a plurality of reference lines 24 respectively parallel to the first edge line 21 and a plurality of reference lines parallel to the second edge line 22 intersect perpendicularly to form a plurality of squares 25, where the squares may be squares, and each of the reference lines is composed of a plurality of points with equal intervals.
Obviously, the invention is not limited to the material of the calibration template, and in a specific embodiment, a high-density material may be used; likewise, there is no limitation on the color of the calibration original, as long as the contrast between the background color of the calibration original and the color of the dots can be identified by the following algorithm, in one embodiment of the present invention, in order to increase the contrast, the background of the calibration original may be set to white, and the dots of the reference line may be set to black; similarly, the size and number of the points can be set according to actual needs, and the more the points are, the more accurate the rotation angle obtained by the calibration algorithm of the calibration template is, obviously, the image of the points should be able to be identified by the subsequent algorithm.
The invention also provides a method for quickly calibrating the camera external parameters, which is based on the calibration template, as shown in fig. 3, and the method for quickly calibrating the camera external parameters comprises the following steps:
s1, selecting the calibration template, and shooting a calibration image by the camera facing the first calibration original image of the calibration template;
the first calibration original image facing the calibration template is placed at a certain distance right in front of the camera, so that the camera aligns the center of the first calibration original image of the calibration template, and the first calibration original image, the second calibration original image and the third calibration original image can be displayed on the calibration image at the same time.
In yet another embodiment of the present invention, before performing step S1, the method may further include manually correcting the camera to calibrate the rotation of the camera that can be recognized by human eyes.
S2: calibrating the rotation angle of the camera in the first axial direction, the second axial direction and/or the third axial direction according to the rotation angle of the sideline image on the calibration image;
wherein the first axial direction, the second axial direction and the third axial direction are respectively the directions of the three intersecting lines;
the first alignment artwork is located on the alignment surface formed in the first axial direction and the second axial direction.
Specifically, the rotation angle of the camera along the third axial direction is α, and along the second axial direction, the rotation angle α is equal to an included angle between a first image edge line and the first axial direction;
the rotation angle of the camera along the second axial direction is beta, and along the third axial direction, the rotation angle beta is equal to the included angle between the first image sideline and the first axial direction;
the rotation angle of the camera along the first axial direction is theta, and the rotation angle theta is equal to the included angle between the second image edge line and the second axial direction;
wherein the first image edge is an image of the first edge; the first edge is the edge in a first axial direction;
the second image edge is an image of the second edge; the second edge is the edge in a second axial direction;
the third image edge is an image of a third edge; the third edge line is the edge line in a third axial direction.
In one embodiment of the present invention, the first axis is an x-axis, the second axis is a y-axis, and the third axis is a z-axis.
The rotation angle α, the rotation angle β, and the rotation angle θ are acquired as follows:
first, calculating the rotation angle alpha
The rotation angle α of the camera along the third axial direction, along the second axial direction, as shown in fig. 4, is equal to the included angle between the first image edge line 31 and the first axial direction; the first axial direction is the x-axis, the second axial direction is the y-axis, and the first image edge 31 is a line on which the first edge 21 is correspondingly displayed in the calibration image.
Further, the rotation angle α is:
taking an intersection point of the first image edge 31 and the second image edge 32 as a starting point, h is the length of the first image edge 31 in the y-axis direction, and w is the length of the first image edge 31 in the x-axis direction; in particular, for convenience of description, one of ordinary skill in the art will understand that: the length of the first image edge line 31 in the y-axis direction is h, which represents the projection length of the first image edge line 31 in the y-axis direction, and other similar descriptions are similar to the above description and are not described one by one.
Further, as shown in fig. 5, in consideration of the distortion in the y-axis direction, in order to reduce the influence of the θ rotation angle, the lengths in the x-axis direction and the y-axis direction are calculated by the number of squares, that is, by using an intersection of a first image edge 31 and a second image edge 32 as a starting point, h is the number of squares of the first image edge 31 in the y-axis direction, and w is the number of squares of the first image edge 31 in the x-axis direction.
Further, as shown in fig. 6, in order to reduce the influence of the rotation angle β, the α angle is equal to the included angle between the first image reference line 34 and the first vanishing line 41 along the y-axis direction, and the rotation angle α is:
wherein the first image reference line 34 is parallel to the first image edge 31 and close to the midpoint of the second image edge 32; along the x-axis direction, the first vanishing line 41 is a vanishing line of the first calibration original 11; taking an intersection of the first image reference line 34 and the second image edge 32 as a starting point, h is a length of the first image reference line 34 in the y-axis direction, and w is a length of the first image reference line 34 in the x-axis direction.
Secondly, calculating the rotation angle beta
The rotation angle β of the camera along the second axial direction, as shown in fig. 7, is equal to the included angle between the first image edge line 31 and the first axial direction along the third axial direction; the third image edge 33 is an image of the third edge 23; the first axial direction is the x-axis direction, and the third axial direction is the z-axis.
Further, the rotation angle β is:
the intersection point of the first image edge line 31 and the third image edge line 33 is used as a starting point, h is the length of the first image edge line 31 in the z-axis direction, and w is the length of the first image edge line 31 in the x-axis direction.
Further, as shown in fig. 8, in order to reduce the influence of the rotation angle θ in consideration of the deformation in the z-axis direction, the lengths in the x-axis and z-axis directions are calculated by the number of the squares; that is, the intersection of the first image edge 31 and the third image edge 33 is taken as a starting point, and the third image edge 33 is oriented along the h, and the w, respectively, are the squares of the first image edge 31 in the z-axis direction and the squares of the first image edge 31 in the x-axis direction, respectively.
Further, as shown in fig. 9, considering the effect of reducing the rotation angle α, in the z-axis direction, the β angle is equal to the angle between the first image edge 31 and the second parallel line 43, and is:
wherein, an intersection point of the first image edge 31 and the third image edge 33 is taken as a starting point, h is a length of the first image edge 31 in the z-axis direction, and w is a length of the first image edge 31 in the direction of the second parallel line 43;
wherein the second parallel line 43 is a parallel line of the second vanishing line 42, the second parallel line 43 intersecting the first image edge 31; the second vanishing line 42 is a vanishing line of the third calibration original 13 along the x-axis direction.
Thirdly, calculating the rotation angle theta
A rotation angle θ of the camera along a first axial direction, as shown in fig. 10, where the rotation angle θ is equal to an included angle between a second image edge line 32 and the second axial direction; second image edge 32 is an image of second edge 22, and the second axis is the y-axis.
Further, the θ angle is:
where, an intersection of the second image edge 32 and the third image edge 33 is used as a starting point, h is a length of the second image edge 32 in the z-axis direction, and w is a length of the second image edge 32 in the y-axis direction.
Further, as shown in fig. 11, in order to reduce the influence of the rotation angle α, the lengths of the y-axis and the z-axis are calculated by using the number of squares, that is, starting from the intersection of the second image edge 32 and the third image edge 33, h is the number of squares of the second image edge 32 in the z-axis direction, and w is the number of squares of the second image edge 32 in the y-axis direction.
Still further, as shown in fig. 12, in order to reduce the influence of the rotation angle β, the angle θ is equal to the angle between the second image edge 32 and the third parallel line 44 along the z-axis direction, and the angle θ is:
wherein, an intersection point of the second image edge 32 and the third image edge 33 is taken as a starting point, h is a length of the second image edge 32 in the z-axis direction, and w is a length of the second image edge 32 in the third parallel line 44 direction;
the third parallel lines 44 are parallel to the third vanishing line, and the third parallel lines 44 intersect the third image edge 33, which is a vanishing line of the second calibration artwork 12 along the y-axis direction.
In the description of the present invention, it is to be understood that the orientations and positional relationships indicated by the terms "axial," "radial," "circumferential," and the like are based on the orientations and positional relationships shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
In summary, the above embodiments have described in detail various configurations of a calibration template and a method for quickly calibrating external parameters of a camera, and it is understood that the above description is only a description of the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention in any way.
Claims (9)
1. A method for quickly calibrating external parameters of a camera is characterized in that a calibration template is adopted for calibration, wherein the calibration template comprises three calibration surfaces;
every two of the three calibration surfaces are perpendicularly intersected at an intersection point to form three intersection lines; each calibration surface is provided with a calibration original image, and line segments of the calibration original image, which are intersected and overlapped with two intersection lines on the corresponding calibration surface, are two side lines of the calibration original image; each calibration original image is provided with a plurality of mutually-perpendicular and intersected reference lines, and the reference lines are parallel to one of the two side lines on the corresponding calibration surface;
the method for quickly calibrating the external parameters of the camera comprises the following steps:
s1, selecting the calibration template, and shooting a calibration image by the camera facing the first calibration original image of the calibration template;
s2: calibrating the rotation angle of the camera in the first axial direction, the second axial direction and/or the third axial direction according to the rotation angle of the sideline image on the calibration image;
wherein the first axial direction, the second axial direction and the third axial direction are respectively the directions of the three intersecting lines;
the first calibration original is located on the calibration surface formed in the first axial direction and the second axial direction;
the rotation angle of the camera along the third axial direction is alpha, and the rotation angle alpha along the second axial direction is equal to the included angle between the first image sideline and the first axial direction;
the rotation angle of the camera along the second axial direction is beta, and the rotation angle beta along the third axial direction is equal to the included angle between the first image sideline and the first axial direction;
the rotation angle of the camera along the first axial direction is theta, and the rotation angle theta is equal to the included angle between the second image side line and the second axial direction;
wherein the first image edge is an image of the first edge; the first edge is the edge in the first axial direction;
the second image edge is an image of the second edge; the second edge is the edge in the second axial direction;
the third image edge is an image of the third edge; the third edge is the edge in the third axial direction.
2. The method for rapidly calibrating the extrinsic parameters of a camera according to claim 1, wherein each of said calibration artwork is square, and said edge line of said calibration artwork and said reference lines form squares, and each of said squares is square.
3. The method for rapidly calibrating the extrinsic parameters of a camera according to claim 2, wherein said calibration artwork on each of said calibration surfaces is the same; each reference line on each calibration surface is composed of a plurality of points with the same interval.
4. The method for rapidly calibrating the camera extrinsic parameters according to claim 1, wherein the rotation angle α is:
and taking the intersection point of the first image edge line and the second image edge line as a starting point, h is the length of the first image edge line in the second axial direction, and w is the length of the first image edge line in the first axial direction.
5. The method for rapidly calibrating the extrinsic parameters of a camera according to claim 4, wherein along the second axial direction, the rotation angle α is equal to the angle between the first image reference line and the first vanishing line, and the rotation angle α is:
the first image reference line is an image of a first reference line, the first reference line is parallel to the first edge line and close to the midpoint of the second edge line, and the first vanishing line is a vanishing line of the first calibration original image along the first axial direction;
taking an intersection point of the first image reference line and the second image edge line as a starting point, h is the length of the first image reference line in the second axial direction, and w is the length of the first image reference line in the first axial direction.
6. The method for rapidly calibrating the camera extrinsic parameters according to claim 1, wherein the rotation angle β is:
and taking the intersection point of the first image edge line and the third image edge line as a starting point, h is the length of the first image edge line in the third axial direction, and w is the length of the first image edge line in the first axial direction.
7. The method for rapidly calibrating the extrinsic parameter of a camera according to claim 6, wherein along the third image edge, the rotation angle β is equal to the angle between the first image edge and the second parallel line, and the rotation angle β is:
wherein, taking an intersection point of the first image edge and the third image edge as a starting point, h is a length of the first image reference line in the third axial direction, and w is a length of the first image edge in the second parallel line direction;
the second parallel line is a parallel line of a second vanishing line, the parallel line is intersected with the first image side line, and the second vanishing line is a vanishing line of a third calibration original drawing along the first axial direction; the third alignment artwork is located on the alignment surface formed by the first axial direction and the third axial direction.
8. The method for rapidly calibrating the camera extrinsic parameters according to claim 1, wherein the rotation angle θ is:
and taking the intersection point of the second image edge and the third image edge as a starting point, h is the length of the second image edge in the direction of the third image edge, and w is the length of the second image edge in the second axial direction.
9. The method for rapidly calibrating the extrinsic parameter of a camera according to claim 8, wherein along the third axial direction, the rotation angle θ is equal to an angle between the second image edge and a third parallel line, and the rotation angle θ is:
wherein, taking an intersection point of the second image edge and the third image edge as a starting point, h is a length of the second image edge in the third axial direction, and w is a length of the second image edge in the third parallel line direction;
the third parallel line is a parallel line of a third vanishing line, and the third parallel line intersects with the second image edge line;
in the second axial direction, the third vanishing line is a vanishing line of second calibration artwork, and the second calibration artwork is located on the calibration surface formed by the second axial direction and the third axial direction.
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