CN109712191A - A kind of large scene video camera overall situation external parameters calibration device and method - Google Patents
A kind of large scene video camera overall situation external parameters calibration device and method Download PDFInfo
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Abstract
The present invention relates to a kind of large scene video camera overall situation external parameters calibration device and method, device includes transition piece, scalable component, light emitting device and supporting element；The quantity of the scalable component and light emitting device is N, N >=4；The transition piece lower part is set to measure field by supporting element, and transition piece top and one end of each scalable component are connected, and the other end of each scalable component is provided with a light emitting device as light emitting control point.The method of the present invention solves the problems, such as multiple-camera overall situation external parameters calibration under large scene；Scaling method primary space position survey calculation can be used for demarcating multiple video cameras, effectively saves the nominal time, improves calibration efficiency；Caliberating device is multiple non-planar features points, and video camera need to only shoot once, both can use nonlinear optimization and solve the external parameters of cameras；Scaling method is simple using equipment, and measurement quickly, and can use on the water surface of opposite shaking.
Description
Technical field
The present invention relates to technical field of visual measurement more particularly to a kind of large scene video camera overall situation external parameters calibration devices
And method.
Background technique
Global calibration is the measurement data unification each video camera into an overall world coordinate system, that is, is determined
Each camera coordinate system is with respect to the position and direction of this overall world coordinate system, i.e. rotating vector and translation vector.It is this
Position and direction are difficult to know by video camera installation, it is necessary to be found out by specific means in measure field global calibration.
Global calibration is that multiple-camera vision measurement system is successfully crucial, determines the measuring accuracy of whole system.Global calibration essence
Degree has with video camera measurement accuracy and overall calibration method used directly to be contacted.Therefore, high-precision, it is practical, quick
Global calibration device and method is very necessary.
Typical small scene visual measuring system, two video camera baselines are less than 1m, and common scaling method uses video camera
The methods of camera plane template realizes the camera calibration of small scene；Positional relationship is using processing printing etc. between calibrating template feature
It obtains；What calibration result obtained is mutual alignment posture relationship between two video cameras.
For the global calibration of multiple-camera vision measurement system, traditional method is made using workpiece accurate known to one
To demarcate foundation；But, for large-scale workpiece, it is costly to process an accurate standard component, using known but need not be accurate
Workpiece as standard component periodic calibrating system, which is raw after general workpiece to be sent to coordinate measuring machine measurement
At.Both methods is all made of standard room as calibration tool, is moving and is taking out from the system of periodic calibrating and to prevent
Standard room is without damage to be difficult；Moreover, there are many problems in large-scale workpiece transport, handling.For near-infrared video camera
Calibration control point, which is chosen, should guarantee imaging effect, small in size as far as possible again, convenient for extraterrestrial target center and image coordinate center
Correspondence.
In global calibration, video camera simultaneously measures control point as a measurement module, with external measurement devices,
The unification of camera coordinate system is converted by the coordinate at control point.It can be seen that realize that the calibration of measuring system is necessary
Have two conditions: the target at control point can be provided；It can determine that external measurement devices-theodolite of target control point coordinates.But
It is when hull is ridden the sea or floated as unstable fixed platform, electronic theodolite cannot work, and hulls can only be waited to lie up seat
It is carried out under pier state, this is contradicted with the periodically or non-periodically calibration demand of vision system.
Summary of the invention
In view of above-mentioned analysis, the present invention is intended to provide a kind of large scene video camera overall situation external parameters calibration device and side
Method, to solve repeatedly to be shot using station meter or reference substance needs, video camera cannot be solved relative to world coordinate system
Relationship and the standard component problems present in use, transport, cargo handling process.
The purpose of the present invention is mainly achieved through the following technical solutions:
In the one aspect based on the embodiment of the present invention, a kind of large scene video camera overall situation external parameters calibration dress is provided
It sets, including transition piece, scalable component, light emitting device and supporting element；The quantity of the scalable component and light emitting device is N, and N >=
4；The transition piece lower part is set to measure field by supporting element, and transition piece top and one end of each scalable component are connected,
The other end of each scalable component is provided with light emitting device as light emitting control point.
In another embodiment based on apparatus of the present invention, transition piece uses stainless steel material, including chassis and N number of circle
Shape pipe fitting, N >=4, round pipe fitting are welded on the upper disk surface of chassis, and transition piece chassis is disk, disk center under transition piece chassis
Thread mill drilling passes through with supporting element, bolt is cooperatively connected；Scalable component is fixed on the N number of of transition piece to N number of scalable component respectively
In round pipe fitting, each circle pipe fitting is provided with hole and welded nut, utilizes bolt fastening scalable component.
In another embodiment based on apparatus of the present invention, scalable component use high rigidity material, inside can by with
The connected power cable of light emitting device, scalable component adjustment length and can lock as needed.
In the other side based on the embodiment of the present invention, a kind of large scene video camera overall situation external parameters calibration is provided
Method, comprising the following steps:
S1, datum mark is preset, obtains three-dimensional coordinate of the datum mark under global coordinate system；
S2, setting video camera overall situation external parameters calibration device simultaneously demarcate light emitting control point in global coordinate system；
S3, setting video camera simultaneously demarcate camera position in global coordinate system.
In another embodiment based on the method for the present invention, global coordinate system is deck coordinate system.
In another embodiment based on the method for the present invention, step S1 is specifically included:
S11, above deck ideal the optionally N number of datum mark of warship areas adjacent, N >=4, it is desirable that position between N number of datum mark
Relationship determines；
S12, using measuring device, measure three-dimensional coordinate of N number of datum mark relative to measuring device first, then measure first
Ideal three-dimensional coordinate of the warship point relative to measuring device of plate, is finally converted to N number of datum mark relative to first by coordinate
The D coordinates value of plate coordinate system.
In another embodiment based on the method for the present invention, step S2 is specifically included:
S21, by assembled video camera overall situation external parameters calibration device it is firm be placed in ideal warship region rear, shine
Control point number be it is N number of, adjustment scalable component corresponds light emitting control point and reference point location；
S22, measure respectively each light emitting control point to Corresponding base point linear distance；
S23, it is calculated according to datum mark deck coordinate system D coordinates value and light emitting control point to distance between reference value
D coordinates value of the light emitting control point under deck coordinate system.
In another embodiment based on the method for the present invention, the number N of datum mark is 4 in step S23, is specifically included:
S231, the space coordinate for inputting 4 datum marks select a light emitting control point as test point P；
S232, wherein 3 datum marks are selected, is denoted as A, B, C, wherein
C=| PC |, b=| PB |, a=| PA |；
The volume of S233, the area for calculating triangle ABC and tetrahedron PABC；
S234, distance and a of the P point apart from face ABC, b, c the projection line segment length a ', b ', c ' on the ABC of face are calculated；
S235, the area for calculating △ P ' AB, △ P ' BC and △ P ' CA, wherein P ' is projection of the P on the ABC of face；
S236, the maximum triangle of selection area in △ P ' AB, △ P ' BC and △ P ' CA and the position arrow calculated
Amount；
S237, the position vector for calculating P point；
S238, remaining 3 datum mark combination is picked out from 4 datum marks, for each combination, repetition S232-
The position vector of 4 P points is always obtained in S237, be averaged to get to a light emitting control point relative to deck coordinate system
Under coordinate.
In another embodiment based on the method for the present invention, step S3 is specifically included:
S31, two or more video cameras are separately fixed at stern two sides；
S32, light emitting control point brightness is powered on and adjusted to external parameters of cameras caliberating device, make to shoot image in video camera
Middle light emitting control point is in Gaussian Profile；
S33, video camera respectively acquire an external parameters of cameras caliberating device light emitting control point image；
S34, N number of light emitting control point image location of pixels is primarily determined from image, then sought using centroid method each
The sub-pix image coordinate of light emitting control point；
S35, sub-pix image coordinate and each light emitting control point of each light emitting control point in every video camera are established
The corresponding relationship of deck coordinate system coordinate；
S36, the intrinsic parameter for determining each video camera, can be realized according to the corresponding relationship that step S35 is obtained and take the photograph to each
The calibration of the outer parameter of camera.
In another embodiment based on the method for the present invention, when datum mark quantity be 4 when, select Rectangular Ideal warship
Four light emitting control points of point on the basis of area's four interior angle points of big frame, video camera overall situation external parameters calibration device are respectively directed to warship
Stern, warship bow, port and starboard.
Beneficial effects of the present invention: multiple-camera overall situation external parameters calibration under large scene is solved the problems, such as；Scaling method one
Secondary spatial position measuring calculating can be used for demarcating multiple video cameras, effectively saves the nominal time, improves calibration efficiency；Mark
Determining device is multiple non-planar features points, and video camera need to only shoot once, both can use nonlinear optimization and solve the video camera
Outer parameter；Scaling method is simple using equipment, and measurement quickly, and can use on the water surface of opposite shaking.
Detailed description of the invention
Attached drawing is only used for showing the purpose of specific embodiment, and is not to be construed as limiting the invention, in entire attached drawing
In, identical reference symbol indicates identical component.
Fig. 1 is transition piece side view；
Fig. 2 is transition piece top view；
Fig. 3 is that calibration facility simulated effect figure is observed on right side；
Fig. 4 is left sides Calibration Simulation equipment effect picture；
Fig. 5 is a kind of large scene video camera overall situation external parameters calibration method flow diagram；
Fig. 6 is to seek characteristic point P three-dimensional coordinate schematic diagram using datum mark.
Specific embodiment
Specifically describing the preferred embodiment of the present invention with reference to the accompanying drawing, wherein attached drawing constitutes the application a part, and
Together with embodiments of the present invention for illustrating the principle of the present invention.
The plane of the measure field of external parameters calibration can be ground or other quiet planes or dynamic plane, such as floating marine
Or the hull under operational configuration.In one particular embodiment of the present invention, using deck as the plane of measure field.
A kind of large scene video camera overall situation external parameters calibration device, including mistake are disclosed in one embodiment of the invention
Cross part, scalable component, light emitting device and supporting element；The quantity of scalable component and light emitting device is N, N >=4；Transition piece lower part
Be set to measure field by supporting element, one end of transition piece top and each scalable component is connected, each scalable component it is another
One end is provided with light emitting device as light emitting control point.
For light emitting control point using the high-power full spectrum light source for being fixed on scalable component end, brightness is adjustable, when mark
Determine device be placed in deck area it is ideal near warship point, the near-infrared video camera that measure field is arranged in can be to light emitting control point
Effectively imaging；Light source imaging characteristic on near-infrared video camera is Gaussian Profile, as the heart is consistent with the object heart, can be extracted with centroid method
Light emitting control point diagram inconocenter；Light source is light-emitting lamp, and 360 ° of characteristics of luminescences of light-emitting lamp make to be easy to see from all angles
Examine the light emitting control point of caliberating device.Caliberating device space control point can demarcate near-infrared camera shooting using high-power full spectrum light source
The outer parameter of machine and visible light camera, and light emitting control point brightness is adjusted according to environmental requirement.
Control device, which is connected by automatically controlled cable-assembly with light emitting device, is uniformly controlled switch and the brightness of light-emitting lamp, root
It adjusts according to environmental requirement lamp brightness and is realized using voltage regulating mode.
As shown in Figure 1 and Figure 2, transition piece uses stainless steel material, including chassis, N number of round pipe fitting, N >=4, round pipe fitting
It is welded on the upper disk surface of chassis, transition piece chassis is center symmetric figure, and transition piece chassis is disk, transition in the present embodiment
Disk center processes 3/4 inch of pipe thread hole under part chassis, and supporting element is tripod, and chassis and tripod pass through 3/4 inch pipe
Bolt is cooperatively connected.
The axial line of each circle pipe fitting is angled with chassis disk respectively, to be in the image that video camera is shot
Approximate rectangular is principle, and precision machining angle uses wire cutting.Specifically, when the quantity of round pipe fitting be four when, sequentially for
34 °, 11 °, 45 °, 45 ° (can be adjusted within the scope of ± 3 ° with upper angle).
Design can effectively ensure that there is similar distribution of shapes in the image shot in left and right sides video camera in this way, convenient for man-machine
Select corresponding light emitting control point in picture position in interaction；Such angle design is emulated and practiced in measurement control point and base
On schedule apart from when will not be interfered with device itself.
As shown in Figure 3, Figure 4, scalable component is scalable round tube, and scalable round tube outer diameter is less than the circle being welded on chassis
The internal diameter of shape pipe fitting, the quantity of scalable round tube is corresponding with the round quantity of pipe fitting, and round pipe fitting is protruded into scalable round tube one end
Scalable round tube is connected by inside by bolt with round pipe fitting, and realization transition piece is connected with scalable component one end.
Specifically, each scalable round tube opens two hole welded nuts, can effectively fasten telescopic rod using bolt；It is preferred that
Ground, side opening is convenient under steel pipe passes through to the small air plug that light emitting device is powered.
Scalable component uses high rigidity material, it is internal can be scalable by the automatically controlled cable-assembly that is connected with light emitting device
Part adjustment length and can lock as needed.Telescopic rod selects high rigidity material, and measure field plane is unstable fixed platform as navigated
When ship in row, light emitting control point is small relative to deck position deviation.
It may be implemented by adjusting scalable component and supporting element according to the parameters such as different measure fields and video camera distance
Size requirement for external parameters calibration device, the length maximum and minimum of external parameters calibration device respectively reach 3.3m
× 3m × 2.6m and 1.0m × 0.9m × 1.2m.
Further, external parameters calibration device further includes measure field flat connecting section part, ensure that measure field plane exists
Stability of the unstable state lower support element in measure field plane.When caliberating device is put above deck, because of design of centre of gravity
In middle lower portion, and there is measure field flat connecting section part, stable structure guarantees that hull indulges less than 20 ° situations of roll angle
Lower guarantee normal use.
Supporting element is for fixing and supporting upper element, and caliberating device component meets quick-release design requirement, light weight,
Good portability, equipment composition is simple, high reliablity.
In another embodiment of the present invention, a kind of large scene video camera overall situation external parameters calibration method is provided, such as
Shown in Fig. 5, specifically includes the following steps:
S1, datum mark is preset, obtains D coordinates value of the datum mark under global coordinate system, the present embodiment is with deck
As measure field；Deck coordinate system is the global coordinate system chosen.Specifically include following sub-step:
S11, above deck ideal the optionally N number of datum mark of warship areas adjacent, N >=4, it is desirable that position between N number of datum mark
Relationship determines.
Specifically, datum mark quantity is 4, can be four interior angle points of the big frame in the area Rectangular Ideal Zhe Jian.
S12, using electronic theodolite or similar precise measurement equipment, measure N number of datum mark first relative to measuring device
Three-dimensional coordinate, then measure deck on select ideal three-dimensional coordinate of the warship point relative to measuring device, finally pass through
D coordinates value of N number of datum mark relative to deck coordinate system can be obtained in coordinate conversion.The method of coordinate transform is existing
The method that coordinate transform may be implemented in what, in embodiments of the present invention not otherwise stated.
S2, setting video camera overall situation external parameters calibration device simultaneously demarcate light emitting control point in global coordinate system；
S21, by assembled video camera overall situation external parameters calibration device it is firm be placed in ideal warship region rear, shine
Control point number be it is N number of, adjustment scalable component corresponds light emitting control point and reference point location；
Specifically, when datum mark number is four, light emitting control point is directed toward after video camera overall situation external parameters calibration device
Warship stern, preceding light emitting control point are directed toward warship bow, and left light emitting control point is directed toward larboard, and right light emitting control point is directed toward starboard.
Preferably, caliberating device central point substantially it is resonable keep in mind warship area the vertical stern direction 3m of warship point.
S22, measure respectively each light emitting control point to Corresponding base point linear distance, specifically, using steel tape or
The equidistant measuring device of laser range finder measures；
S23, it is calculated according to datum mark deck coordinate system D coordinates value and light emitting control point to distance between reference value
D coordinates value of the light emitting control point under deck coordinate system；
Specifically, light emitting control point is calculated under deck coordinate system using redundancy nonlinear optimization method
Coordinate.The number N of datum mark is 4, detailed process are as follows:
S231, the space coordinate for inputting 4 datum marks select a light emitting control point as test point P；
S232, wherein 3 datum marks are selected, is denoted as A, B, C, wherein
C=| PC |, b=| PB |, a=| PA |；
The volume of S233, the area for calculating triangle ABC and tetrahedron PABC；
C "=| AB |, b "=| AC |, a "=| BC |；
S234, distance of the P point apart from face ABC is calculated
Calculate a, b, c the projection line segment length a ', b ', c ' on the ABC of face:
S235, the area for calculating △ P ' AB, △ P ' BC and △ P ' CA, wherein P ' is projection of the P on the ABC of face；
S236, the maximum triangle of selection area in △ P ' AB, △ P ' BC and △ P ' CA, it is assumed that it is △ P ' AB, meter
It calculates
If vectorAround A point in ABC plane internal rotation θ or-θ, and its length is become a', obtains vector (referring to meter
Calculation machine graphics quaternary number rotation)
Wherein
Obviously, in pointIn, that point and P' of the closer c' of the distance between C point is overlapped, therefore, P'
Position vector be,
S237, the position vector for calculating P point；
It is determined according to prior informationIt is equal to actuallyAlso it is equal to
S238, remaining 3 datum mark combination is picked out from 4 datum marks, for each combination, repetition S232-
S237 can obtain oneSuch combination one shares 4 groups, and available 4 in totalValue is averaged, can
It is optimal to obtainA light emitting control point is obtained relative to the coordinate under deck coordinate system.
It selects other light emitting control points as test point P, repeats the above steps, obtain each light emitting control point relative to first
The coordinate of plate coordinate system.
Caliberating device is N number of non-planar features point, and video camera need to only be shot once, it can is solved using nonlinear optimization
The external parameters of cameras；This scaling method uses simple equipments, is realized with steel tape, saves the complex devices such as electronic theodolite
Cost.
S3, setting video camera simultaneously demarcate camera position in global coordinate system, specifically includes the following steps:
S31, two or more video cameras are separately fixed at stern two sides and test whether it can work normally；
Video camera specifically can be visible light camera or near-infrared video camera etc..
S32, light emitting control point brightness is powered on and adjusted to external parameters of cameras caliberating device, make to shoot image in video camera
Middle light emitting control point is in Gaussian Profile；
This scaling method can guarantee to work under the various weather conditions such as night and daytime.
S33, video camera respectively acquire an external parameters of cameras caliberating device light emitting control point image；
S34, N number of light emitting control point image location of pixels is primarily determined from image, then sought using centroid method each
The sub-pix image coordinate of luminous point；Specifically, the method that human-computer interaction can be used primarily determines four using mouse from image
A light emitting control point image location of pixels, can be automatically determined using image processing method.
For centroid method specifically by the centroid position for calculating each light emitting control point, which is light emitting control point
Subpoint on the image.The calculating of centroid position is relatively simple, can provide permanent gain, and not take-up tracking frequency limits,
System requirements is readily satisfied in speed, is particularly suitable for that target speed is fast, and the situation that background is relatively simple.When image letter
When number is h (x, y), the center-of-mass coordinate (x, y) of row, column is calculated as follows:
S35, sub-pix image coordinate and each light emitting control point of each light emitting control point in every video camera are established
The corresponding relationship of deck coordinate system coordinate；
Camera calibration exactly goes global the sitting for resolving known calibration control point (being light emitting control point in the present embodiment)
Mark (being deck coordinate system coordinate in the present embodiment) and pixel coordinate (are the subpixel image of every video camera in the present embodiment
As coordinate) corresponding relationship.
S36, the intrinsic parameter for determining each video camera, can be realized according to the corresponding relationship that step S35 is obtained and take the photograph to each
The calibration of the outer parameter of camera.
The intrinsic parameter of video camera is determined according to universal method in the prior art
Further, repeating step S2, S3 can carry out repeatedly demarcating to realize to the global outer parameter of multiple video cameras
Calibration.
Further, if video camera installation pedestal relative to camera position posture relationship it is known that if can be imaged
The position and attitude value of the position and attitude relative datum point coordinate system of machine pedestal, this scaling method can also be used for as where director radar
Pedestal is measured relative to the position and attitude relationship of deck coordinate system.
The measuring and calculating of this scaling method primary space position can be used for demarcating multiple video cameras, effectively saves the time, improves
Efficiency.
In conclusion the method for the present invention solves the problems, such as multiple-camera overall situation external parameters calibration under large scene；Scaling method
Primary space position survey calculation can be used for demarcating multiple video cameras, effectively saves the time, improves efficiency；Caliberating device
For multiple non-planar features points, video camera need to only shoot once, both can use nonlinear optimization and solve the external parameters of cameras；
Scaling method is simple using equipment, and measurement quickly, and can use on the water surface of opposite shaking.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.
Claims (10)
1. a kind of large scene video camera overall situation external parameters calibration device, which is characterized in that including transition piece, scalable component, shine
Device and supporting element；The quantity of the scalable component and light emitting device is N, N >=4；The transition piece lower part passes through supporting element
It is set to measure field, transition piece top and one end of each scalable component are connected, and the other end of each scalable component is provided with
Light emitting device is as light emitting control point.
2. a kind of large scene video camera overall situation external parameters calibration device as shown in claim 1, which is characterized in that the transition
Part uses stainless steel material, including chassis and N number of round pipe fitting, N >=4, round pipe fitting to be welded on the upper disk surface of chassis, round tube
The axial line of part is angled with disk respectively；Disk center thread mill drilling under transition piece chassis, passes through spiral shell with supporting element
Bolt is cooperatively connected.
3. a kind of large scene video camera overall situation external parameters calibration device as shown in claim 1, which is characterized in that described to stretch
Contracting part uses tubulose high rigidity material, it is internal can be by the power cable that is connected with light emitting device, scalable component can be according to need
It wants adjustment length and locks；N number of scalable component is separately fixed in N number of round pipe fitting of transition piece, and each circle pipe fitting is provided with
Hole and welded nut, utilize bolt fastening scalable component.
4. a kind of method for realizing large scene video camera overall situation external parameters calibration using device described in claim 1, feature
It is, comprising the following steps:
S1, datum mark is preset, obtains three-dimensional coordinate of the datum mark under global coordinate system；
S2, setting video camera overall situation external parameters calibration device simultaneously demarcate light emitting control point in global coordinate system；
S3, setting video camera simultaneously demarcate camera position in global coordinate system.
5. method as claimed in claim 4, which is characterized in that the global coordinate system is deck coordinate system.
6. method as claimed in claim 5, which is characterized in that step S1 is specifically included:
S11, above deck ideal the optionally N number of datum mark of warship areas adjacent, N >=4, it is desirable that positional relationship between N number of datum mark
It determines；
S12, using measuring device, measure three-dimensional coordinate of N number of datum mark relative to measuring device first, then measure deck
Ideal three-dimensional coordinate of the warship point relative to measuring device, is finally converted to N number of datum mark by coordinate and sits relative to deck
Mark the D coordinates value of system.
7. method as claimed in claim 5, which is characterized in that step S2 is specifically included:
S21, by assembled video camera overall situation external parameters calibration device it is firm be placed in ideal warship region rear, light emitting control
Point number be it is N number of, adjustment scalable component corresponds light emitting control point and reference point location；
S22, measure respectively each light emitting control point to Corresponding base point linear distance；
S23, be calculated according to datum mark deck coordinate system D coordinates value and light emitting control point to distance between reference value it is luminous
D coordinates value of the control point under deck coordinate system.
8. the method for claim 7, which is characterized in that the number N of datum mark is 4 in the step S23, specific to wrap
It includes:
S231, the space coordinate for inputting 4 datum marks select a light emitting control point as test point P；
S232, wherein 3 datum marks are selected, is denoted as A, B, C, wherein
C=| PC |, b=| PB |, a=| PA |；
The volume of S233, the area for calculating triangle ABC and tetrahedron PABC；
S234, distance and a of the P point apart from face ABC, b, c the projection line segment length a ', b ', c ' on the ABC of face are calculated；
S235, the area for calculating △ P ' AB, △ P ' BC and △ P ' CA, wherein P ' is projection of the P on the ABC of face；
The position vector of S236, the maximum triangle of selection area in △ P ' AB, △ P ' BC and △ P ' CA and calculating；
S237, the position vector for calculating P point；
S238, remaining 3 datum marks combination is picked out from 4 datum marks S232-S237 is repeated, always for each combination
The position vector of 4 P points is obtained, be averaged to get to a light emitting control point relative to the seat under deck coordinate system
Mark.
9. method as claimed in claim 5, which is characterized in that step S3 is specifically included:
S31, two or more video cameras are separately fixed at stern two sides；
S32, light emitting control point brightness is powered on and adjusted to external parameters of cameras caliberating device, make to shoot in image in video camera and send out
Photocontrol point is in Gaussian Profile；
S33, video camera respectively acquire an external parameters of cameras caliberating device light emitting control point image；
S34, N number of light emitting control point image location of pixels is primarily determined from image, then seek each shine using centroid method
The sub-pix image coordinate at control point；
S35, each light emitting control point is established in the sub-pix image coordinate of every video camera and the deck of each light emitting control point
The corresponding relationship of coordinate system coordinate；
S36, the intrinsic parameter for determining each video camera, can be realized according to the corresponding relationship that step S35 is obtained to each video camera
The calibration of outer parameter.
10. such as the described in any item methods of claim 4-9, which is characterized in that when datum mark quantity is 4, select rectangle
Point on the basis of ideal big four interior angle points of frame in the area Zhe Jian, four light emitting control points difference of video camera overall situation external parameters calibration device
It is directed toward warship stern, warship bow, port and starboard.
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