CN110009686A - Camera calibration method, apparatus, platform and the camera calibration method applied to calibrating platform - Google Patents
Camera calibration method, apparatus, platform and the camera calibration method applied to calibrating platform Download PDFInfo
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- CN110009686A CN110009686A CN201910189826.XA CN201910189826A CN110009686A CN 110009686 A CN110009686 A CN 110009686A CN 201910189826 A CN201910189826 A CN 201910189826A CN 110009686 A CN110009686 A CN 110009686A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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Abstract
The invention discloses a kind of camera calibration method, apparatus, platform and applied to the camera calibration method of calibrating platform.Wherein, calibrating platform includes at least a camera and driving mechanism, this method comprises: control driving mechanism driving camera is moved at least one target position, wherein driving mechanism has at least one translation freedoms and at least one rotary freedom；In the case where camera is moved to target position, control camera acquires image；The result of camera calibration is obtained based on image.The present invention solve the prior art using manual type carry out camera calibration, cause calibration result inaccuracy the technical issues of.
Description
Technical field
The present invention relates to camera calibration fields, in particular to a kind of camera calibration method, apparatus, platform and application
In the camera calibration method of calibrating platform.
Background technique
In image measurement process and machine vision applications, for the three-dimensional geometry position for determining space object surface point
With the correlation between its in the picture corresponding points, it is necessary to establish the geometrical model of camera imaging, these geometrical model parameters
It is exactly camera parameter.In most conditions, these parameters must can just be obtained by experiment and calculating, this solves parameter
Process is just referred to as camera calibration.The purpose of camera calibration is exactly that the internal reference for obtaining camera and outer ginseng coefficient clap the camera later
The image taken the photograph is corrected, and the relatively small image that distorts is obtained.No matter in image measurement or machine vision applications, camera
The calibration of parameter is all that very the key link, the precision of calibration result and the stability of algorithm directly affect camera work and produces
The accuracy of raw result.Traditional camera calibration usually requires man-hour manually hand-held camera in different positions and angle to calibration target
Plurality of pictures is shot, the precision of calibration result is inevitably influenced by manual operation factor.
Camera calibration is carried out using manual type for the prior art, leads to the technical problem of calibration result inaccuracy, mesh
It is preceding not yet to put forward effective solutions.
Summary of the invention
The embodiment of the invention provides a kind of camera calibration method, apparatus, platform and applied to the camera mark of calibrating platform
Determine method, carries out camera calibration at least to solve the prior art using manual type, lead to the technology of calibration result inaccuracy
Problem.
According to an aspect of an embodiment of the present invention, a kind of camera calibration method applied to calibrating platform is provided, is marked
Fixed platform includes that an at least camera and driving mechanism, the above method includes: that control driving mechanism driving camera is moved at least
One target position, wherein driving mechanism has at least one translation freedoms and at least one rotary freedom；It is moved in camera
In the case where moving to target position, control camera acquires image；The result of camera calibration is obtained based on image.
Optionally, control driving mechanism driving camera is moved at least one target position, comprising: control driving mechanism is driven
Camera is moved to first position, wherein first position is camera along the target position that axial direction is translated；At first position, control
Driving mechanism processed drives camera to multiple second positions, wherein the second position is the target position that camera is rotated in the axial direction
It sets.
Optionally, calibrating platform further includes calibration object, demarcates level in the visual field of camera, the second position is based on lower section
Formula obtains: the visual field of camera is divided into multiple regions；Mobile camera makes to demarcate object in visual field to multiple second places
Imaging is respectively in the different zones of multiple regions, wherein multiple regions and multiple second positions have one-to-one relationship.
Optionally, the result of camera calibration is obtained based on image, comprising: image is input to calibration algorithm；Based on calibration
Algorithm obtains the result of camera calibration.
Optionally, after the result for obtaining camera calibration based on image, method further include: save result to camera
In memory and/or configuration file.
Optionally, calibrating platform further includes camera support, and camera support is by the mechanism that is rotated in a first direction and along second
The mechanism composition that direction rotates, wherein camera passes through the mechanism rotated in a second direction and is installed on the machine being rotated in a first direction
On structure, the mechanism being rotated in a first direction is installed on the guide rail of second direction, and the guide rail of second direction is mounted on third direction
Guide rail on, wherein first direction, second direction and third direction collectively form rectangular coordinate system in space.
Other side according to an embodiment of the present invention additionally provides a kind of camera calibration platform, comprising: driving mechanism,
For driving camera to be moved at least one target position, wherein driving mechanism is at least one translation freedoms and at least
One rotary freedom；Controller is connected with driving mechanism, for control driving mechanism driving camera, when camera be moved to
When a few target location, control camera acquires image, and the result of camera calibration is obtained based on image.
Optionally, driving mechanism includes: translation motor, is connect with translating rails, for driving camera to first position,
In, first position is camera along the target position that translating rails are translated；Rotating electric machine is connect with rotating mechanism, is used for
At first position, driving camera to multiple second positions, wherein the second position is the mesh that camera is rotated on rotating mechanism
Cursor position.
Optionally, platform further includes calibration object, demarcates level in the visual field of camera, processor is also used to: by camera
Visual field is divided into multiple regions；Control camera rotates to multiple second places, locates imaging of the calibration object in visual field respectively
In the different zones of multiple regions, wherein multiple regions and multiple second positions have one-to-one relationship.
Optionally, translating rails include the guide rail of second direction and the guide rail of third direction, wherein second direction and third
Direction is mutually perpendicular to.
Optionally, rotating mechanism includes the mechanism being rotated in a first direction and the mechanism rotated in a second direction, wherein the
One direction, second direction and third direction collectively form rectangular coordinate system in space.
Optionally, calibrating platform further includes camera support, and camera support is by the mechanism that is rotated in a first direction and along second
The mechanism composition that direction rotates, wherein camera passes through the mechanism rotated in a second direction and is installed on the machine being rotated in a first direction
On structure, the mechanism being rotated in a first direction is installed on the guide rail of second direction, and the guide rail of second direction is mounted on third direction
Guide rail on, wherein first direction, second direction and third direction collectively form rectangular coordinate system in space.
Optionally, controller is also used to: after the result for obtaining camera calibration based on image, result being saved to camera
Memory and/or configuration file in.
Other side according to an embodiment of the present invention additionally provides a kind of camera calibration method, comprising: control camera moves
Move at least one target position, wherein target position is for characterizing movement of the camera on different dimensions as a result, dimension packet
It includes: at least one translation freedoms and at least one rotary freedom；In the case where camera is moved to target position, phase is controlled
Machine acquires image；The result of camera calibration is obtained based on image.
Optionally, control camera is moved at least one target position, comprising: and control camera is moved to first position,
In, first position is camera along the target position that axial direction is translated；At first position, control camera is moved to multiple second
Position, wherein the second position is the target position that camera is rotated in the axial direction.
Optionally, the second position is obtained based on following manner: the visual field of camera is divided into multiple regions；Mobile camera arrives
Multiple second places are respectively at imaging of the calibration object in visual field in the different zones of multiple regions, wherein Duo Gequ
Domain and multiple second positions have one-to-one relationship.
Optionally, the result of camera calibration is obtained based on image, comprising: image is input to calibration algorithm；Based on calibration
Algorithm obtains the result of camera calibration.
Optionally, after the result for obtaining camera calibration based on image, method further include: save the knot of camera calibration
Fruit.
Other side according to an embodiment of the present invention additionally provides a kind of camera calibration device, comprising: control module,
At least one target position is moved to for controlling camera, wherein target position is for characterizing shifting of the camera on different dimensions
It moves as a result, dimension includes: at least one translation freedoms and at least one rotary freedom；Acquisition module, for being moved in camera
In the case where moving to target position, control camera acquires image；Module is obtained, for obtaining the knot of camera calibration based on image
Fruit.
Other side according to an embodiment of the present invention, additionally provides a kind of storage medium, and storage medium includes storage
Program, wherein equipment where control storage medium executes the phase that any one of the above is applied to calibrating platform in program operation
Machine scaling method.
Other side according to an embodiment of the present invention additionally provides a kind of processor, and processor is used to run program,
In, program executes the camera calibration method that any one of the above is applied to calibrating platform when running.
In embodiments of the present invention, calibrating platform includes at least a camera and driving mechanism, first control driving mechanism
Driving camera is moved at least one target position, wherein driving mechanism has at least one translation freedoms and at least one
Rotary freedom；Then in the case where camera is moved to target position, control camera acquires image；Finally obtained based on image
The result of camera calibration.The application accurately controls driving mechanism and drives phase to be calibrated by multivariant calibrating platform
Machine moves to each scheduled position and takes pictures, and automatic operating calibrating procedure obtains calibration knot after completion of taking pictures
Fruit has achieved the purpose that accurate progress automatic camera calibration, carries out camera using manual type to solve the prior art
Calibration, leads to the technical problem of calibration result inaccuracy.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, this hair
Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is a kind of according to embodiments of the present invention one optional camera calibration platform schematic diagram；
Fig. 2 is the driving mechanism effect picture according to a kind of optional camera calibration platform of the embodiment of the present application one；
Fig. 3 is a kind of according to embodiments of the present invention one optional camera calibration platform structure schematic diagram；
Fig. 4 is a kind of flow chart of the application method of according to embodiments of the present invention one optional camera calibration platform；
Fig. 5 is the according to embodiments of the present invention one optional distribution map for demarcating object in viewing field of camera of one kind；
Fig. 6 is the process that according to embodiments of the present invention two one kind is optionally applied to the camera calibration method of calibrating platform
Figure；
Fig. 7 is the flow chart of a kind of according to embodiments of the present invention three optional camera calibration method；And
Fig. 8 is a kind of schematic diagram of according to embodiments of the present invention four optional camera calibration device.
Wherein, the above drawings include the following reference numerals:
The machine that the guide rail of 21-Z axis direction, the guide rail of 22-X axis direction, 23- camera to be calibrated, 24- are rotated along Z-direction
Mechanism, 26- strut, 31- support platform, 32- pillar, 33- gridiron pattern and the 34- bracket that structure, 25- rotate along the y axis.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The model that the present invention protects all should belong in member's every other embodiment obtained without making creative work
It encloses.
It should be noted that description and claims of this specification and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to the embodiment of the present invention described herein can in addition to illustrating herein or
Sequence other than those of description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that cover
Cover it is non-exclusive include, for example, the process, method, system, product or equipment for containing a series of steps or units are not necessarily limited to
Step or unit those of is clearly listed, but may include be not clearly listed or for these process, methods, product
Or other step or units that equipment is intrinsic.
Embodiment 1
Before the further details of description present embodiments, it will be described with reference to Figure 1 and can be used for realizing this Shen
The optional camera calibration platform of one of principle please.In its most basic configuration, Fig. 1 is phase according to an embodiment of the present invention
Machine calibrating platform schematic diagram.For purposes of illustration, the architecture drawn is only an example of proper environment, not to this
The use scope or function of application propose any limitation.Also the platform should not be construed to any component shown in FIG. 1 or its
Combination has any dependence or demand.
As shown in Figure 1, camera calibration platform provided by the present application includes:
Driving mechanism 102, for driving camera to be moved at least one target position, wherein driving mechanism has at least
One translation freedoms and at least one rotary freedom.
In a kind of optinal plan, above-mentioned driving mechanism can use electrically driven mode, and driving motor can use stepping
Motor；Above-mentioned camera can be any camera to be calibrated, such as film machine, digital camera.
In a kind of optinal plan, above-mentioned target position can be the position of distance calibration object pre-determined distance and default camera lens direction
It sets.No matter target position is in where, needs to guarantee to demarcate object in the field range of camera.
In a kind of optinal plan, above-mentioned translation freedoms can be realized by the translational motion of driving motor, above-mentioned rotation
Turning freedom degree can be realized by the rotary motion of driving motor.
Controller 104 is connected with driving mechanism 102, camera is driven for controlling driving mechanism 102, when camera is moved to
When at least one target location, control camera acquires image, and the result of camera calibration is obtained based on image.
In a kind of optinal plan, the movement of above-mentioned target position can be the moving in rotation of default camera lens direction, can also be with
For moving in parallel for distance calibration object pre-determined distance, or moving in parallel along the guide rail parallel with calibration object.
In a kind of optinal plan, the algorithm of the result of above-mentioned acquisition camera calibration can be traditional camera standardization, subjectivity
Vision camera scaling method or Camera Self-Calibration method, above-mentioned calibration algorithm can be pre-stored in the controller of calibrating platform.
In a kind of optinal plan, above controller can be single-chip microcontroller having data processing function, DSP, FPGA etc..When
When controller control driving mechanism driving camera is moved to some target position, control camera acquires image；When driving camera
When being moved to another target position, camera is controlled again and acquires image.The image of acquisition is more, obtained camera calibration result
It is more accurate.Camera fully enters preset calibration algorithm after different location collects multiple images, by the image of acquisition, into
And obtain the calibrating parameters of camera.
It should be noted that above-mentioned calibrating platform can drive multi-section camera simultaneously by a set of driving mechanism, driven in the set
Under the driving of motivation structure, the movement of all cameras is synchronous.In such a way that a set of driving mechanism drives multi-section camera simultaneously,
Calibrating platform can simultaneously demarcate more cameras, significantly improve working efficiency.
In an alternative embodiment, camera calibration platform is made of controller and driving mechanism.Driving mechanism includes
One horizontal guide rail and a rotating mechanism, camera are mounted on the rotating mechanism that can vertically rotate, and rotating mechanism is set
It is placed on vertical support frame, vertical support frame slips on translating rails, i.e., driving mechanism has a translation freedoms and a rotation
Turn freedom degree.Control driving mechanism driving camera first is moved at distance calibration object pre-determined distance along horizontal guide rail, such as 2.5
At rice, then the camera lens of rotating camera, takes pictures to camera, is repeatedly taken pictures by transformation camera lens direction.Finally by institute
There is the image of shooting to be input to preset model to be calculated, to obtain the parameter of camera calibration, realizes the automation of camera
Calibration, reduces the influence of human factor, and accuracy is high.
Based on the scheme that the above embodiments of the present application provide, camera calibration platform mainly includes driving mechanism and controller,
Wherein, for driving machine for driving camera to be moved at least one target position, driving mechanism has at least one translation freedoms
With at least one rotary freedom；Controller is connected with driving mechanism, for controlling driving mechanism driving camera, when camera moves
When moving at least one target location, control camera acquires image, and the result of camera calibration is obtained based on image.The application
By multivariant camera calibration platform, accurately controls driving mechanism and drive camera motion to be calibrated to each scheduled
Position is taken pictures, and automatic operating calibrating procedure obtains calibration result after completion of taking pictures, and has been reached accurate and has been carried out certainly
The purpose of dynamicization camera calibration carries out camera calibration using manual type to solve the prior art, leads to calibration result not
Accurate technical problem.
Optionally, driving mechanism includes: translation motor, is connect with translating rails, for driving camera to first position,
In, first position is camera along the target position that translating rails are translated；Rotating electric machine is connect with rotating mechanism, is used for
At first position, driving camera to multiple second positions, wherein the second position is the mesh that camera is rotated on rotating mechanism
Cursor position.
In a kind of optinal plan, above-mentioned driving mechanism includes translation motor and translating rails, rotating electric machine and rotating mechanism,
Translation motor driving camera carries out translational motion on translating rails, and rotating electric machine driving camera is rotated on rotating mechanism
Movement；Above-mentioned each target position may include a first position and multiple second positions, first position can for camera into
The target position of row translational motion, the second position can be the target position that camera is rotated at first position.
In an alternative embodiment, calibrating platform controls translation motor driving camera first and carries out translation, when
When it is moved to first position, control rotating electric machine driving camera carries out rotation process, it is made to be located at multiple second positions
Place changes the camera lens direction of camera by rotation process, it is made to shoot the photo of the calibration object of different angle.
Optionally, platform further includes calibration object, demarcates level in the visual field of camera, processor is also used to: by camera
Visual field is divided into multiple regions；Control camera rotates to multiple second places, locates imaging of the calibration object in visual field respectively
In the different zones of multiple regions, wherein multiple regions and multiple second positions have one-to-one relationship.
In a kind of optinal plan, above-mentioned calibration object can be black and white chess disk lattice, and no matter black square or white square are size phase
Same square；Demarcating object can be located on calibration object bracket.
In a kind of optinal plan, the mode that the visual field of camera is divided into multiple regions can be homalographic by above-mentioned processor
It divides.In order to improve the accuracy of calibration result, the visual field of camera can be divided into N2A region, wherein N is oneself greater than 1
So number, such as it is divided into 4 regions, 9 regions or 16 regions.The region of division is more, and calculating process is more complicated, calibration knot
Fruit is more accurate.
In a kind of optinal plan, the center of different zones can be respectively at by demarcating imaging of the object in visual field, and not surpassed
Cross the range in each region.
It should be noted that calibration level in the visual field of camera, indicates that calibration object is entirely located in the visual field of camera, no
The case where exceeding the visual field border of camera in the presence of part calibration object.
Since calibrating platform is accomplished that full-automatic Accurate Calibration, the choosing of target position, the especially second position
It takes most important: after driving mechanism drives camera to first position, at first position, being first divided into the visual field of camera
Then multiple regions drive camera to rotate to different angle, i.e., multiple second places, as soon as every rotation angle, carries out one
It is secondary to take pictures, it is respectively at imaging of the calibration object in visual field in different zones, wherein the number of the second position and in region
Equal, each each one imaging region of correspondence in the second position of number.By way of the above-mentioned determining second position, it can be ensured that not
Same angle can photograph calibration object, improve the accuracy of calculated result.
Optionally, translating rails include the guide rail of second direction and the guide rail of third direction, wherein second direction and third
Direction is mutually perpendicular to.
Optionally, rotating mechanism includes the mechanism being rotated in a first direction and the mechanism rotated in a second direction, wherein the
One direction, second direction and third direction collectively form rectangular coordinate system in space.
In a kind of optinal plan, above-mentioned calibrating platform is four-degree-of-freedom calibrating platform, can be realized in both direction respectively
Rotation in translation and both direction.
Optionally, calibrating platform further includes camera support, and camera support is by the mechanism that is rotated in a first direction and along second
The mechanism composition that direction rotates, wherein camera passes through the mechanism rotated in a second direction and is installed on the machine being rotated in a first direction
On structure, the mechanism being rotated in a first direction is installed on the guide rail of second direction, and the guide rail of second direction is mounted on third direction
Guide rail on, wherein first direction, second direction and third direction collectively form rectangular coordinate system in space.
In a kind of optinal plan, above-mentioned calibrating platform is four-degree-of-freedom calibrating platform, can be realized in both direction respectively
Rotation in translation and both direction；Above-mentioned camera support may include multiple camera stations, and above-mentioned camera can be first fixed on
On camera station, camera station is mutually fixed with the mechanism rotated in a second direction.By setting camera station, both facilitated installation,
It can ensure that the stabilization of motion process again.
It should be noted that above-mentioned camera station can be set multiple, multiple camera stations can be separately fixed at multiple
In the mechanism accordingly rotated in a second direction, multiple camera stations can also all be fixed on the same machine being rotated in a first direction
On structure, i.e., multiple camera stations are arranged in the same camera support, achieve the purpose that multiple cameras while demarcating.
Fig. 2 is according to a kind of driving mechanism effect picture of optional camera calibration platform of the embodiment of the present application, such as Fig. 2 institute
Show, camera support is formed by the mechanism 25 that rotates along the y axis and along the mechanism 24 that Z-direction rotates.Camera 23 to be calibrated is solid
It is scheduled on camera station, camera station is installed on the mechanism 25 rotated along the y axis by the mechanism 24 rotated along Z-direction
On, the mechanism 25 rotated along the y axis is mounted on strut 26, and 26 length of strut is adjustable, and strut 26 slips leading in Z-direction
On rail 21, the guide rail 21 of Z-direction is connected on two guide rails 22 of X-direction.With the guide rail 22 of X-direction, Z-direction
The connected stepper motor (not shown) driving camera of guide rail 21 translates on guide rail, with the mechanism 25 rotated along the y axis
The stepper motor (not shown) driving camera being connected with the mechanism 24 rotated along Z-direction is revolved on rotating mechanism
Turn.Above-mentioned driving mechanism can make camera realize the rotation in translation and both direction in both direction.
Optionally, controller is also used to: after the result for obtaining camera calibration based on image, result being saved to camera
Memory and/or configuration file in.
After the result for obtaining camera calibration, result is saved, subsequent use is facilitated, avoided and use phase next time
The operation of calibration is also re-started when machine.
It should be noted that calibrating parameters obtained by calibrating may be different every time in carrying out calibration processing, it therefore, can
To carry out multiple calibration processing, multiple groups calibration result is obtained.Multiple groups calibration result is screened according to preset screening rule,
Obtain most accurate calibration result.
Based on the above-mentioned description to Fig. 2, a kind of optional camera calibration platform using Fig. 3 as the embodiment of the present application below
It is illustrated, as shown in the structural schematic diagram of Fig. 3, support platform 31 is U-shaped structure, it can be ensured that the stability of platform, in addition,
U-shaped structure inner hollow avoids the visual field for influencing camera.Support platform 31 is arranged on pillar 32, and gridiron pattern 33 is set to branch
The top of frame 34, and be located in the field range of camera 23 to be calibrated.Wherein, camera 23 to be calibrated is fixed on camera station (figure
In be not shown) on, camera station along the mechanism 24 that Z-direction rotates by being installed in the mechanism 25 rotated along the y axis, edge
The mechanism 25 of Y direction rotation is mounted on the guide rail 21 of Z-direction, is mounted on two struts 26 along the guide rail 21 of Z-direction
On, two struts 26 are sliding or are connected on the guide rail 22 of X-direction, and the setting of guide rail 22 of two X-directions is flat in support
On platform 31, in figure, respective distance parameter difference is as follows: two guide rails 22 along the x axis at a distance of 1.5m, camera 23 to be calibrated away from
The vertical range of gridiron pattern 33 is 2.5m, and pillar 32 is 1m high, and strut 26 is 0.4m long.
In calibrating platform shown in Fig. 3, implement camera calibration method as shown in Figure 4.Firstly, by camera 23 to be calibrated
It is fixed on camera station, the stepper motor of X-direction drives two struts 26 to slide first on guide rail 22 along the x axis
Pre-determined distance, the mechanism 25 that then the stepper motor driving of Z-direction rotates along the y axis are sliding on the guide rail 21 of Z-direction
Dynamic second pre-determined distance.Next, the mechanism 25 that rotates along the y axis and the mechanism 24 along Z-direction rotation control phase respectively
Machine rotates to form nine kinds of different positions and poses, so that gridiron pattern 33 is respectively at each palace lattice in the nine grids visual field of camera 23
Center, i.e. guarantee gridiron pattern 33 are in distribution shown in fig. 5 in the visual field of camera 23 respectively.In order to further increase calibration result
Accuracy, reduce the distortion effects of position, can according to testing requirement demarcate multi-group data.For example, converting X-direction twice
On displacement and the displacement in Z-direction three times, at this point, 6 groups of data will be obtained, every group of data include nine kinds of pose images.Most
Afterwards, all images photographed are sent to calibration algorithm to calculate, obtain calibration result, and camera 23 is written into calibration result
In memory or associated documents.
Above-described embodiment accurately controls driving mechanism and camera to be calibrated is driven to transport by multivariant calibrating platform
It moves each scheduled position to take pictures, and automatic operating calibrating procedure obtains calibration result after completion of taking pictures, and reaches
The accurate purpose for carrying out automatic camera calibration is arrived；By the camera lens direction of rotating camera, make to demarcate object in viewing field of camera
Imaging be located at different zones so that the determination of target position is accurate and reliable；In addition, being saved to calibration result, keep away
The operation for also needing to re-start calibration when having exempted from next use further solves the prior art using manual type and carries out phase
Machine calibration, leads to the technical problem of calibration result inaccuracy.
Embodiment 2
Under the camera calibration platform that embodiment 1 provides, a kind of camera applied to calibrating platform is present embodiments provided
Scaling method, it should be noted that step shown in the flowchart of the accompanying drawings can be in such as a group of computer-executable instructions
Computer system in execute, although also, logical order is shown in flow charts, in some cases, can be with
Shown or described step is executed different from sequence herein.
Fig. 6 is the flow chart of the camera calibration method according to an embodiment of the present invention applied to calibrating platform, calibrating platform
Including at least a camera and driving mechanism, as shown in fig. 6, this method comprises the following steps:
Step S602, control driving mechanism driving camera are moved at least one target position, wherein driving mechanism has
At least one translation freedoms and at least one rotary freedom.
In a kind of optinal plan, above-mentioned camera can be any camera to be calibrated, above-mentioned such as film machine, digital camera
Driving mechanism can use electrically driven mode, and driving motor can use stepper motor.
In a kind of optinal plan, above-mentioned target position can be the position of distance calibration object pre-determined distance and default camera lens direction
It sets.No matter target position is in where, needs to guarantee to demarcate object in the field range of camera.
It should be noted that an above-mentioned at least camera is driven by a set of driving mechanism, in the drive of the driving mechanism
Under dynamic, the movement of all cameras is synchronous.In such a way that a set of driving mechanism drives multi-section camera simultaneously, calibrating platform can
To demarcate simultaneously to more cameras, working efficiency is significantly improved.
In above-mentioned steps, the controller of calibrating platform controls the motor movement in driving mechanism, by driving mechanism
Motor driven camera is moved at least one target location by way of translating or rotating.
Step S604, in the case where camera is moved to target position, control camera acquires image.
In a kind of optinal plan, the movement of above-mentioned target position can be the moving in rotation of default camera lens direction, can also be with
For moving in parallel for distance calibration object pre-determined distance, or moving in parallel along the guide rail parallel with calibration object.
When driving mechanism driving camera is moved to some target position, control camera acquires image；When driving camera
When being moved to another target position, camera is controlled again and acquires image.The image of acquisition is more, obtained camera calibration result
It is more accurate.
Step S606 obtains the result of camera calibration based on image.
Camera fully enters preset calibration algorithm after different location collects multiple images, by the image of acquisition,
And then obtain the calibrating parameters of camera.
Based on the scheme that the above embodiments of the present application provide, calibrating platform includes at least a camera and driving mechanism, first
First control driving mechanism driving camera is moved at least one target position, wherein driving mechanism has at least one translation certainly
By degree and at least one rotary freedom；Then in the case where camera is moved to target position, control camera acquires image；Most
The result of camera calibration is obtained based on image afterwards.The application accurately controls driving mechanism by multivariant calibrating platform
Camera motion to be calibrated is driven to take pictures to each scheduled position, and the automatic operating calibration journey after completion of taking pictures
Sequence obtains calibration result, has achieved the purpose that accurate progress automatic camera calibration, to solve the prior art using artificial
Mode carries out camera calibration, leads to the technical problem of calibration result inaccuracy.
Optionally, control driving mechanism driving camera is moved at least one target position, comprising: control driving mechanism is driven
Camera is moved to first position, wherein first position is camera along the target position that axial direction is translated；At first position, control
Driving mechanism processed drives camera to multiple second positions, wherein the second position is the target position that camera is rotated in the axial direction
It sets.
In a kind of optinal plan, above-mentioned each target position may include a first position and multiple second positions, and
One position can carry out the target position of translational motion for camera, and the second position can be at first position, camera be revolved
The dynamic target position of transhipment.
In above-mentioned steps, calibrating platform controls driving mechanism driving motor first and carries out translation, when it is moved to the
When one position, control driving mechanism driving motor carries out rotation process, so that it is located at multiple second places, that is, passes through rotation
The camera lens direction for turning operation change camera makes it shoot the photo of the calibration object of different angle.
Optionally, calibrating platform further includes calibration object, demarcates level in the visual field of camera, the second position is based on lower section
Formula obtains: the visual field of camera is divided into multiple regions；Mobile camera makes to demarcate object in visual field to multiple second places
Imaging is respectively in the different zones of multiple regions, wherein multiple regions and multiple second positions have one-to-one relationship.
In a kind of optinal plan, above-mentioned calibration object can be black and white chess disk lattice, and no matter black square or white square are size phase
Same square.
In a kind of optinal plan, the above-mentioned mode for being divided into multiple regions can be equal area partition.In order to improve calibration
The visual field of camera can be divided into N by accuracy as a result2A region, wherein N is the natural number greater than 1, such as is divided into 4
A region, 9 regions or 16 regions.The region of division is more, and calculating process is more complicated, and calibration result is more accurate.
In a kind of optinal plan, the center that imaging of the object in visual field can be respectively at different zones is demarcated.
It should be noted that calibration level in the visual field of camera, indicates that calibration object is entirely located in the visual field of camera, no
The case where exceeding the visual field border of camera in the presence of part calibration object.
Since calibrating platform is accomplished that full-automatic Accurate Calibration, the choosing of target position, the especially second position
It takes most important: after driving mechanism drives camera to first position, at first position, being first divided into the visual field of camera
Then multiple regions drive camera to rotate to different angle, i.e., multiple second places, as soon as every rotation angle, carries out one
It is secondary to take pictures, it is respectively at imaging of the calibration object in visual field in different zones, wherein the number of the second position and in region
Equal, each each one imaging region of correspondence in the second position of number.By way of the above-mentioned determining second position, it can be ensured that not
Same angle can photograph calibration object, improve the accuracy of calculated result.
Optionally, the result of camera calibration is obtained based on image, comprising: image is input to calibration algorithm；Based on calibration
Algorithm obtains the result of camera calibration.
In a kind of optinal plan, above-mentioned calibration algorithm can be traditional camera standardization, subjective vision camera calibration method
Or Camera Self-Calibration method, above-mentioned calibration algorithm can be pre-stored in the controller of calibrating platform.
It should be noted that calibrating parameters obtained by calibrating may be different every time in carrying out calibration processing, it therefore, can
To carry out multiple calibration processing, multiple groups calibration result is obtained.Multiple groups calibration result is screened according to preset screening rule,
Obtain most accurate calibration result.
Optionally, after the result for obtaining camera calibration based on image, method further include: save result to camera
In memory and/or configuration file.
After the result for obtaining camera calibration, result is saved, subsequent use is facilitated, avoided and use phase next time
The operation of calibration is also re-started when machine.
Optionally, calibrating platform further includes camera support, and camera support is by the mechanism that is rotated in a first direction and along second
The mechanism composition that direction rotates, wherein camera passes through the mechanism rotated in a second direction and is installed on the machine being rotated in a first direction
On structure, the mechanism being rotated in a first direction is installed on the guide rail of second direction, and the guide rail of second direction is mounted on third direction
Guide rail on, wherein first direction, second direction and third direction collectively form rectangular coordinate system in space.
In a kind of optinal plan, above-mentioned calibrating platform is four-degree-of-freedom calibrating platform, can be realized in both direction respectively
Rotation in translation and both direction；Above-mentioned camera can be first fixed on camera station, and camera station is revolved with along first direction
The mechanism turned is mutually fixed.By the way that camera station is arranged, installation was not only facilitated, but also can ensure that the stabilization of motion process.
In addition, above-mentioned first direction, second direction, third direction belong to the scope of " axial direction " above.
It should be noted that above-mentioned camera station can be set multiple, multiple camera stations can be separately fixed at accordingly
In the mechanism being rotated in a first direction, multiple camera stations can also all be fixed on the same mechanism being rotated in a first direction
On, achieve the purpose that multiple cameras while demarcating.
Through the above description of the embodiments, those skilled in the art can be understood that according to above-mentioned implementation
The method of example can be realized by means of software and necessary general hardware platform, naturally it is also possible to by hardware, but it is very much
In the case of the former be more preferably embodiment.Based on this understanding, technical solution of the present invention is substantially in other words to existing
The part that technology contributes can be embodied in the form of software products, which is stored in a storage
In medium (such as ROM/RAM, magnetic disk, CD), including some instructions are used so that a terminal device (can be mobile phone, calculate
Machine, server or network equipment etc.) execute method described in each embodiment of the present invention.
Embodiment 3
According to embodiments of the present invention, a kind of embodiment of the method for camera calibration method is provided, it should be noted that attached
The step of process of figure illustrates can execute in a computer system such as a set of computer executable instructions, though also,
So logical order is shown in flow charts, but in some cases, it can be to be different from shown by sequence execution herein
Or the step of description.
Fig. 7 is a kind of flow chart of camera calibration method according to an embodiment of the present invention, as shown in fig. 7, this method includes
Following steps:
Step S702, control camera are moved at least one target position, wherein target position is for characterizing camera not
With the movement in dimension as a result, dimension includes: at least one translation freedoms and at least one rotary freedom.
Step S704, in the case where camera is moved to target position, control camera acquires image.
Step S706 obtains the result of camera calibration based on image.
Optionally, control camera is moved at least one target position, comprising: and control camera is moved to first position,
In, first position is camera along the target position that axial direction is translated；At first position, control camera is moved to multiple second
Position, wherein the second position is the target position that camera is rotated in the axial direction.
Optionally, the second position is obtained based on following manner: the visual field of camera is divided into multiple regions；Mobile camera arrives
Multiple second places are respectively at imaging of the calibration object in visual field in the different zones of multiple regions, wherein Duo Gequ
Domain and multiple second positions have one-to-one relationship.
Optionally, the result of camera calibration is obtained based on image, comprising: image is input to calibration algorithm；Based on calibration
Algorithm obtains the result of camera calibration.
Optionally, after the result for obtaining camera calibration based on image, the above method further include: save camera calibration
As a result.
It should be noted that being related to the side that preferred embodiment and embodiment one provide in the above embodiments of the present application four
Case and application scenarios implementation process are identical, but not limited to the examples scheme provided by one.
Embodiment 4
According to embodiments of the present invention, a kind of camera calibration device is provided, Fig. 8 is the camera mark according to the embodiment of the present application
Determine schematic device.As shown in figure 8, the device 800 includes control module 802, acquisition module 804 and acquisition module 806.
Control module 802 is moved at least one target position for controlling camera, wherein target position is for characterizing
Movement of the camera on different dimensions is as a result, dimension includes: at least one translation freedoms and at least one rotary freedom.
Acquisition module 804, in the case where camera is moved to target position, control camera to acquire image.
Module 806 is obtained, for obtaining the result of camera calibration based on image.
Optionally, control module includes: the first control module, is moved to first position for controlling camera, wherein first
Position is camera along the target position that axial direction is translated；Second control module, at first position, control camera to be mobile
To multiple second positions, wherein the second position is the target position that camera is rotated in the axial direction.
Optionally, the second position is obtained based on following manner: the visual field of camera is divided into multiple regions；Mobile camera arrives
Multiple second places are respectively at imaging of the calibration object in visual field in the different zones of multiple regions, wherein Duo Gequ
Domain and multiple second positions have one-to-one relationship.
Optionally, obtaining module includes: input module, for image to be input to calibration algorithm；Submodule is obtained, is used for
Based on calibration algorithm, the result of camera calibration is obtained.
Optionally, above-mentioned apparatus further includes preserving module, for protecting after the result for obtaining camera calibration based on image
Deposit the result of camera calibration.
It should be noted that above-mentioned control module 802, acquisition module 804 and acquisition module 806 correspond in embodiment 3
Step S702 to step S706, the example and application scenarios that three modules and corresponding step are realized be identical but unlimited
In 3 disclosure of that of above-described embodiment.It should be noted that above-mentioned module may operate in implementation as a part of device
In the camera calibration platform that example one provides.
Embodiment 5
According to embodiments of the present invention, a kind of storage medium is provided, storage medium includes the program of storage, wherein in journey
Equipment executes the camera calibration method in embodiment 3 where controlling storage medium when sort run.
In a kind of optinal plan, above-mentioned storage medium can be located in the control unit of above-mentioned camera calibration platform, can also
To be individually present.
Embodiment 6
According to embodiments of the present invention, a kind of processor is provided, processor is for running program, wherein run in program
Shi Zhihang following step: control camera is moved at least one target position, wherein target position is for characterizing camera in difference
Movement in dimension is as a result, dimension includes: at least one translation freedoms and at least one rotary freedom；It is moved in camera
In the case where target position, control camera acquires image；The result of camera calibration is obtained based on image.
Further, the instruction of other steps in embodiment 3 can also be performed in processor, and details are not described herein again.
The present embodiment is moved at least one target position by hardware platform automatic running processor, processor control camera
It sets, wherein the movement that target position is used to characterize camera on different dimensions is as a result, dimension includes: that at least one translation is free
Degree and at least one rotary freedom, then in the case where camera is moved to target position, control camera acquires image, finally
The result of camera calibration is obtained based on image.It can be seen that the present embodiment is based on multivariant calibrating platform, accurately control
Driving mechanism drives camera motion to be calibrated to take pictures to each scheduled position, and automates fortune after completion of taking pictures
Row calibrating procedure obtains calibration result, has achieved the purpose that accurate progress automatic camera calibration；Pass through the camera lens of rotating camera
Direction makes imaging of the calibration object in viewing field of camera be located at different zones, so that the determination of target position is accurate and reliable；Separately
Outside, calibration result is saved, avoids the operation for also needing to re-start calibration when using next time, further solved existing
There is technology to carry out camera calibration using manual type, leads to the technical problem of calibration result inaccuracy.
The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.
In the above embodiment of the invention, it all emphasizes particularly on different fields to the description of each embodiment, does not have in some embodiment
The part of detailed description, reference can be made to the related descriptions of other embodiments.
In several embodiments provided herein, it should be understood that disclosed technology contents can pass through others
Mode is realized.Wherein, the apparatus embodiments described above are merely exemplary, such as the division of the unit, Ke Yiwei
A kind of logical function partition, there may be another division manner in actual implementation, for example, multiple units or components can combine or
Person is desirably integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Between coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or communication link of unit or module
It connects, can be electrical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
On unit.It can some or all of the units may be selected to achieve the purpose of the solution of this embodiment according to the actual needs.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a storage medium, including some instructions are used so that a computer
Equipment (can for personal computer, server or network equipment etc.) execute each embodiment the method for the present invention whole or
Part steps.And storage medium above-mentioned includes: that USB flash disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), mobile hard disk, magnetic or disk etc. be various to can store program code
Medium.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (21)
1. a kind of camera calibration method applied to calibrating platform, the calibrating platform includes at least a camera and driving machine
Structure, which is characterized in that the described method includes:
Controlling the driving mechanism drives the camera to be moved at least one target position, wherein the driving mechanism has
At least one translation freedoms and at least one rotary freedom；
In the case where the camera is moved to the target position, the camera acquisition image is controlled；
The result of the camera calibration is obtained based on described image.
2. the method according to claim 1, wherein control the driving mechanism drive the camera be moved to
A few target position, comprising:
Controlling the driving mechanism drives the camera to first position, wherein the first position is the camera along axial
The target position translated；
At the first position, controls the driving mechanism and drive the camera to multiple second positions, wherein described second
Position is the target position that the camera is rotated in the axial direction.
3. according to the method described in claim 2, it is characterized in that, the calibrating platform further includes calibration object, the calibration object
In the visual field of the camera, the second position is obtained based on following manner:
The visual field of the camera is divided into multiple regions；
The mobile camera makes imaging of the calibration object in the visual field be respectively at institute to the multiple second place
It states in the different zones of multiple regions, wherein the multiple region and the multiple second position have one-to-one relationship.
4. the method according to claim 1, wherein based on described image obtain the camera calibration as a result,
Include:
Described image is input to calibration algorithm；
Based on the calibration algorithm, the result of the camera calibration is obtained.
5. the method according to claim 1, wherein in the result for obtaining the camera calibration based on described image
Later, the method also includes:
The result is saved into the memory of the camera and/or configuration file.
6. the method according to claim 1, wherein the calibrating platform further includes camera support, the camera
Bracket is made of the mechanism being rotated in a first direction and the mechanism rotated in a second direction, wherein the camera passes through along second
The mechanism that direction rotates is installed in the mechanism being rotated in a first direction, and the mechanism being rotated in a first direction is installed on
On the guide rail of the second direction, the guide rail of the second direction is mounted on the guide rail of third direction, wherein the first party
Rectangular coordinate system in space is collectively formed to, the second direction and the third direction.
7. a kind of camera calibration platform, which is characterized in that the platform includes:
Driving mechanism, for driving camera to be moved at least one target position, wherein the driving mechanism has at least one
Translation freedoms and at least one rotary freedom；
Controller is connected with the driving mechanism, drives the camera for controlling the driving mechanism, when the camera is mobile
When at least one described target location, the camera acquisition image is controlled, and the camera mark is obtained based on described image
Fixed result.
8. platform according to claim 7, which is characterized in that the driving mechanism includes:
Translation motor is connect with translating rails, for driving the camera to first position, wherein the first position is institute
Camera is stated along the target position that the translating rails are translated；
Rotating electric machine is connect with rotating mechanism, at the first position, drives the camera to multiple second positions,
Wherein, the second position is the target position that the camera is rotated on rotating mechanism.
9. platform according to claim 8, which is characterized in that the platform further include calibration object, the calibration level in
In the visual field of the camera, the processor is also used to:
The visual field of the camera is divided into multiple regions；
It controls the camera and rotates to the multiple second place, locate imaging of the calibration object in the visual field respectively
In the different zones in the multiple region, wherein there is one-to-one correspondence to close for the multiple region and the multiple second position
System.
10. platform according to claim 8, which is characterized in that the translating rails include the guide rail and of second direction
The guide rail in three directions, wherein the second direction is mutually perpendicular to the third direction.
11. platform according to claim 10, which is characterized in that the rotating mechanism includes the machine being rotated in a first direction
Structure and the mechanism rotated in a second direction, wherein the first direction, the second direction and the third direction collectively form
Rectangular coordinate system in space.
12. platform according to claim 11, which is characterized in that the camera further includes camera support, the camera branch
Frame is made of the mechanism being rotated in a first direction and the mechanism rotated in a second direction, wherein the camera passes through along second party
It is installed in the mechanism being rotated in a first direction to the mechanism of rotation, the mechanism being rotated in a first direction is installed on institute
It states on the guide rail of second direction, the guide rail of the second direction is mounted on the guide rail of third direction, wherein the first party
Rectangular coordinate system in space is collectively formed to, the second direction and the third direction.
13. platform according to claim 7, which is characterized in that the controller is also used to: being obtained based on described image
After the result of the camera calibration, the result is saved into the memory of the camera and/or configuration file.
14. a kind of camera calibration method characterized by comprising
Control camera is moved at least one target position, wherein the target position is for characterizing the camera in different dimensional
Movement on degree is as a result, the dimension includes: at least one translation freedoms and at least one rotary freedom；
In the case where the camera is moved to the target position, the camera acquisition image is controlled；
The result of the camera calibration is obtained based on described image.
15. according to the method for claim 14, which is characterized in that the control camera is moved at least one target position
It sets, comprising:
It controls the camera and is moved to first position, wherein the first position is the mesh that the camera is translated along axial direction
Cursor position；
It at the first position, controls the camera and is moved to multiple second positions, wherein the second position is the phase
The target position that machine is rotated in the axial direction.
16. according to the method for claim 15, which is characterized in that the second position is obtained based on following manner:
The visual field of the camera is divided into multiple regions；
The mobile camera is respectively at imaging of the calibration object in the visual field described more to the multiple second place
In the different zones in a region, wherein the multiple region and the multiple second position have one-to-one relationship.
17. according to the method for claim 14, which is characterized in that obtain the knot of the camera calibration based on described image
Fruit, comprising:
Described image is input to calibration algorithm；
Based on the calibration algorithm, the result of the camera calibration is obtained.
18. according to the method for claim 14, which is characterized in that in the knot for obtaining the camera calibration based on described image
After fruit, the method also includes: save the result of the camera calibration.
19. a kind of camera calibration device characterized by comprising
Control module is moved at least one target position for controlling camera, wherein the target position is described for characterizing
Movement of the camera on different dimensions is as a result, the dimension includes: that at least one translation freedoms and at least one rotation are free
Degree；
Acquisition module, in the case where the camera is moved to the target position, controlling the camera acquisition image；
Module is obtained, for obtaining the result of the camera calibration based on described image.
20. a kind of storage medium, which is characterized in that the storage medium includes the program of storage, wherein run in described program
When control the storage medium where equipment perform claim require any one of 1 to 6 described in the phase applied to calibrating platform
Machine scaling method.
21. a kind of processor, which is characterized in that the processor is for running program, wherein right of execution when described program is run
Benefit require any one of 1 to 6 described in be applied to calibrating platform camera calibration method.
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