CN111710003A - Camera imaging calibration device and camera imaging calibration method - Google Patents
Camera imaging calibration device and camera imaging calibration method Download PDFInfo
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- CN111710003A CN111710003A CN202010494728.XA CN202010494728A CN111710003A CN 111710003 A CN111710003 A CN 111710003A CN 202010494728 A CN202010494728 A CN 202010494728A CN 111710003 A CN111710003 A CN 111710003A
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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
- G06T7/85—Stereo camera calibration
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/08—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a vertical axis, e.g. panoramic heads
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/42—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels
- F16M11/425—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels along guiding means
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Abstract
The invention provides a camera imaging calibration device which comprises a base, a moving mechanism for driving the base to move directionally, a Z-axis rotating mechanism arranged on the base and rotating around a Z axis of the base, a Y-axis rotating mechanism connected with the Z-axis rotating mechanism and rotating around a Y axis vertical to the Z axis, an X-axis rotating mechanism connected with the Y-axis rotating mechanism and rotating around an X axis vertical to the Z axis and the Y axis, and a camera clamp fixed at the output end of the X-axis rotating mechanism. In addition, the invention also provides a camera imaging calibration method. By adopting the scheme provided by the invention, the equipment is small, the line is simplified, the operation is simple, the method is economical and practical, and the problems of high cost and complex operation of the current camera imaging calibration can be solved.
Description
Technical Field
The invention relates to the technical field of camera imaging, in particular to a camera imaging calibration device and a camera imaging calibration method.
Background
At present, 2D and 3D cameras are widely applied to the field of geometric measurement machine vision and even smart phones used in daily life. The demand for the camera market is increasing. The 3D camera uses a structured light optical method to project a set of mathematically structured light patterns that illuminate objects in a field of view in a sequence to calculate the distance from the camera to the object, i.e., the depth data of the camera. By using the technology, the geometric information of the object in the three-dimensional space can be obtained, so that the model of the whole three-dimensional space is restored. In order to make the resulting image data more accurate before the camera is used, an accurate camera imaging geometry model has to be established. The process of calculating the geometric model parameters is the calibration of the camera.
The existing camera calibration technical methods comprise three methods: traditional camera calibration methods, camera self-calibration methods, active vision camera calibration methods. The three calibration methods all require the camera to make corresponding motion, shoot images of a plurality of calibration objects in different visual angles, and then calculate the internal and external parameters of the camera through respective algorithms. Currently, there are two most used calibration schemes: 1. the camera is manually held, and images of the calibration object can be shot from various different angles by manually moving the camera; 2. the camera is arranged at the tail end of the mechanical arm, and the shooting angle of the camera is controlled through the motion of the mechanical arm, so that the calibration of the camera is completed. One of the existing technical schemes of the method is that the camera is fixed on the mechanical arm, and the translation and rotation motion of the mechanical arm enables the camera to shoot calibration object images for calibration at different angles so as to calculate the internal and external parameters of the camera.
The technical scheme 1 has the disadvantages that the working efficiency is too low, the method is not suitable for scenes with large workload, and accurate information of camera motion cannot be acquired, so that a camera calibration method based on active vision cannot be used. Technical scheme 2 has effectively made up the shortcoming of scheme 1, but because the arm price is comparatively expensive at present, so lead to overall cost to be on the high side, and need be familiar with the simple motion control that the arm used in addition, the operation degree of difficulty is great.
Disclosure of Invention
The invention aims to provide a camera imaging calibration device which is low in cost and can simply and efficiently finish imaging calibration work of a camera by adopting different calibration methods.
In order to achieve the above object, the present invention provides a camera imaging calibration apparatus, including: the camera fixture comprises a base, a moving mechanism for driving the base to move directionally, a Z-axis rotating mechanism arranged on the base and surrounding the Z-axis rotation of the base, a Y-axis rotating mechanism connected with the Z-axis rotating mechanism and surrounding the Y-axis rotation perpendicular to the Z-axis, an X-axis rotating mechanism connected with the Y-axis rotating mechanism and surrounding the X-axis rotation perpendicular to the Z-axis and the Y-axis, and a camera fixture fixed at the output end of the X-axis rotating mechanism.
Optionally, the Z-axis rotating mechanism includes a first servo rotating motor and a first bracket fixed to the base, an output shaft of the first servo rotating motor is in driving connection with a driving end of the first bracket, and a connecting end of the first bracket is connected with the Y-axis rotating mechanism.
Optionally, the Y-axis rotating mechanism includes a second servo rotating motor and a second bracket, the second servo rotating motor is fixed to the connecting end of the first bracket, an output shaft of the second servo rotating motor is in driving connection with the driving end of the second bracket, and the connecting end of the second bracket is connected with the X-axis rotating mechanism.
Optionally, the X-axis rotating mechanism includes a third servo rotating motor, the third servo rotating motor is fixed to the connecting end of the second bracket, and an output shaft of the third servo rotating motor is in driving connection with the camera fixture.
Optionally, the Z-axis rotating mechanism further comprises a first adjusting piece, and an output shaft of the first servo rotating motor is in driving connection with the driving end of the first bracket through the first adjusting piece; the Y-axis rotating mechanism further comprises a second adjusting piece, and an output shaft of the second servo rotating motor is in driving connection with the driving end of the second support through the second adjusting piece; the X-axis rotating mechanism further comprises a third adjusting piece, and an output shaft of the third servo rotating motor is in driving connection with the camera fixture through the third adjusting piece.
Optionally, the second bracket is U-shaped, a middle portion of the second bracket is configured as a driving end of the second bracket, and two ends of the second bracket are configured as connecting ends of the second bracket.
Optionally, the number of the third adjusting parts is two, the third adjusting parts are respectively pivoted to two ends of the second support, and the third servo rotating motor is fixed to one end of the second support and is in driving connection with the camera fixture through the corresponding third adjusting part.
Optionally, the device further includes a routing mechanism corresponding to the moving mechanism, and the routing mechanism has a plurality of routing slots.
In addition, the invention also provides a camera imaging calibration method, which adopts the camera imaging calibration device and comprises the following steps:
adjusting the position of a camera to be calibrated in the camera imaging calibration device to enable a photosensitive sensor of the camera to be calibrated to be positioned at a rotation center;
fixing the calibration object in the visual field range of the camera to be calibrated;
controlling a camera to be calibrated to move through a camera imaging calibration device so as to shoot and acquire image data of the calibration object in different directions;
and calculating the internal and external parameters of the camera to be calibrated by adopting a traditional camera calibration method or a camera self-calibration method according to the image data.
In addition, the invention also provides a camera imaging calibration method, which adopts the camera imaging calibration device and comprises the following steps:
adjusting the position of a camera to be calibrated in the camera imaging calibration device to enable a photosensitive sensor of the camera to be calibrated to be positioned at a rotation center;
fixing the calibration object in the visual field range of the camera to be calibrated and determining the motion track of the camera to be calibrated;
controlling a camera to be calibrated to move along the motion track of the camera through a camera imaging calibration device so as to shoot and obtain image data of the calibration object under different directions;
and calculating the internal and external parameters of the camera to be calibrated by adopting a traditional camera calibration method or a camera self-calibration method according to the image data.
The invention has the beneficial effects that:
the camera imaging calibration device provided by the invention has the advantages that the moving mechanism capable of driving the base to move directionally is arranged, the Z-axis rotating mechanism capable of rotating around the Z axis of the base, the Y-axis rotating mechanism connected with the Z-axis rotating mechanism and capable of rotating around the Y axis vertical to the Z axis and the X-axis rotating mechanism connected with the Y-axis rotating mechanism and capable of rotating around the X axis vertical to the Y axis and the Z axis are arranged on the base, so that on one hand, the camera clamp on the output end of the X-axis rotating mechanism can move directionally along with the base, on the other hand, the three-dimensional angle rotation of the camera clamp at a fixed position can be realized, and the multi-angle shooting requirement of the camera fixed on the camera clamp can be. Meanwhile, the arrangement of the base, the moving mechanism, the Z-axis rotating mechanism, the Y-axis rotating mechanism and the X-axis rotating mechanism adopted by the camera imaging calibration device can simplify the device, reduce the cost and facilitate the control. In addition, the camera imaging calibration device can be applied to any one of three calibration methods, namely a traditional camera calibration method, a camera self-calibration method and an active vision camera calibration method in camera calibration.
Drawings
Fig. 1 is a schematic overall structure diagram of a camera imaging calibration apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a Z-axis rotating mechanism in an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a Y-axis rotating mechanism according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of an X-axis rotating mechanism according to an embodiment of the present invention;
FIG. 5 is a schematic view of a camera fixture according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a moving mechanism according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a routing mechanism in an embodiment of the invention.
Description of reference numerals:
100. the base, 200, moving mechanism, 210, walk the line mechanism, 211, the trough, 300, Z axle rotary mechanism, 310, first servo rotating electrical machines, 320, first support, 330, first regulating part, 331, first axial regulation hole, 400, Y axle rotary mechanism, 410, second servo rotating electrical machines, 420, second support, 430, second regulating part, 431, second axial regulation hole, 500, X axle rotary mechanism, 510, third servo rotating electrical machines, 520, third regulating part, 521, third axial regulation hole, 600, camera anchor clamps, 610, U type support body, 620, centre gripping hole.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.
As shown in fig. 1, a camera imaging calibration apparatus includes a base 100, a moving mechanism 200 for driving the base 100 to perform directional motion, a Z-axis rotating mechanism 300 disposed on the base 100 and rotating around a Z-axis of the base 100, a Y-axis rotating mechanism 400 connected to the Z-axis rotating mechanism 300 and rotating around a Y-axis perpendicular to the Z-axis, an X-axis rotating mechanism 500 connected to the Y-axis rotating mechanism 400 and rotating around an X-axis perpendicular to the Z-axis and the Y-axis, and a camera fixture 600 fixed to an output end of the X-axis rotating mechanism 500.
When the camera imaging calibration device is used, a camera is firstly installed on the camera clamp 600, then the moving mechanism 200 drives the base 100 to move directionally, so that the camera clamp 600 is driven to move integrally through the Z-axis rotating mechanism 300, the Y-axis rotating mechanism 400 and the X-axis rotating mechanism 500, and the camera reaches an appointed shooting position; after the camera reaches the designated shooting position, the Z-axis rotating mechanism 300, the Y-axis rotating mechanism 400 and the X-axis rotating mechanism 500 respectively move around the corresponding Z axis, Y axis and X axis, so that the camera clamp 600 can be driven to move in the three-dimensional direction, and the multi-angle shooting of the camera at the designated shooting position can be simply and efficiently realized.
In addition, the arrangement of the base 100, the moving mechanism 200, the Z-axis rotating mechanism 300, the Y-axis rotating mechanism 400 and the X-axis rotating mechanism 500 adopted by the camera imaging calibration device can not only simplify the device and reduce the cost, but also facilitate the operation and control.
In order to simplify the Z-axis rotation mechanism 300 and improve the accuracy thereof, for example, as shown in fig. 2, the Z-axis rotation mechanism 300 may be configured to include a first servo rotation motor 310 fixed to the base 100 and a first bracket 320, wherein an output shaft of the first servo rotation motor 310 is drivingly connected to a driving end of the first bracket 320, and a connection end of the first bracket 320 is connected to the Y-axis rotation mechanism 400.
The shape of the first bracket 320 may be various, and preferably, the first bracket 320 shown in fig. 2 has a bent strip-shaped structure, which may improve the elasticity of the first bracket 320 and facilitate the connection between the first bracket 320 and the Y-axis rotation mechanism 400. Of course, one of both ends of the first supporter 320 in fig. 2 may be regarded as a driving end of the first supporter 320, and the other end may be regarded as a connecting end of the first supporter 320.
In order to adjust the position of the camera in the Y-axis direction conveniently, for example, a first adjusting part 330 may be additionally disposed in the Z-axis rotating mechanism 300, and an output shaft of the first servo rotating motor 310 may be in driving connection with a driving end of the first bracket 320 through the first adjusting part 330, so that the position of the first bracket 320 may be adjusted in the Y-axis direction through the first adjusting part 330, and the camera fixture 600 may make corresponding movement through the overall movement of the Y-axis rotating mechanism 400 and the X-axis rotating mechanism 500, so as to finally move the camera on the camera fixture 600 in the corresponding Y-axis direction, so as to adjust the position of the camera in the Y-axis direction.
To facilitate the adjustment of the first bracket 320 by the first adjusting member 330, for example, a first axial adjusting hole 331 matching with the shape of the driving end of the first bracket 320 may be additionally formed on the first adjusting member 330. The adjusting design is simple to use, convenient to control, convenient to process and low in cost. Further, the first adjusting member 330 may also be an adjusting tape with a scale, etc. to facilitate more precise adjustment of the first support 320.
In order to simplify the Y-axis rotating mechanism 400 and improve the accuracy thereof, for example, as shown in fig. 3, the Y-axis rotating mechanism 400 may be configured to include a second servo rotating motor 410 and a second bracket 420, wherein the second servo rotating motor 410 is fixed to the connecting end of the first bracket 320, the output shaft of the second servo rotating motor 410 is drivingly connected to the driving end of the second bracket 420, and the connecting end of the second bracket 420 is connected to the X-axis rotating mechanism 500.
To facilitate the adjustment of the position of the camera in the X-axis direction, for example, a second adjusting member 430 may be additionally provided in the Y-axis rotating mechanism 400, and the output shaft of the second servo rotating motor 410 may be drivingly connected to the driving end of the second bracket 420 through the second adjusting member 430. Thus, the position of the second bracket 420 can be adjusted along the X-axis direction by the second adjusting member 430, so that the camera fixture 600 moves correspondingly by the overall movement of the X-axis rotating mechanism 500, and finally the camera on the camera fixture 600 moves in the corresponding X-axis direction, thereby achieving the purpose of adjusting the position of the camera in the X-axis direction
To facilitate adjustment of the first bracket 320 by the second adjustment member 430, a second axial adjustment hole 431 may be added to the second adjustment member 430 to match the shape of the driving end of the second bracket 420. The adjusting design is simple to use, convenient to control, convenient to process and low in cost. The second adjusting member 430 for fine adjustment may also be an adjusting tape with a scale, or the like.
In order to improve the stability of the camera jig 600 during movement, the second bracket 420 may be provided in a U shape, wherein the middle portion of the second bracket 420 is configured as a driving end of the second bracket 420, and both ends of the second bracket 420 are configured as connecting ends of the second bracket 420.
In order to improve the accuracy of the X-axis rotation mechanism 500 while simplifying the same, for example, as shown in fig. 4, the X-axis rotation mechanism 500 may be configured to include a third servo rotary motor 510, the third servo rotary motor 510 is fixed to the connection end of the second bracket 420, and an output shaft of the third servo rotary motor 510 is drivingly connected to the camera jig 600.
To facilitate the adjustment of the position of the camera in the Z-axis direction, for example, a third adjusting member 520 may be added to the X-axis rotating mechanism 500, and the output shaft of the third servo rotating motor 510 may be drivingly connected to the camera holder 600 through the third adjusting member 520. Thus, the third adjusting member 520 can adjust the position of the camera fixture 600 along the Z-axis direction, so that the camera fixture 600 moves correspondingly, and finally the camera on the camera fixture 600 moves in the Z-axis direction corresponding to the camera fixture, thereby achieving the purpose of adjusting the position of the camera in the Z-axis direction.
Preferably, a third axial adjusting hole 521 matched with the shape of the camera fixture 600 may be provided on the third adjusting member 520. The adjusting design is simple to use, convenient to control, convenient to process and low in cost. The third adjusting member 520 for fine adjustment may also be an adjusting tape with a scale, or the like.
In addition, in order to simplify the structure and make the product compact, further, the third adjusting parts 520 are two and are respectively pivoted to two ends of the second bracket 420, and the third servo rotating motor 510 is fixed at one end of the second bracket 420 and is drivingly connected to the camera fixture 600 through the corresponding third adjusting part 520.
Further, as shown in fig. 5, the camera fixture 600 includes a U-shaped frame body 610 and a plurality of clamping holes 620 opened on the U-shaped frame body 610, and two ends of the U-shaped frame body 610 are respectively connected with the corresponding third adjusting members 520. Therefore, preferably, the third axial adjustment hole 521 of the third adjustment member 520 is also matched with the shapes of the two ends of the U-shaped frame 610. The U-shaped frame body 610 clamps the camera to support the camera, so that the camera is uniformly stressed and is reliably fixed; the clamping range can be flexibly adjusted through the clamping holes 620 to adapt to cameras of different models and specifications, so that the product has high universality and high practicability. Instead of the clamping holes 620, other adjustment and fixing means are possible, such as adjustment in a sliding manner, fixing in a pressing or locking manner, etc.
For convenience of arranging the camera power line and the data communication line, for example, as shown in fig. 6 and 7, a routing mechanism 210 corresponding to the moving mechanism 200 may be further added to the camera imaging calibration apparatus, and the routing mechanism 210 has a plurality of routing slots 211.
Of course, the camera imaging calibration device can be applied to any one of the three calibration methods of the traditional camera calibration method, the camera self-calibration method and the active vision camera calibration method in camera calibration.
In one embodiment, the camera calibration is performed by using a conventional camera calibration method or a camera self-calibration method, which do not need to acquire motion data of the camera, so that the calibration work of the camera to be calibrated by combining the camera imaging calibration apparatus is realized by the following steps:
step S100, adjusting the position of a camera to be calibrated in a camera imaging calibration device to enable a photosensitive sensor of the camera to be calibrated to be positioned in a rotation center;
in the above steps, the adjustment of the position of the camera to be calibrated may be implemented by selecting a camera fixture 600 matched with the camera to be calibrated, for example, a suitable camera fixture 600 may be selected according to the specification of the camera to be calibrated, or the fixed mounting position of the camera to be calibrated may be adjusted on the camera fixture 600, for example, the adjustment may be performed through a clamping hole 620 on the camera fixture 600; preferably, after the camera to be calibrated is fixed on the camera fixture 600, the position of the camera to be calibrated can be further adjusted by axial adjustment of one or more of the first adjusting member 330, the second adjusting member 430 and the third adjusting member 520, so that the photosensitive sensor is located at the rotation center. And the rotation center can be determined in advance according to the calibration requirement.
S200, fixing a calibration object in the visual field range of the camera to be calibrated; it will be appreciated that the choice of calibration material will vary from embodiment to embodiment depending on the actual calibration situation.
Step S300, controlling the camera to be calibrated to move through the camera imaging calibration device so as to shoot and acquire image data of the calibration object under different directions;
specifically, the moving mechanism, the Z-axis rotating mechanism 300, the Y-axis rotating mechanism 400, and the X-axis rotating mechanism 500 are controlled to operate to drive the camera to be calibrated to move through the camera fixture 600, so as to capture and acquire image data of the calibration object at different positions and at different angles (i.e., different orientations). Wherein the motion of the camera may be a translation in a three-dimensional direction, a motion in one degree of freedom in a multi-angle rotation around its rotation center, or a motion in multiple degrees of freedom.
And step S400, calculating internal and external parameters of the camera to be calibrated by adopting a traditional camera calibration method or a camera self-calibration method according to the image data.
In another embodiment, in an embodiment, the camera calibration is performed by using an active vision camera calibration method, which needs to accurately acquire the motion data of the camera, so that the calibration work of the camera to be calibrated by combining the above camera imaging calibration apparatus is implemented by the following steps:
step S100, adjusting the position of a camera to be calibrated in a camera imaging calibration device to enable a photosensitive sensor of the camera to be calibrated to be positioned in a rotation center;
in the above steps, the adjustment of the position of the camera to be calibrated may be implemented by selecting a camera fixture 600 matched with the camera to be calibrated, for example, a suitable camera fixture 600 may be selected according to the specification of the camera to be calibrated, or the fixed mounting position of the camera to be calibrated may be adjusted on the camera fixture 600, for example, the adjustment may be performed through a clamping hole 620 on the camera fixture 600; preferably, after the camera to be calibrated is fixed on the camera fixture 600, the position of the camera to be calibrated can be further adjusted by axial adjustment of one or more of the first adjusting member 330, the second adjusting member 430 and the third adjusting member 520, so that the photosensitive sensor is located at the rotation center. And the rotation center can be determined in advance according to the calibration requirement.
S200, fixing a calibration object in the visual field range of the camera to be calibrated and determining the motion track of the camera to be calibrated;
it will be appreciated that the choice of calibration material will vary from embodiment to embodiment depending on the actual calibration situation. The active visual camera calibration method also needs to determine the motion track of the camera to be calibrated in the calibration process, wherein the motion track refers to the translation distance of the camera to be calibrated in each direction and the rotation radian or rotation angle of the camera to be calibrated in each direction in the calibration process
Step S300, controlling a camera to be calibrated to move along the motion track of the camera through a camera imaging calibration device so as to shoot and acquire image data of calibration objects in different directions;
in the above steps, the Z-axis rotating mechanism 300, the Y-axis rotating mechanism 400, and the X-axis rotating mechanism 500 may be controlled to operate to drive the camera to be calibrated to move through the camera fixture 600, so as to capture and obtain image data of the calibration object at different angles (i.e. different orientations) at different positions at the preset position. The motion of the camera to be calibrated can be translation in a three-dimensional direction, motion of one degree of freedom in multi-angle rotation around the rotation center of the camera to be calibrated or motion of multiple degrees of freedom.
And step S400, calculating internal and external parameters of the camera to be calibrated by adopting an active vision camera calibration method according to the image data.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above examples only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A camera imaging calibration device is characterized by comprising: the camera fixture comprises a base, a moving mechanism for driving the base to move directionally, a Z-axis rotating mechanism arranged on the base and surrounding the Z-axis rotation of the base, a Y-axis rotating mechanism connected with the Z-axis rotating mechanism and surrounding the Y-axis rotation perpendicular to the Z-axis, an X-axis rotating mechanism connected with the Y-axis rotating mechanism and surrounding the X-axis rotation perpendicular to the Z-axis and the Y-axis, and a camera fixture fixed at the output end of the X-axis rotating mechanism.
2. The camera imaging calibration device of claim 1, wherein the Z-axis rotation mechanism comprises a first servo rotation motor and a first bracket fixed on the base, an output shaft of the first servo rotation motor is in driving connection with a driving end of the first bracket, and a connecting end of the first bracket is connected with the Y-axis rotation mechanism.
3. The camera imaging calibration device according to claim 2, wherein the Y-axis rotation mechanism includes a second servo rotating motor and a second bracket, the second servo rotating motor is fixed to the connecting end of the first bracket, an output shaft of the second servo rotating motor is in driving connection with the driving end of the second bracket, and the connecting end of the second bracket is connected with the X-axis rotation mechanism.
4. The camera imaging calibration device of claim 3, wherein the X-axis rotation mechanism comprises a third servo rotating motor, the third servo rotating motor is fixed to the connecting end of the second bracket, and an output shaft of the third servo rotating motor is in driving connection with the camera fixture.
5. The camera imaging calibration device of claim 4, wherein the Z-axis rotation mechanism further comprises a first adjusting member, and an output shaft of the first servo rotation motor is in driving connection with the driving end of the first bracket through the first adjusting member; the Y-axis rotating mechanism further comprises a second adjusting piece, and an output shaft of the second servo rotating motor is in driving connection with the driving end of the second support through the second adjusting piece; the X-axis rotating mechanism further comprises a third adjusting piece, and an output shaft of the third servo rotating motor is in driving connection with the camera fixture through the third adjusting piece.
6. The camera imaging calibration device of claim 5, wherein the second bracket is U-shaped, a middle portion of the second bracket is configured as a driving end of the second bracket, and two ends of the second bracket are configured as connecting ends of the second bracket.
7. The camera imaging calibration device of claim 6, wherein the third adjusting members are two and pivotally connected to two ends of the second bracket, respectively, and the third servo rotating motor is fixed to one end of the second bracket and is drivingly connected to the camera fixture through the corresponding third adjusting member.
8. The camera imaging calibration device of claim 1, further comprising a routing mechanism corresponding to the moving mechanism, wherein the routing mechanism has a plurality of routing slots.
9. A camera imaging calibration method, using the camera imaging calibration apparatus according to any one of claims 1 to 8, comprising the steps of:
adjusting the position of a camera to be calibrated in the camera imaging calibration device to enable a photosensitive sensor of the camera to be calibrated to be positioned at a rotation center;
fixing the calibration object in the visual field range of the camera to be calibrated;
controlling a camera to be calibrated to move through a camera imaging calibration device so as to shoot and acquire image data of the calibration object in different directions;
and calculating the internal and external parameters of the camera to be calibrated by adopting a traditional camera calibration method or a camera self-calibration method according to the image data.
10. A camera imaging calibration method, using the camera imaging calibration apparatus according to any one of claims 1 to 8, comprising the steps of:
adjusting the position of a camera to be calibrated in the camera imaging calibration device to enable a photosensitive sensor of the camera to be calibrated to be positioned at a rotation center;
fixing the calibration object in the visual field range of the camera to be calibrated and determining the motion track of the camera to be calibrated;
controlling a camera to be calibrated to move along the motion track of the camera through a camera imaging calibration device so as to shoot and obtain image data of the calibration object under different directions;
and calculating the internal and external parameters of the camera to be calibrated by adopting a traditional camera calibration method or a camera self-calibration method according to the image data.
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