CN111757101B - Linear array camera static calibration device and calibration method thereof - Google Patents
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Abstract
A static calibration device and a calibration method of a linear array camera relate to the technical field of static calibration of the linear array camera, and are provided with a first calibration mark, wherein the first calibration mark comprises at least 2 straight strip-shaped first induction areas and at least 2 straight strip-shaped second induction areas, the first induction areas are parallel to each other and are arranged at equal intervals, the second induction areas are parallel to each other and are arranged at equal intervals, the extension directions of the first induction areas and the second induction areas are not parallel, and when a shooting area of one-time exposure of the linear array camera passes through the first calibration mark at different heights, the lengths of the areas passing through the adjacent first induction areas and the second induction areas are different. And taking image signals between the first sensing areas and between the second sensing areas as reference, measuring and calculating the height of the shooting area passing through the first calibration marks through the phase of the digital signals of the images, and measuring and calculating the pitch angle deviation and the roll angle deviation by combining the height of the shooting area passing through each first calibration mark.
Description
Technical Field
The invention relates to the technical field of linear array camera static calibration.
Background
The line camera is often used for remote sensing operation of aviation flight. After the linear array camera is installed according to the installation reference of the linear array camera, the azimuth angle deviation, the pitch angle deviation and the roll angle deviation between the imaging optical axis and the attitude of the linear array camera and the installation reference of the linear array camera determine the accurate degree of data reduction, so that before the equipment is used for aviation remote sensing operation, the optical attitude of the linear array camera needs to be accurately checked and corrected on the ground to obtain the azimuth angle deviation, the pitch angle deviation and the roll angle deviation between the imaging optical axis and the attitude of the linear array camera and the installation reference of the linear array camera, corresponding compensation is carried out in the later data processing process, and the higher accurate degree of data reduction is obtained.
Chinese patent application No. 201410828168.1 discloses a static calibration method for a linear array camera, which implements static calibration by two alignment marks, and after the linear array camera images the two alignment marks, the linear array camera obtains the size by measuring the size of the imaged image, specifically, by the number of pixels of the imaged image, and then performs correlation operation to complete the calibration.
The method disclosed in this patent has the following problems:
1. the accuracy of the calibration may be affected by the exposure conditions. Because the size of the image of the alignment mark varies due to different exposure conditions, the accuracy of calibration is affected;
2. the method is measured and calculated through the number of pixels of an imaged image, and the accuracy can only be accurate to the pixel level, and is not high.
Disclosure of Invention
In view of this, the present invention provides a static calibration device and a calibration method thereof for a linear array camera, wherein the calibration accuracy is not affected by the exposure condition.
In order to achieve the above object, the present invention provides the following technical solutions.
1. The linear array camera static calibration device comprises
The target surface is provided with at least 2 calibration marks, and each calibration mark can enable the linear array camera to generate a corresponding image signal in an induction manner; the calibration marks comprise at least 2 first calibration marks, and each first calibration mark comprises at least 2 straight strip-shaped first sensing areas and at least 2 straight strip-shaped second sensing areas;
the installation position is used for installing the linear array camera to be checked;
after the linear array camera to be checked is installed at the installation position according to the installation reference, if the pitch angle and the roll angle between the imaging optical axis and the attitude of the linear array camera and the installation reference of the linear array camera are not deviated, the shooting area of the linear array camera exposed once is an expected shooting area, and the expected shooting area extends along the X axis and is axially symmetrical by taking the X axis as the axis;
all the first calibration marks are arranged along the X axis, the first sensing areas and the second sensing areas of the same first calibration mark are arranged along the X axis, each first sensing area extends along the first direction and is sequentially arranged at equal intervals along the X axis, each second sensing area extends along the second direction and is sequentially arranged at equal intervals along the X axis, the first direction and the second direction are not parallel to each other and are not parallel to the X axis, the distance between every two adjacent first sensing areas along the X axis is a first distance, the distance between every two adjacent second sensing areas along the X axis is a second distance, and the first distance and the second distance are equal;
and in an image obtained by one-time exposure shooting of the linear array camera to be calibrated, calculating and calculating the pitch angle deviation and the roll angle deviation between the imaging optical axis and the attitude of the linear array camera and the installation reference of the linear array camera according to the phase difference between the digital signal of the image of each first calibration mark first induction area and the digital signal of the image of the second induction area.
The shooting area of one exposure of the line camera is linear. The shooting area of the linear array camera to be calibrated, which is exposed once, traverses all the first calibration marks, because the first direction and the second direction are not parallel to each other, and the first direction and the second direction are not parallel to the X axis, the shooting area penetrates through a certain first calibration mark (the X axis, the Y axis and the Z axis form a rectangular coordinate system) from different heights of the Y axis, and the path length of the shooting area penetrating through the area between the adjacent first induction area and the second induction area of the first calibration mark is also different. The phase of the digital signal of the image represents the image characteristic, so that the phase change condition of the digital signal of the image of the area, which passes through the area between the adjacent first sensing area and the second sensing area of the first calibration mark, is different, and the Y-axis height of the image of the area, which passes through the first calibration mark, can be obtained according to the phase change condition of the digital signal of the image of the area, which passes through the first calibration mark. And obtaining the pitch angle deviation and the roll angle deviation between the imaging optical axis and the attitude of the linear array camera and the installation reference of the linear array camera by combining the Y-axis heights of the shooting areas passing through all the first calibration marks.
There are at least 2 first sensing areas, at least 2 second sensing areas. When the exposure is over-exposure or under-exposure, taking the first sensing areas as an example, the image of each first sensing area is synchronously widened or narrowed in the direction of the X axis, but the change period of the phase of the digital signal of the image of each first sensing area is fixed and is not changed by the exposure condition, and the same applies to the second sensing areas. And the pitch angle deviation and the roll angle deviation between the imaging optical axis and the attitude of the linear array camera and the installation reference of the linear array camera are obtained according to the phase difference measurement between the digital signal of the image of each first calibration mark first induction area and the digital signal of the image of each second induction area. And the Y-axis height of the shooting area passing through the first detection and correction mark is determined by using the relative phase change between the first sensing area and the second sensing area of the first detection and correction mark in the digital signal of the image shot by one-time exposure by taking each first sensing area and each second sensing area as reference, so that the influence of the exposure condition on the accuracy of detection and correction can be eliminated.
In addition, the phase of the digital signal of the image is used for measurement, so that the accuracy of a sub-pixel level can be obtained, and the accuracy is higher.
2. According to the static calibration device of the linear array camera in the technical scheme 1, the first direction is parallel to the Y axis, and the Y axis is on the target surface and is vertical to the X axis.
3. According to the static linear array camera calibration device in claim 1, after the linear array camera to be calibrated is installed at the installation position according to the installation reference, the expected optical axis of the linear array camera passes through the center of one calibration mark, and in the image obtained by one-time exposure shooting of the linear array camera to be calibrated, the azimuth angle deviation between the imaging optical axis and posture of the linear array camera and the installation reference of the linear array camera is obtained according to the position deviation measurement and calculation of the image of the calibration mark;
and when the imaging optical axis and the attitude of the linear array camera are not deviated from the azimuth angle, the pitch angle and the roll angle of the installation reference of the linear array camera, the imaging optical axis of the linear array camera is an expected optical axis.
Under the condition of one-time exposure, the azimuth angle deviation, the pitch angle deviation and the roll angle deviation between the imaging optical axis and the attitude of the linear array camera to be checked and calibrated and the installation reference of the linear array camera can be calculated and obtained.
4. In the static calibration device of the line camera according to claim 3, the calibration mark passing through the center by the expected optical axis is the calibration mark closest to the middle position, and the optical distortion condition of the line camera is obtained by measuring and calculating the distance between the image of the calibration mark and the images of other calibration marks. Under the condition of one-time exposure, the optical distortion condition of the linear array camera to be checked can be measured and calculated.
5. According to the static calibration device of the linear array camera in the technical scheme 4, at least 3 calibration marks are arranged, and all the calibration marks are arranged at equal intervals along the X axis.
6. In the static calibration device of a line camera according to claim 4 or 5, the calibration marker further includes a second calibration marker, the calibration marker passing through the center by the expected optical axis is the second calibration marker, and the optical distortion condition of the line camera is measured according to an image of the second calibration marker.
7. A method for static calibration of a line camera,
using a linear array camera to be calibrated, which is installed according to the installation reference of the linear array camera, to expose and shoot all calibration marks on the target surface at one time, wherein the calibration marks comprise at least 2 first calibration marks, and each first calibration mark comprises at least 2 straight strip-shaped first induction areas and at least 2 straight strip-shaped second induction areas;
after the linear array camera to be checked is installed at the installation position according to the installation reference, if the pitch angle and the roll angle between the imaging optical axis and the attitude of the linear array camera and the installation reference of the linear array camera are not deviated, the shooting area of the linear array camera exposed once is an expected shooting area, and the expected shooting area extends along the X axis and is axially symmetrical by taking the X axis as the axis;
all the first calibration marks are arranged along the X axis, the first sensing areas and the second sensing areas of the same first calibration mark are arranged along the X axis, each first sensing area extends along the first direction and is sequentially arranged at equal intervals along the X axis, each second sensing area extends along the second direction and is sequentially arranged at equal intervals along the X axis, the first direction and the second direction are not parallel to each other and are not parallel to the X axis, the distance between every two adjacent first sensing areas along the X axis is a first distance, the distance between every two adjacent second sensing areas along the X axis is a second distance, and the first distance and the second distance are equal;
and in an image obtained by one-time exposure shooting of the linear array camera to be calibrated, calculating and calculating the pitch angle deviation and the roll angle deviation between the imaging optical axis and the attitude of the linear array camera and the installation reference of the linear array camera according to the phase difference between the digital signal of the image of each first calibration mark first induction area and the digital signal of the image of the second induction area.
8. In the method for static calibration of a line camera according to claim 7, when the line camera to be calibrated performs the above-mentioned shooting, an expected optical axis of the line camera passes through the center of one of the calibration marks, and in an image obtained by one-time exposure shooting of the line camera to be calibrated, an azimuth angle deviation between an imaging optical axis and a posture of the line camera and an installation reference of the line camera is obtained according to a position deviation measurement and calculation of the image of the calibration mark;
and when the imaging optical axis and the attitude of the linear array camera are not deviated from the azimuth angle, the pitch angle and the roll angle of the installation reference of the linear array camera, the imaging optical axis of the linear array camera is an expected optical axis.
9. In the static calibration method of the line camera according to claim 7, the calibration mark whose center is penetrated by the expected optical axis is the calibration mark closest to the middle position, and the optical distortion condition of the line camera is obtained according to the distance measurement between the image of the calibration mark and the images of other calibration marks.
Drawings
FIG. 1 is a schematic diagram of a target surface and a calibration mark of the static calibration device of the line-scan camera of the invention;
FIG. 2 is a schematic diagram of the positions of a target surface and an installation position of the static calibration device of the line camera according to the present invention;
FIG. 3 is a waveform diagram of a digital signal of an image of a photographing region in an expected photographing region;
FIG. 4 is a waveform diagram of an image of a first calibration mark and a case of a line array of the static calibration device of a line camera according to the present invention;
FIG. 5 is a waveform diagram of a first calibration mark and an image of a line in another case of the static calibration device of the line camera according to the present invention;
fig. 6 is a waveform diagram of the first calibration mark and the image of the line array in another case of the linear array camera static calibration device of the present invention.
The reference numerals include:
a target surface 1;
a first calibration mark 2, a first sensing area 21 and a second sensing area 22;
a second calibration flag 3;
an installation position 4;
an expected optical axis 5, an expected imaging region 6, an imaging region (line) 7;
a first direction a, a second direction b.
Detailed Description
The invention is described in detail below with reference to specific embodiments.
The calibration method is described below with reference to a linear array camera static calibration device.
As shown in fig. 1 and 2, the static calibration device of the line camera in this embodiment includes a target surface 1 and a mounting location 4, where the target surface 1 is provided with 7 calibration marks, the 7 calibration marks are arranged at equal intervals along an X axis, and each calibration mark can enable the line camera to generate a corresponding image signal by sensing. Of these 7 calibration marks, 2 of them are the first calibration mark 2.
As shown in fig. 4 to 6, each first calibration mark 2 includes at least 2 straight-bar-shaped first sensing regions 21 and at least 2 straight-bar-shaped second sensing regions 22, specifically, in this embodiment, the number of the first sensing regions 21 and the number of the second sensing regions 22 are 3, all the first calibration marks 2 are arranged along the X axis, the first sensing regions 21 and the second sensing regions 22 of the same first calibration mark 2 are arranged along the X axis, each first sensing region 21 extends along the first direction a and is arranged at equal intervals along the X axis in sequence, and each second sensing region 22 extends along the second direction b and is arranged at equal intervals along the X axis in sequence. The first direction a and the second direction b are not parallel to each other and are not parallel to the X axis.
As shown in fig. 1 and 2, the mounting location 4 is used for mounting a line camera to be calibrated, and after the line camera to be calibrated is mounted on the mounting location 4 according to the mounting reference, the expected optical axis 5 of the line camera is parallel to the Z-axis, the expected shooting area 6 of the line camera extends along the X-axis and is axisymmetric with respect to the X-axis, the Z-axis is perpendicular to the target surface 1, and the X-axis is on the target surface 1. When the imaging optical axis and attitude of the linear array camera and the azimuth angle, the pitch angle and the roll angle between the installation reference of the linear array camera are not deviated, the imaging optical axis of the linear array camera is the expected optical axis 5. When the imaging optical axis of the line camera after the line camera to be inspected is mounted on the mounting position 4 is the expected optical axis 5, the shooting area 7 of the line camera exposed once is the expected shooting area 6. As shown in fig. 1, the expected imaging region 6 extends along the X axis and is axisymmetric with respect to the X axis. Fig. 3 shows a waveform of a digital signal of an image obtained when the imaging area 7 is the expected imaging area 6. The shooting area 7 of the linear array camera in one exposure is linear, the width is about one pixel, and for the sake of simple and convenient illustration, a straight line (specifically, a straight line of a dotted line) is used in the drawing of the invention to represent the shooting area 7 of the linear array camera in one exposure.
As shown in fig. 4 to 6, in the present embodiment, in each first calibration mark 2, the number of the first sensing areas 21 and the number of the second sensing areas 22 are 3, and the distance between two adjacent first sensing areas 21 along the X axis (first distance) and the distance between two adjacent first sensing areas 21 along the X axis (second distance) are equal.
After the linear array camera to be checked is installed at the installation position 4, in the image obtained by once exposure shooting of the linear array camera to be checked, the pitch angle deviation and the roll angle deviation between the imaging optical axis and the attitude of the linear array camera and the installation reference of the linear array camera are obtained according to the phase measurement and calculation of the digital signals of the image of each checking mark. Specifically, the pitch angle deviation and the roll angle deviation between the imaging optical axis and the attitude of the linear array camera and the installation reference of the linear array camera are obtained according to the phase difference measurement between the digital signal of the image of each first calibration mark first induction area and the digital signal of the image of each second induction area.
After the linear array camera to be calibrated is installed at the installation position 4, if the imaging optical axis and posture of the linear array camera to be calibrated deviate from the pitch angle between the installation reference of the linear array camera, the shooting area 7 exposed once moves along the positive direction or the negative direction of the Y axis as a whole. If there is a deviation in the roll angle between the imaging optical axis and attitude of the line camera being calibrated and the mounting reference of the line camera, the shot region 7 of one exposure will be non-parallel to the X-axis. Since the shooting area 7 of the line camera exposed once is linear, the straight line of the shooting area 7 of the line camera exposed once can be known by determining the positions of at least two points, and for convenience of expression, the shooting area 7 of the line camera exposed once (hereinafter referred to as a linear row) is regarded as a straight line segment for explanation.
The purpose of the first calibration feature 2 is to measure the height of the line 7 on the Y-axis as it passes through the first calibration feature 2.
As shown in fig. 4-6, in the present embodiment, the number of the first sensing regions 21 and the second sensing regions 22 is 3, and the first pitch and the second pitch are equal.
As shown in fig. 5, if the position of the line 7 passing through the first calibration mark 2 is above the X-axis (the Y-axis height is positive), the distance between the adjacent first sensing areas 21 and the second sensing areas 22 is larger (compared with the position on the X-axis), the waveform of the digital signal of the image of the first calibration mark 2 is as shown in fig. 5, and the height of the line 7 on the Y-axis passing through the first calibration mark 2 can be calculated by representing the phase difference between the two square waves of the adjacent first sensing areas 21 and the second sensing areas 22 respectively.
As shown in fig. 6, if the line 7 passes through the first calibration mark 2 at a position below the X-axis (the Y-axis height is negative), the distance between the adjacent first sensing regions 21 and the second sensing regions 22 is smaller (compared with the position on the X-axis), the waveform of the digital signal of the image of the first calibration mark 2 is as shown in fig. 6, and the height on the Y-axis when the line 7 passes through the first calibration mark 2 can be calculated by representing the phase difference between the two square waves of the adjacent first sensing regions 21 and the second sensing regions 22, respectively.
Specifically, the height of the line 7 on the Y axis when passing through the first calibration mark 2 can be calculated by a phase demodulation algorithm, which is the prior art and is not described herein again.
The average of the heights of the lines 7 in the Y-axis as they pass through the respective first calibration marks 2 represents the pitch angle deviation between the imaging optical axis and attitude of the line camera being calibrated and the mounting reference of the line camera. The difference in height of the line 7 in the Y axis as it passes through the two first calibration marks 2 represents the roll angle deviation between the imaging optical axis and attitude of the line camera being calibrated and the mounting reference of the line camera.
In fact, if there is the roll angle deviation, the line array 7 is inclined when passing through each first calibration mark 2, but because the roll angle deviation is generally small, and the line array is long in the X-axis direction, the width of each first calibration mark 2 in the X-axis direction is small, so that the roll angle deviation is very small or even negligible in the single first calibration mark 2. Thus, in the present application, for convenience of understanding, the influence of the roll angle deviation is not considered in describing how to determine the Y-axis height when the line array 7 passes through the first calibration marks 2. If the influence of the roll angle deviation needs to be considered, the Y-axis height of the line 7 passing through the first calibration mark 2 can be more accurately measured by combining the path length of the line 7 passing through the first sensing region 21 or the second sensing region 22.
In the case of overexposure or underexposure, taking the first sensing areas 21 as an example, the image of each first sensing area 21 is synchronously widened or narrowed in the X-axis direction, but the change cycle of the phase of the digital signal of the image of each first sensing area 21 is fixed and does not change according to the exposure condition, and the second sensing area 22 also has the same principle. By taking the first sensing areas 21 and the second sensing areas 22 as references, the relative phase change between the first sensing areas 21 and the second sensing areas 22 of the first calibration marks 2 in the digital signal of the image shot by one-time exposure is utilized to determine the Y-axis height of the shot area 7 passing through the first calibration marks 2, so that the influence of the exposure condition on the calibration accuracy can be eliminated. In addition, the sub-pixel level accuracy can be obtained by measuring and calculating the phase of the digital signal of the image, and the accuracy is higher than the pixel level accuracy.
As shown in fig. 1, in the present embodiment, the remaining 5 of the 7 calibration marks are the second calibration marks 3. After the linear camera to be calibrated is installed at the installation position 4, the expected optical axis 5 of the linear camera passes through the center of the second calibration mark 3 in the middle, and in the image obtained by one-time exposure shooting of the linear camera to be calibrated, the azimuth angle deviation (deviation in the X-axis direction) between the imaging optical axis and the attitude of the linear camera and the installation reference of the linear camera is obtained according to the position deviation measurement and calculation of the image of the calibration mark. And calculating the optical distortion condition of the line-scan camera according to the distance between the other 4 second calibration marks 3 and the centered second calibration mark 3. Therefore, the azimuth angle deviation, the pitch angle deviation, the roll angle deviation and the optical distortion condition of the linear array camera to be checked can be measured and obtained under the condition of one-time exposure. Specifically, the X-axis position of the second calibration mark 3 can be measured and calculated by a Digital Image Correlation Method (DICM), which is the prior art and is not described herein again.
In this embodiment, the first calibration marks 2 and the second calibration marks 3 are formed by combining black and white stripes. In other embodiments, other shapes and patterns are possible. The number of the first calibration marks 2 can be more than 2, and the first calibration marks 2 are arranged on the outermost side, which is the optimal way, but not the only way, as long as there is a space between the 2 first calibration marks 2. The second calibration marks 3 may be of other numbers, or all may be the first calibration marks 2, so that the expected optical axis 5 of the line camera to be calibrated passes through the center of one of the first calibration marks 2. The calibration marks passing through the center of the line camera's expected optical axis 5 to be calibrated are closest to the middle position, so that the calibration marks can be arranged on the X-axis to cover the line columns 7 of the line camera at both ends as much as possible.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the protection scope of the present invention, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.
Claims (9)
1. The linear array camera static calibration device is characterized by comprising
The target surface is provided with at least 2 calibration marks, and each calibration mark can enable the linear array camera to generate a corresponding image signal in an induction manner; the calibration marks comprise at least 2 first calibration marks, and each first calibration mark comprises at least 2 straight strip-shaped first sensing areas and at least 2 straight strip-shaped second sensing areas;
the installation position is used for installing the linear array camera to be checked;
after the linear array camera to be checked is installed at the installation position according to the installation reference, if the pitch angle and the roll angle between the imaging optical axis and the attitude of the linear array camera and the installation reference of the linear array camera are not deviated, the shooting area of the linear array camera exposed once is an expected shooting area, and the expected shooting area extends along the X axis and is axially symmetrical by taking the X axis as the axis;
all the first calibration marks are arranged along the X axis, the first sensing areas and the second sensing areas of the same first calibration mark are arranged along the X axis, each first sensing area extends along the first direction and is sequentially arranged at equal intervals along the X axis, each second sensing area extends along the second direction and is sequentially arranged at equal intervals along the X axis, the first direction and the second direction are not parallel to each other and are not parallel to the X axis, the distance between every two adjacent first sensing areas along the X axis is a first distance, the distance between every two adjacent second sensing areas along the X axis is a second distance, and the first distance and the second distance are equal;
in an image obtained by one-time exposure shooting of the linear array camera to be calibrated, calculating and calculating the height of a linear array on a Y axis when the linear array passes through the first calibration mark according to the phase difference between the digital signal of the image of the first sensing area of each first calibration mark and the digital signal of the image of the second sensing area;
the pitch angle deviation is obtained by calculating the average value of the heights of the line array on the Y axis when the line array passes through each first calibration mark, the roll angle deviation is obtained by calculating the difference value of the heights of the line array on the Y axis when the line array passes through two first calibration marks, and the line array is a shooting area for one-time exposure of the linear array camera.
2. The line camera static inspection apparatus of claim 1, wherein the first direction is parallel to a Y-axis, the Y-axis being on the target surface and perpendicular to the X-axis.
3. The line camera static calibration apparatus of claim 1,
after the linear array camera to be checked is installed at the installation position according to the installation reference of the linear array camera, an expected optical axis of the linear array camera penetrates through the center of one checking mark, and in an image obtained by one-time exposure shooting of the linear array camera to be checked, the azimuth angle deviation between the imaging optical axis and posture of the linear array camera and the installation reference of the linear array camera is obtained according to the position deviation measurement and calculation of the image of the checking mark;
and when the imaging optical axis and the attitude of the linear array camera are not deviated from the azimuth angle, the pitch angle and the roll angle of the installation reference of the linear array camera, the imaging optical axis of the linear array camera is an expected optical axis.
4. The line camera static inspection device of claim 3, wherein the inspection mark whose center is crossed by the predicted optical axis is the inspection mark closest to the middle position, and the optical distortion of the line camera is calculated from the distance between the image of the inspection mark and the images of other inspection marks.
5. The line camera static calibration device of claim 4, wherein there are at least 3 calibration marks, and all the calibration marks are arranged at equal intervals along the X-axis.
6. A line camera static calibration device according to claim 4 or 5, characterized in that the calibration marks further comprise second calibration marks, the calibration marks which are passed through the center by said predicted optical axis are second calibration marks, and the optical distortion of the line camera is estimated from the image of the second calibration marks.
7. A static calibration method of a linear array camera is characterized in that,
using a linear array camera to be calibrated, which is installed according to the installation reference of the linear array camera, to expose and shoot all calibration marks on the target surface at one time, wherein the calibration marks comprise at least 2 first calibration marks, and each first calibration mark comprises at least 2 straight strip-shaped first induction areas and at least 2 straight strip-shaped second induction areas; after the linear array camera to be checked is installed at an installation position according to the installation reference, the installation position is used for installing the linear array camera to be checked, if the pitch angle and the roll angle between the imaging optical axis and the attitude of the linear array camera and the installation reference of the linear array camera are not deviated, the shooting area of the linear array camera exposed at one time is an expected shooting area, and the expected shooting area extends along the X axis and is axially symmetrical by taking the X axis as the axis;
all the first calibration marks are arranged along the X axis, the first sensing areas and the second sensing areas of the same first calibration mark are arranged along the X axis, each first sensing area extends along the first direction and is sequentially arranged at equal intervals along the X axis, each second sensing area extends along the second direction and is sequentially arranged at equal intervals along the X axis, the first direction and the second direction are not parallel to each other and are not parallel to the X axis, the distance between every two adjacent first sensing areas along the X axis is a first distance, the distance between every two adjacent second sensing areas along the X axis is a second distance, and the first distance and the second distance are equal;
in an image obtained by one-time exposure shooting of the linear array camera to be calibrated, calculating and calculating the height of a linear array on a Y axis when the linear array passes through the first calibration mark according to the phase difference between the digital signal of the image of the first sensing area of each first calibration mark and the digital signal of the image of the second sensing area;
the pitch angle deviation is obtained by calculating the average value of the heights of the line array on the Y axis when the line array passes through each first calibration mark, the roll angle deviation is obtained by calculating the difference value of the heights of the line array on the Y axis when the line array passes through two first calibration marks, and the line array is a shooting area for one-time exposure of the linear array camera.
8. The line camera static calibration method according to claim 7,
when the linear array camera to be calibrated is used for shooting, an expected optical axis of the linear array camera penetrates through the center of one calibration mark, and in an image obtained by one-time exposure shooting of the linear array camera to be calibrated, the azimuth angle deviation between the imaging optical axis and the attitude of the linear array camera and the installation reference of the linear array camera is obtained according to the position deviation of the image of the calibration mark;
and when the imaging optical axis and the attitude of the linear array camera are not deviated from the azimuth angle, the pitch angle and the roll angle of the installation reference of the linear array camera, the imaging optical axis of the linear array camera is an expected optical axis.
9. The line camera static calibration method of claim 7, wherein the calibration mark penetrated by the expected optical axis of the line camera is the calibration mark closest to the middle position, the optical distortion condition of the line camera is obtained according to the distance measurement between the image of the calibration mark and the images of other calibration marks, and the imaging optical axis of the line camera is the expected optical axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010681242.7A CN111757101B (en) | 2020-07-15 | 2020-07-15 | Linear array camera static calibration device and calibration method thereof |
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| CN104298887A (en) * | 2014-10-20 | 2015-01-21 | 中国空间技术研究院 | Relative radiation calibration method of multichip linear CCD (charge coupled device) camera |
| CN105809652A (en) * | 2014-12-29 | 2016-07-27 | 上海微电子装备有限公司 | Linear array camera attitude calibration device and method |
| EP3157255A1 (en) * | 2016-06-01 | 2017-04-19 | Continental Automotive GmbH | Calibration apparatus and calibration method |
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| CN105554395B (en) * | 2016-01-28 | 2018-11-30 | 北京玖瑞科技有限公司 | Adjustment detection device for line-scan digital camera and linear light sources |
| JP2019029820A (en) * | 2017-07-31 | 2019-02-21 | セイコーエプソン株式会社 | Calibration method and calibration instrument of camera |
| CN108174188B (en) * | 2017-12-14 | 2019-08-27 | 中国科学院西安光学精密机械研究所 | Image motion compensation error measuring method of camera device |
| CN110673114B (en) * | 2019-08-27 | 2023-04-18 | 三赢科技（深圳）有限公司 | Method and device for calibrating depth of three-dimensional camera, computer device and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104298887A (en) * | 2014-10-20 | 2015-01-21 | 中国空间技术研究院 | Relative radiation calibration method of multichip linear CCD (charge coupled device) camera |
| CN105809652A (en) * | 2014-12-29 | 2016-07-27 | 上海微电子装备有限公司 | Linear array camera attitude calibration device and method |
| EP3157255A1 (en) * | 2016-06-01 | 2017-04-19 | Continental Automotive GmbH | Calibration apparatus and calibration method |
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