CN114170326B - Method and device for acquiring origin of camera coordinate system - Google Patents
Method and device for acquiring origin of camera coordinate system Download PDFInfo
- Publication number
- CN114170326B CN114170326B CN202210119765.1A CN202210119765A CN114170326B CN 114170326 B CN114170326 B CN 114170326B CN 202210119765 A CN202210119765 A CN 202210119765A CN 114170326 B CN114170326 B CN 114170326B
- Authority
- CN
- China
- Prior art keywords
- coordinate system
- camera
- binocular camera
- reference point
- acquiring
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The application relates to the technical field of optics, and discloses a method for acquiring an origin of a camera coordinate system, which comprises the following steps: acquiring a first position corresponding to a projection point of a binocular camera projected by a reference point on a target object; acquiring a second position of the reference point under a camera coordinate system of the binocular camera, and acquiring a deviation of the second position from an origin of the camera coordinate system; determining a position of an origin of the camera coordinate system at the binocular camera based on the deviation and the first position. The method for acquiring the origin of the camera coordinate system can acquire the position of the origin of the camera coordinate system in the camera, and improves the accuracy of coordinate conversion of the camera. The application also discloses a device for acquiring the origin of the camera coordinate system.
Description
Technical Field
The present application relates to the field of optical technology, and for example, to a method and an apparatus for acquiring an origin of a camera coordinate system.
Background
Due to the development of three-dimensional measurement technology, many two-dimensional pictures acquired by a camera need to be subjected to ranging, three-dimensional modeling and other applications. This involves a conversion between the pixel coordinate system, the image coordinate system, the camera coordinate system, and the world coordinate system. In the coordinate system conversion process, the determination of the origin position of the camera coordinate system has great influence on the conversion result. There is currently no relevant method to accurately determine the location of the origin of the camera coordinate system.
Disclosure of Invention
The following presents a simplified summary in order to provide a basic understanding of some aspects of the disclosed embodiments. This summary is not an extensive overview nor is intended to identify key/critical elements or to delineate the scope of such embodiments but rather as a prelude to the more detailed description that is presented later.
The embodiment of the disclosure provides a method and a device for acquiring an origin of a camera coordinate system, which are used for solving the technical problem that the position of the origin of the camera coordinate system in a camera cannot be determined.
The embodiment of the disclosure provides a method for acquiring an origin of a camera coordinate system, which includes:
acquiring a first position corresponding to a projection point of a binocular camera projected by a reference point on a target object;
acquiring a second position of the reference point under a camera coordinate system of the binocular camera, and acquiring a deviation of the second position and an origin of the camera coordinate system;
the position of the origin of the camera coordinate system at the binocular camera is determined based on the deviation and the first position.
In some embodiments, acquiring a first position corresponding to a projection point of the binocular camera projected by the reference point on the target object may include:
when the projection point of a reference point on the target object is coincident with the center of the aperture of the binocular camera, acquiring a first position corresponding to the projection point of the reference point;
determining a position of an origin of the camera coordinate system at the binocular camera based on the deviation and the first position may include:
and when the deviation is 0, determining the position of the origin of the camera coordinate system in the binocular camera as the aperture center.
In some embodiments, the method for determining that the projection point of one reference point on the target object coincides with the center of the aperture of the binocular camera may include:
projecting a linear light perpendicular to the binocular camera from a reference point to the binocular camera;
acquiring an imaging picture of the straight line light shot by the binocular camera;
when the light spot superposed with the center point of the image exists in the imaging image, the projection point of a reference point is determined to be superposed with the center of the aperture of the binocular camera.
In some embodiments, acquiring a first position corresponding to a projection point of the binocular camera projected by the reference point on the target object may include:
respectively acquiring first positions of two reference points on a target object corresponding to projection points of a binocular camera;
acquiring the deviation of the second position from the origin of the camera coordinate system may include:
the deviation is determined based on the second locations of the two reference points.
In some embodiments, the abscissa and ordinate of the two reference points are different.
In some embodiments, acquiring the second position of the reference point in the camera coordinate system of the binocular camera may include:
shooting the target object through a binocular camera, and acquiring a third position of a reference point in the target object under an image coordinate system;
and converting the third position into a second position under the camera coordinate system through coordinate conversion.
In some embodiments, acquiring a first position corresponding to a projection point of the binocular camera projected by the reference point on the target object comprises:
and acquiring a first position corresponding to the projection point of the binocular camera in the orthographic projection of the reference point on the target object.
The embodiment of the disclosure also provides an apparatus for acquiring an origin of a camera coordinate system, which includes a processor and a memory storing program instructions, where the processor is configured to execute the above method for acquiring an origin of a camera coordinate system when executing the program instructions.
The embodiment of the present disclosure further provides a device for obtaining an origin of a camera coordinate system, including:
the position acquisition module is configured to acquire a first position corresponding to a projection point of the binocular camera projected by a reference point on the target object;
a deviation acquisition module configured to acquire a second position of the reference point under a camera coordinate system of the binocular camera and acquire a deviation of the second position from an origin of the camera coordinate system;
an origin determination module configured to determine a location of an origin of a camera coordinate system at a binocular camera based on the deviation and the first location.
In some embodiments, the location acquisition module may be configured to:
when the projection point of a reference point on the target object is coincident with the center of the aperture of the binocular camera, acquiring a first position corresponding to the projection point of the reference point;
an origin determination module configured to:
when the deviation is 0, the position of the origin of the camera coordinate system at the binocular camera is determined as the aperture center.
In some embodiments, the position acquisition module, when determining that the projected point of one reference point on the target object coincides with the aperture center of the binocular camera, may be configured to:
projecting a linear light perpendicular to the binocular camera from a reference point to the binocular camera;
acquiring an imaging picture of the straight line light shot by the binocular camera;
when the light spot superposed with the center point of the image exists in the imaging image, the projection point of a reference point is determined to be superposed with the center of the aperture of the binocular camera.
In some embodiments, the location acquisition module may be configured to:
respectively acquiring first positions of two reference points on a target object, which correspond to projection points of a binocular camera;
a deviation acquisition module, which may be configured to:
determining the deviation based on a second location of the two reference point correspondences.
In some embodiments, the abscissa and ordinate of the two reference points are different.
In some embodiments, the offset acquisition module is configured to:
shooting a target object through a binocular camera, and acquiring a third position of a reference point in the target object under an image coordinate system;
and converting the third position into a second position in a camera coordinate system through coordinate conversion.
In some embodiments, the location acquisition module may be configured to:
and acquiring a first position corresponding to the projection point of the binocular camera in the orthographic projection of the reference point on the target object.
The method and the device for acquiring the origin of the camera coordinate system provided by the embodiment of the disclosure can achieve the following technical effects:
the position of the origin of the camera coordinate system in the camera is obtained, and the accuracy of the coordinate conversion of the camera is improved.
The foregoing general description and the following description are exemplary and explanatory only and are not restrictive of the application.
Drawings
At least one embodiment is illustrated by the accompanying drawings, which correspond to the accompanying drawings, and which do not form a limitation on the embodiment, wherein elements having the same reference numeral designations are shown as similar elements, and which are not to scale, and wherein:
fig. 1 is a schematic flowchart of a method for acquiring an origin of a camera coordinate system according to an embodiment of the present disclosure;
FIG. 2 is a schematic illustration of a target provided by embodiments of the present disclosure;
FIG. 3 is a schematic diagram of a reference point projection scene provided by an embodiment of the present disclosure;
FIG. 4 is a schematic diagram of another reference point projection scenario provided by embodiments of the present disclosure;
FIG. 5 is a schematic diagram of another reference point projection scenario provided by embodiments of the present disclosure;
fig. 6 is a schematic position diagram of an origin of a camera coordinate system provided by an embodiment of the present disclosure;
fig. 7 is a schematic view of a scene for acquiring an origin of a camera coordinate system according to an embodiment of the present disclosure;
FIG. 8 is a schematic diagram of a position of a reference point in an image coordinate system provided by an embodiment of the present disclosure;
FIG. 9 is a schematic diagram of the position of a reference point in a camera coordinate system provided by an embodiment of the present disclosure;
FIG. 10 is a schematic diagram of a location of an origin of another camera coordinate system provided by an embodiment of the present disclosure;
fig. 11 is a schematic structural diagram of an apparatus for acquiring an origin of a camera coordinate system according to an embodiment of the present disclosure;
fig. 12 is a schematic structural diagram of another apparatus for acquiring an origin of a camera coordinate system according to an embodiment of the present disclosure.
Reference numerals:
20: a target; 30: a binocular camera; 40: a light emitter;
p, M, N: a reference point; q, E, F: projection points; and Oc: the origin of the camera coordinate system; d: deviation;
80: means for obtaining an origin of a camera coordinate system; 801: a processor; 802: a memory; 803: a communication interface; 804: a bus;
90: a means for obtaining an origin of a coordinate system of the camera; 901: a position acquisition module; 902: a deviation obtaining module; 903: and an origin point determining module.
Detailed Description
So that the manner in which the features and elements of the disclosed embodiments can be understood in detail, a more particular description of the disclosed embodiments, briefly summarized above, may be had by reference to the embodiments, some of which are illustrated in the appended drawings. In the following description of the technology, for purposes of explanation, numerous details are set forth in order to provide a thorough understanding of the disclosed embodiments. However, at least one embodiment may be practiced without these specific details. In other instances, well-known structures and devices may be shown in simplified form in order to simplify the drawing.
As shown in fig. 1, a method for acquiring an origin of a camera coordinate system provided by an embodiment of the present disclosure includes:
s101, acquiring a first position corresponding to a projection point of a binocular camera projected by a reference point on a target object;
s102, acquiring a second position of the reference point under a camera coordinate system of the binocular camera, and acquiring deviation of the second position and an origin of the camera coordinate system;
and S103, determining the position of the origin of the camera coordinate system in the binocular camera based on the deviation and the first position.
The method and the device can acquire the position of the origin of the camera coordinate system in the camera, and improve the accuracy of the coordinate conversion of the camera.
In some embodiments, the target object 20 has a reference point, and the reference point is a point on the target object whose position is obvious, and may be used to obtain the position of the reference point when the binocular camera captures an image, and the reference point may be adjusted at any time according to requirements. The target 20 may be a conventional calibration board, such as a checkerboard calibration board (as shown in fig. 2, the corner point P is a reference point), or a circular array calibration board, or other planar objects having a position reference function and capable of calculating the position of a reference point.
In some embodiments, a reference point on the target object may be projected onto the binocular camera surface, thereby determining a first location of the projected point to which the reference point corresponds. As shown in fig. 3, the light emitter 40 may be disposed on a side of the target 20 away from the binocular camera 30, and the light emitter 40 may emit a straight line light in a direction indicated by an arrow, where the straight line passes through the reference point P and then is projected onto the surface of the binocular camera 30 to form a projection, and the position of the projection is a point Q, which is a projection point of the reference point P. Alternatively, the emission direction of the linear light may be perpendicular to the target 20, or may not be perpendicular to the target 20.
In some embodiments, as shown in fig. 4, the light ray emitter 40 may be disposed on a side of the target 20 away from the binocular camera 30, and may also be disposed on a side of the target 20 close to the binocular camera 30, that is, between the binocular camera 30 and the target 20. At this time, the light emitter 40 may emit two linear lights located on the same straight line in two directions, i.e., the reference point P of the target 20 and the binocular camera, respectively, according to the directions of arrows in fig. 4, and the linear light emitted to the target 20 needs to pass through the reference point P, so that the projection point Q of the other linear light on the surface of the binocular camera 30 is the projection point of the reference point P.
In some embodiments, the linear light emitted by the light emitter 40 may be laser light, or light path-shaped by a collimating device.
Alternatively, the emitting direction of the linear light may be perpendicular to the target 20, or may not be perpendicular to the target 20. When the linear light emitted from the light emitter 40 is perpendicular to the target 20, as shown in fig. 3 and 4, the line connecting the projection point Q and the reference point P is perpendicular to the surface of the target 20 and the surface of the binocular camera 30. When the linear light emitted by the light emitter 40 is not perpendicular to the target 20, as shown in fig. 5, the linear light emitted by the light emitter 40 is transmitted in the direction indicated by the arrow, and a projection point Q can be formed on the surface of the binocular camera 30 through the reference point P, and a connection line between the projection point Q and the reference point P is not perpendicular to the surface of the target 20 and the surface of the binocular camera 30.
In some embodiments, when the first position corresponding to the projection point of the binocular camera is acquired by projecting the reference point on the target object, the first position corresponding to the projection point of the binocular camera, on which the reference point on the target object is projected, may be acquired. The projected point of the binocular camera on which the reference point is orthographically projected is shown in fig. 3 and 4, that is, the line connecting the projected point Q and the reference point P is perpendicular to the surface of the target 20 and the surface of the binocular camera 30.
In some embodiments, the method of acquiring the first position corresponding to the projection point of the binocular camera 30 projected by the reference point on the target 20 may acquire the first position corresponding to the projection point of one reference point (as indicated by point P in fig. 6) on the target 20 when the projection point (as indicated by point Q in fig. 6) coincides with the center of the aperture of the binocular camera, as shown in fig. 6. After acquiring the first position, a second position of the reference point in a camera coordinate system of the binocular camera may be acquired, and a deviation of the second position from an origin of the camera coordinate system may be acquired. The deviation refers to the origin of the camera coordinate system and the position deviation of the reference point under the camera coordinate system. After obtaining the deviation, a position of the origin of the camera coordinate system at the binocular camera may be determined based on the deviation and the first position. As shown in fig. 6, since the second position of the reference point P in the camera coordinate system is the origin of the camera coordinate system, the deviation is 0, i.e., the projected point Q coincides with the center of the aperture. Therefore, when the deviation is 0, it can be determined that the position of the origin of the camera coordinate system at the binocular camera is the above-described aperture center.
In some embodiments, the method for determining that the projection point of one reference point on the target object coincides with the center of the aperture of the binocular camera may include: firstly, projecting a straight line light perpendicular to a binocular camera from a reference point of the target object to the binocular camera; then acquiring an imaging picture of the linear light shot by the binocular camera; and when the light spot superposed with the picture center point exists in the imaging picture, determining that the projection point of the reference point is superposed with the aperture center of the binocular camera. The condition that the center of the aperture of the binocular camera is coincident with the projection point can be found through continuously and manually adjusting the position of the binocular camera in the process. When a large light spot appears in an imaging picture of the binocular camera through visual inspection and the light spot is overlapped with the central point of the imaging picture, the projection point can be considered to be overlapped with the center of the aperture of the binocular camera. In addition, the projection point may be determined to coincide with the center of the aperture of the binocular camera by other methods, which are not limited herein.
In some embodiments, as shown in fig. 6, the camera coordinate system (Xc, Yc, Zc) is a coordinate system in which the camera stands to measure the object at its own angle. The origin Oc of the camera coordinate system is the aperture center. The camera coordinate system is a transformation bridge of the world coordinate system (spatial coordinate system) and the image coordinate system. Usually the world coordinate system is translated and rotated to obtain the camera coordinate system. The camera coordinate system obtains an image coordinate system through a similar triangle principle in the imaging model.
In some embodiments, as shown in fig. 7, the reference point on the target object is projected at the first position corresponding to the projection point of the binocular camera, and first positions of two reference points (shown as points M and N in fig. 7) on the target object corresponding to the projection points (shown as points E and F in fig. 7) of the binocular camera may also be obtained first; after the first position is obtained, a second position of the two reference points in the camera coordinate system of the binocular camera may be obtained, and a deviation of the second position from an origin of the camera coordinate system may be obtained.
In some embodiments, when the second position of the reference point in the camera coordinate system of the binocular camera is obtained, the target object may be captured by the binocular camera to obtain a captured image of the target object, the image coordinate system of the captured image is shown in fig. 8, and the third position of the reference points M and N in the target object shown in fig. 7 in the image coordinate system may be obtained by capturing the image, where, as shown in fig. 8, the point M is the third position of the reference point M shown in fig. 7, and the point N is the third position of the reference point N shown in fig. 7. Then, the third positions of the two reference points are subjected to coordinate transformation to obtain a second position under the camera coordinate system, such as the camera coordinate system (Xc, Yc, Zc) shown in fig. 9, and the third positions corresponding to the reference points M and N in the image coordinate system shown in fig. 8 are subjected to coordinate transformation to obtain a second position Mc of the reference point M and a second position Nc corresponding to the reference point N in the camera coordinate system.
In some embodiments, the abscissa and ordinate of the two reference points M and N shown in fig. 8 are different. Based on the second position of the two reference points, a deviation of the second position from the origin of the camera coordinate system may be acquired.
In some embodiments, as shown in fig. 10, after obtaining the deviation, the location of the origin Oc of the camera coordinate system at the binocular camera may be determined based on the deviation and the first locations of the proxel E and proxel F.
The embodiment of the disclosure provides an apparatus for acquiring an origin of a camera coordinate system, which includes a processor and a memory storing program instructions, wherein the processor is configured to execute the above method for acquiring the origin of the camera coordinate system when executing the program instructions.
Referring to fig. 11, in some embodiments, the means 80 for acquiring the origin of the camera coordinate system may include: a processor (processor) 801 and a memory (memory) 802, and may further include a Communication Interface (Communication Interface) 803 and a bus 804. The processor 801, the communication interface 802, and the memory 802 may communicate with each other via a bus 804. Communication interface 803 may be used for the transmission of information. The processor 801 may call logic instructions in the memory 802 to perform the method of acquiring the origin of the camera coordinate system of the above-described embodiments.
Furthermore, the logic instructions in the memory 802 may be implemented in software functional units and stored in a computer readable storage medium when sold or used as a stand-alone product.
The memory 802 is a computer-readable storage medium that can be used for storing software programs, computer-executable programs, such as program instructions/modules corresponding to the methods in the embodiments of the present disclosure. The processor 801 executes functional applications and data processing by executing program instructions/modules stored in the memory 802, that is, implements the method of acquiring the origin of the camera coordinate system in the above-described method embodiments.
The memory 802 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal device, and the like. Further, the memory 802 may include high speed random access memory and may also include non-volatile memory.
Another apparatus for acquiring the origin of the camera coordinate system is provided in the embodiments of the present disclosure, and referring to fig. 12, in some embodiments, the apparatus 90 for acquiring the origin of the camera coordinate system may include:
the position acquiring module 901 may be configured to acquire a first position corresponding to a projection point of the binocular camera on which a reference point on the target object is projected;
a deviation acquiring module 902, which may be configured to acquire a second position of the reference point under the camera coordinate system of the binocular camera, and acquire a deviation of the second position from an origin of the camera coordinate system;
an origin determination module 903 may be configured to determine a location of the origin of the camera coordinate system at the binocular camera based on the deviation and the first location.
In some embodiments, the location acquisition module 901 may be configured to:
when the projection point of a reference point on the target object is coincident with the center of the aperture of the binocular camera, acquiring a first position corresponding to the projection point of the reference point;
an origin determination module 903, which may be configured to:
when the deviation is 0, the position of the origin of the camera coordinate system at the binocular camera is determined as the aperture center.
In some embodiments, the position obtaining module 901, when determining that the projected point of one reference point on the target object coincides with the aperture center of the binocular camera, may be configured to:
projecting a linear light perpendicular to the binocular camera from a reference point to the binocular camera;
acquiring an imaging picture of the straight line light shot by the binocular camera;
when the light spot superposed with the center point of the image exists in the imaging image, the projection point of a reference point is determined to be superposed with the center of the aperture of the binocular camera.
In some embodiments, the location acquisition module 901 may be configured to:
respectively acquiring first positions of two reference points on a target object corresponding to projection points of a binocular camera;
a bias acquisition module 902, which may be configured to:
the deviation is determined based on the second position corresponding to the two reference points.
In some embodiments, the abscissa and ordinate of the two reference points are different.
In some embodiments, the deviation acquisition module 902 may be configured to:
shooting a target object through a binocular camera, and acquiring a third position of a reference point in the target object under an image coordinate system;
and converting the third position into a second position in a camera coordinate system through coordinate conversion.
In some embodiments, the location acquisition module 901 is configured to:
and acquiring a first position corresponding to the projection point of the binocular camera in the orthographic projection of the reference point on the target object.
In some embodiments, each module in the apparatus 90 for acquiring the origin of the camera coordinate system may be a virtual functional module or a logical hardware, and each module has a logical connection relationship.
The embodiment of the disclosure provides equipment for acquiring the origin of a camera coordinate system, which comprises the device for acquiring the origin of the camera coordinate system.
The method and the device for acquiring the origin of the camera coordinate system provided by the embodiment of the disclosure can acquire the position of the origin of the camera coordinate system in the camera, and improve the accuracy of the coordinate conversion of the camera.
Embodiments of the present disclosure provide a computer-readable storage medium storing computer-executable instructions configured to perform the above-mentioned method of obtaining an origin of a camera coordinate system.
An embodiment of the present disclosure provides a computer program product comprising a computer program stored on a computer-readable storage medium, the computer program comprising program instructions that, when executed by a computer, cause the computer to perform the method of acquiring an origin of a camera coordinate system.
The computer-readable storage medium described above may be a transitory computer-readable storage medium or a non-transitory computer-readable storage medium.
The computer-readable storage medium and the computer program product provided by the embodiments of the present disclosure can acquire the position of the origin of the camera coordinate system in the camera, and improve the accuracy of the coordinate conversion of the camera.
The technical solution of the embodiments of the present disclosure may be embodied in the form of a software product, where the computer software product is stored in a storage medium and includes at least one instruction to enable a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method of the embodiments of the present disclosure. And the aforementioned storage medium may be a non-transitory storage medium comprising: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes, and may also be a transient storage medium.
The above description and the drawings sufficiently illustrate embodiments of the disclosure to enable those skilled in the art to practice them. Other embodiments may incorporate structural, logical, electrical, process, and other changes. The examples merely typify possible variations. Individual components and functions are optional unless explicitly required, and the sequence of operations may vary. Portions and features of some embodiments may be included in or substituted for those of others. The scope of the disclosed embodiments includes the full ambit of the claims, as well as all available equivalents of the claims. As used in this application, although the terms "first," "second," etc. may be used in this application to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, unless the meaning of the description changes, so long as all occurrences of the "first element" are renamed consistently and all occurrences of the "second element" are renamed consistently. The first and second elements are both elements, but may not be the same elements. Furthermore, the words used in the specification are words of description only and are not intended to limit the claims. As used in the description of the embodiments and the claims, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. Similarly, the term "and/or" as used in this application is meant to encompass any and all possible combinations of one or more of the associated listed. Furthermore, the terms "comprises" and/or "comprising," when used in this application, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. Without further limitation, an element defined by the phrase "comprising an …" does not exclude the presence of other like elements in a process, method or apparatus that comprises the element. In this document, each embodiment may be described with emphasis on differences from other embodiments, and the same and similar parts between the respective embodiments may be referred to each other. For methods, products, etc. of the embodiment disclosures, reference may be made to the description of the method section for relevance if it corresponds to the method section of the embodiment disclosure.
Those of skill in the art would appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software may depend upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the disclosed embodiments. It is clear to those skilled in the art that, for convenience and brevity of description, the working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the embodiments disclosed herein, the disclosed methods, products (including but not limited to devices, apparatuses, etc.) may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a unit may be merely a division of a logical function, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form. Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to implement the present embodiment. In addition, functional units in the embodiments of the present disclosure may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
In the drawings, the width, length, thickness, etc. of structures such as elements or layers may be exaggerated for clarity and descriptive purposes. When an element or layer is referred to as being "disposed on" (or "mounted on," "laid on," "attached to," "coated on," or the like) another element or layer, the element or layer may be directly "disposed on" or "over" the other element or layer, or intervening elements or layers may be present, or even partially embedded in the other element or layer.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises at least one executable instruction for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two or more blocks may in fact be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. In the description corresponding to the flowcharts and block diagrams in the figures, operations or steps corresponding to different blocks may also occur in different orders than disclosed in the description, and sometimes there is no specific order between the different operations or steps. For example, two or more operations or steps may in fact be performed in parallel, or they may sometimes be performed in the reverse order, depending upon the functionality involved. Each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions. The above-described modes may be applied to the drawings and the corresponding descriptions thereof, and may also be applied to descriptions that do not correspond to the drawings.
Claims (15)
1. A method of obtaining an origin of a camera coordinate system, comprising:
acquiring a first position corresponding to a projection point of a binocular camera projected by a reference point on a target object;
acquiring a second position of the reference point under a camera coordinate system of the binocular camera, and acquiring a deviation of the second position from an origin of the camera coordinate system;
determining a position of an origin of the camera coordinate system at the binocular camera based on the deviation and the first position.
2. The method according to claim 1, wherein the acquiring a first position corresponding to a projection point of the binocular camera of the reference point on the target object comprises:
when the projection point of one reference point on the target object is coincident with the center of the aperture of the binocular camera, acquiring a first position corresponding to the projection point of the one reference point;
the determining the location of the origin of the camera coordinate system at the binocular camera based on the deviation and the first location comprises:
and when the deviation is 0, determining the position of the origin of the camera coordinate system at the binocular camera as the aperture center.
3. The method of claim 2, wherein determining that the projected point of a reference point on the target coincides with the center of the aperture of the binocular camera comprises:
projecting a linear light perpendicular to the binocular camera from the one reference point to the binocular camera;
acquiring an imaging picture of the linear light shot by the binocular camera;
and when a light spot coincident with the center point of the image exists in the imaging image, determining that the projection point of the reference point is coincident with the center of the aperture of the binocular camera.
4. The method according to claim 1, wherein the acquiring a first position corresponding to a projection point of the binocular camera of the reference point on the target object comprises:
respectively acquiring first positions of two reference points on the target object corresponding to the projection points of the binocular camera;
the obtaining a deviation of the second position from an origin of the camera coordinate system comprises:
determining the deviation based on a second location of the two reference point correspondences.
5. The method of claim 4,
the horizontal and vertical coordinates of the two reference points are different.
6. The method of any of claims 1 to 5, wherein said obtaining a second position of the reference point in a camera coordinate system of the binocular camera comprises:
shooting the target object through the binocular camera, and acquiring a third position of a reference point in the target object under an image coordinate system;
and converting the third position into a second position under the camera coordinate system through coordinate conversion.
7. The method of any one of claims 1 to 5, wherein the acquiring a first position where the reference point on the target object is projected on the projection point of the binocular camera comprises:
and acquiring a first position corresponding to the projection point of the binocular camera in the orthographic projection of the reference point on the target object.
8. An apparatus for acquiring a camera coordinate system origin, comprising a processor and a memory storing program instructions, wherein the processor is configured to perform the method of any one of claims 1 to 7 when executing the program instructions.
9. An apparatus for obtaining an origin of a camera coordinate system, comprising:
the position acquisition module is configured to acquire a first position corresponding to a projection point of the binocular camera projected by a reference point on the target object;
a deviation acquisition module configured to acquire a second position of the reference point in a camera coordinate system of the binocular camera and acquire a deviation of the second position from an origin of the camera coordinate system;
an origin determination module configured to determine a location of an origin of the camera coordinate system at the binocular camera based on the deviation and the first location.
10. The apparatus of claim 9, wherein the location acquisition module is configured to:
when the projection point of one reference point on the target object is coincident with the center of the aperture of the binocular camera, acquiring a first position corresponding to the projection point of the one reference point;
the origin determination module configured to:
and when the deviation is 0, determining the position of the origin of the camera coordinate system at the binocular camera as the aperture center.
11. The apparatus of claim 10, wherein the position acquisition module, when determining that the projected point of one reference point on the target object coincides with the aperture center of the binocular camera, is configured to:
projecting a linear light perpendicular to the binocular camera from the one reference point to the binocular camera;
acquiring an imaging picture of the linear light shot by the binocular camera;
and when a light spot coincident with the center point of the image exists in the imaging image, determining that the projection point of the reference point is coincident with the center of the aperture of the binocular camera.
12. The apparatus of claim 9, wherein the location acquisition module is configured to:
respectively acquiring first positions of two reference points on the target object corresponding to the projection points of the binocular camera;
the offset acquisition module configured to:
determining the deviation based on a second location of the two reference point correspondences.
13. The apparatus of claim 12,
the horizontal and vertical coordinates of the two reference points are different.
14. The apparatus of any of claims 9 to 13, wherein the deviation acquisition module is configured to:
shooting the target object through the binocular camera, and acquiring a third position of a reference point in the target object under an image coordinate system;
and converting the third position into a second position under the camera coordinate system through coordinate conversion.
15. The apparatus of any of claims 9 to 13, wherein the location acquisition module is configured to:
and acquiring a first position corresponding to the projection point of the binocular camera in the orthographic projection of the reference point on the target object.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210119765.1A CN114170326B (en) | 2022-02-09 | 2022-02-09 | Method and device for acquiring origin of camera coordinate system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210119765.1A CN114170326B (en) | 2022-02-09 | 2022-02-09 | Method and device for acquiring origin of camera coordinate system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114170326A CN114170326A (en) | 2022-03-11 |
| CN114170326B true CN114170326B (en) | 2022-05-20 |
Family
ID=80489619
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210119765.1A Active CN114170326B (en) | 2022-02-09 | 2022-02-09 | Method and device for acquiring origin of camera coordinate system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114170326B (en) |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4636346B2 (en) * | 2009-03-31 | 2011-02-23 | アイシン精機株式会社 | Car camera calibration apparatus, method, and program |
| CN105825493B (en) * | 2015-01-09 | 2019-05-03 | 华为技术有限公司 | Method for registering images and device |
| CN108628808A (en) * | 2018-04-04 | 2018-10-09 | 华南农业大学 | The coordinate transformation method of camera sampled point |
| CN113538587A (en) * | 2020-04-16 | 2021-10-22 | 深圳先进技术研究院 | Camera coordinate transformation method, terminal and storage medium |
-
2022
- 2022-02-09 CN CN202210119765.1A patent/CN114170326B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN114170326A (en) | 2022-03-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11455746B2 (en) | System and methods for extrinsic calibration of cameras and diffractive optical elements | |
| CA2912859C (en) | Apparatus and method for three dimensional surface measurement | |
| US7768527B2 (en) | Hardware-in-the-loop simulation system and method for computer vision | |
| EP3550513B1 (en) | Method of generating panorama views on a mobile mapping system | |
| EP2236980B1 (en) | A method for determining the relative position of a first and a second imaging device and devices therefore | |
| US20200177866A1 (en) | Calibration apparatus, chart for calibration, chart pattern generation apparatus, and calibration method | |
| US20150116691A1 (en) | Indoor surveying apparatus and method | |
| WO2013008804A1 (en) | Measurement device and information processing device | |
| JP7300948B2 (en) | Survey data processing device, survey data processing method, program for survey data processing | |
| JP2017118396A (en) | Program, device and method for calculating internal parameter of depth camera | |
| JP7003594B2 (en) | 3D point cloud display device, 3D point cloud display system, 3D point cloud display method, 3D point cloud display program, recording medium | |
| US20210374978A1 (en) | Capturing environmental scans using anchor objects for registration | |
| EP3916677A1 (en) | Three-dimensional measurement device | |
| US20200286205A1 (en) | Precise 360-degree image producing method and apparatus using actual depth information | |
| US10252417B2 (en) | Information processing apparatus, method of controlling information processing apparatus, and storage medium | |
| JP2007212187A (en) | Stereo photogrammetry system, stereo photogrammetry method, and stereo photogrammetry program | |
| CN104519342A (en) | Image processing method and device | |
| Draréni et al. | Geometric video projector auto-calibration | |
| CN114170326B (en) | Method and device for acquiring origin of camera coordinate system | |
| CN109982074B (en) | Method and device for obtaining inclination angle of TOF module and assembling method | |
| JP4778569B2 (en) | Stereo image processing apparatus, stereo image processing method, and stereo image processing program | |
| CN113052974A (en) | Method and device for reconstructing three-dimensional surface of object | |
| JP2006317418A (en) | Image measuring device, image measurement method, measurement processing program, and recording medium | |
| US11778157B2 (en) | Image capture device and depth information calculation method thereof | |
| Vanherck et al. | Projector-Camera Calibration with Non-overlapping Fields of View Using a Planar Mirror |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |