CN117850152B - Method for accurately adjusting optical axis center of camera - Google Patents
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- CN117850152B CN117850152B CN202410246022.XA CN202410246022A CN117850152B CN 117850152 B CN117850152 B CN 117850152B CN 202410246022 A CN202410246022 A CN 202410246022A CN 117850152 B CN117850152 B CN 117850152B
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Abstract
The invention discloses a method for accurately adjusting the center of an optical axis of a camera, which belongs to the technical field of optical equipment calibration and comprises the following steps: the wire harness is connected with the camera and the control box, and the camera is fixed at a position aligned with the center of the calibration plate; the control box controls the camera to take pictures; calculating the central position range of the calibration plate; the calibration plate adopts a red cross pattern with white ground color and red center position, and according to red RGB values, the x-axis direction coordinate interval range and y-axis direction coordinate interval range of all red pixels are quickly found on the acquired image, namely the region of interest; corner detection: identifying angular point coordinates (x, y) of a target in the image in the region of interest through a Harris algorithm; calculating an offset; correcting the image offset. The invention solves the problem that the center coordinate of the photosensitive chip deviates from the actual center, and greatly improves the correction speed by optimizing the center searching range of the target calibration plate.
Description
Technical Field
The invention belongs to the technical field of optical equipment calibration, and particularly relates to a method for accurately adjusting the center of an optical axis of a camera.
Background
Photographic technology is continually being developed and innovated, and the performance requirements for lenses are becoming increasingly stringent. Especially in the key link of focusing, both professional photographers and ordinary photographers want to obtain faster and more accurate focusing effects. This is not only to meet the need for fast capture moments, but also to obtain clearer, sharper pictures.
However, the conventional lens focusing method mainly relies on mechanical adjustment, thereby achieving focusing at the center of the optical axis. In the production process, due to the influence of various factors, such as manufacturing errors, assembly errors and the like, a certain deviation exists in the center coordinates of the photosensitive chip, and the deviation is usually between +/-2 and 3 pixel points. While this deviation may not be noticeable in many cases, on high resolution, high pixel photographic devices, it can significantly affect the imaging quality of the lens.
More troublesome, the traditional correction method is slow, and the requirements of modern photography on rapidness and real time cannot be met. Therefore, how to improve the focusing accuracy and speed of the lens is a problem to be solved in the development process of the photographic technology.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a method for accurately adjusting the center of the optical axis of a camera, which has the advantages of improving the focusing precision and speed of a lens and solves the problems in the prior art.
The invention is realized in such a way that a method for accurately adjusting the center of the optical axis of a camera comprises the following steps:
step S1, a camera is fixed at a position aligned with the center of a calibration plate by a wire harness connected with the camera and a control box;
step S2, the control box controls the camera to take pictures;
s3, calculating the central position range of the calibration plate;
The calibration plate adopts a red cross pattern with white ground color and red center position, and according to red RGB values, the x-axis direction coordinate interval range and y-axis direction coordinate interval range of all red pixels are quickly found on the acquired image, namely the region of interest;
Step S4, corner detection: identifying angular point coordinates (x, y) of a target in the image in the region of interest through a Harris algorithm;
Step S5, calculating the offset: comparing the angular point coordinates (x, y) calculated by the algorithm with the original image center coordinates obtained by mechanical focusing, setting the original image center coordinate values as (x ', y'), and generating image offset vector information P (x, y) through calculation, wherein P (x, y) = (x '-x, y' -y);
Step S6, correcting image offset: and setting a horizontal sampling starting point and a vertical sampling starting point of the photosensitive chip according to the offset P (x, y) through an I 2 C bus, so as to accurately align the center of the optical axis.
As a preferred aspect of the present invention, the following camera optical axis adjustment apparatus is used to accurately adjust the camera optical axis center:
The camera optical axis adjusting device comprises a base frame, a target identification plate, a positioning jig and a control box;
the foundation framework comprises a fixed table, a base and a bracket, wherein the base is fixedly connected to the fixed table, and the bracket is fixedly connected to the upper side of the base;
the target recognition plate is fixedly connected to the base, and a cross mark is arranged on the upper surface of the target recognition plate;
The positioning jig is fixedly connected to the upper end of the support, the positioning jig is positioned above the target recognition plate, the positioning jig is provided with a shooting channel, at least part of the shooting channel is aligned with the cross mark, and the positioning jig is used for fixing the camera to enable the camera to shoot vertically downwards;
The control box is connected to the camera to be adjusted through the wire harness, and offset parameters of the camera are adjusted through the control box.
As the preferable one of the invention, the positioning jig comprises a top plate, the top plate is fixedly connected with the upper end of the bracket, one side of the top plate is fixedly connected with a first bearing plate, the lower side of the first bearing plate is fixedly connected with a first motor, the output end of the first motor is fixedly connected with a rotating shaft, the rotating shaft is rotatably connected with the first bearing plate through a bearing, the upper end of the rotating shaft is fixedly connected with a rotating disc, and the lower side of the rotating disc is annularly and equidistantly fixedly connected with a plurality of connecting pieces.
As the preferable mode of the invention, a first arc-shaped plate and a second arc-shaped plate are fixedly connected to the top plate, the first arc-shaped plate and the second arc-shaped plate are both arranged concentrically with the turntable, and the first arc-shaped plate and the second arc-shaped plate are respectively positioned at two sides of the shooting channel.
As preferable, a first air bag is fixedly connected to one side of the first arc-shaped plate, which is close to the shooting channel;
A second air bag is fixedly connected to one side, close to the shooting channel, of the second arc-shaped plate;
the first air bag and the second air bag are arc-shaped air bags.
As preferable, the top plate is provided with a slideway;
the first arc-shaped plate is fixedly connected with a first sliding block, the second arc-shaped plate is fixedly connected with a second sliding block, and the first sliding block and the second sliding block are connected to the slideway in a sliding way;
the lower side fixedly connected with first rack of first slider, the downside fixedly connected with second rack of second slider, first rack with the second rack is connected in same gear, the gear connection has the driving piece.
As preferable, the first sliding block and/or the second sliding block is/are fixedly connected with a second bearing plate, and a hairbrush is arranged on the upper side of the second bearing plate;
the second bearing plate is internally provided with a dust collection pipeline, dust collection holes are communicated with the dust collection pipeline, and the dust collection holes and the brushes are alternately arranged.
In the invention, preferably, a gas jet pipe is communicated below the side part of the first air bag and/or the second air bag, and a gas jet hole of the gas jet pipe faces the slideway.
The jet pipe jet can remove dust to the lens of camera to blow the slide department with the dust, carry out the dust absorption through dust absorption pipeline, prevent that the dust from adhering to other lenses.
Compared with the prior art, the invention has the following beneficial effects:
1. The invention solves the problem that the center coordinate of the photosensitive chip deviates from the actual center, and greatly improves the correction speed by optimizing the center searching range of the target calibration plate; the offset of the actual center coordinate and the original center coordinate (namely the center coordinate of the photosensitive chip) is calculated by visually identifying the center of the cross of the calibration plate, so that the lens with deviation is corrected at high precision and high speed.
2. The invention designs the cross-shaped icon at the center by adopting the target board with white base color, and the purpose of the invention is that the cross-shaped icon in the white base calibration board has extremely high identification degree and can be regarded as a plurality of strong differential points, and the possibility of the strong differential points at certain edges is higher, so that the points can be regarded as unique and can be tracked, and the problem of low identification degree of the center of the optical axis is solved. The invention also realizes correction of the lens with deviation by identifying the cross (namely the actual center position) in the calibration plate and calculating the offset of the actual center coordinate and the original center coordinate (namely the center coordinate of the photosensitive chip).
Drawings
Fig. 1 is a focus diagram before adjustment of a method for precisely adjusting the center of the optical axis of a camera according to embodiment 1 of the present invention;
FIG. 2 is an adjusted focus chart of the method for precisely adjusting the center of the optical axis of the camera according to embodiment 1 of the present invention;
Fig. 3 is a schematic perspective view of a camera optical axis adjustment device according to embodiment 2 of the present invention;
Fig. 4 is a schematic perspective view of a first view angle of a camera optical axis adjustment device according to embodiment 3 of the present invention;
FIG. 5 is an enlarged schematic view of the portion A of FIG. 4 in accordance with the present invention;
FIG. 6 is an enlarged schematic view of the portion B of FIG. 5 in accordance with the present invention;
fig. 7 is a schematic perspective view of a second view angle of the camera optical axis adjustment device according to embodiment 3 of the present invention;
FIG. 8 is an enlarged schematic view of the portion C of FIG. 7 in accordance with the present invention;
fig. 9 is an enlarged schematic view of the portion D of fig. 7 according to the present invention.
In the figure:
1. A base frame; 2. a target recognition plate; 3. positioning jig; 4. a control box; 5. a shooting channel;
101. a fixed table; 102. a base; 103. a bracket;
301. A top plate; 302. a first bearing plate; 303. a first motor; 304. a rotating shaft; 305. a turntable; 306. a connecting piece;
6. A first arcuate plate; 7. a second arcuate plate; 8. a first air bag; 9. a second air bag; 10. a slideway; 11. a first slider; 12. a second slider; 13. a first rack; 14. a second rack; 15. a gear; 16. a second bearing plate; 17. a brush; 18. a dust collection pipeline; 19. dust collection holes; 20. and (3) an air ejector tube.
Detailed Description
For a further understanding of the invention, its features and advantages, reference is now made to the following examples, which are illustrated in the accompanying drawings.
The structure of the present invention will be described in detail with reference to the accompanying drawings.
Referring to fig. 1 and 2, the method for precisely adjusting the center of the optical axis of the camera according to the embodiment of the invention includes the following steps:
step S1, a camera is fixed at a position aligned with the center of a calibration plate by a wire harness connected with the camera and a control box;
step S2, the control box controls the camera to take pictures;
s3, calculating the central position range of the calibration plate;
The calibration plate adopts a red cross pattern with white ground color and red center position, and as the color is visual and simple in the image recognition process, the x-axis direction coordinate interval range and the y-axis direction coordinate interval range of all red pixels, namely the region of interest, can be quickly found on the collected image according to red RGB values, so that detection and recognition can be carried out on the whole calibration plate in the corner detection process, but can be carried out in the region of interest, thereby greatly reducing the time complexity and greatly improving the detection efficiency;
Step S4, corner detection: identifying angular point coordinates (x, y) of a target in the image in the region of interest through a Harris algorithm; the coordinates of this point are the cross point positions.
Step S5, calculating the offset: comparing the angular point coordinates (x, y) calculated by the algorithm with the original image center coordinates obtained by mechanical focusing, setting the original image center coordinate values as (x ', y'), and generating image offset vector information P (x, y) through calculation, wherein P (x, y) = (x '-x, y' -y);
Step S6, correcting image offset: through the I 2 C bus, according to the offset P (x, y), setting a horizontal sampling starting point (register HSTART) and a vertical sampling starting point (register YSTART) of the photosensitive chip, so as to precisely align the center of the optical axis.
The invention solves the problem that the center coordinate of the photosensitive chip deviates from the actual center, and greatly improves the correction speed by optimizing the center searching range of the target calibration plate; the offset of the actual center coordinate and the original center coordinate (namely the center coordinate of the photosensitive chip) is calculated by visually identifying the center of the cross of the calibration plate, so that the lens with deviation is corrected at high precision and high speed.
The invention designs the cross-shaped icon at the center by adopting the target board with white base color, and the purpose of the invention is that the cross-shaped icon in the white base calibration board has extremely high identification degree and can be regarded as a plurality of strong differential points, and the possibility of the strong differential points at certain edges is higher, so that the points can be regarded as unique and can be tracked, and the problem of low identification degree of the center of the optical axis is solved. The invention also realizes correction of the lens with deviation by identifying the cross (namely the actual center position) in the calibration plate and calculating the offset of the actual center coordinate and the original center coordinate (namely the center coordinate of the photosensitive chip).
The small cross is marked as the marked image center, and the large cross is marked as the identified target center. It can be seen that the center deviation of fig. 1 is very obvious, and the average pixel deviation is ±14 pixels by actually measuring 50 groups of camera products. The image after algorithm optimization and equipment adjustment is shown in fig. 2, the labeling center and the identification center of the image are coincident, the optical axis deviation is smaller than +/-1 pixel, and the method completes high-precision correction of the optical axis center of the camera.
The pre-optimization time and the post-optimization time are calculated for the single image algorithm optimization part respectively, and are shown in the following table:
| Image size | 640480 | 1719980 |
| Calculating time for center range | 16ms | 38ms |
| Time required for calculating corner point before optimization | 206ms | 484ms |
| Time required for calculating corner points after optimization | 52ms | 86ms |
Visible 640The time used for 480 images after optimization is greatly improved, and the time used for an algorithm after optimization is only 23.86% of the time before optimization; 1719/>The time taken after 980 image optimization was only 17.83% of the time before optimization.
Referring to fig. 3, the following camera optical axis adjustment apparatus is used to precisely adjust the camera optical axis center:
The camera optical axis adjusting device comprises a base frame 1, a target identification plate 2, a positioning jig 3 and a control box 4;
the foundation frame 1 comprises a fixed table 101, a base 102 and a support 103, wherein the base 102 is fixedly connected to the fixed table 101, and the support 103 is fixedly connected to the upper side of the base 102;
The target recognition plate 2 is fixedly connected to the base 102, and a cross mark is arranged on the upper surface of the target recognition plate 2;
The positioning jig 3 is fixedly connected to the upper end of the support 103, the positioning jig 3 is located above the target recognition plate 2, the positioning jig 3 is provided with a shooting channel 5, the shooting channel 5 is at least partially aligned with the cross mark, and the positioning jig 3 is used for fixing a camera to enable the camera to vertically shoot downwards;
The control box 4 is connected to the camera to be adjusted through a wire harness, and offset parameters of the camera are adjusted through the control box 4.
Unlike example 2, the following devices were added on the basis of example 2:
Referring to fig. 4-9, the positioning fixture 3 includes a top plate 301, the top plate 301 is fixedly connected to the upper end of the support 103, one side of the top plate 301 is fixedly connected with a first bearing plate 302, a lower side of the first bearing plate 302 is fixedly connected with a first motor 303, an output end of the first motor 303 is fixedly connected with a rotating shaft 304, the rotating shaft 304 is rotatably connected to the first bearing plate 302 through a bearing, an upper end of the rotating shaft 304 is fixedly connected with a turntable 305, and a plurality of connecting pieces 306 are fixedly connected to the lower side of the turntable 305 in an annular equidistant manner.
In use, the camera to be calibrated may be connected to the connector 306, and then the turntable 305 is rotated to align the camera with the calibration port, and calibration may be performed.
In correcting distortion of a camera, it is generally necessary to connect the camera to a camera or a computer. This is because distortion correction involves image acquisition and processing, requiring acquisition of image data output by the camera for subsequent computation and correction.
The camera is connected to the camera or computer by a suitable interface such as USB, HDMI, network, etc. Thus, video stream or image data of the camera can be obtained in real time, and distortion correction processing is carried out on the video stream or the image data.
After connecting the camera to the camera or computer, the corresponding software or algorithm may be used for distortion correction. These software or algorithms analyze and calculate distortion parameters of the lens using the image data provided by the camera and apply these parameters to correct for distortions in the image.
It should be noted that before the correction of the camera distortion, it is ensured that the connection of the camera to the camera or computer is correctly stable and that the corresponding software or algorithm is ready for the correction operation. Thus, distortion correction can be smoothly performed and corrected images can be obtained.
The connector 306 may be configured as a threaded interface, typically a standard 1/4 inch or 3/8 inch threaded bore, to which the camera may be connected, thereby completing the camera connection. The connecting member 306 may be provided as a clamping groove, a clamping block or a clamping member, so long as the camera can be firmly fixed, which is not limited herein.
Referring to fig. 4 and 5, a first arc plate 6 and a second arc plate 7 are fixedly connected to the top plate 301, the first arc plate 6 and the second arc plate 7 are both concentric with the turntable 305, and the first arc plate 6 and the second arc plate 7 are respectively located at two sides of the photographing channel 5. Through this setting, two arc can carry out spacingly to the camera, prevent the slope.
Referring to fig. 4 and 5, a first airbag 8 is fixedly connected to a side of the first arc-shaped plate 6, which is close to the photographing channel 5, and a second airbag 9 is fixedly connected to a side of the second arc-shaped plate 7, which is close to the photographing channel 5, and both the first airbag 8 and the second airbag 9 are arc-shaped airbags.
When the camera is close to the shooting channel 5, the first air bag 8 and the second air bag 9 can be extruded, on the one hand, friction between the camera and the first arc-shaped plate 6 and between the camera and the second arc-shaped plate 7 can be prevented, and a protection effect is achieved on the camera. On the other hand, the damping effect is achieved, and damping can be performed to a certain extent.
The first air bag 8 and the second air bag 9 are respectively adjusted by two air pumps, so that the gas amounts of the first air bag 8 and the second air bag 9 can be respectively adjusted.
Referring to fig. 5 and 9, a slide way 10 is provided on the top plate 301, the first arc plate 6 is fixedly connected with a first slide block 11, the second arc plate 7 is fixedly connected with a second slide block 12, the first slide block 11 and the second slide block 12 are slidably connected with the slide way 10, a first rack 13 is fixedly connected with the lower side of the first slide block 11, a second rack 14 is fixedly connected with the lower side of the second slide block 12, the first rack 13 and the second rack 14 are connected with the same gear 15, and the gear 15 is connected with a driving member.
The driving piece can be set to the second motor, can rotate the gear 15 through the driving piece, and then can stir the reverse equidistance of first rack 13 and second rack 14 and remove, and then drive first arc and second annular plate through first slider 11 and second slider 12 and be close to or keep away from each other, through this setting, can be applicable to the camera of different diameters.
Referring to fig. 5 and 6, a second bearing plate 16 is fixedly connected to the first slider 11 and/or the second slider 12, and a brush 17 is disposed on the upper side of the second bearing plate 16; the second bearing plate 16 is internally provided with a dust collection pipeline 18, the dust collection pipeline 18 is communicated with dust collection holes 19, and the dust collection holes 19 and the hairbrushes 17 are alternately arranged.
Through this setting, between waiting the camera of adjusting and shooting passageway 5 alignment, the camera is earlier through brush 17, and the lens of camera can be removed dust to brush 17 to be convenient for follow-up more accurate adjustment camera optical axis center.
Referring to fig. 3, when moving, the camera can be blown to clean;
the lower part of the side part of the first air bag 8 and/or the second air bag 9 is communicated with an air jet pipe 20, and air jet holes of the air jet pipe 20 face the slideway 10.
The air jet pipe 20 jets air to remove dust from the lens of the camera and blow the dust to the slide 10, and the dust is sucked through the dust suction pipe 18 to prevent the dust from adhering to other lenses.
The working principle of the invention is as follows:
in use, the camera to be calibrated may be connected to the connector 306 and then the turntable 305 rotated to align the camera with the calibration port for calibration.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. The method for precisely adjusting the center of the optical axis of the camera is characterized by comprising the following steps of:
step S1, a camera is fixed at a position aligned with the center of a calibration plate by a wire harness connected with the camera and a control box;
step S2, the control box controls the camera to take pictures;
s3, calculating the central position range of the calibration plate;
The calibration plate adopts a red cross pattern with white ground color and red center position, and according to red RGB values, the x-axis direction coordinate interval range and y-axis direction coordinate interval range of all red pixels are quickly found on the acquired image, namely the region of interest;
Step S4, corner detection: identifying angular point coordinates (x, y) of a target in the image in the region of interest through a Harris algorithm;
Step S5, calculating the offset: comparing the angular point coordinates (x, y) calculated by the algorithm with the original image center coordinates obtained by mechanical focusing, setting the original image center coordinate values as (x ', y'), and generating image offset vector information P (x, y) through calculation, wherein P (x, y) = (x '-x, y' -y);
Step S6, correcting image offset: setting a horizontal sampling starting point and a vertical sampling starting point of the photosensitive chip according to the offset P (x, y) through an I 2 C bus, so as to accurately align the center of the optical axis;
the following camera optical axis adjusting device is used for accurately adjusting the center of the camera optical axis:
The camera optical axis adjusting device comprises a base frame (1), a target recognition plate (2), a positioning jig (3) and a control box (4);
the foundation framework (1) comprises a fixed table (101), a base (102) and a support (103), wherein the base (102) is fixedly connected to the fixed table (101), and the support (103) is fixedly connected to the upper side of the base (102);
the target recognition plate (2) is fixedly connected to the base (102), and a cross mark is arranged on the upper surface of the target recognition plate (2);
The positioning jig (3) is fixedly connected to the upper end of the support (103), the positioning jig (3) is located above the target recognition plate (2), the positioning jig (3) is provided with a shooting channel (5), the shooting channel (5) is at least partially aligned with the cross mark, and the positioning jig (3) is used for fixing a camera to enable the camera to vertically shoot downwards;
The control box (4) is connected to the camera to be adjusted through a wire harness, and offset parameters of the camera are adjusted through the control box (4).
2. A method for precisely adjusting the center of an optical axis of a camera as set forth in claim 1, wherein:
The positioning jig (3) comprises a top plate (301), the top plate (301) is fixedly connected with the upper end of the support (103), one side of the top plate (301) is fixedly connected with a first bearing plate (302), the lower side of the first bearing plate (302) is fixedly connected with a first motor (303), the output end of the first motor (303) is fixedly connected with a rotating shaft (304), the rotating shaft (304) is rotatably connected with the first bearing plate (302) through a bearing, the upper end of the rotating shaft (304) is fixedly connected with a rotary table (305), and a plurality of connecting pieces (306) are fixedly connected to the lower side of the rotary table (305) in an annular equidistant mode.
3. A method for precisely adjusting the center of the optical axis of a camera as set forth in claim 2, wherein:
Fixedly connected with first arc (6) and second arc (7) on roof (301), first arc (6) with second arc (7) all with carousel (305) set up with one heart, just first arc (6) with second arc (7) are located respectively the both sides of shooting passageway (5).
4. A method of precisely adjusting the center of the optical axis of a camera as set forth in claim 3, wherein:
A first air bag (8) is fixedly connected to one side, close to the shooting channel (5), of the first arc-shaped plate (6);
a second air bag (9) is fixedly connected to one side, close to the shooting channel (5), of the second arc-shaped plate (7);
The first air bag (8) and the second air bag (9) are arc-shaped air bags.
5. The method for precisely adjusting the center of the optical axis of the camera according to claim 4, wherein:
A slideway (10) is arranged on the top plate (301);
The first arc-shaped plate (6) is fixedly connected with a first sliding block (11), the second arc-shaped plate (7) is fixedly connected with a second sliding block (12), and the first sliding block (11) and the second sliding block (12) are slidably connected with the slideway (10);
The lower side fixedly connected with first rack (13) of first slider (11), the downside fixedly connected with second rack (14) of second slider (12), first rack (13) with second rack (14) are connected in same gear (15), gear (15) are connected with the driving piece.
6. The method for precisely adjusting the center of the optical axis of the camera according to claim 5, wherein:
A second bearing plate (16) is fixedly connected to the first sliding block (11) and/or the second sliding block (12), and a hairbrush (17) is arranged on the upper side of the second bearing plate (16);
The second bearing plate (16) is internally provided with a dust collection pipeline (18), the dust collection pipeline (18) is communicated with dust collection holes (19), and the dust collection holes (19) and the brushes (17) are alternately arranged.
7. The method for precisely adjusting the center of the optical axis of the camera according to claim 5, wherein:
The lower side of the side part of the first air bag (8) and/or the second air bag (9) is/are communicated with an air jet pipe (20), and air jet holes of the air jet pipe (20) face the slideway (10).
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