CN118154698A - Binocular camera calibration matching method, system, equipment and storage medium - Google Patents
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Abstract
The embodiment of the application provides a binocular camera calibration matching method, a binocular camera calibration matching system, binocular camera calibration matching equipment and a storage medium, and relates to the technical field of computer vision. The method comprises the steps of collecting a first image and a second image through a binocular camera, wherein the first image is close-range wide-angle imaging, and the second image is long-range long-focus and long-range wide-angle simultaneous imaging; calibrating wide-angle internal parameters and distortion, length Jiao Nacan and distortion of the binocular camera respectively, correcting corner coordinates of the distorted corner obtained by calibrating length Jiao Nacan and distortion in the second image to obtain external parameters between two cameras of the binocular camera, and calibrating the baseline physical length of the binocular camera according to the wide-angle internal parameters and distortion, length Jiao Nacan and distortion; and obtaining the corresponding relation of frames between two phases of the binocular camera to complete the calibration matching of the binocular camera. The method is relatively simple in calibration mode, does not need to repeatedly take a plurality of pictures, and has high accuracy in calculating calibration parameters such as internal parameters, distortion parameters and the like of the binocular camera.
Description
Technical Field
The application relates to the technical field of computer vision, in particular to a binocular camera calibration matching method, a binocular camera calibration matching system, binocular camera calibration matching equipment and a storage medium.
Background
The binocular camera is an important form of machine vision, and is a method for acquiring three-dimensional geometric information of an object by acquiring two images of the object to be measured from different positions by using imaging equipment based on the parallax principle and calculating the position deviation between corresponding points of the images.
In the image measurement and computer vision application process, in order to accurately establish the corresponding relation between the space three-dimensional point coordinates and the image coordinates and ensure the accuracy of the binocular camera in stereoscopic imaging and the matching of image points of the left camera and the right camera, the camera calibration is required.
However, in the existing binocular camera calibration method, a large number of calibration pictures and a more complex calibration process are required to be shot, the scheme is relatively simpler, only a small number of calibration pictures are required to be shot, the automation degree is high, and the calibration work efficiency of batch cameras can be effectively improved.
Disclosure of Invention
In order to solve one of the technical defects, the embodiment of the application provides a binocular camera calibration matching method, a binocular camera calibration matching system, binocular camera calibration matching equipment and a storage medium.
According to a first aspect of an embodiment of the present application, there is provided a binocular camera calibration matching method, including:
Acquiring a first image and a second image through a binocular camera, wherein the first image is close-range wide-angle imaging, and the second image is long-range long-focus and long-range wide-angle simultaneous imaging;
Calibrating wide-angle internal parameters and distortion of the binocular camera through the first image, calibrating length Jiao Nacan and distortion of the binocular camera through long-distance long-focus imaging in the second image, correcting angular point coordinates of each angular point obtained after calibrating length Jiao Nacan and distortion in the second image to obtain external parameters between two phases of the binocular camera, and calibrating baseline physical length of the binocular camera according to the wide-angle internal parameters and distortion, length Jiao Nacan and distortion;
And obtaining the corresponding relation of frames between two phases of the binocular camera to complete the calibration matching of the binocular camera.
In an alternative embodiment of the present application, the steps of calibrating the wide-angle internal reference and the distortion for the binocular camera through the first image, calibrating the length Jiao Nacan and the distortion for the binocular camera through the long-distance long-focus imaging in the second image, correcting the angular point coordinates after the distortion according to each angular point obtained after calibrating the length Jiao Nacan and the distortion in the second image to obtain the external reference between the two cameras of the binocular camera, and calibrating the baseline physical length for the binocular camera according to the wide-angle internal reference and the distortion, the length Jiao Nacan and the distortion further comprise:
after parameters of the length Jiao Nacan and the distortion are locked, the angular point coordinates are used for obtaining external parameters between two cameras of the binocular camera through OpenCV.
In an alternative embodiment of the present application, the steps of calibrating the wide-angle internal reference and the distortion for the binocular camera through the first image, calibrating the length Jiao Nacan and the distortion for the binocular camera through the long-distance long-focus imaging in the second image, correcting the angular point coordinates after the distortion according to each angular point obtained after calibrating the length Jiao Nacan and the distortion in the second image to obtain the external reference between the two cameras of the binocular camera, and calibrating the baseline physical length for the binocular camera according to the wide-angle internal reference and the distortion, the length Jiao Nacan and the distortion further comprise:
Acquiring a first reference image and a second reference image of a length reference object through a binocular camera, correcting pixel coordinates (p 1,p2) of two end points of the first reference image by using wide-angle internal parameters and distortion, and correcting pixel coordinates (p' 1,p'2) of two end points of the second reference image by using length Jiao Nacan and distortion;
Front intersections of (P 1,p'1) and (P 2,p'2) were performed by OpenCV to obtain P 1 and P 2, respectively, and euclidean distances D of P 1 and P 2 were calculated to further obtain the baseline physical length.
In an optional embodiment of the present application, the step of obtaining a correspondence of frames between two phases of the binocular camera to complete the calibration matching of the binocular camera further includes:
Taking any one of the binocular cameras as a main camera and the other camera as a secondary camera, so that the space coordinate system of the binocular camera takes the optical center of the main camera as an origin;
the three-dimensional coordinates of the corner points of the main camera are obtained, the three-dimensional coordinates of the corner points of the main camera are projected to the secondary camera to obtain a field frame of the main camera at a preset distance, and the field frame corresponds to the secondary camera to complete the calibration matching of the binocular camera.
According to a second aspect of the embodiment of the present application, there is provided a binocular camera calibration and matching system, the system including an original image acquisition module, a binocular camera calibration module, and a binocular camera matching module; wherein,
The original image acquisition module is used for acquiring a first image and a second image through the binocular camera, wherein the first image is close-range wide-angle imaging, and the second image is long-range long-focus and long-range wide-angle simultaneous imaging;
The binocular camera calibration module is used for calibrating wide-angle internal parameters and distortion of the binocular camera through the first image, calibrating length Jiao Nacan and distortion of the binocular camera through long-distance long-focus imaging in the second image, correcting corner coordinates of each corner obtained after the calibration of length Jiao Nacan and distortion in the second image to obtain external parameters between two cameras of the binocular camera, and calibrating the baseline physical length of the binocular camera according to the wide-angle internal parameters and distortion, length Jiao Nacan and distortion;
And the binocular camera matching module is used for obtaining the corresponding relation of frames between two cameras of the binocular camera so as to complete the calibration matching of the binocular camera.
In an alternative embodiment of the present application, the binocular camera calibration module further comprises:
after parameters of the length Jiao Nacan and the distortion are locked, the angular point coordinates are used for obtaining external parameters between two cameras of the binocular camera through OpenCV.
In an alternative embodiment of the present application, the binocular camera calibration module further comprises:
Acquiring a first reference image and a second reference image of a length reference object through a binocular camera, correcting pixel coordinates (p 1,p2) of two end points of the first reference image by using wide-angle internal parameters and distortion, and correcting pixel coordinates (p' 1,p'2) of two end points of the second reference image by using length Jiao Nacan and distortion;
Front intersections of (P 1,p'1) and (P 2,p'2) were performed by OpenCV to obtain P 1 and P 2, respectively, and euclidean distances D of P 1 and P 2 were calculated to further obtain the baseline physical length.
In an alternative embodiment of the present application, the binocular camera matching module further comprises:
Taking any one of the binocular cameras as a main camera and the other camera as a secondary camera, so that the space coordinate system of the binocular camera takes the optical center of the main camera as an origin;
the three-dimensional coordinates of the corner points of the main camera are obtained, the three-dimensional coordinates of the corner points of the main camera are projected to the secondary camera to obtain a field frame of the main camera at a preset distance, and the field frame corresponds to the secondary camera to complete the calibration matching of the binocular camera.
According to a third aspect of an embodiment of the present application, there is provided a computer apparatus including: a memory; a processor; a computer program; wherein the computer program is stored in a memory and configured to be executed by a processor to carry out the steps of the method according to any of the first aspects of the embodiments of the application.
According to a fourth aspect of an embodiment of the present application, there is provided a computer-readable storage medium having a computer program stored thereon; the computer program is executed by a processor to implement the steps of the method according to any one of the first aspects of the embodiments of the present application.
The binocular camera calibration matching method provided by the embodiment of the application has the following beneficial effects:
The binocular camera calibration matching method is relatively simple in calibration mode, repeated shooting of too many pictures is not needed, and the accuracy of calculating calibration parameters such as internal parameters and distortion parameters of the binocular camera is high.
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The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
FIG. 1 is a flow chart of a binocular camera calibration matching method provided by an embodiment of the present application;
FIG. 2 is a schematic diagram of a chessboard according to an embodiment of the present application;
FIG. 3 is a schematic diagram of an image acquisition process according to an embodiment of the present application;
FIG. 4 is a block diagram of a binocular camera calibration matching system provided by an embodiment of the present application;
Fig. 5 is a schematic structural diagram of a computer device according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions and advantages of the embodiments of the present application more apparent, the following detailed description of exemplary embodiments of the present application is provided in conjunction with the accompanying drawings, and it is apparent that the described embodiments are only some embodiments of the present application and not exhaustive of all embodiments. It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other.
Please refer to the steps shown in fig. 1:
s1: the method comprises the steps of collecting a first image and a second image through a binocular camera, wherein the first image is close-range wide-angle imaging, and the second image is long-range long-focus and long-range wide-angle simultaneous imaging.
In a specific implementation, the basis of the embodiment of the present application is a board calibration method, specifically, in this embodiment, as a preferred mode, as shown in fig. 2, a board needs to be left with white edges, the sum of the number of columns and the number of rows needs to be an odd number, and neither the number of columns nor the number of rows can be less than 8. Further, preferably, the chessboard is as large as possible, but does not exceed the photographing range.
In the present embodiment, the image sharpening and compression are preferably turned off for the camera, and the image is saved in PNG format. Optionally, the aperture diameter is reduced, the exposure time is prolonged, and the brightness of the chessboard is ensured.
In a specific implementation, as shown in fig. 3, two groups of photographs are taken, and the first group, i.e. the first image, is close-range and only wide-angle, preferably 8 photographs are taken; the second group, namely the second image, is long-distance and long-focus wide-angle simultaneous shooting, and each machine position is imaged simultaneously, preferably 8 images are shot for each machine position, and 16 images are shot for each machine position.
Please continue to refer to fig. 1:
S2: calibrating wide-angle internal parameters and distortion of the binocular camera through the first image, calibrating length Jiao Nacan and distortion of the binocular camera through long-distance long-focus imaging in the second image, correcting angular point coordinates of the distorted angular points obtained after calibrating length Jiao Nacan and distortion in the second image to obtain external parameters between two phases of the binocular camera, and calibrating baseline physical length of the binocular camera according to the wide-angle internal parameters and distortion, length Jiao Nacan and distortion.
In some embodiments of the application, after locking the parameters of length Jiao Nacan and distortion, the corner coordinates are passed through OpenCV to obtain the outliers between the two cameras of the binocular camera.
In particular implementations, the first set of photographs is used only to calibrate wide angle internal parameters and aberrations, and the second set of photographs is used only to calibrate tele internal parameters and aberrations.
In the implementation, after the wide angle and the long focus are calibrated respectively, internal parameters and distortion of the two cameras and angular point coordinates after correction of the distortion of each angular point in each image can be obtained, and optionally, the angular point coordinates after correction of the distortion can be corrected by using cv: undistortPoints in OpenCV. Further, it is preferable that the corrected corner points be drawn into the viewing effect by drawCorners after the picture is corrected by using cv: undistort in Op enCV.
In the implementation, the corrected corner coordinates in the second group of photos are all sent to cv:: stereoCalibrate in OpenCV to obtain external parameters between the two cameras. In particular, locking of internal and distortion parameters is required.
Further, in some embodiments of the present application, a first reference image and a second reference image of a length reference are acquired by a binocular camera, pixel coordinates (p 1,p2) of both end points of the first reference image are corrected using wide-angle internal reference and distortion, and pixel coordinates (p' 1,p'2) of both end points of the second reference image are corrected using long Jiao Nacan and distortion;
Front intersections of (P 1,p'1) and (P 2,p'2) were performed by OpenCV to obtain P 1 and P 2, respectively, and euclidean distances D of P 1 and P 2 were calculated to further obtain the baseline physical length.
In the embodiment, an object with a known length is taken as a length reference object, optionally, in this embodiment, a metric ruler is taken as an example, and two cameras are used for imaging the metric ruler simultaneously in units of cm:
pixel coordinates of two endpoints of the metric ruler are found on the two images respectively: (p 1,p2) and (p' 1,p'2);
The correction of (p 1,p2) and (p' 1,p'2) is performed by cv: undistortPpoints in OpenCV with internal and distortion parameters of the two phases, respectively;
Forward crossing of (P 1,p'1) and (P 2,p'2) with cv: triangulate in OpenCV, respectively, to give P 1 and P 2;
Calculating Euclidean distance between P 1 and P 2, wherein the Euclidean distance is the distance corresponding to 100cm in the camera space, and the distance is marked as D; bd=100/D, BD is the camera baseline distance.
Please continue to refer to fig. 1:
S3: and obtaining the corresponding relation of frames between two phases of the binocular camera to complete the calibration matching of the binocular camera.
In some embodiments of the present application, any one of the binocular cameras is used as a primary camera, and the other camera is used as a secondary camera, so that the spatial coordinate system of the binocular camera is used as an origin with the optical center of the primary camera;
the three-dimensional coordinates of the corner points of the main camera are obtained, the three-dimensional coordinates of the corner points of the main camera are projected to the secondary camera to obtain a field frame of the main camera at a preset distance, and the field frame corresponds to the secondary camera to complete the calibration matching of the binocular camera.
In the present embodiment, a description will be given of an example in which a tele is taken as a main camera and a wide angle is taken as a sub-camera, that is, a dual-purpose space coordinate system is established with a tele optical center as an origin and a tele phase plane as an XY plane.
Let the distance of the known object be d, the length Jiao Nacan matrix (K) be constructed as:
Wherein fx and fy are focal length parameters, cx and cy are coordinates of the origin of the image plane;
The four corner points of the tele camera are p 1(0,0)、p2(W,0)、p3(W,H)、p4 (0, H);
multiplying the four points by an inverse matrix to obtain p' 1、p'2、p'3、p'4; alternatively, the values can be obtained by manually subtracting cx and cy and dividing them by fx and fy;
The four points are multiplied by d/f respectively to obtain 4 two-dimensional coordinates of P 1、P2、P3、P4, and d is added at the tail end of the two-dimensional coordinates to obtain three-dimensional coordinates of the four points;
Using cv:: projectPoints in OpenCV to project these four points to the wide-angle camera, the field of view frame of the tele camera at distance d is obtained and corresponds to the range in the wide-angle camera.
It should be understood that, although the steps in the flowchart are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the figures may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor does the order in which the sub-steps or stages are performed necessarily performed in sequence, but may be performed alternately or alternately with at least a portion of other steps or other steps.
Referring to fig. 4, an embodiment of the present application provides a binocular camera calibration and matching system, which includes an original image acquisition module 10, a binocular camera calibration module 20, and a binocular camera matching module 30; wherein,
The original image acquisition module 10 is configured to acquire a first image and a second image through the binocular camera, where the first image is close-range wide-angle imaging, and the second image is long-range long-focus and long-range wide-angle simultaneous imaging;
The binocular camera calibration module 20 is configured to calibrate a wide-angle internal reference and distortion of the binocular camera through the first image, calibrate a length Jiao Nacan and distortion of the binocular camera through long-distance long-focus imaging in the second image, correct corner coordinates after distortion according to each corner obtained after calibrating a length Jiao Nacan and distortion in the second image, obtain an external reference between two cameras of the binocular camera, and calibrate a baseline physical length of the binocular camera according to the wide-angle internal reference and distortion, a length Jiao Nacan and distortion;
the binocular camera matching module 30 is configured to obtain a correspondence of frames between two cameras of the binocular camera to complete calibration matching of the binocular camera.
The specific limitation of the binocular camera calibration and matching system may be referred to as limitation of the binocular camera calibration and matching method, and will not be described herein. The modules in the binocular camera calibration matching system may be implemented in whole or in part by software, hardware, and combinations thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, a computer device is provided, the internal structure of which may be as shown in FIG. 5. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database of the computer device is for storing data. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a binocular camera calibration matching method as described above. Comprising the following steps: the system comprises a memory and a processor, wherein the memory stores a computer program, and the processor realizes any step in the binocular camera calibration matching method when executing the computer program.
In one embodiment, a computer readable storage medium is provided having a computer program stored thereon, which when executed by a processor, can implement any of the steps of the binocular camera calibration matching method above.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein. The scheme in the embodiment of the application can be realized by adopting various computer languages, such as C language, VHDL language, verilog language, object-oriented programming language Java, an transliteration script language JavaScript and the like.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the application.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present application without departing from the spirit or scope of the application. Thus, it is intended that the present application also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (10)
1. A binocular camera calibration matching method, comprising:
Acquiring a first image and a second image through a binocular camera, wherein the first image is a short-range wide-angle image, and the second image is a long-range long-focus and long-range wide-angle image;
calibrating wide-angle internal parameters and distortion of the binocular camera through the first image, calibrating long Jiao Nacan and distortion of the binocular camera through long-distance long-focus imaging in the second image, correcting angular point coordinates of each angular point obtained after calibrating the long Jiao Nacan and the distortion in the second image, obtaining external parameters between two cameras of the binocular camera, and calibrating baseline physical length of the binocular camera according to the wide-angle internal parameters and the distortion, the long Jiao Nacan and the distortion;
And obtaining the corresponding relation of frames between two cameras of the binocular camera to finish the calibration matching of the binocular camera.
2. The method according to claim 1, wherein the steps of calibrating the wide-angle reference and distortion for the binocular camera by the first image, calibrating the length Jiao Nacan and distortion for the binocular camera by the long-distance tele-focal image in the second image, correcting the distorted corner coordinates according to the corner obtained after calibrating the length Jiao Nacan and distortion in the second image, obtaining the external reference between the two cameras of the binocular camera, and calibrating the baseline physical length for the binocular camera according to the wide-angle reference and distortion, the length Jiao Nacan and distortion further include:
And after the parameters of the length Jiao Nacan and the distortion are locked, obtaining the external parameters between two phases of the binocular camera through OpenCV by using the angular point coordinates.
3. The method according to claim 2, wherein the steps of calibrating the wide-angle reference and distortion for the binocular camera by the first image, calibrating the length Jiao Nacan and distortion for the binocular camera by the long-distance tele-focal image in the second image, correcting the distorted corner coordinates according to the corner obtained after calibrating the length Jiao Nacan and distortion in the second image, obtaining the external reference between the two cameras of the binocular camera, and calibrating the baseline physical length for the binocular camera according to the wide-angle reference and distortion, the length Jiao Nacan and distortion further include:
Acquiring a first reference image and a second reference image of a length reference object by the binocular camera, correcting pixel coordinates (p 1,p2) of two end points of the first reference image by using the wide-angle internal reference and distortion, and correcting pixel coordinates (p' 1,p'2) of two end points of the second reference image by using the length Jiao Nacan and distortion;
Front intersections of (P 1,p'1) and (P 2,p'2) are performed by OpenCV to obtain P 1 and P 2, and euclidean distances D of P 1 and P 2 are calculated to further obtain the baseline physical length.
4. A binocular camera calibration matching method according to claim 3, wherein the step of obtaining the correspondence of frames between two cameras of the binocular camera to complete the calibration matching of the binocular camera further comprises:
Taking any one of the binocular cameras as a main camera and the other camera as a secondary camera, so that a space coordinate system of the binocular camera takes an optical center of the main camera as an origin;
the three-dimensional coordinates of the corner points of the main camera are obtained, the three-dimensional coordinates of the corner points of the main camera are projected to the secondary camera to obtain a visual field frame of the main camera at a preset distance, and the visual field frame corresponds to the secondary camera to complete the calibration matching of the binocular camera.
5. The binocular camera calibration matching system is characterized by comprising an original image acquisition module, a binocular camera calibration module and a binocular camera matching module; wherein,
The original image acquisition module is used for acquiring a first image and a second image through the binocular camera, wherein the first image is close-range wide-angle imaging, and the second image is long-range long-focus and long-range wide-angle simultaneous imaging;
The binocular camera calibration module is used for calibrating wide-angle internal parameters and distortion of the binocular camera through the first image, calibrating length Jiao Nacan and distortion of the binocular camera through long-distance tele imaging in the second image, correcting angular point coordinates of each angular point obtained after calibrating the length Jiao Nacan and the distortion in the second image to obtain external parameters between two phases of the binocular camera, and calibrating the baseline physical length of the binocular camera according to the wide-angle internal parameters and the distortion, the length Jiao Nacan and the distortion;
And the binocular camera matching module is used for obtaining the corresponding relation of frames between two cameras of the binocular camera so as to finish the calibration matching of the binocular camera.
6. The binocular camera calibration matching system of claim 5, wherein said binocular camera calibration module further comprises:
And after the parameters of the length Jiao Nacan and the distortion are locked, obtaining the external parameters between two phases of the binocular camera through OpenCV by using the angular point coordinates.
7. The binocular camera calibration matching system of claim 6, wherein said binocular camera calibration module further comprises:
Acquiring a first reference image and a second reference image of a length reference object by the binocular camera, correcting pixel coordinates (p 1,p2) of two end points of the first reference image by using the wide-angle internal reference and distortion, and correcting pixel coordinates (p' 1,p'2) of two end points of the second reference image by using the length Jiao Nacan and distortion;
Front intersections of (P 1,p'1) and (P 2,p'2) are performed by OpenCV to obtain P 1 and P 2, and euclidean distances D of P 1 and P 2 are calculated to further obtain the baseline physical length.
8. The binocular camera calibration and matching system of claim 7, wherein said binocular camera matching module further comprises:
Taking any one of the binocular cameras as a main camera and the other camera as a secondary camera, so that a space coordinate system of the binocular camera takes an optical center of the main camera as an origin;
the three-dimensional coordinates of the corner points of the main camera are obtained, the three-dimensional coordinates of the corner points of the main camera are projected to the secondary camera to obtain a visual field frame of the main camera at a preset distance, and the visual field frame corresponds to the secondary camera to complete the calibration matching of the binocular camera.
9. A computer device, comprising:
a memory;
A processor; and
A computer program;
Wherein the computer program is stored in the memory and configured to be executed by the processor to implement the method of any of claims 1-4.
10. A computer-readable storage medium, characterized in that a computer program is stored thereon; the computer program being executed by a processor to implement the method of any of claims 1-4.
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