CN209168191U - A kind of caliberating device - Google Patents
A kind of caliberating device Download PDFInfo
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- CN209168191U CN209168191U CN201822263489.8U CN201822263489U CN209168191U CN 209168191 U CN209168191 U CN 209168191U CN 201822263489 U CN201822263489 U CN 201822263489U CN 209168191 U CN209168191 U CN 209168191U
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- scaling board
- triangle
- coding
- caliberating device
- triangle pattern
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Abstract
The utility model relates to a kind of caliberating devices, including scaling board, the upper surface of the scaling board is equipped with the staggered triangle pattern of multiple black and white, the triangle pattern different from three is connected respectively on three sides of one triangle pattern, and two connected triangle patterns have and only a line is overlapped, coding is equipped in the triangle pattern of part, the coding is different, and the color of the triangle pattern of the color of the coding where from the coding is different.The technical solution of the utility model does not need to shoot entire scaling board or must take scaling board center, even if only taking the part of scaling board, the calibration to camera also may be implemented.
Description
Technical field
The utility model relates to camera calibration technical field more particularly to a kind of caliberating devices.
Background technique
Currently, often carrying out camera calibration by gridiron pattern scaling board or round scaling board, pass through the scaling board to shooting
Image handled, determine the internal reference matrix and outer ginseng matrix of camera, still, on the one hand, use gridiron pattern scaling board or circle
Shape scaling board must take the whole region of scaling board or the center of scaling board, just can be carried out calibration;On the other hand, Bu Nengyong
In to camera and turntable progress combined calibrating.
Utility model content
In view of the above shortcomings of the prior art, the utility model provides a kind of caliberating device.
The technical solution that the utility model solves above-mentioned technical problem is as follows:
A kind of caliberating device provided by the utility model, including scaling board, the upper surface of the scaling board are equipped with multiple black
White staggered triangle pattern, three sides of triangle pattern triangle pattern phase different from three respectively
Even, and two connected triangle patterns have and only a line is overlapped, and coding is equipped in the triangle pattern of part,
The coding is different, and the color of the triangle pattern of the color of the coding where from the coding is different.
The beneficial effects of the utility model are: position and the quantity of coding can be set as needed, due to encoding mutually not phase
Together, and the position of coding is not also identical, and when demarcating to camera, the coding identified just may know that coding institute in scaling board
The position at place just may know that position of each angle point on scaling board on scaling board, the angle point of scaling board according to the position of coding
It does not need to shoot entire scaling board or scaling board must be taken when being demarcated to camera for the vertex of triangle pattern
Center, even if only taking the part of scaling board, as long as there is coding in regional area, so that it may according to the position of corresponding angle point
It sets and camera is demarcated, structure is simple, practical and efficient.
Based on the above technical solution, the utility model can also do following improvement:
Further, it is described coding by multiple triangle sets at.
The beneficial effect of above-mentioned further scheme is: unique with structure composition one in different ways using triangle
Pattern, convenient for obtaining multiple mutually different unique codings.
Further, the color of the connected two triangle patterns is different.
The beneficial effect of above-mentioned further scheme is: two connected triangle patterns use different colors, can dash forward
Angle point out, convenient for acquiring the coordinate of angle point.
Further, the caliberating device is polyhedron, and polyhedral face is the scaling board, and the scaling board is equipped with
The one of the triangle pattern faces outwardly.
Further, the caliberating device is polygon prism, and the side panel of the polygon prism is the scaling board, the scaling board
One equipped with the triangle pattern faces outwardly.
The beneficial effect of above-mentioned further scheme is: the side using multiple scaling boards as polygon prism forms polygon prism,
It can be used for carrying out camera and turntable combined calibrating, i.e., obtain the transformational relation between camera and turntable by calibration.
Further, for carrying out combined calibrating to camera and turntable.
The beneficial effect of above-mentioned further scheme is: when carrying out combined calibrating to camera and turntable, caliberating device setting exists
On turntable, using the revolving table position of straight-on camera as No. zero position of turntable, control turntable rotation, when on the turntable wait mark
When rotation to No. zero position of turntable is set in positioning, controls the camera and the turntable and the tridimensional calibration device are clapped
It takes the photograph, obtains a width described image, rotate the turntable to multiple positions to be calibrated, several described images are obtained, according to more
The combined calibrating of width described image realization camera and turntable.
Further, multiple triangle patterns cover the upper surface of the entire scaling board.
The beneficial effect of above-mentioned further scheme is: triangle pattern forms rectangle, covers scaling board, so that camera is shot
Any position of scaling board can realize calibration.
Further, the triangle pattern is positive triangle.
Detailed description of the invention
Fig. 1 is a kind of schematic diagram of the triangle pattern of scaling board of the utility model embodiment;
Fig. 2 is a kind of schematic diagram of the triangle pattern of scaling board of another embodiment of the utility model;
Fig. 3 is a kind of schematic diagram of the triangle pattern of scaling board of the utility model another embodiment;
Fig. 4 is a kind of schematic diagram of the triangle pattern of scaling board of the utility model another embodiment;
Fig. 5 is a kind of schematic diagram of caliberating device of the utility model embodiment.
Specific embodiment
The principles of the present invention and feature are described below in conjunction with attached drawing, example is served only for explaining that this is practical
It is novel, it is not intended to limit the scope of the utility model.
As shown in Figures 1 to 4, a kind of caliberating device provided by the embodiment of the utility model, a kind of caliberating device, including mark
Fixed board, the upper surface of the scaling board are equipped with the staggered triangle pattern of multiple black and white, and three of a triangle pattern
The triangle pattern different from three is connected respectively on side, and two connected triangle patterns have and only a line
It is overlapped, coding is equipped in the triangle pattern of part, the coding is different, and the color of the coding and the coding
The color of the triangle pattern at place is different.
In the present embodiment, position and the quantity of coding can be set as needed, position different due to encoding, and encoding
Set it is also not identical, when being demarcated to camera, the coding identified just may know that coding the location of in scaling board, according to
The position of coding just may know that position of each angle point on scaling board on scaling board, and the angle point of scaling board is triangle pattern
Vertex does not need to shoot entire scaling board or must take scaling board center, even if only shooting when demarcating to camera
To the part of scaling board, as long as there is coding in regional area, so that it may be marked according to the position of corresponding angle point to camera
Fixed, structure is simple, practical and efficient.
It should be noted that scaling board can be various shape, such as: rectangle, parallelogram etc., can as needed into
Row selection, coding, sequence quantity and encode position in scaling board and can also be configured as needed, coding can be
The various information convenient for identification, such as: pattern, number and letter etc..
Preferably, it is described coding by multiple triangle sets at.
Specifically, multiple mutual convenient for obtaining using triangle in different ways with one unique pattern of structure composition
Different unique coding.
Preferably, the color of the connected two triangle patterns is different.
Specifically, two connected triangle patterns use different colors, can protrude angle point, convenient for acquisition angle point
Coordinate.
Preferably, the caliberating device is polyhedron, and polyhedral face is the scaling board, and the scaling board is equipped with
The one of the triangle pattern faces outwardly.
Specifically, the quantity of scaling board can be selected as needed.
Preferably, the caliberating device is polygon prism, and the side panel of the polygon prism is the scaling board, the scaling board
One equipped with the triangle pattern faces outwardly.
Specifically, the side using multiple scaling boards as polygon prism forms polygon prism, can be used for camera and turntable into
Row combined calibrating obtains the transformational relation between camera and turntable by calibration.
Preferably, as shown in figure 5, the caliberating device is quadrangular.
Preferably, for carrying out combined calibrating to camera and turntable.
Specifically, when carrying out combined calibrating to camera and turntable, caliberating device is arranged on turntable, with turning for straight-on camera
Platform position is No. zero position of turntable, the turntable rotation is controlled, when the position to be calibrated on the turntable is rotated to the turntable
It when No. zero position, controls the camera and the turntable and the tridimensional calibration device is shot, obtain a width described image,
Rotate the turntable to multiple positions to be calibrated, obtain several described images, according to several described images realize camera with
The combined calibrating of turntable.
Preferably, multiple triangle patterns cover the upper surface of the entire scaling board.
Preferably, triangle pattern forms rectangle, covers scaling board, so that any position of camera shooting scaling board all may be used
To realize calibration.
Preferably, the triangle pattern is positive triangle.
Specifically, triangle pattern can with but not limitation be equilateral triangle, can be various types of triangles, such as
Right angled triangle, acute triangle and obtuse triangle etc..
The above is only the preferred embodiment of the present invention, is not intended to limit the utility model, all practical at this
Within novel spirit and principle, any modification, equivalent replacement, improvement and so on should be included in the guarantor of the utility model
Within the scope of shield.
Claims (8)
1. a kind of caliberating device, which is characterized in that including scaling board, it is staggered that the upper surface of the scaling board is equipped with multiple black and white
Triangle pattern, the triangle pattern different from three is connected respectively on three sides of a triangle pattern, and phase
Two triangle patterns even have and only a line is overlapped, and coding, the volume are equipped in the triangle pattern of part
Code is different, and the color of the triangle pattern of the color of the coding where from the coding is different.
2. caliberating device according to claim 1, which is characterized in that it is described coding by multiple triangle sets at.
3. caliberating device according to claim 1, which is characterized in that the color of the triangle pattern of connected two is not
Together.
4. caliberating device according to claim 1, which is characterized in that the caliberating device is polyhedron, the polyhedron
Face be the scaling board, the scaling board is equipped with one facing outwardly for the triangle pattern.
5. caliberating device according to claim 1, which is characterized in that the caliberating device is polygon prism, the polygon prism
Side panel be the scaling board, the scaling board is equipped with one facing outwardly for the triangle pattern.
6. caliberating device according to claim 5, which is characterized in that for carrying out combined calibrating to camera and turntable.
7. caliberating device according to claim 1, which is characterized in that multiple triangle patterns cover the entire mark
The upper surface of fixed board.
8. caliberating device according to any one of claims 1 to 7, which is characterized in that the triangle pattern is positive triangle
Shape.
Priority Applications (1)
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CN201822263489.8U CN209168191U (en) | 2018-12-31 | 2018-12-31 | A kind of caliberating device |
Applications Claiming Priority (1)
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CN201822263489.8U CN209168191U (en) | 2018-12-31 | 2018-12-31 | A kind of caliberating device |
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CN201822263489.8U Expired - Fee Related CN209168191U (en) | 2018-12-31 | 2018-12-31 | A kind of caliberating device |
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Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110599546A (en) * | 2019-08-28 | 2019-12-20 | 贝壳技术有限公司 | Method, system, device and storage medium for acquiring three-dimensional space data |
CN111127566A (en) * | 2019-12-25 | 2020-05-08 | 苏州伟信奥图智能科技有限公司 | Calibration method for center of polyhedron |
CN111968185A (en) * | 2020-09-01 | 2020-11-20 | 深圳辰视智能科技有限公司 | Calibration board, nine-point calibration object grabbing method and system based on code definition |
CN113129388A (en) * | 2020-12-23 | 2021-07-16 | 合肥工业大学 | Coding stereo target for quickly calibrating internal and external parameters of camera and coding method thereof |
-
2018
- 2018-12-31 CN CN201822263489.8U patent/CN209168191U/en not_active Expired - Fee Related
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110599546A (en) * | 2019-08-28 | 2019-12-20 | 贝壳技术有限公司 | Method, system, device and storage medium for acquiring three-dimensional space data |
CN111127566A (en) * | 2019-12-25 | 2020-05-08 | 苏州伟信奥图智能科技有限公司 | Calibration method for center of polyhedron |
CN111968185A (en) * | 2020-09-01 | 2020-11-20 | 深圳辰视智能科技有限公司 | Calibration board, nine-point calibration object grabbing method and system based on code definition |
CN111968185B (en) * | 2020-09-01 | 2024-02-02 | 深圳辰视智能科技有限公司 | Calibration plate, nine-point calibration object grabbing method and system based on coding definition |
CN113129388A (en) * | 2020-12-23 | 2021-07-16 | 合肥工业大学 | Coding stereo target for quickly calibrating internal and external parameters of camera and coding method thereof |
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CF01 | Termination of patent right due to non-payment of annual fee | ||
CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190726 Termination date: 20211231 |