CN209168191U

CN209168191U - A kind of caliberating device

Info

Publication number: CN209168191U
Application number: CN201822263489.8U
Authority: CN
Inventors: 廖原; 余虹亮; 李云强; 姚剑; 丁勇
Original assignee: Shenzhen Block Technology Technology Co Ltd
Current assignee: Shenzhen Block Technology Technology Co Ltd
Priority date: 2018-12-31
Filing date: 2018-12-31
Publication date: 2019-07-26
Anticipated expiration: 2028-12-31

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

A kind of caliberating device

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

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.