CN104240221B - Opposite-lens two-camera relative azimuth calibration device and method - Google Patents

Abstract

The invention discloses an opposite-lens two-camera relative azimuth calibration device which comprises a first calibration upright, a second calibration upright and a double-face auxiliary target, wherein the first calibration upright and the second calibration upright are spaced at a certain distance. A first auxiliary camera and a first single-face target located below the first auxiliary camera are arranged on the first calibration upright. A second auxiliary camera and a second single-face target located below the second auxiliary camera are arranged on the second calibration upright. The double-face auxiliary target is arranged between the first calibration upright and the second calibration upright in a removable mode. According to the opposite-lens two-camera relative azimuth calibration device, machining is simple, transportation is convenient, the calibration range can be adjusted according to practical requirements, and calibration accuracy is guaranteed.

Description

A kind of opposite double camera relative bearing caliberating device of camera lens and method

Technical field

The present invention relates to the mutual bearingses problem of calibrating in the application of computer vision application multiple-camera 3D modeling, special It is not related to a kind of camera lens opposite double camera relative bearing caliberating device and method.

Background technology

Multicamera system can be widely applied to the computer vision fields such as 3D modeling, 3D measurement.In multicamera system, mesh Mark surface on point 3D information be the corresponding pixel of 2D image being obtained by video camera to set up, wherein can use shooting Machine model.In 3D modeling application, the inner parameter (focal length, aspect ratio and distortion factor etc.) of camera model is with certain side Religious services or rituals is first demarcated；External parameter, i.e. camera rotating against and displacement to measurement target, by inner parameter and target can be identified Characteristic point, is calculated using camera model and determines.Document " Zhang Z.Aflexible new techniquefor camera calibration.IEEE Transaction on Pattem Analysis and MachineIntelligence, 2000, 22(11)：1330-1334., " it is in recent years using one of most camera marking method.The key of multicamera system application It is to determine the position relation between polyphaser, rotate against between polyphaser and displacement, so polyphaser could be obtained The three-dimensional information unification of impact point carries out 3D modeling under unified coordinate system.Polyphaser position relationship calculates the most simply no more than double Visually feel, due to the putting position of two cameras identical it can be seen that same target, be relatively easy to；And the opposite phase of lens direction The mutual attitude demarcation difficulty of machine is larger, needs to make specific device.

Due to two cameras towards contrary it is impossible to demarcate its relative bearing with same target it will be most readily appreciated that tradition Method is exactly to design two pieces to be installed on bracket 13, and relative displacement and target 12 known to rotation are so that each camera can be each From seeing one piece therein, the thus relative position relation of two pieces of targets, calculate two opposite phases of the opposite double camera of camera lens 11 The displacement of machine and rotation, as shown in Figure 1.But such precision calibration device is larger due to size, not easy processing, and materials are also said very much Study carefully it is necessary to be the on-deformable special material of life-time service, this will greatly improve difficulty and the processing cost of processing technique.Separately Outward, such device has certain limitations to calibration range, and different range needs the caliberating device of different scale；Secondly, transport not Just, this is limited the motility of application significantly, is difficult in practice apply.

Content of the invention

The technical problem to be solved in the present invention is that a kind of processing of design is simple, using flexibly and meet certain required precision Camera lens opposite double camera orientation calibration device and corresponding computational methods.

In order to solve above-mentioned technical problem, the invention provides a kind of camera lens opposite double camera orientation calibration device, including： First demarcation column of storing separated by a distance and the second demarcation column, described first demarcation column is equiped with the first auxiliary Camera and the first one side target below described first auxiliary camera, described second demarcation column is equiped with the second auxiliary Camera and the second one side target below described second auxiliary camera；And removedly it is arranged at described first demarcation column Demarcate the two-sided auxiliary target in the middle of column with second.

Further, the first target face of described two-sided auxiliary target and the second target face are provided with target surface pattern, two The target surface image in described target face is consistent, and position corresponds to.

Further, described target surface pattern is the circular array of 5 row 5 row.

In order to solve the above problems, present invention also offers a kind of mark of above-mentioned camera lens opposite double camera orientation calibration device Determine method, comprise the following steps：(1) column demarcated by described first demarcation column and second of putting separated by a distance, fixing institute State the second one side target in the central visual field region of the first auxiliary camera, fixing described first one side target is in the second auxiliary camera Central visual field region；(2) start described first auxiliary camera and shoot reading the second one side target relative to the first auxiliary camera Positional information, starts described second auxiliary camera and shoots the position letter reading described first one side target relative to the second auxiliary camera Breath；(3) put described two-sided auxiliary target to demarcate in the middle of column and the second demarcation column in first, adjust two-sided auxiliary target position Put, make the first target face of described two-sided auxiliary target be located at the central vision field region of described first auxiliary camera, described two-sided Second target face of auxiliary target is located at the central vision field region of described second auxiliary camera；(4) start the first auxiliary camera to clap Take the photograph the positional information reading described first target face relatively the first auxiliary camera, start the second auxiliary camera and shoot reading described the Described first auxiliary camera and second auxiliary relative to the positional information of the second auxiliary camera, by predetermined computation, is demarcated in two target faces Help rotating against and displacement of camera；(5) the opposite double camera of hyperphoric camera lens to be calibrated demarcates column and second in described first Demarcate the first camera shooting described first one side target of reading starting the opposite double camera of described camera lens in the middle of column relative to first The positional information of camera, the second camera starting the opposite double camera of described camera lens shoots and reads described second one side target relative to the The positional information of two cameras, by predetermined computation, demarcates rotating against and displacement of described first camera and second camera.

Further, described step (4) includes：A) arrange on the first target face and the second target face of two-sided auxiliary target Target pattern, so that the target surface pattern in two target faces is corresponded to, positional information can by predetermined computation be connected；B) start first auxiliary Help camera to shoot the positional information reading described first target face relative to the first auxiliary camera, start the second auxiliary camera and shoot reading Take the positional information that described second target face is relative to the second auxiliary camera；C) with two target faces of described two-sided auxiliary target Relative position information, two target faces carry out predetermined computation relative to the positional information of two auxiliary cameras for connecting factors, demarcate The rotating against and displacement of described first auxiliary camera and the second auxiliary camera.

Further, described step (5) includes：A) remove described two-sided auxiliary target, hyperphoric camera lens to be calibrated is opposite Double camera is demarcated column and second in described first and is demarcated in the middle of column, makes described first one side target be located at described camera lens opposite The central vision field region of the first camera of double camera, the second one side target is located at the second camera of the opposite double camera of described camera lens Central vision field region；B the first camera) starting the opposite double camera of described camera lens shoots and reads described first one side target relative to the The positional information of one camera, the second camera starting the opposite double camera of described camera lens shoots the described second one side target of reading relatively The positional information of second camera；C) with two one side targets relative to the positional information of two auxiliary cameras, two one side target phases To the positional information of two cameras of the opposite double camera of camera lens, two auxiliary cameras rotate against and displacement is entered for connecting factors Row calculates, and demarcates rotating against and displacement of described first camera and second camera.

Present invention processing is simple, convenient transportation, and calibration range can be adjusted according to actual needs, and ensure that demarcation Precision.

Brief description

Fig. 1 is conventional lenses opposite double camera orientation calibration schematic device.

Fig. 2 is the two-sided auxiliary target schematic diagram of the camera lens opposite double camera orientation calibration device of the present invention.

Fig. 3 is that the camera lens opposite double camera orientation calibration device of the present invention shoots reading one side target schematic diagram.

Fig. 4 is that the camera lens opposite double camera orientation calibration device of the present invention shoots the two-sided auxiliary target schematic diagram of reading.

Fig. 5 is that the camera lens opposite double camera orientation calibration device of the present invention shoots reading when demarcating the opposite double camera of camera lens Schematic diagram.

Fig. 6 is the scaling method flow chart of the present invention.

Fig. 7 is the refined flow chart of scaling method two auxiliary camera steps of demarcation of the present invention.

Fig. 8 is the refined flow chart of the scaling method demarcation camera lens opposite double camera step of the present invention.

In figure：11, the opposite double camera of camera lens；12, target；13, bracket；21, the first demarcation column；22, the second demarcation is vertical Post；30, the opposite double camera of camera lens；31, first camera；32, second camera；33, the second auxiliary camera；34, the first auxiliary camera； 40, two-sided auxiliary target；41, the second target face；42, the first target face；43, the first one side target；44, the second one side target.

Specific embodiment

The invention will be further described with specific embodiment below in conjunction with the accompanying drawings, so that those skilled in the art is permissible It is better understood from the present invention and can be practiced, but illustrated embodiment is not as a limitation of the invention.

As shown in Figures 2 to 5, a kind of camera lens opposite double camera relative bearing caliberating device of the present invention, including being separated by one The first demarcation column 21 and the second demarcation column 22 that set a distance is put, the first demarcation column 21 is equiped with the first auxiliary camera 34 and the first one side target 43 of being located at the first auxiliary camera 34 lower section, the second demarcation column 22 is equiped with the second auxiliary camera 33 and the second one side target 44 of being located at the second auxiliary camera 33 lower section；And removedly it is arranged at the first demarcation column 21 and Two demarcate the two-sided auxiliary target 40 in the middle of column 22.It is pointed out that the present invention two demarcation columns when demarcating are relative Place, its distance, the angle of auxiliary camera, one side target size and location can adjust as needed.

First target face 42 of the two-sided auxiliary target 40 of the present invention and the second target face 41 are provided with target surface pattern, two The target surface image in target face is consistent, and position corresponds to.Two target faces requirements of two-sided target are smooth, and thickness is uniform, target On face, the pattern magnitude of printing is identical, and center of gravity phase is in together on same target surface normal vector.Target surface pattern conventional is round Shape pattern, target surface example pattern of the present invention is the circular array of 5 row 5 row, as shown in Figure 2.It is pointed out that Fig. 2 can not make For limitation of the invention, Producer needs voluntarily to configure circular array or other of different size and arrangement also dependent on demarcating Pattern.

The target surface pattern in two target faces of two-sided auxiliary target 40 of the present invention corresponds to, and positional information should be able to be by predetermined Calculate and be connected it is assumed that two stealthy camera (not actually existing) each two target faces just to two-sided auxiliary target, be imaged Plane and target plane overlap, and optical axis passes through Target Center, camera partial 3 d coordinate system, and x, y-axis are parallel with target face, z-axis Towards inner, zero is located at the circular array center of two-sided auxiliary target 40 to vertical target.By two-sided auxiliary target 40 two The structural relation in target face, two stealthy camera coordinates systems rotate against R_dbWith translation T_dbThere is following relationship：

$\begin{array}{c}{Y}_1=X_1=R_{db}{Y}_2+T_{db}=R_{db}{X}_2+T_{db}\\ R_{db}=\left[\begin{array}{ccc}-1& 0& 0\\ 0& 1& 0\\ 0& 0& -1\end{array}\right];T_{db}=\left[\begin{array}{c}0\\ 0\\ bt\end{array}\right]\end{array}---\left(1\right)$

Wherein, X1, X2 are the coordinate of point on two target faces of two-sided auxiliary target 40 respectively；Y1, Y2 are two-sided respectively The coordinate o'clock in two stealthy camera coordinates systems on auxiliary 40 two target faces of target；Motion vector T_dbMiddle bt is two-sided auxiliary Help the thickness of target 40.

Fig. 6 is the scaling method flow chart of the camera lens opposite double camera orientation calibration device of the present invention, the demarcation of the present invention Method comprises the following steps：

S101, column 22 demarcated by the first demarcation column 21 and second of putting separated by a distance, fixes the second one side target 44 in the central visual field region of the first auxiliary camera 34, fixes the first one side target 43 in the central visual field of the second auxiliary camera 33 Region, referring to Fig. 3；

S102, starts the first auxiliary camera 34 and shoots the position reading the second one side target 44 first auxiliary camera 34 relatively Information, starts the second auxiliary camera 33 and shoots the positional information reading the first one side target 43 second auxiliary camera 33 relatively；

S103, puts two-sided auxiliary target 40 and demarcates in the middle of column 21 and the second demarcation column 22 in first, adjustment is two-sided auxiliary Help target placement, make the first target face 42 of two-sided auxiliary target 40 be located at the central vision field region of the first auxiliary camera 34, double Face assists the second target face 41 of target to be located at the central vision field region of the second auxiliary camera 33, referring to Fig. 4；

S104, starts the first auxiliary camera 34 and shoots the position letter reading the first target face 42 first auxiliary camera 34 relatively Breath, starts the second auxiliary camera 33 and shoots the positional information reading the second target face 41 second auxiliary camera 33 relatively, by pre- Devise a stratagem is calculated, and demarcates rotating against and displacement of the first auxiliary camera 34 and the second auxiliary camera 33；

The opposite double camera 30 of the hyperphoric camera lens to be calibrated of S105 is demarcated column 21 and second in first and is demarcated in the middle of column 22, The first camera 31 starting the opposite double camera of camera lens 30 shoots the position letter reading the first one side target 43 first camera 31 relatively Breath, the second camera 32 starting the opposite double camera of camera lens 30 shoots the position reading the second one side target 44 second camera 32 relatively Information, by predetermined computation, demarcates the rotating against and displacement, referring to Fig. 5 of first camera 31 and second camera 32.

As shown in fig. 7, as a further improvement on the present invention, step S104 can refine further, comprises the steps：

S201, arranges the target pattern on the first target face 42 and the second target face 41 of two-sided auxiliary target 40, makes two The target surface pattern in individual target face corresponds to, and positional information can be connected by predetermined computation；

S202, starts the first auxiliary camera 34 and shoots the position letter reading the first target face 42 first auxiliary camera 34 relatively Breath, starts the second auxiliary camera 33 and shoots the positional information reading the second target face 41 second auxiliary camera 33 relatively；

S203, auxiliary relative to two with the relative position information in two target faces of two-sided auxiliary target 40, two target faces The positional information helping camera carries out predetermined computation for connecting factors, demarcates the relative rotation of the first auxiliary camera and the second auxiliary camera Turn and displacement.

As shown in figure 8, as a further improvement on the present invention, step S105 can refine further, comprises the steps：

S301, removes two-sided auxiliary target 40, and the opposite double camera 30 of hyperphoric camera lens to be calibrated demarcates column 21 in first Demarcate in the middle of column 22 with second, make the first one side target 43 be located at the middle CCTV of the first camera 31 of the opposite double camera of camera lens 30 Wild region, the second one side target 44 is located at the central vision field region of the second camera 32 of the opposite double camera of camera lens；

S302, the first camera 31 starting the opposite double camera of camera lens 30 shoots reading the first one side target 43 first phase relatively The positional information of machine 31, the second camera 32 starting the opposite double camera of camera lens 30 shoots reading the second one side target 44 relatively second The positional information of camera 32；

S303, with two one side targets relative to the positional information of two auxiliary cameras, two one side targets relative to camera lens phase The positional information of two cameras of back of the body double camera, rotating against of two auxiliary cameras are calculated for connecting factors with displacement, Demarcate rotating against and displacement of first camera 31 and second camera 32.

For being more fully understood from technical solutions according to the invention, the following detailed description of the caliberating device using the present invention The process demarcated with method and calculated.

1st, first, relatively put that (putting distance can according to calibration range by separated by a distance for two demarcation columns 21,22 It is adjusted)；Secondly, two-sided auxiliary target 40 is placed in the central authorities of two demarcation columns, and is in two auxiliary cameras 33,34 Central vision field region, fixed placement, as shown in Figure 4.

2nd, with the first auxiliary camera 34 and the second auxiliary camera 33 the first target face 42 and to two-sided auxiliary target respectively Take pictures (referring to Fig. 4) in the second target face 41, and target surface pattern is identified, and is calculated two targets according to camera model On face, the center of circle of target surface pattern is in the coordinate of respective auxiliary camera coordinate system.First auxiliary camera and the second auxiliary camera relative Rotation and displacement calculation procedure are as follows：

First, the first auxiliary camera 34 and the second auxiliary camera 33 the first target face 42 to two-sided auxiliary target 40 respectively Take pictures identification with the second target face 41, the first target face 42 and the seat in the second target face 41 can be calculated according to camera mode Punctuate is in the relativeness of the first auxiliary camera 34 and the second auxiliary camera 33 coordinate system：

Y_b1=R_b1X_b1+T_b1(2)

Y_b2=R_b2X_b2+T_b2(3)

Wherein, R_b1And T_b1It is the second target face 41 rotating and translation relative to the second auxiliary camera 33；R_b2And T_b2It is first Target face 42 rotates and translation relative to the first auxiliary camera 34；X_b1, X_b2It is the second target face 41 and the first target face 42 respectively The coordinate of upper point；Y_b1, Y_b2It is the coordinate of point on the second target face 41 and the first target face 42 respectively in the second auxiliary camera 33 He Corresponding coordinate in first auxiliary camera 34 coordinate system.

Secondly, calculate the first auxiliary camera 34 and rotate translation relative to the second auxiliary camera 33.According to formula (1), two-sided The implicit magazine coordinate Y o'clock in the second target face 41 on first target face 42 of auxiliary target₄₂May be determined as follows：

Y₄₂=R_dbX_b2+T_db(4)

According to the relation (with reference to (2) formula) between the second auxiliary camera 33 and the second target face 41, and the second target face Relation between 41 and its implicit camera (with reference to (1) formula), in the seat of the second auxiliary camera 33 coordinate system on the first target face 42 o'clock Mark may be determined as follows：

$Y_{b2}^3=R_{b1}{X}_{b2}+T_{b1}=R_{b1}{R}_{db}{X}_{b1}+R_{b1}{T}_{db}+T_{b1}---\left(5\right)$

Assume that the first auxiliary camera 34 translates as R relative to rotating of the second auxiliary camera 33₄₃And T₄₃, then (3) and (5) There is following relation：

$R_{43}{Y}_{b2}+T_{43}=R_{43}{R}_{b2}{X}_{b2}+R_{43}{T}_{b2}+T_{43}=Y_{b2}^3=R_{b1}{R}_{db}{X}_{b1}+R_{b1}{T}_{db}+T_{b1}$

Collated obtain：

$\begin{array}{c}{R}_{43}=R_{b1}{R}_{db}{R}_{b2}^T\\ T_{43}=R_{b1}{T}_{db}+T_{b1}-R_{43}{T}_{b2}\end{array}---\left(6\right)$

3rd, demarcate the relative position of camera lens opposite double camera device, i.e. the relative rotation of second camera 32 first camera 31 relatively Turn and translate.Collection and calibration process are as follows：

First, the first auxiliary camera 34 and the second auxiliary camera 33 are respectively to the second one side target 44 and the first one side target 43 take pictures identification, as shown in figure 3, according to camera model, the point on the point of the second one side target 44 and the first one side target 43 Corresponding relation in the first auxiliary camera 34 and the second auxiliary camera 33 coordinate system is：

$Y_{b3}^3=R_{b3}^3{X}_{b3}+T_{b3}^3---\left(7\right)$

$Y_{b4}^4=R_{b4}^4{X}_{b4}+T_{b4}^4---\left(8\right)$

Wherein, R³ _b3And T³ _b3It is the first one side target 43 rotating and translation relative to the second auxiliary camera 33；R⁴ _b4And T⁴ _b4 It is the second one side target 44 rotating and translation relative to the first auxiliary camera 34；X_b3, X_b4It is the first one side target 43 and respectively The coordinate of point, Y on two one side targets 44³ _b3, Y⁴ _b4It is the coordinate of point on the first one side target 43 and the second one side target 44 respectively Corresponding coordinate in the second auxiliary camera 33 and the first auxiliary camera 34 coordinate system.

Secondly, the opposite double camera of camera lens to be calibrated is placed between two demarcation columns, and makes at two one side targets Fix in the central visual field region of two auxiliary cameras, identification of taking pictures, as shown in Figure 5.

According to camera model, the point on the point on the first one side target 43 and the second one side target 44 is in first camera 31 With corresponding relation in second camera 32 coordinate system it is：

$Y_{b3}^1=R_{b3}^1{X}_{b3}+T_{b3}^1---\left(9\right)$

$Y_{b4}^2=R_{b4}^2{X}_{b4}+T_{b4}^2---\left(10\right)$

Wherein, R¹ _b3And T¹ _b3It is the first one side target 43 rotating and translation relative to first camera 31；R² _b4And T² _b4It is Two one side target 44 rotating and translation relative to second camera 32；X_b3, X_b4It is the first one side target 43 and the second one side mark respectively The coordinate of point, Y on target 44¹ _b3, Y² _b4It is the coordinate of point on the first one side target 43 and the second one side target 44 respectively in the first phase Corresponding coordinate in machine 31 and second camera 32 coordinate system.

Finally, according to the relation between auxiliary camera and one side target, calculate the second phase in the opposite dual camera systems of camera lens Machine 32 rotates R relative to first camera 31₂₁With translation T₂₁.

Assume rotating against and translating respectively R of first camera 31 and the second auxiliary camera 33₁₃And T₁₃.Due to first Camera 31 and the second auxiliary camera 33 all can be seen that same target, i.e. the first one side target 43 therefore has following relationship：

$R_{13}{Y}_{b3}^1+T_{13}=R_{13}{R}_{b3}^1{X}_{b3}+R_{13}{T}_{b3}^1+T_{13}=Y_{b3}^3=R_{b3}^3{X}_{b3}+T_{b3}^3$

Arrangement can obtain：

$\begin{array}{c}{R}_{13}=R_{b3}^3{\left(R_{b3}^1\right)}^T\\ T_{13}=T_{b3}^3-R_{13}{T}_{b3}^1\end{array}---\left(11\right)$

Rotating against and translating and determined by (6) formula due to the first auxiliary camera 34 and the second auxiliary camera 33, therefore The coordinate o'clock in the first auxiliary camera 34 coordinate system on second one side target 44 and its in the second auxiliary camera 33 coordinate system In coordinate Y³ _b4Can be determined by following formula：

$Y_{b4}^3=R_{43}{Y}_{b4}^4+T_{43}=R_{43}{R}_{b4}^4{X}_{b4}+R_{43}{T}_{b4}^4+T_{43}---\left(12\right)$

Assume that second camera 32 and rotating against of first camera 31 are respectively R with displacement₂₁And T₂₁, then the second one side Point on target 44 is in the coordinate in second camera 32 coordinate system and its coordinate Y in first camera 31 coordinate system¹ _b4Can by under Formula determines (with reference to formula (10))：

$Y_{b4}^1=R_{21}{Y}_{b4}^2+T_{21}=R_{21}{R}_{b4}^2{X}_{b4}+R_{21}{T}_{b4}^2+T_{21}---\left(13\right)$

Again by formula (11), then coordinate in second camera 32 coordinate system for the point on the second one side target 44 and its Coordinate Y in two auxiliary camera 33 coordinate system³ _b4Also can be determined by following formula：

$Y_{b4}^3=R_{13}{Y}_{b4}^1+T_{13}=R_{13}{R}_{21}{R}_{b4}^2{X}_{b4}+R_{13}{R}_{21}{T}_{b4}^2+R_{13}{T}_{21}+T_{13}---\left(14\right)$

Contrast (12) and (14), second camera 32 and first camera 31 rotate against R₂₁With displacement T₂₁Can determine that as Under：

$\begin{array}{c}{R}_{21}={R_{13}}^T{R}_{43}{R}_{b4}^4{\left(R_{b4}^2\right)}^T\\ T_{21}={R_{13}}^T(R_{43}{T}_{b4}^4+T_{43}-T_{13})-R_{21}{T}_{b4}^2\end{array}---\left(15\right)$

Since then, The present invention gives the implementing of camera lens opposite double camera relative bearing caliberating device and method, this Bright advantage is summarized as follows：

(1) design relatively large-scale precision calibration device (as Fig. 1) of two-sided auxiliary target, size is little, makes easily, is easy to Transport preserves, and is unlikely to deform, and general factory can self manufacture, promotion prospect is preferable；

(2) the caliberating device flexible operation of the present invention, convenience, calibration range can voluntarily be adjusted it is not necessary to make different size Precision apparatus；

(3) because two auxiliary cameras and its two one side target angle staggered relatively are typically small, by lens distortion Impact less, therefore can get higher stated accuracy；The portable vehicle four-wheel that the design has application to design newly developed is fixed On the instrument of position, precision has fully met application requirement, currently manufactures energetically in promoting.

Needs are with particularly pointing out, the invention discloses a kind of caliberating device of the opposite double camera of camera lens and method, but milli Undoubtedly, present invention is equally applicable to camera lens is demarcated relative to the relative attitude of double camera.It is applied to the relative double camera of camera lens During orientation calibration, only need to by the present invention two-sided auxiliary target be placed between the relative double camera of camera lens to be calibrated, adjustment Attitude, so as to be in the central vision field region of camera, is taken pictures and is carried out target recognition, according to the mutual pass between two-sided target System, you can calculate demarcation two camera lenses and rotate and displacement relative to the mutual of camera, because principle is consistent, will not be described in detail herein.

Embodiment described above is only the preferred embodiment lifted for absolutely proving the present invention, the protection model of the present invention Enclose not limited to this.Equivalent substitute or conversion that those skilled in the art are made on the basis of the present invention, all in the present invention Protection domain within.Protection scope of the present invention is defined by claims.

Claims (6)

1. a kind of opposite double camera relative bearing caliberating device of camera lens is it is characterised in that include：

First demarcation column of storing separated by a distance and the second demarcation column, described first demarcation column is equiped with first Auxiliary camera and the first one side target below described first auxiliary camera, described second demarcation column is equiped with second Auxiliary camera and the second one side target below described second auxiliary camera；And

Removedly it is arranged at described first and demarcate the two-sided auxiliary target in the middle of column and the second demarcation column；Described two-sided auxiliary Two target faces helping target are provided with profile unanimously, position corresponding target surface pattern, and the center of gravity phase of two target surface patterns exists together On same target surface normal vector.

2. device according to claim 1 is it is characterised in that the first target face of described two-sided auxiliary target and second is marked Target surface is provided with target surface pattern, and the target surface image in two described target faces is consistent, and position corresponds to.

3. device according to claim 2 is it is characterised in that described target surface pattern is the circular array of 5 row 5 row.

4. a kind of scaling method of claim 1 described device is it is characterised in that comprise the following steps：

(1) separated by a distance put described first and demarcate column and the second demarcation column, fixing described second one side target in The central visual field region of the first auxiliary camera, fixing described first one side target is in the central visual field region of the second auxiliary camera；

(2) start described first auxiliary camera and shoot reading the second one side target relative to the positional information of the first auxiliary camera, open Dynamic described second auxiliary camera shoots the positional information reading described first one side target relative to the second auxiliary camera；

(3) put described two-sided auxiliary target to demarcate in the middle of column and the second demarcation column in first, adjust two-sided auxiliary target position Put, make the first target face of described two-sided auxiliary target be located at the central vision field region of described first auxiliary camera, described two-sided Second target face of auxiliary target is located at the central vision field region of described second auxiliary camera；

(4) start the first auxiliary camera and shoot the positional information reading described first target face relative to the first auxiliary camera, start Second auxiliary camera shoots the positional information reading described second target face relative to the second auxiliary camera, by predetermined computation, marks The rotating against and displacement of fixed described first auxiliary camera and the second auxiliary camera；

(5) the opposite double camera of hyperphoric camera lens to be calibrated is demarcated column and second in described first and is demarcated in the middle of column, starts institute The first camera stating the opposite double camera of camera lens shoots the positional information reading described first one side target relative to first camera, starts The second camera of the opposite double camera of described camera lens shoots the positional information reading described second one side target second camera relatively, logical Cross predetermined computation, demarcate rotating against and displacement of described first camera and second camera.

5. method according to claim 4 is it is characterised in that described step (4) includes：

A) target pattern on the first target face and the second target face of two-sided auxiliary target is set, makes the target surface in two target faces Pattern corresponds to, and positional information can be connected by predetermined computation；

B) start the first auxiliary camera and shoot the positional information reading described first target face relatively the first auxiliary camera, startup the Two auxiliary cameras shoot the positional information reading described second target face relative to the second auxiliary camera；

C) with the relative position information in two target faces of described two-sided auxiliary target, two target faces relative to two auxiliary cameras Positional information carry out predetermined computation for connecting factors, demarcate rotating against of described first auxiliary camera and the second auxiliary camera And displacement.

6. method according to claim 4 is it is characterised in that described step (5) includes：

A) remove described two-sided auxiliary target, the opposite double camera of hyperphoric camera lens to be calibrated demarcates column and second in described first Demarcate in the middle of column, make described first one side target be located at the central vision field area of the first camera of the opposite double camera of described camera lens Domain, the second one side target is located at the central vision field region of the second camera of the opposite double camera of described camera lens；

B the first camera) starting the opposite double camera of described camera lens shoots the described first one side target of reading relative to first camera Positional information, the second camera starting the opposite double camera of described camera lens shoots the described second one side target of reading relative to second camera Positional information；

C) with two one side targets relative to the positional information of two auxiliary cameras, two one side targets relative to the opposite double camera of camera lens The positional information of two cameras, rotating against of two auxiliary cameras calculated for connecting factors with displacement, demarcate described The rotating against and displacement of first camera and second camera.