CN101295403B - Equipment calibration method and system, confirmation method and system of control point corresponding relation - Google Patents
Equipment calibration method and system, confirmation method and system of control point corresponding relation Download PDFInfo
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Abstract
The invention discloses a calibration method and system for equipment in the three-dimensional reconstruction, as well as a determination method and system for the corresponding relations of the control points in the calibration process; wherein, the determination method and system for the corresponding relations of the control points in the calibration process comprises the following steps of: in a control field of a checkerboard, centering on each intersection point of the checkerboard which is established as the control point, and setting up a unique color combination, so as to obtain a calibrated control field; shooting a picture for the calibrated control field arranged in a established position, so as to obtain an image of the calibrated control field; in the image of the calibrated control field, determining the corresponding relations between the imaging points and control points through the information of the checkerboard and the color combination. The calibration method and system for the equipment in the three-dimensional reconstruction, as well as the determination method and system for the corresponding relations of the control points in the calibration process can greatly improve the precision in determining the corresponding relations between the control points and the imaging points during the calibration process.
Description
Technical field
The present invention relates to camera installation and/or projector equipment scaling method and system in a kind of three-dimensionalreconstruction, and definite method and system of reference mark corresponding relation in demarcating.
Background technology
In fields such as computer vision, robotics and computer graphics, need obtain the information such as locus of objective usually, so that objective is carried out real three-dimensional reconstruction in computing machine according to these spatial positional informations.
In order to obtain the spatial positional information of objective, mainly comprise optical means and laser scanning method in the method that adopts usually at present.Therefore laser scanning method can't be popularized because its laser scanning equipment is generally relatively more expensive.Present more common method is the method based on binocular vision in the optical means, and as shown in Figure 1, Fig. 1 is for obtaining the method synoptic diagram of objective spatial positional information based on binocular vision in the prior art.This method is based on people's binocular vision principle, from two different angles objective (as the spray the figure) is taken, according to the pixel coordinate in the image of taking and the calibration information of two camera installations, calculate the volume coordinate of objective corresponding point, thereby obtain the spatial positional information of objective each several part.
As seen, in this method, at first need two camera installations taking are from different perspectives demarcated, to determine the calibration information of camera installation; Then the image of taking being carried out images match (Image Matching), to identify any coordinate of pixel of the same name of corresponding three-dimensional target in the image, is example with a space three-dimensional point M who schemes medium flower branch, supposes C
rAnd C
lBe the position of two cameras, m
rAnd m
lBe the M o'clock imaging point on two cameras, then corresponding M point need find m
rAnd m
lThe image coordinate of two pixels calculates the volume coordinate that M is ordered according to the coordinate of these two pixels and the calibration information of camera installation again.
Wherein, images match is a very complicated and difficult process of realization, therefore for fear of carrying out images match, often adopt method at present by the optical grating projection structured light, in this method, projector equipment forms structured light with projecting beam by the optical grating projection according to space structure light coding on objective, the spatial information of objective becomes striated pattern through structure light coding, these striated patterns are by the camera installation record angled with projection centre, carry out structured light decoding by a series of projection gratings to record, obtain any coordinate of pixel of the same name of corresponding three-dimensional target in the image, calculate the volume coordinate of objective corresponding point according to the coordinate of this pixel of the same name and the calibration information of camera installation and projector equipment, thereby obtain the spatial positional information of objective each several part.
As seen, all need camera installation in above-mentioned two kinds of methods, perhaps and projector equipment demarcate, to obtain camera installation, perhaps and inner parameter of projector equipment (as focal length and principal point position) and external parameter calibration information such as (as its position and directional informations in space coordinates).
For example, the volume coordinate of supposing a certain three-dimensional point X of objective is
The coordinate of the imaging point x of this three-dimensional point on image is
Then according to the pinhole imaging system principle, during the camera installation photographic images, the mathematical model that three-dimensional point X and it project between the imaging point x that obtains on the camera installation imaging surface can be as shown in the formula shown in (1):
Wherein, R is the directional information of camera installation, and T is the positional information of camera installation, and f is the focal length of camera installation, (u
0, v
0) be the principal point position of camera installation.The purpose of demarcating is exactly in order to obtain f, (u
0, v
0), these calibration information of R and T, and then after obtaining x, can calculate X according to formula (1).
In order to obtain above-mentioned calibration information, just need know the coordinate of several number of unknown number (promptly more than or equal to) three-dimensional point X and the coordinate of corresponding imaging point x at timing signal, afterwards in the coordinate substitution formula (1) of the imaging point x of the coordinate of respectively that these are known three-dimensional point X and correspondence thereof, obtain comprising unknown number f, (u
0, v
0), the system of equations of R and T, thus solve calibration information f, (u
0, v
0), R and T.Wherein, the equation number in the system of equations should be more than or equal to the number of unknown number.
In order to set up the corresponding relation of several three-dimensional point X and the imaging point x of correspondence, general scaling method all is by setting up controlling filed, provide some locus to fix and have the sign reference mark X of particular texture information, by camera installation controlling filed is taken pictures afterwards, from image, obtain the imaging point x of particular texture information Control point then.
Wherein, the imaging point x that seeks reference mark X from image relates to image recognition technology, is a relatively problem of difficulty.In the prior art, some method adopts similar graticule mesh or tessellated controlling filed, as shown in Figure 2, Fig. 2 shows a kind of similar tessellated controlling filed, in this method, can when the corresponding relation of determining between reference mark and its imaging point, in the image of controlling filed, utilize straight line information to extract intersection point with the intersection point of any two not parallel straight lines in the controlling filed as the reference mark.But because the texture information of each intersection point all is similar, do not have uniqueness in this method, therefore be difficult to which reference mark of the corresponding controlling filed of intersection point of definite current extraction, make that the accuracy of determining corresponding relation between reference mark and its imaging point is lower.
Summary of the invention
In view of this, definite method and system of reference mark corresponding relation in a kind of the demarcation is provided among the present invention on the one hand, provide camera installation scaling method and projector equipment scaling method in a kind of three-dimensionalreconstruction on the other hand, to improve the accuracy of determining corresponding relation between reference mark and its imaging point in the demarcation.
Definite method of reference mark corresponding relation in the demarcation provided by the present invention comprises:
On tessellated controlling filed, the gridiron pattern intersection point that is set at the reference mark with each is that the center is provided with the color combination with uniqueness, obtains demarcating controlling filed;
The demarcation controlling filed that is positioned over desired location is taken, obtained the image of described demarcation controlling filed;
In the image of described demarcation controlling filed, utilize gridiron pattern information and color combination information to determine the imaging point at reference mark and the corresponding relation between the reference mark, comprising: the image of every described demarcation controlling filed is carried out following operation: A, extracted the marginal information in the present image; B, from described marginal information, extract all straight lines; C, calculate the intersection point of any two uneven straight lines, this intersection point is defined as the target imaging point; D, respectively with determined each imaging point serve as the search starting point, search for the color value of the pixel in the setting search scope around this imaging point, if certain color combination in the color combination of the pixel in the described hunting zone color combination corresponding with each reference mark is complementary, then determine reference mark in the pairing controlling filed of this imaging point according to this color combination information.
Corresponding relation fixed system really in reference mark in the demarcation provided by the present invention, comprise: demarcate controlling filed, camera installation and the first reference mark corresponding relation determining unit, the described first reference mark corresponding relation determining unit comprises marginal information extraction module, straight line extraction module, intersection point calculation module and corresponding relation determination module; Wherein,
Described demarcation controlling filed is on tessellated controlling filed, and the gridiron pattern intersection point that is set at the reference mark with each is the controlling filed that the center is provided with the color combination with uniqueness;
Described camera installation is used for the demarcation controlling filed that is positioned over desired location is taken, and obtains the image of described demarcation controlling filed;
The described first reference mark corresponding relation determining unit is used for the image at described demarcation controlling filed, utilizes gridiron pattern information and color combination information to determine the imaging point at reference mark and the corresponding relation between the reference mark, wherein,
Described marginal information extraction module is used for extracting the marginal information of present image;
Described straight line extraction module is used for extracting all straight lines from described marginal information;
Described intersection point calculation module is used to calculate the intersection point of any two uneven straight lines, and this intersection point is defined as the target imaging point;
Described corresponding relation determination module, be used for serves as the search starting point with determined each imaging point respectively, search for the color value of the pixel in the setting search scope around this imaging point, if certain color combination in the color combination of the pixel in the described hunting zone color combination corresponding with each reference mark is complementary, then determine reference mark in the pairing controlling filed of this imaging point according to this color combination information.
Equipment calibration method in the three-dimensionalreconstruction provided by the present invention comprises:
On tessellated controlling filed, the gridiron pattern intersection point that is set at the reference mark with each is that the center is provided with the color combination with uniqueness, obtains demarcating controlling filed;
Utilize camera installation that the demarcation controlling filed that is positioned over desired location is taken, obtain the image of described demarcation controlling filed;
In the image of described demarcation controlling filed, utilize gridiron pattern information and color combination information to determine the imaging point at reference mark and the corresponding relation between the reference mark, comprising: the image of every described demarcation controlling filed is carried out following operation: A, extracted the marginal information in the present image; B, from described marginal information, extract all straight lines; C, calculate the intersection point of any two uneven straight lines, this intersection point is defined as the target imaging point; D, respectively with determined each imaging point serve as the search starting point, search for the color value of the pixel in the setting search scope around this imaging point, if certain color combination in the color combination of the pixel in the described hunting zone color combination corresponding with each reference mark is complementary, then determine reference mark in the pairing controlling filed of this imaging point according to this color combination information;
According to a plurality of imaging points with corresponding relation and corresponding reference mark thereof, list the system of equations that comprises the unknown calibration information of camera installation, find the solution this system of equations, obtain the calibration information of camera installation.
Equipment calibration system in the three-dimensionalreconstruction provided by the present invention, comprise: demarcate controlling filed, camera installation, the first reference mark corresponding relation determining unit and camera installation and demarcate the unit, the described first reference mark corresponding relation determining unit comprises marginal information extraction module, straight line extraction module, intersection point calculation module and corresponding relation determination module; Wherein,
Described demarcation controlling filed is on tessellated controlling filed, and the gridiron pattern intersection point that is set at the reference mark with each is the controlling filed that the center is provided with the color combination with uniqueness;
Described camera installation is used for the demarcation controlling filed that is positioned over desired location is taken, and obtains the image of described demarcation controlling filed;
The described first reference mark corresponding relation determining unit is used for the image at described demarcation controlling filed, utilizes gridiron pattern information and color combination information to determine the imaging point at reference mark and the corresponding relation between the reference mark, wherein,
Described marginal information extraction module is used for extracting the marginal information of present image;
Described straight line extraction module is used for extracting all straight lines from described marginal information;
Described intersection point calculation module is used to calculate the intersection point of any two uneven straight lines, and this intersection point is defined as the target imaging point;
Described corresponding relation determination module, be used for serves as the search starting point with determined each imaging point respectively, search for the color value of the pixel in the setting search scope around this imaging point, if certain color combination in the color combination of the pixel in the described hunting zone color combination corresponding with each reference mark is complementary, then determine reference mark in the pairing controlling filed of this imaging point according to this color combination information;
Described camera installation is demarcated the unit and is used for listing the system of equations that comprises the unknown calibration information of camera installation according to a plurality of imaging points with corresponding relation and corresponding reference mark thereof, finds the solution this system of equations, obtains the calibration information of camera installation.
Projector equipment scaling method in the three-dimensionalreconstruction provided by the present invention comprises:
On tessellated controlling filed, the gridiron pattern intersection point that is set at the reference mark with each is that the center is provided with the color combination with uniqueness, obtains demarcating controlling filed;
Utilize camera installation that the demarcation controlling filed that is positioned over desired location is taken, obtain not having the image of the demarcation controlling filed of projection grating;
Utilize projector equipment that encode grating is projected on the described demarcation controlling filed that is positioned over desired location, utilize camera installation to have the demarcation controlling filed of grating to take, obtain having the image of the demarcation controlling filed of grating projection;
In the image of the demarcation controlling filed that does not have grating, utilize gridiron pattern information and color combination information to determine the imaging point at reference mark and the corresponding relation between the reference mark, comprising: the image of every described demarcation controlling filed is carried out following operation: A, extracted the marginal information in the present image; B, from described marginal information, extract all straight lines; C, calculate the intersection point of any two uneven straight lines, this intersection point is defined as the target imaging point; D, respectively with determined each imaging point serve as the search starting point, search for the color value of the pixel in the setting search scope around this imaging point, if certain color combination in the color combination of the pixel in the described hunting zone color combination corresponding with each reference mark is complementary, then determine reference mark in the pairing controlling filed of this imaging point according to this color combination information;
In the image of the demarcation controlling filed that has grating of correspondence, find the imaging point of the corresponding relation at definite and reference mark, serve as the search starting point with each imaging point respectively, search for the grating image lines in the described imaging point neighborhood, the grating image lines that search are decoded, obtain the grating lines in the projection grating of described grating image lines correspondence, set up the corresponding relation between the grating lines corresponding of the reference mark of described imaging point correspondence with described imaging point;
According to several grating lines with corresponding relation and corresponding reference mark thereof, list the system of equations that comprises the unknown calibration information of projector equipment, find the solution this system of equations, obtain the calibration information of projector equipment.
Projector equipment calibration system in the three-dimensionalreconstruction provided by the present invention, comprise: demarcate controlling filed, projector equipment, camera installation, the first reference mark corresponding relation determining unit, the second reference mark corresponding relation determining unit and projector equipment and demarcate the unit, the described first reference mark corresponding relation determining unit comprises marginal information extraction module, straight line extraction module, intersection point calculation module and corresponding relation determination module; Wherein,
Described demarcation controlling filed is on tessellated controlling filed, and the gridiron pattern intersection point that is set at the reference mark with each is the controlling filed that the center is provided with the color combination with uniqueness;
Described projector equipment is used for encode grating is projected to the demarcation controlling filed that is positioned over desired location;
Described camera installation is used for respectively demarcation controlling filed that does not have grating that is positioned over desired location and the demarcation controlling filed that projection has grating being taken, obtain respectively not having grating the demarcation controlling filed image and have the image of the demarcation controlling filed of grating;
The described first reference mark corresponding relation determining unit is used for the image at the demarcation controlling filed that does not have grating, utilizes gridiron pattern information and color combination information to determine the imaging point at reference mark and the corresponding relation between the reference mark, wherein,
Described marginal information extraction module is used for extracting the marginal information of present image;
Described straight line extraction module is used for extracting all straight lines from described marginal information;
Described intersection point calculation module is used to calculate the intersection point of any two uneven straight lines, and this intersection point is defined as the target imaging point;
Described corresponding relation determination module, be used for serves as the search starting point with determined each imaging point respectively, search for the color value of the pixel in the setting search scope around this imaging point, if certain color combination in the color combination of the pixel in the described hunting zone color combination corresponding with each reference mark is complementary, then determine reference mark in the pairing controlling filed of this imaging point according to this color combination information;
The described second reference mark corresponding unit is used for finding at the image of the demarcation controlling filed that has grating of correspondence the imaging point of the corresponding relation at definite and reference mark, serve as the search starting point with each imaging point respectively, search for the grating image lines in the described imaging point neighborhood, the grating image lines that search are decoded, obtain the grating lines in the projection grating of described grating image lines correspondence, and set up the corresponding relation between the grating lines corresponding of the reference mark of described imaging point correspondence with described imaging point;
Described projector equipment is demarcated the unit and is used for listing the system of equations that comprises the unknown calibration information of projector equipment according to several grating lines with corresponding relation and corresponding reference mark thereof, finds the solution this system of equations, obtains the calibration information of projector equipment.
From such scheme as can be seen, pass through on tessellated controlling filed among the present invention, the gridiron pattern intersection point that is set at the reference mark with each is that the center is provided with the color combination with uniqueness, obtain demarcating controlling filed, and on the image of this demarcation controlling filed, on the basis that utilizes gridiron pattern information, also utilize color combination information to determine the imaging point at reference mark and the corresponding relation between the reference mark, thereby improved the accuracy of corresponding relation between reference mark and its imaging point.
Further, also encode grating can be projected on the above-mentioned demarcation controlling filed, and then on the image of the demarcation controlling filed that has grating, find the imaging point of determining with the corresponding relation at reference mark, serve as the search starting point with each imaging point respectively, search for the grating image lines in the described imaging point neighborhood, the grating image lines that search are decoded, obtain the grating lines in the projection grating of described grating image lines correspondence, set up the corresponding relation between the grating lines corresponding of the reference mark of described imaging point correspondence with described imaging point, and and then utilize several grating lines and corresponding reference mark thereof to come projector equipment is demarcated with this corresponding relation, thereby realized demarcation to projection arrangement.
Description of drawings
Fig. 1 is for obtaining the method synoptic diagram of objective spatial positional information based on binocular vision in the prior art;
Fig. 2 is the synoptic diagram of similar tessellated controlling filed in the prior art;
Fig. 3 is the exemplary process diagram of the camera installation scaling method in the three-dimensionalreconstruction in the embodiment of the invention;
Fig. 4 is a synoptic diagram of demarcating controlling filed in the embodiment of the invention;
Fig. 5 is the exemplary block diagram of the camera installation calibration system in the three-dimensionalreconstruction in the embodiment of the invention;
Fig. 6 is the inner structure synoptic diagram of the first reference mark corresponding relation determining unit in the calibration system shown in Figure 5;
Fig. 7 is the exemplary process diagram of the projector equipment scaling method in the three-dimensionalreconstruction in the embodiment of the invention;
Fig. 8 is the exemplary block diagram of the projector equipment calibration system in the three-dimensionalreconstruction in the embodiment of the invention.
Embodiment
In the embodiment of the invention, in order to reduce in the demarcation definite difficulty of corresponding relation between the reference mark and its imaging point, can add color combination information at tessellated intersection point place shown in Figure 2 as the reference mark, utilize gridiron pattern information and color combination information in the image to determine the imaging point at reference mark and the corresponding relation between the reference mark afterwards, thereby improved the accuracy of determining corresponding relation between reference mark and its imaging point in the demarcation.
For making the purpose, technical solutions and advantages of the present invention clearer, below in conjunction with embodiment and accompanying drawing, the present invention is described in more detail.
Fig. 3 is the exemplary process diagram of the camera installation scaling method in the three-dimensionalreconstruction in the embodiment of the invention.As shown in Figure 3, this flow process comprises the steps:
In this step, as long as the combination that the color combination that is provided with as the intersection point place at reference mark in each gridiron pattern can have any shape is gridiron pattern intersection point of correspondence that this color combination can be unique.As shown in Figure 4, the synoptic diagram of demarcating controlling filed in the embodiment of the invention has been shown among Fig. 4.Among Fig. 4, the serve as reasons combination of two pure colors circles that two kinds of very strong colors of the property distinguished constitute of the color combination that is arranged at each intersection point place.For example: can adopt any two kinds of colors in six kinds of reference color red, green, blues, magenta, green grass or young crops, the Huang to constitute above-mentioned color combination.As for 15 kinds of color combination among Fig. 4 with uniqueness, 5 color combination of the 1st row can be respectively outer in red green, outer red in indigo plant, outer red Neihuang County, outer in red pinkish red, outer red in green grass or young crops; Green interior red, outer green interior indigo plant, outer green Neihuang County, outer green interior pinkish red, outer green interior green grass or young crops outside 5 color combination of the 2nd row can be respectively; Magenta, blue interior blue or green outward in interior green, the outer blue Neihuang County of blue interior red, outer indigo plant, the outer basket outside 5 color combination of the 3rd row can be respectively.As seen, each color combination is all inequality, has uniqueness.In addition, the color combination of other form can be arranged also, enumerate no longer one by one herein, as long as can guarantee that each color combination can a unique corresponding intersection point in this controlling filed.
Step 302 utilizes camera installation that the demarcation controlling filed that is positioned over desired location is taken, and obtains the image of this demarcation controlling filed.
In order to obtain higher computational accuracy, can be placed on respectively on the different depth locations demarcating controlling filed in this step, promptly take on different depth demarcating controlling filed respectively, as two degree of depth (as the 1st degree of depth and the 2nd degree of depth) or two above degree of depth (as the 1st degree of depth, the 2nd degree of depth ..., the n degree of depth, n is for more than or equal to 3 integer) on take, obtain demarcating on each different depth the image of controlling filed.
Step 303 in the image of demarcating controlling filed, utilizes gridiron pattern information and color combination information to determine the imaging point at reference mark and the corresponding relation between the reference mark.
If demarcate the image of controlling filed and be a width of cloth or more than the width of cloth, then can be to every width of cloth image, determine tessellated intersection point by the straight line information of extracting in the image, it is the imaging point at reference mark, determine reference mark in the pairing controlling filed of this intersection point (being imaging point), the imaging point of controlled point and the corresponding relation between the reference mark by the color combination information of extracting determined intersection point place.During specific implementation,, can carry out following operation to the every width of cloth image in the image of demarcating controlling filed:
Marginal information in A, the extraction image.Wherein, the method for marginal information can adopt the correlation technique in the image processing techniques in the extraction image, as extracting according to Tuscany (Canny) operator.
B, extract all straight lines from described marginal information, this straight line is corresponding tessellated grid line usually.Wherein, the method for extraction straight line can adopt the correlation technique in the image processing techniques, as extracting according to Hough (Hough) conversion.
C, calculate the intersection point of any two uneven straight lines, this intersection point is defined as the target imaging point.
D, respectively with determined each imaging point serve as the search starting point, search for the color value of the pixel in the setting search scope around this imaging point, judge that whether corresponding with each reference mark certain color combination in the color combination of the pixel in the described hunting zone the color combination be complementary, if coupling, then determine reference mark in the pairing controlling filed of this imaging point according to this color combination information, this imaging point is the imaging point at this reference mark.
Further, also can comprise between step C in said process and the step D: C0, from determined each imaging point, determine the imaging point that the imaging point color belongs to a kind of color in all colours combination.Whether the color of promptly judging each imaging point is a kind of color in all colours combination, if, then keep this imaging point, if not, then exclude this imaging point.
Further, also can comprise between step C and the step D: C1, from described marginal information, extract all circle information, and from each imaging point, determine the imaging point that is positioned at any circle.Judge promptly whether each imaging point is positioned within any circle, if, then keep this imaging point, if not, then exclude this imaging point.The circle here can be the curve circumference of closure such as just round or ellipse.
Further, also can comprise between step C and the step D: C2, respectively with determined each imaging point serve as the search starting point, the pixel identical around this imaging point of search in setting range with this imaging point color, obtain comprising the zone that constitutes by the identical pixel of all colours of described imaging point, determine each imaging point that is positioned at regional center.Judge promptly whether each intersection point is positioned at the center of corresponding region, if, then keep this imaging point, if not, then exclude this imaging point.
Three kinds of operations of above-mentioned steps C0, step C1 and step C2 can be present in the method shown in Figure 3 simultaneously, also can only there be any one or two kinds, and the sequencing between each operation is not limited to by the represented order of above-mentioned sequence number, and promptly its order can be adjusted arbitrarily.
Step 304 according to several imaging points with corresponding relation and corresponding reference mark thereof, is listed the system of equations that comprises the unknown calibration information of camera installation, finds the solution this system of equations, obtains the calibration information of camera installation.
More than the camera installation scaling method in the three-dimensionalreconstruction in the embodiment of the invention is described in detail, again the camera installation calibration system in the three-dimensionalreconstruction in the embodiment of the invention is described in detail below.
Fig. 5 is the exemplary block diagram of the camera installation calibration system in the three-dimensionalreconstruction in the embodiment of the invention.As shown in Figure 5, this system comprises: demarcate controlling filed, camera installation, the first reference mark corresponding relation determining unit and camera installation and demarcate the unit.
Wherein, demarcating controlling filed is on tessellated controlling filed, and the gridiron pattern intersection point that is set at the reference mark with each is the new controlling filed that the center is provided with the color combination with uniqueness.
Camera installation is used for the demarcation controlling filed that is positioned over desired location is taken, and obtains the image of described demarcation controlling filed.During specific implementation, this camera installation can be demarcated controlling filed to this and take on different depth, as taking on two or more degree of depth, obtains the image on each different depth of described demarcation controlling filed.
The first reference mark corresponding relation determining unit is used for the image at described demarcation controlling filed, utilizes gridiron pattern information and color combination information to determine the imaging point at reference mark and the corresponding relation between the reference mark.
Camera installation is demarcated the unit and is used for listing the system of equations that comprises the unknown calibration information of camera installation according to several imaging points with corresponding relation and corresponding reference mark thereof, finds the solution this system of equations, obtains the calibration information of camera installation.
During specific implementation, the inner structure of the first reference mark corresponding relation determining unit can have multiple way of realization, for example, the first reference mark corresponding relation determining unit can be determined tessellated intersection point by the straight line information of extracting in the image, it is the imaging point at reference mark, determine reference mark in the pairing controlling filed of this intersection point (being imaging point) by the color combination information of extracting determined intersection point place, thus the imaging point of controlled point and the corresponding relation between the reference mark.Then wherein a kind of structure can comprise as shown in Figure 6: marginal information extraction module, straight line extraction module, intersection point calculation module and corresponding relation determination module.
Wherein, the marginal information extraction module is used for extracting the marginal information of present image.Wherein, the method for marginal information can adopt the correlation technique in the image processing techniques in the extraction image, as extracting according to the Canny operator.
The straight line extraction module is used for extracting all straight lines from described marginal information.Wherein, the method for extraction straight line can adopt the correlation technique in the image processing techniques, as extracting according to the Hough conversion.
The intersection point calculation module is used to calculate the intersection point of any two uneven straight lines, and this intersection point is defined as the target imaging point.
It serves as the search starting point with determined each imaging point respectively that the corresponding relation determination module is used for, search for the color value of the pixel in the setting search scope around this imaging point, judge that whether corresponding with each reference mark certain color combination in the color combination of the pixel in the described hunting zone the color combination be complementary, if coupling, then determine reference mark in the pairing controlling filed of this imaging point according to this color combination information, this imaging point is the imaging point at this reference mark.
Further, shown in the dotted portion among Fig. 6, also can comprise between intersection point calculation module in this first reference mark corresponding relation determining unit and the corresponding relation determination module: first intersection point investigation determination module, and/or, second intersection point investigation determination module, and/or, the 3rd intersection point investigation determination module.
Wherein, first intersection point investigation determination module is used for determining the imaging point that the imaging point color belongs to a kind of color all colours combination from determined each imaging point.Whether the color of promptly judging each imaging point is a kind of color in all colours combination, if, then keep this imaging point, if not, then exclude this imaging point.
Second intersection point investigation determination module is used for extracting all circle information from the marginal information that described marginal information extraction module is extracted, and determines the imaging point that is positioned at any circle from each imaging point.Judge promptly whether each imaging point is positioned within any circle, if, then keep this imaging point, if not, then exclude this imaging point.The circle here can be the curve circumference of closure such as just round or ellipse.
It serves as the search starting point with determined each imaging point respectively that the 3rd intersection point investigation determination module is used for, the pixel identical around this imaging point of search in setting range with this imaging point color, obtain comprising the zone that constitutes by the identical pixel of all colours of described imaging point, determine each imaging point that is positioned at regional center.Judge promptly whether each intersection point is positioned at the center of corresponding region, if, then keep this imaging point, if not, then exclude this imaging point.
Wherein, when comprising in the system that two or more intersection points are investigated determination module (as comprising first intersection point investigation determination module and the 3rd intersection point investigation determination module simultaneously), the priority annexation between each intersection point investigation determination module can be determined according to actual needs.
Fig. 7 is the exemplary process diagram of the projector equipment scaling method in the three-dimensionalreconstruction in the embodiment of the invention.In the embodiment of the invention, because the encode grating of projection can be considered to the imaging raster image of projector equipment, and each lines is known with respect to the imager coordinate of projector equipment in the encode grating, therefore can set up the corresponding relation at grating lines and reference mark, utilize this corresponding relation can obtain the calibration information of projector equipment afterwards.As shown in Figure 7, this flow process comprises the steps:
Step 701, on tessellated controlling filed, the gridiron pattern intersection point that is set at the reference mark with each is that the center is provided with the color combination with uniqueness, obtains demarcating controlling filed.
The specific implementation process of this step is consistent with specific implementation process in the step 301 shown in Figure 3, repeats no more herein.
Step 702 utilizes camera installation that the demarcation controlling filed that is positioned over desired location is taken, and obtains the image of this demarcation controlling filed.This image is the image that does not have the demarcation controlling filed of grating.
Step 703 utilizes projector equipment that encode grating is projected on this demarcation controlling filed that is positioned over desired location, utilizes camera installation to have the described demarcation controlling filed of grating to take to projection, obtains having the image of the demarcation controlling filed of grating.
In order to obtain higher computational accuracy, can be placed on respectively on the different depth locations demarcating controlling filed in step 702 and the step 703, utilize camera installation respectively the demarcation controlling filed that the demarcation controlling filed that do not have projection grating and projection have grating to be taken on respective depth, as in two degree of depth (as the 1st degree of depth and the 2nd degree of depth) or two above degree of depth (as the 1st degree of depth, the 2nd degree of depth, ..., the n degree of depth, n is for more than or equal to 3 integer) on take the image that obtains there is not the demarcation controlling filed of grating on each degree of depth and have the demarcation controlling filed of grating.
Step 704 in the image of the demarcation controlling filed that does not have grating, utilizes gridiron pattern information and color combination information to determine the imaging point at reference mark and the corresponding relation between the reference mark.
The specific implementation process of this step is consistent with specific implementation process in the step 303 shown in Figure 3, repeats no more herein.
During specific implementation, step 703 also can be carried out after step 704.But need assurance not have the image of the demarcation controlling filed of grating on the same degree of depth, to take respectively with the image that has the demarcation controlling filed of grating.For example, if there is not the image of the demarcation controlling filed of grating to take on the 1st degree of depth and the 2nd degree of depth, the image that then has the demarcation controlling filed of grating is also taken on the 1st degree of depth and the 2nd degree of depth.
Step 705, in the image of the demarcation controlling filed that has grating, find the imaging point of the corresponding relation at definite and reference mark, serve as the search starting point with each imaging point respectively, search for the grating image lines in the described imaging point neighborhood, the grating image lines that search are decoded, obtain the grating lines in the projection grating of described grating image lines correspondence.
Be appreciated that in this step that desiring to search the image of determining with the demarcation controlling filed that has grating of the imaging point of the corresponding relation at reference mark, to need image with the demarcation controlling filed that does not have grating at described imaging point place be same degree of depth photographs.
Step 706 is set up the corresponding relation between the grating lines corresponding with described imaging point of the reference mark of described imaging point correspondence.
Step 707 according to several grating lines with corresponding relation and corresponding reference mark thereof, is listed the system of equations that comprises the unknown calibration information of projector equipment, finds the solution this system of equations, obtains the calibration information of projector equipment.
More than the projector equipment scaling method in the three-dimensionalreconstruction in the embodiment of the invention is described in detail, again the projector equipment calibration system in the three-dimensionalreconstruction in the embodiment of the invention is described in detail below.
Fig. 8 is the exemplary block diagram of the projector equipment calibration system in the three-dimensionalreconstruction in the embodiment of the invention.As shown in Figure 8, this system comprises: demarcate controlling filed, projector equipment, camera installation, the first reference mark corresponding relation determining unit and projector equipment and demarcate the unit.
Wherein, demarcating controlling filed is on tessellated controlling filed, and the gridiron pattern intersection point that is set at the reference mark with each is the new controlling filed that the center is provided with the color combination with uniqueness.
Projector equipment is used for encode grating is projected to the demarcation controlling filed that is positioned over desired location.
Camera installation is used for respectively demarcation controlling filed that does not have projection grating that is positioned over desired location and the demarcation controlling filed that projection has grating being taken, and obtain respectively not having grating the demarcation controlling filed image and have the image of the demarcation controlling filed of grating.During specific implementation, this camera installation can be taken on different depth demarcating controlling filed, as taking on two or more degree of depth, is not had grating respectively and has image on each different depth of demarcation controlling filed of grating.
The first reference mark corresponding relation determining unit is used for the image at the demarcation controlling filed that does not have grating, utilizes gridiron pattern information and color combination information to determine the imaging point at reference mark and the corresponding relation between the reference mark.
The second reference mark corresponding relation determining unit is used for finding at the image of the demarcation controlling filed that has grating the imaging point of the corresponding relation at definite and reference mark, serve as the search starting point with each imaging point respectively, search for the grating image lines in the described imaging point neighborhood, the grating image lines that search are decoded, obtain the grating lines in the projection grating of described grating image lines correspondence, and set up the corresponding relation between the grating lines corresponding of the reference mark of described imaging point correspondence with described imaging point.
Projector equipment is demarcated the unit and is used for listing the system of equations that comprises the unknown calibration information of projector equipment according to several grating lines with corresponding relation and corresponding reference mark thereof, finds the solution this system of equations, obtains the calibration information of projector equipment.
During specific implementation, the inner structure of the first reference mark corresponding relation determining unit can be consistent with the description in the system shown in Figure 5, repeats no more herein.
In the practical application, when adopting the method for passing through the optical grating projection structured light, camera installation and projector equipment all need to demarcate, at this moment, after the step 704 of scaling method shown in Figure 7, can further comprise:, list the system of equations that comprises the unknown calibration information of camera installation according to a plurality of imaging points with corresponding relation and corresponding reference mark thereof, find the solution this system of equations, obtain the calibration information of camera installation.Correspondingly, in system shown in Figure 8, also comprise camera installation demarcation unit, be used for listing the system of equations that comprises the unknown calibration information of camera installation according to a plurality of imaging points with corresponding relation and corresponding reference mark thereof, find the solution this system of equations, obtain the calibration information of camera installation.
Above-described specific embodiment; purpose of the present invention, technical scheme and beneficial effect are further described; institute is understood that; the above only is preferred embodiment of the present invention; be not to be used to limit protection scope of the present invention; within the spirit and principles in the present invention all, any modification of being done, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (14)
1. definite method of reference mark corresponding relation in the demarcation is characterized in that this method comprises:
On tessellated controlling filed, the gridiron pattern intersection point that is set at the reference mark with each is that the center is provided with the color combination with uniqueness, obtains demarcating controlling filed;
The demarcation controlling filed that is positioned over desired location is taken, obtained the image of described demarcation controlling filed;
In the image of described demarcation controlling filed, utilize gridiron pattern information and color combination information to determine the imaging point at reference mark and the corresponding relation between the reference mark, comprising: the image of every described demarcation controlling filed is carried out following operation: A, extracted the marginal information in the present image; B, from described marginal information, extract all straight lines; C, calculate the intersection point of any two uneven straight lines, this intersection point is defined as the target imaging point; D, respectively with determined each imaging point serve as the search starting point, search for the color value of the pixel in the setting search scope around this imaging point, if certain color combination in the color combination of the pixel in the described hunting zone color combination corresponding with each reference mark is complementary, then determine reference mark in the pairing controlling filed of this imaging point according to this color combination information.
2. the method for claim 1 is characterized in that, this method further comprises:
Encode grating is projected on the described demarcation controlling filed that is positioned over desired location, have the described demarcation controlling filed of grating to take, obtain having the image of the demarcation controlling filed of grating projection;
In the image of the described demarcation controlling filed that has a grating, find the imaging point of the corresponding relation at definite and reference mark, serve as the search starting point with each imaging point respectively, search for the grating image lines in the described imaging point neighborhood, the grating image lines that search are decoded, obtain the grating lines in the projection grating of described grating image lines correspondence, set up the corresponding relation between the grating lines corresponding of the reference mark of described imaging point correspondence with described imaging point.
3. the method for claim 1, it is characterized in that, described the demarcation controlling filed that is positioned over desired location is taken, the image that obtains described demarcation controlling filed is: respectively the demarcation controlling filed that is positioned on first degree of depth to the n degree of depth is taken, obtain the image of the demarcation controlling filed on each different depth, n is the integer more than or equal to 2.
4. method as claimed in claim 2, it is characterized in that, described the demarcation controlling filed that is positioned over desired location is taken, the image that obtains described demarcation controlling filed is: respectively the demarcation controlling filed that is positioned on first degree of depth to the n degree of depth is taken, obtained the image of the demarcation controlling filed on each different depth;
Described encode grating is projected on the described demarcation controlling filed that is positioned over desired location is: encode grating is projected to respectively on the demarcation controlling filed that is positioned on first degree of depth to the n degree of depth;
The described image that obtains having the demarcation controlling filed of grating is: the image that obtains the demarcation controlling filed that has grating on each different depth; Wherein, n is the integer more than or equal to 2.
5. method as claimed in claim 4 is characterized in that, further comprises between described step C and the step D:
From determined each imaging point, determine the imaging point that the imaging point color belongs to a kind of color in all colours combination;
And/or,
From described marginal information, extract all circle information, and from each imaging point, determine the imaging point that is positioned at any circle;
And/or,
Serve as the search starting point with determined each imaging point respectively, the pixel identical around this imaging point of search in setting range with this imaging point color, obtain comprising the zone that constitutes by the identical pixel of all colours of described imaging point, determine each imaging point that is positioned at regional center.
6. corresponding relation fixed system really in reference mark in the demarcation, it is characterized in that, this system comprises: demarcate controlling filed, camera installation and the first reference mark corresponding relation determining unit, the described first reference mark corresponding relation determining unit comprises marginal information extraction module, straight line extraction module, intersection point calculation module and corresponding relation determination module; Wherein,
Described demarcation controlling filed is on tessellated controlling filed, and the gridiron pattern intersection point that is set at the reference mark with each is the controlling filed that the center is provided with the color combination with uniqueness;
Described camera installation is used for the demarcation controlling filed that is positioned over desired location is taken, and obtains the image of described demarcation controlling filed;
The described first reference mark corresponding relation determining unit is used for the image at described demarcation controlling filed, utilizes gridiron pattern information and color combination information to determine the imaging point at reference mark and the corresponding relation between the reference mark, wherein,
Described marginal information extraction module is used for extracting the marginal information of present image;
Described straight line extraction module is used for extracting all straight lines from described marginal information;
Described intersection point calculation module is used to calculate the intersection point of any two uneven straight lines, and this intersection point is defined as the target imaging point;
Described corresponding relation determination module, be used for serves as the search starting point with determined each imaging point respectively, search for the color value of the pixel in the setting search scope around this imaging point, if certain color combination in the color combination of the pixel in the described hunting zone color combination corresponding with each reference mark is complementary, then determine reference mark in the pairing controlling filed of this imaging point according to this color combination information.
7. system as claimed in claim 6 is characterized in that, this system further comprises: the projector equipment and the second reference mark corresponding unit, wherein,
Described projector equipment is used for encode grating is projected to the described demarcation controlling filed that is positioned over desired location;
Described camera installation also is used for having the described demarcation controlling filed of grating to take to projection, obtains having the image of the demarcation controlling filed of grating;
The described second reference mark corresponding unit is used for finding at the described image that has the demarcation controlling filed of grating the imaging point of the corresponding relation at definite and reference mark, serve as the search starting point with each imaging point respectively, search for the grating image lines in the described imaging point neighborhood, the grating image lines that search are decoded, obtain the grating lines in the projection grating of described grating image lines correspondence, and set up the corresponding relation between the grating lines corresponding of the reference mark of described imaging point correspondence with described imaging point.
8. as claim 6 or 7 described systems, it is characterized in that, between described intersection point calculation module and the described corresponding relation determination module, further comprise:
First intersection point investigation determination module is used for determining the imaging point that the imaging point color belongs to a kind of color all colours combination from determined each imaging point;
And/or,
Second intersection point investigation determination module is used for extracting all circle information from described marginal information, and determines the imaging point that is positioned at any circle from each imaging point;
And/or,
The 3rd intersection point investigation determination module, be used for serves as the search starting point with determined each imaging point respectively, the pixel identical around this imaging point of search in setting range with this imaging point color, obtain comprising the zone that constitutes by the identical pixel of all colours of described imaging point, determine each imaging point that is positioned at regional center.
9. the equipment calibration method in the three-dimensionalreconstruction is characterized in that this method comprises:
On tessellated controlling filed, the gridiron pattern intersection point that is set at the reference mark with each is that the center is provided with the color combination with uniqueness, obtains demarcating controlling filed;
Utilize camera installation that the demarcation controlling filed that is positioned over desired location is taken, obtain the image of described demarcation controlling filed;
In the image of described demarcation controlling filed, utilize gridiron pattern information and color combination information to determine the imaging point at reference mark and the corresponding relation between the reference mark, comprising: the image of every described demarcation controlling filed is carried out following operation: A, extracted the marginal information in the present image; B, from described marginal information, extract all straight lines; C, calculate the intersection point of any two uneven straight lines, this intersection point is defined as the target imaging point; D, respectively with determined each imaging point serve as the search starting point, search for the color value of the pixel in the setting search scope around this imaging point, if certain color combination in the color combination of the pixel in the described hunting zone color combination corresponding with each reference mark is complementary, then determine reference mark in the pairing controlling filed of this imaging point according to this color combination information;
According to a plurality of imaging points with corresponding relation and corresponding reference mark thereof, list the system of equations that comprises the unknown calibration information of camera installation, find the solution this system of equations, obtain the calibration information of camera installation.
10. method as claimed in claim 9 is characterized in that, this method further comprises:
Utilize projector equipment that encode grating is projected on the described demarcation controlling filed that is positioned over desired location, utilize camera installation to have the described demarcation controlling filed of grating to take, obtain having the image of the demarcation controlling filed of grating projection;
In the image of the described demarcation controlling filed that has a grating, find the imaging point of the corresponding relation at definite and reference mark, serve as the search starting point with each imaging point respectively, search for the grating image lines in the described imaging point neighborhood, the grating image lines that search are decoded, obtain the grating lines in the projection grating of described grating image lines correspondence, set up the corresponding relation between the grating lines corresponding of the reference mark of described imaging point correspondence with described imaging point;
According to several grating lines with corresponding relation and corresponding reference mark thereof, list the system of equations that comprises the unknown calibration information of projector equipment, find the solution this system of equations, obtain the calibration information of projector equipment.
11. the equipment calibration system in the three-dimensionalreconstruction, it is characterized in that, this system comprises: demarcate controlling filed, camera installation, the first reference mark corresponding relation determining unit and camera installation and demarcate the unit, the described first reference mark corresponding relation determining unit comprises marginal information extraction module, straight line extraction module, intersection point calculation module and corresponding relation determination module; Wherein,
Described demarcation controlling filed is on tessellated controlling filed, and the gridiron pattern intersection point that is set at the reference mark with each is the controlling filed that the center is provided with the color combination with uniqueness;
Described camera installation is used for the demarcation controlling filed that is positioned over desired location is taken, and obtains the image of described demarcation controlling filed;
The described first reference mark corresponding relation determining unit is used for the image at described demarcation controlling filed, utilizes gridiron pattern information and color combination information to determine the imaging point at reference mark and the corresponding relation between the reference mark, wherein,
Described marginal information extraction module is used for extracting the marginal information of present image;
Described straight line extraction module is used for extracting all straight lines from described marginal information;
Described intersection point calculation module is used to calculate the intersection point of any two uneven straight lines, and this intersection point is defined as the target imaging point;
Described corresponding relation determination module, be used for serves as the search starting point with determined each imaging point respectively, search for the color value of the pixel in the setting search scope around this imaging point, if certain color combination in the color combination of the pixel in the described hunting zone color combination corresponding with each reference mark is complementary, then determine reference mark in the pairing controlling filed of this imaging point according to this color combination information;
Described camera installation is demarcated the unit and is used for listing the system of equations that comprises the unknown calibration information of camera installation according to a plurality of imaging points with corresponding relation and corresponding reference mark thereof, finds the solution this system of equations, obtains the calibration information of camera installation.
12. system as claimed in claim 11 is characterized in that, this system further comprises: projector equipment, the second reference mark corresponding unit and projector equipment are demarcated the unit, wherein,
Described projector equipment is used for encode grating is projected to the described demarcation controlling filed that is positioned over desired location;
Described camera installation also is used for having the described demarcation controlling filed of grating to take to projection, obtains having the image of the demarcation controlling filed of grating;
The described second reference mark corresponding unit is used for finding at the described image that has the demarcation controlling filed of grating the imaging point of the corresponding relation at definite and reference mark, serve as the search starting point with each imaging point respectively, search for the grating image lines in the described imaging point neighborhood, the grating image lines that search are decoded, obtain the grating lines in the projection grating of described grating image lines correspondence, and set up the corresponding relation between the grating lines corresponding of the reference mark of described imaging point correspondence with described imaging point;
Described projector equipment is demarcated the unit and is used for listing the system of equations that comprises the unknown calibration information of projector equipment according to several grating lines with corresponding relation and corresponding reference mark thereof, finds the solution this system of equations, obtains the calibration information of projector equipment.
13. the projector equipment scaling method in the three-dimensionalreconstruction is characterized in that this method comprises:
On tessellated controlling filed, the gridiron pattern intersection point that is set at the reference mark with each is that the center is provided with the color combination with uniqueness, obtains demarcating controlling filed;
Utilize camera installation that the demarcation controlling filed that is positioned over desired location is taken, obtain not having the image of the demarcation controlling filed of projection grating;
Utilize projector equipment that encode grating is projected on the described demarcation controlling filed that is positioned over desired location, utilize camera installation to have the demarcation controlling filed of grating to take, obtain having the image of the demarcation controlling filed of grating projection;
In the image of the demarcation controlling filed that does not have grating, utilize gridiron pattern information and color combination information to determine the imaging point at reference mark and the corresponding relation between the reference mark, comprising: the image of every described demarcation controlling filed is carried out following operation: A, extracted the marginal information in the present image; B, from described marginal information, extract all straight lines; C, calculate the intersection point of any two uneven straight lines, this intersection point is defined as the target imaging point; D, respectively with determined each imaging point serve as the search starting point, search for the color value of the pixel in the setting search scope around this imaging point, if certain color combination in the color combination of the pixel in the described hunting zone color combination corresponding with each reference mark is complementary, then determine reference mark in the pairing controlling filed of this imaging point according to this color combination information;
In the image of the demarcation controlling filed that has grating of correspondence, find the imaging point of the corresponding relation at definite and reference mark, serve as the search starting point with each imaging point respectively, search for the grating image lines in the described imaging point neighborhood, the grating image lines that search are decoded, obtain the grating lines in the projection grating of described grating image lines correspondence, set up the corresponding relation between the grating lines corresponding of the reference mark of described imaging point correspondence with described imaging point;
According to several grating lines with corresponding relation and corresponding reference mark thereof, list the system of equations that comprises the unknown calibration information of projector equipment, find the solution this system of equations, obtain the calibration information of projector equipment.
14. the projector equipment calibration system in the three-dimensionalreconstruction, it is characterized in that, this system comprises: demarcate controlling filed, projector equipment, camera installation, the first reference mark corresponding relation determining unit, the second reference mark corresponding relation determining unit and projector equipment and demarcate the unit, the described first reference mark corresponding relation determining unit comprises marginal information extraction module, straight line extraction module, intersection point calculation module and corresponding relation determination module; Wherein,
Described demarcation controlling filed is on tessellated controlling filed, and the gridiron pattern intersection point that is set at the reference mark with each is the controlling filed that the center is provided with the color combination with uniqueness;
Described projector equipment is used for encode grating is projected to the demarcation controlling filed that is positioned over desired location;
Described camera installation is used for respectively demarcation controlling filed that does not have grating that is positioned over desired location and the demarcation controlling filed that projection has grating being taken, obtain respectively not having grating the demarcation controlling filed image and have the image of the demarcation controlling filed of grating;
The described first reference mark corresponding relation determining unit is used for the image at the demarcation controlling filed that does not have grating, utilizes gridiron pattern information and color combination information to determine the imaging point at reference mark and the corresponding relation between the reference mark, wherein,
Described marginal information extraction module is used for extracting the marginal information of present image;
Described straight line extraction module is used for extracting all straight lines from described marginal information;
Described intersection point calculation module is used to calculate the intersection point of any two uneven straight lines, and this intersection point is defined as the target imaging point;
Described corresponding relation determination module, be used for serves as the search starting point with determined each imaging point respectively, search for the color value of the pixel in the setting search scope around this imaging point, if certain color combination in the color combination of the pixel in the described hunting zone color combination corresponding with each reference mark is complementary, then determine reference mark in the pairing controlling filed of this imaging point according to this color combination information;
The described second reference mark corresponding unit is used for finding at the image of the demarcation controlling filed that has grating of correspondence the imaging point of the corresponding relation at definite and reference mark, serve as the search starting point with each imaging point respectively, search for the grating image lines in the described imaging point neighborhood, the grating image lines that search are decoded, obtain the grating lines in the projection grating of described grating image lines correspondence, and set up the corresponding relation between the grating lines corresponding of the reference mark of described imaging point correspondence with described imaging point;
Described projector equipment is demarcated the unit and is used for listing the system of equations that comprises the unknown calibration information of projector equipment according to several grating lines with corresponding relation and corresponding reference mark thereof, finds the solution this system of equations, obtains the calibration information of projector equipment.
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