CN102098442B - Method and system for calibrating non-overlap ratio of optical axis and visual axis of zoom camera - Google Patents
Method and system for calibrating non-overlap ratio of optical axis and visual axis of zoom camera Download PDFInfo
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- CN102098442B CN102098442B CN201010603100A CN201010603100A CN102098442B CN 102098442 B CN102098442 B CN 102098442B CN 201010603100 A CN201010603100 A CN 201010603100A CN 201010603100 A CN201010603100 A CN 201010603100A CN 102098442 B CN102098442 B CN 102098442B
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Abstract
The invention discloses a method and system for calibrating the non-overlap ratio of an optical axis and a visual axis of a zoom camera, belonging to the technical field of television cameras, which solve the difficult problems that the non-overlap ratio of the optical axis and the visual axis of the zoom camera is not convenient to adjust manually by the existing mechanical method, and even can not be debugged on site. In the invention, the non-overlap ratio of the two axes is measured by a digital image processing method; and a start point of an image matrix is movably output at two directions of line and field in outputting to compensate the non-overlap ratio, so as to lead that the visual axis is overlapped with the optical axis. The method and system provided by the invention have the advantages of small volume, high reliability and the like, are simple and rapid in debugging, require no moving components, are especially suitable for the fields of aviation, spaceflight and military, have high requirements on the overlap ratio of the optical axis and the visual axis, have poor use environments, are not convenient or do not allow mechanical adjustment on site.
Description
Technical field
The invention belongs to the TV Camera Technology field, be specifically related to a kind of zoom camera optical axis and optical axis misalignment calibration steps and system thereof.
Background technology
Whether television camera mainly is made up of optical lens and face array photoelectric sensor, variable according to the optical lens focal length, is divided into tight shot and zoom lens.The zoom lens can change angle of visual field size, at focal length in short-term, big visual field, the scope of observation is also big, helps finding and catching target; When focal length was long, the visual field was little, was fit to the details or the distant object of object observing.Because the zoom lens has above advantage, adopt zoom lens's television camera to be widely used in fields such as Aeronautics and Astronautics, weapons, be used for measurement, tracking and location etc. to distant object.
Zoom lens's optical axis is meant from long burnt center line to lens optical system short Jiao; Corresponding with it, also being defined as the optical axis through imageing sensor output image center and perpendicular to the straight line of imageing sensor target surface.Under the normal condition, television camera must make the value of the misalignment of the optical axis and the optical axis less than regulation when assembling, do not take place to depart from more greatly with the scenery that guarantees picture centre in the zoom process.
Can know according to geometric optical theory, shown in accompanying drawing 1, if when short focal length, record optical axis with the deviation of the optical axis on target surface is Δ, then enlargement ratio when being the short burnt n times burnt position of length deviation be the n Δ.And as Δ=0, then deviation n Δ=0 of long burnt position during short focal length.For the higher photoelectric monitoring instrument of positioning accuracy request, fire control system and spaceship docking system etc., the misalignment index of the optical axis and the optical axis is most important.
Yet because the influence of factors such as time, environment and structural material, when dispatching from the factory, the optical axis of close adjustment and the optical axis can produce either large or small skew after a period of time, when serious, can influence the normal use of equipment, must recalibrate.The calibration of the optical axis and the optical axis in the past is the way that adopts machinery, need open the shell of video camera, gathers examination repeatedly through manual work, until the optical axis and optical axis are adjusted in the scope of precision permission.In device context; This adjustment method is cumbersome; Precision also is difficult to guarantee, debugs and reinstalls owing to will carry out the machinery dismounting, and equipment is caused accidental damage easily; Very big to the barrier propterty of device housings such as watertight and airtight influence, some space flight is with optoelectronic device even can't adopt mechanical means to calibrate.
Summary of the invention
Adopt the conventional mechanical method in order to solve prior art, optical axis and optical axis misalignment are carried out the problem of calibration difficulties, the present invention provides a kind of zoom camera optical axis and optical axis misalignment calibration steps and system thereof.
The technical scheme that technical solution problem of the present invention is adopted is following:
Zoom camera optical axis and optical axis misalignment calibration steps comprise the steps:
The output of the first step, the video camera that will calibrate is connected with the adjustment circuit, and the output of adjustment circuit is connected with televimonitor, adjusts the position of video camera and distant object, makes televimonitor can see the target image that video camera obtains;
Second the step, when the zoom lens of video camera is adjusted to long-focus; The optical axis of video camera is aimed at the centre of form of distant object; Calculate on the distance of the target centre of form and the optical axis and the image that is added to and show through the adjustment circuit through televimonitor; Behind the aligning, the relative position of target and video camera is fixed;
The 3rd step, forward the zoom lens of video camera to short focal length extremity, the deviation delta that calculates the target centre of form and the optical axis through the adjustment circuit is the misalignment of the optical axis and the optical axis, and stores this deviation delta through non-volatile type RAM;
The video signal that the 4th step, adjustment circuit transmit the imageing sensor of video camera through Video Decoder is decoded into the digital video frequency flow of anchor-frame form;
The 5th step, adjustment circuit will read in by the data image signal of Video Decoder input through Digital Image Processor and by from left to right, from top to bottom deposit video memory in set form in proper order;
The 6th step, adjustment circuit read the deviation delta that the 3rd step deposited in through Digital Image Processor from non-volatile type RAM; Starting point according to this deviation delta correction image output; Again from this starting point in order from video memory reads image data send to video encoder, outwards export at last and accomplish the video image that optical axis and the optical axis are calibrated by video encoder.
Zoom camera optical axis and optical axis misalignment calibration system; Comprise adjustment circuit and televimonitor; The adjustment circuit is connected with the imageing sensor of the video camera that needs calibration, and the adjustment circuit carries out real time calibration automatically to the vision signal of said imageing sensor output to be handled; Televimonitor is connected with the adjustment circuit, shows the target image that video camera obtained through said adjustment circuit calibration.
Above-mentioned adjustment circuit comprises Video Decoder, Digital Image Processor, video memory, non-volatile type RAM and video encoder, and said Digital Image Processor is connected with Video Decoder, video memory, non-volatile type RAM, video encoder respectively; The video signal that said Video Decoder transmits the imageing sensor of video camera is decoded into the digital video frequency flow of anchor-frame form, said Digital Image Processor will read in by the data image signal of Video Decoder input and by from left to right, from top to bottom deposit video memory in set form in proper order; The misalignment of the said non-volatile type RAM storage optical axis and the optical axis; Digital Image Processor is according to the starting point of the misalignment correction image output of the optical axis and the optical axis; And send to video encoder from this starting point order reads image data from video memory, outwards export by video encoder at last and accomplish the video image that optical axis and the optical axis are calibrated.
The invention has the beneficial effects as follows: equipment is not carried out any dismounting at the television camera scene of using, utilize circuit to accomplish the high-precision optical axis optical axis fully and calibrate automatically; Have that volume is little, debugging is simple fast, do not have any moving component, reliability is high, device housings is not had outstanding advantage such as destruction; It is high to optical axis and the requirement of optical axis registration to be particularly suitable for Aeronautics and Astronautics and military field, and environment badly but is not easy to or do not allow the scene to carry out occasion such as airtight and the outer space etc. of mechanical adjustment.
Description of drawings
Fig. 1 is the optical axis and the optical axis misalignment sketch map of prior art.
Fig. 2 is the structured flowchart of zoom camera optical axis of the present invention and optical axis misalignment calibration system.
Fig. 3 is the structured flowchart of the adjustment circuit among the present invention.
Fig. 4 is the m * n matrix of picture elements sketch map among the present invention.
Fig. 5 moves on to the matrix of picture elements sketch map that E is ordered with the picture centre among Fig. 4.
Embodiment
Below in conjunction with accompanying drawing and specific embodiment the present invention is explained further details.
The adjustment process of zoom camera optical axis of the present invention and optical axis misalignment calibration system is by successively being divided into: the detection of misalignment and two steps of misalignment calibration:
Carry out the detection of misalignment: the zoom lens of video camera is in the longest burnt position, and with a circle or the cross-shaped target target centre of form that image center is aimed at infinite distant place, picture signal passes to the adjustment circuit by imageing sensor; Then, keep the existing invariant position of video camera, the zoom lens is transferred to the shortest burnt position, the coordinate difference that calculate this moment is the misalignment deviation delta of the optical axis and the optical axis.
Carry out the calibration of misalignment: this step is mainly accomplished by the adjustment circuit, and the composition structure of adjustment circuit is as shown in Figure 3.Its operation principle is: the video signal that is passed to the adjustment circuit by imageing sensor; At first the video decoder decodes in the adjustment circuit becomes the digital video frequency flow of anchor-frame form; Digital Image Processor will read in by the data image signal of Video Decoder input and by from left to right, depositing in the video memory with set form in proper order from top to bottom, every like this two field picture forms the matrix of picture elements of a m * n in video memory as shown in Figure 4.Its each pixel all has a position one to one in image.Here m is the matrix column number, and n is a line number.The first row pixel of image is: (0,0) (0,1) (0,2) ... (0, m).The first row pixel is: (1,0) (1,0) (2,0) ... (n, 0).If will put in order two field picture output, the order when then pressing input: (0,0)-(0 by Digital Image Processor; 1) ... (0; M)-(1,0) ... (n, m) reads image data from video memory; Output to video encoder then, by the standard decoding output of video encoder according to original video signal.At this moment, in televimonitor, just can see and the identical image of imageing sensor output.And the coordinate at ★ place is the center of image for
in Fig. 4.Under the normal condition, this point is the intersection point of the optical axis and imageing sensor target surface.And among Fig. 4 E be optical axis and imageing sensor target surface intersecting point coordinate is
If the starting point during adjustment circuit output image is not from (0; 0) beginning and from (1; 0) beginning; Image by the output of adjustment circuit is compared with the image of directly being exported by imageing sensor, on the screen of televimonitor, shows as to the picture that has moved to left
.According to this, we can be as shown in Figure 5 the method for starting point through changing output image the picture centre among Fig. 4 is moved on to the E point by ★.The starting point of reading images is (1 ,-1) among Fig. 5, is the image output area after optical axis and optical axis misalignment are proofreaied and correct by thick frame area surrounded then.Like this, the video image of being exported by the adjustment circuit is exactly that optical axis overlaps with the optical axis, has realized the calibration to optical axis and optical axis misalignment."+" among Fig. 5 is the pixel that in image array, adds in order to make output satisfy the picture frame call format, and their value does not have specific (special) requirements, but for making the image border not have obvious sudden change, generally gets the value of its adjacent actual pixel of gathering.
In real work, during the each output image of the Digital Image Processor of adjustment in the circuit, all from non-volatile type RAM, read the deviation delta that had before deposited in, the starting point of correction image output; Send to video encoder from this starting point order reads image data again, outwards export the video image of accomplishing optical axis and optical axis calibration by video encoder at last.As shown in Figure 1, at this moment owing to deviation delta=0 of the optical axis and the optical axis, when optical lens changed between long burnt and short Jiao, the target centre of form that is positioned at picture centre all was in picture centre long Jiao with short burnt position.
Specific embodiment:
Target among Fig. 2 is a target at infinity, realizes at the indoor parallel light tube that can adopt, and owing to condition restriction, can be remote point target such as celestial body, ground target etc. in the outfield.
The practical implementation step is following:
1) television camera that will calibrate earlier connects by Fig. 2, and assurance can be seen image through televimonitor;
2) make video camera when zoom lens's long-focus; The optical axis is aimed at the centre of form of target at a distance; At this moment adjust circuit and calculate on the distance of the target centre of form and the optical axis and the image that is added to and show through televimonitor, supply debugging person's reference, the general arithemetic unit that shows is a pixel; Behind the aligning, the relative position of target and television camera is fixed;
3) forward the zoom lens to short focal length extremity, the difference of at this moment adjusting the target centre of form that circuit calculates and the optical axis is the misalignment of the optical axis and the optical axis; Digital Image Processor by in the adjustment circuit deposits among the non-volatile type RAM, calls during in order to use, has so just accomplished the test of misalignment;
4) after calibration, during Size Zoom TV video camera operate as normal, by the vision signal entering adjustment circuit of imageing sensor output; The adjustment circuit carries out real time calibration automatically to be handled, and then uses the standard output identical with imageing sensor, accomplishes the real time calibration of the optical axis and the optical axis.
The model of the Video Decoder among Fig. 3 can be TVP5150PBS; The model of Digital Image Processor can be TMS320DM642; The model of video memory can be HY57V283220T; The model of non-volatile type RAM can be AM29LV033C, and the model of second video encoder can be SAA7121H.
Claims (2)
1. zoom camera optical axis and optical axis misalignment calibration steps is characterized in that this method comprises the steps:
The output of the first step, the video camera that will calibrate is connected with the adjustment circuit, and the output of adjustment circuit is connected with televimonitor, adjusts the position of video camera and distant object, makes televimonitor can see the target image that video camera obtains;
Second the step, when the zoom lens of video camera is adjusted to long-focus; The optical axis of video camera is aimed at the centre of form of distant object; Calculate on the distance of the target centre of form and the optical axis and the image that is added to and show through the adjustment circuit through televimonitor; Behind the aligning, the relative position of target and video camera is fixed;
The 3rd step, forward the zoom lens of video camera to short focal length extremity, the deviation delta that calculates the target centre of form and the optical axis through the adjustment circuit is the misalignment of the optical axis and the optical axis, and stores this deviation delta through non-volatile type RAM;
The video signal that the 4th step, adjustment circuit transmit the imageing sensor of video camera through Video Decoder is decoded into the digital video frequency flow of anchor-frame form;
The 5th step, adjustment circuit will read in by the data image signal of Video Decoder input through Digital Image Processor and by from left to right, from top to bottom deposit video memory in set form in proper order;
The 6th step, adjustment circuit read the deviation delta that the 3rd step deposited in through Digital Image Processor from non-volatile type RAM; Starting point according to this deviation delta correction image output; Send to video encoder from this starting point order reads image data from video memory again, outwards export the video image of accomplishing optical axis and optical axis calibration by video encoder at last.
2. realize the system of said zoom camera optical axis of claim 1 and optical axis misalignment calibration steps; Comprise adjustment circuit and televimonitor; The adjustment circuit is connected with the imageing sensor of the video camera that needs calibration, and the adjustment circuit carries out real time calibration automatically to the vision signal of said imageing sensor output to be handled; Televimonitor is connected with the adjustment circuit, shows the target image that video camera obtained through said adjustment circuit calibration; It is characterized in that; Said adjustment circuit comprises Video Decoder, Digital Image Processor, video memory, non-volatile type RAM and video encoder, and said Digital Image Processor is connected with Video Decoder, video memory, non-volatile type RAM, video encoder respectively; The video signal that said Video Decoder transmits the imageing sensor of video camera is decoded into the digital video frequency flow of anchor-frame form, said Digital Image Processor will read in by the data image signal of Video Decoder input and by from left to right, from top to bottom deposit video memory in set form in proper order; The misalignment of the said non-volatile type RAM storage optical axis and the optical axis; Digital Image Processor is according to the starting point of the misalignment correction image output of the optical axis and the optical axis; And send to video encoder from this starting point order reads image data from video memory, outwards export by video encoder at last and accomplish the video image that optical axis and the optical axis are calibrated.
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| CN102445329B (en) * | 2011-09-29 | 2014-03-05 | 中国航空工业集团公司洛阳电光设备研究所 | Rapid determining method for optical axis of continuous zoom lens |
| CN107917691A (en) * | 2016-08-03 | 2018-04-17 | 中国人民解放军海军大连舰艇学院 | Emitron camera optical axis and mechanical axis uniformity rotary detecting method and equipment |
| CN107295258A (en) * | 2017-07-20 | 2017-10-24 | 上海骋旭信息技术有限公司 | Adjust method, device and the terminal device of camera lens module |
| CN110971791B (en) * | 2018-09-29 | 2021-05-18 | 中国科学院长春光学精密机械与物理研究所 | Method for adjusting consistency of optical axis of camera zoom optical system and display instrument |
| CN109520525A (en) * | 2018-11-29 | 2019-03-26 | 中国科学院长春光学精密机械与物理研究所 | The theodolite light axis consistency method of inspection, device, equipment and readable storage medium storing program for executing |
| CN111263059B (en) * | 2020-01-19 | 2021-02-26 | 上海海鸥数码照相机有限公司 | Manual focusing shooting method and device for lens-exchangeable paraxial camera |
| CN112213859B (en) * | 2020-10-12 | 2022-09-23 | 歌尔科技有限公司 | Head-mounted display device and imaging method thereof |
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| CN1591073A (en) * | 2003-05-30 | 2005-03-09 | 索尼株式会社 | Zoom lens, and an imaging apparatus using such zoom lens |
| CN1897648A (en) * | 2005-11-04 | 2007-01-17 | 中国科学院长春光学精密机械与物理研究所 | Method and device for adjusting camera position |
| CN101163236A (en) * | 2006-10-10 | 2008-04-16 | Itt制造企业公司 | A system and method for dynamically correcting parallax in head borne video systems |
| CN101325660A (en) * | 2007-06-13 | 2008-12-17 | 索尼株式会社 | Image pickup apparatus and method |
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| DE10106650B4 (en) * | 2001-02-12 | 2006-11-02 | Klaus Hoffmann | Binocular optical device, in particular electronic glasses, with an electronic camera for automatic focusing including correction of various vision defects |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1591073A (en) * | 2003-05-30 | 2005-03-09 | 索尼株式会社 | Zoom lens, and an imaging apparatus using such zoom lens |
| CN1897648A (en) * | 2005-11-04 | 2007-01-17 | 中国科学院长春光学精密机械与物理研究所 | Method and device for adjusting camera position |
| CN101163236A (en) * | 2006-10-10 | 2008-04-16 | Itt制造企业公司 | A system and method for dynamically correcting parallax in head borne video systems |
| CN101325660A (en) * | 2007-06-13 | 2008-12-17 | 索尼株式会社 | Image pickup apparatus and method |
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