CN102509295A - Correction method and device for trinocular camera - Google Patents
Correction method and device for trinocular camera Download PDFInfo
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- CN102509295A CN102509295A CN2011103516899A CN201110351689A CN102509295A CN 102509295 A CN102509295 A CN 102509295A CN 2011103516899 A CN2011103516899 A CN 2011103516899A CN 201110351689 A CN201110351689 A CN 201110351689A CN 102509295 A CN102509295 A CN 102509295A
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Abstract
The invention discloses a correction method and a correction device for a trinocular camera. Images shot by two cameras of the trinocular camera are corrected by taking an image shot by the third camera as a reference, so that corresponding pixels in the three images are positioned in the same horizontal line.
Description
Technical field
The present invention relates to the stereovision technique field, relate in particular to the bearing calibration and the device of three order cameras.
Background technology
In the stereovision technique field, use the binocular camera shooting head to take the object in the real space usually, two width of cloth images that utilize two cameras to obtain can calculate the three-dimensional coordinate of this object in real space.
Because the difference of two cameras in the binocular camera shooting head; And the factors such as putting position of two cameras, when taking to same object, the pixel of the correspondence in two width of cloth images that obtain; Often not at same horizontal line, this will influence the computational accuracy of follow-up three-dimensional coordinate.
To the problems referred to above, need proofread and correct to set up imaging model, the corresponding relation between original image that this imaging model indication binocular camera shooting head is shot and the calibrated image the binocular camera shooting head.
In practical application, two width of cloth images that the binocular camera shooting scalp acupuncture obtains after same object is taken, after above-mentioned imaging model processing, respective pixel is named a person for a particular job and is positioned at same horizontal line, will improve the computational accuracy of follow-up three-dimensional coordinate thus.
Prior art mainly comprises the steps (in the following steps camera in the binocular camera shooting head is called left camera, another is called right camera) to the bearing calibration of binocular camera shooting head:
Step 1: use left camera to take calibrating template and obtain first image, use right camera to take calibrating template and obtain second image.
The calibrating template here is generally the black and white graticule.
Step 2:, proofread and correct first image and second image through simultaneously first image and second image being rotated translation.
Set up imaging model through above-mentioned steps 1 and step 2, directly use this imaging model to get final product in the practical application.
Along with the continuous development of stereovision technique, three order cameras occurred, but also do not had the bearing calibration of three order cameras at present.
Summary of the invention
In view of this, the purpose of this invention is to provide the bearing calibration of three order cameras, make and take in three width of cloth images that same object obtains in the space that corresponding pixel is positioned at same horizontal line.
For there is a basic understanding some aspects to the embodiment that discloses, provided simple summary below.This summary part is not to comment general, neither confirm the key/critical component or describe the protection domain of these embodiment.Its sole purpose is to present some notions with simple form, with this preamble as the detailed description of back.
Technique effect of the present invention is achieved in that
A kind of bearing calibration of three order cameras, said three order cameras comprise first camera, second camera and the 3rd camera; This method comprises:
Taking second image that obtains behind the calibrating template with second camera is benchmark, proofreaies and correct first camera and takes first image that obtains behind the calibrating template;
Taking second image that obtains behind the calibrating template with second camera is benchmark, proofreaies and correct the 3rd camera and takes the 3rd image that obtains behind the calibrating template.
Preferable, also comprise: be respectively first camera, second camera and the 3rd camera calibration inner parameter; The inner parameter that is utilized as first camera calibration is set up the first distortion correction model, and the inner parameter that is utilized as second camera calibration is set up the second distortion correction model, and the inner parameter that is utilized as the 3rd camera calibration is set up the 3rd distortion correction model;
Said first image is to obtain through the first distortion correction models treated after first camera is taken calibrating template again; Said second image is to obtain through the second distortion correction models treated after second camera is taken calibrating template again; Said the 3rd image is to obtain through the 3rd distortion correction models treated after the 3rd camera is taken calibrating template again.
Preferable, be that said first image of N Reference Alignment comprises with said second image:
With said second image is that benchmark calculates coordinate after the corresponding correction of each pixel in said first image;
Confirm that each proofreaies and correct the pixel value at coordinate place, back in said first image, and said pixel value assignment is proofreaied and correct the corresponding pixel of back coordinate to this.
Preferable, also comprise: utilizing said first image and said second image, is first external parameter of first camera calibration with respect to second camera;
With said second image is that coordinate comprised after benchmark calculated the corresponding correction of each pixel in said first image: be utilized as the inner parameter of first camera calibration and be first external parameter with respect to second camera of first camera calibration, calculate coordinate after the corresponding correction of each pixel in said first image.
Preferable, said is that the inner parameter of first camera calibration comprises: the equivalent focal length of first camera
Fx1 draw
Fy1, reaches the central point of first camera
Cx1 draw
Cy1; Said first external parameter comprises: first rotation matrix
R_1 [3] [3] and first translation matrix
T_1 [3];
Calculate coordinate after the corresponding correction of each pixel in said first image, comprise to pixel
Src1 (
J, i) carry out as follows and calculate:
Calculate
;
,
;
Calculate
;
Calculate
,
;
Obtain proofreading and correct the back coordinate:
,
.
Preferable, be that said the 3rd image of N Reference Alignment comprises with said second image:
With said second image is that benchmark calculates coordinate after the corresponding correction of each pixel in said the 3rd image;
Confirm that each proofreaies and correct the pixel value at coordinate place, back in said the 3rd image, and said pixel value assignment is proofreaied and correct the corresponding pixel of back coordinate to this.
Preferable, also comprise: utilizing said the 3rd image and said second image, is second external parameter of the 3rd camera calibration with respect to second camera;
With said second image is that coordinate comprised after benchmark calculated the corresponding correction of each pixel in said the 3rd image: be utilized as the inner parameter of the 3rd camera calibration and be second external parameter with respect to second camera of the 3rd camera calibration, calculate coordinate after the corresponding correction of each pixel in said the 3rd image.
Preferable, be that the inner parameter of the 3rd camera calibration comprises: the equivalent focal length of the 3rd camera
Fx3 draws
Fy3, reach the central point of the 3rd camera
Cx3 draws
Cy3; Said second external parameter comprises: second rotation matrix
R_3 [3] [3] and second translation matrix
T_3 [3];
Calculate coordinate after the corresponding correction of each pixel of said the 3rd image, comprise to pixel
Src3 (
J, i) carry out as follows and calculate:
Calculate
;
,
;
Calculate
;
Calculate
,
;
Obtain proofreading and correct the back coordinate:
,
.
A kind of means for correcting of three order cameras, this device comprises:
First correction module, being used for taking second image that obtains behind the calibrating template with second camera is benchmark, proofreaies and correct first camera and takes first image that obtains behind the calibrating template;
Second correction module, being used for taking second image that obtains behind the calibrating template with second camera is benchmark, proofreaies and correct the 3rd camera and takes the 3rd image that obtains behind the calibrating template.
Preferable, this device also comprises:
First demarcating module is used to be respectively first camera, second camera and the 3rd camera calibration inner parameter;
Processing module, the inner parameter that is used to be utilized as first camera calibration is set up the first distortion correction model, first camera is taken the image that obtains behind the calibrating template handle and obtaining said first image; The inner parameter that is utilized as second camera calibration is set up the second distortion correction model, the image that obtains behind second camera shooting calibrating template is handled obtaining said second image; The inner parameter that is utilized as the 3rd camera calibration is set up the 3rd distortion correction model, the image that obtains behind the 3rd camera shooting calibrating template is handled obtaining said the 3rd image.
Preferable, said first correction module comprises:
First coordinate is confirmed submodule, and being used for said second image is that benchmark calculates coordinate after the corresponding correction of each pixel of said first image;
The first assignment submodule, each proofreaies and correct the pixel value at coordinate place, back to be used for confirming said first image, and with the pixel of the pixel value assignment of determining to this correction back coordinate correspondence.
Preferable, also comprise in this device: second demarcating module, be used to utilize said first image and said second image, be first external parameter of first camera calibration with respect to second camera;
Said first coordinate is confirmed submodule, is utilized as the inner parameter of first camera calibration and is first external parameter with respect to second camera of first camera calibration, calculates coordinate after the corresponding correction of each pixel in said first image.
Preferable, said is that the inner parameter of first camera calibration comprises: the equivalent focal length of first camera
Fx1 draw
Fy1, reaches the central point of first camera
Cx1 draw
Cy1; Said first external parameter comprises: first rotation matrix
R_1 [3] [3] and first translation matrix
T_1 [3];
Said first coordinate confirms that submodule is to the pixel in said first image
Src1 (
J, i) carry out as follows and calculate:
Calculate
;
,
;
Calculate
;
Calculate
,
;
Obtain proofreading and correct the back coordinate:
,
.
Preferable, said second correction module comprises:
Second coordinate is confirmed submodule, and being used for said second image is benchmark, calculates coordinate after the corresponding correction of each pixel in said the 3rd image;
The second assignment submodule, each proofreaies and correct the pixel value at coordinate place, back to be used for confirming said the 3rd image, and with the pixel of the pixel value assignment of determining to this correction back coordinate correspondence.
Preferable, also comprise in this device: the 3rd demarcating module, be used to utilize said the 3rd image and said second image, be second external parameter of the 3rd camera calibration with respect to second camera;
Said second coordinate confirms that submodule is utilized as the inner parameter of the 3rd camera calibration and is second external parameter with respect to second camera of the 3rd camera calibration, calculates coordinate after the corresponding correction of each pixel in said the 3rd image.
Preferable, said is that the inner parameter of the 3rd camera calibration comprises: the equivalent focal length of the 3rd camera
Fx3 draws
FyThe central point of 3, the three cameras
Cx3 draws
Cy3; Said second external parameter comprises: second rotation matrix
R_3 [3] [3] and second translation matrix
T_3 [3];
Said second coordinate confirms that submodule is to the pixel in said the 3rd image
Src3 (
J, i) carry out as follows and calculate:
Calculate
;
,
;
Calculate
;
Calculate
,
;
Coordinate behind the calculation correction:
,
.
It is thus clear that in the bearing calibration of three order cameras provided by the invention and the device, second image that keeps second camera to take is constant, as benchmark, the 3rd image of respectively first image and the 3rd camera of the shooting of first camera being taken is proofreaied and correct.Owing to all adopted second image as correction reference to first image and the 3rd image, after proofreading and correct, pixel corresponding in three width of cloth images will be positioned at same horizontal line.
For above-mentioned and relevant purpose, one or more embodiment comprise the characteristic that the back will specify and in claim, particularly point out.Below explanation and accompanying drawing specify some illustrative aspects, and its indication only is some modes in the utilizable variety of way of principle of each embodiment.Other benefit and novel features will consider and become obviously along with following detailed description combine accompanying drawing, and the disclosed embodiments are to comprise being equal to of all these aspects and they.
Figure of description
Fig. 1 is the process flow diagram of the bearing calibration of three order cameras among the present invention;
Fig. 2 is the process flow diagram of the bearing calibration of three order cameras in the embodiment of the invention;
Fig. 3 is the structural representation of the means for correcting of three order cameras among the present invention;
Fig. 4 is the structural representation of the means for correcting of three order cameras in the embodiment of the invention.
Embodiment
Below description and accompanying drawing illustrate specific embodiments of the present invention fully, to enable those skilled in the art to put into practice them.Other embodiments can comprise structure, logic, electric, process and other change.Embodiment only represents possible variation.Only if explicitly call for, otherwise independent assembly and function are optional, and the order of operation can change.The part of some embodiments and characteristic can be included in or replace the part and the characteristic of other embodiments.The scope of embodiment of the present invention comprises the gamut of claims, and all obtainable equivalents of claims.In this article; These embodiments of the present invention can be represented with term " invention " individually or always; This only is for ease, and if in fact disclose and surpass one invention, not that the scope that will automatically limit this application is any single invention or inventive concept.
Three order cameras among the present invention comprise first camera, second camera and the 3rd camera.
Fig. 1 is the process flow diagram of the bearing calibration of three order cameras among the present invention, and this flow process comprises:
Step 11: taking second image that obtains behind the calibrating template with second camera is benchmark, proofreaies and correct first camera and takes first image that obtains behind the calibrating template.
Step 12: taking second image that obtains behind the calibrating template with second camera is benchmark, proofreaies and correct the 3rd camera and takes the 3rd image that obtains behind the calibrating template.
It is thus clear that in the bearing calibration of three order cameras provided by the invention, second image that keeps second camera to take is constant, as benchmark, the 3rd image of respectively first image and the 3rd camera of the shooting of first camera being taken is proofreaied and correct.Owing to all adopted second image as correction reference to first image and the 3rd image, after proofreading and correct, pixel corresponding in three width of cloth images will be positioned at same horizontal line.
Providing the embodiment of the inventive method below, is that left camera, second camera are that middle camera, the 3rd camera are that right camera is an example with first camera.
Before proofreading and correct beginning, be each camera calibration inner parameter, inner parameter specifically comprises: the equivalent focal length of distortion factor, camera
FxWith
Fy, and the central point of camera
CxWith
CyThe central point of above-mentioned camera
CxWith
Cy, refer to the coordinate of intersection point on this imaging plane of camera optical axis and camera imaging plane.For the concrete grammar of camera calibration inner parameter is the common practise of this area, repeat no more here.
The inner parameter that is used for first camera calibration carries out distortion correction to the image that first camera shooting calibrating template obtains, and sets up the first distortion correction model.Similarly, can set up the second distortion correction model and the 3rd distortion correction model.The purpose of setting up above-mentioned distortion correction model is; The image that makes each camera take to obtain behind calibrating template is after the distortion correction models treated; Directly obtain the image behind the distortion correction, follow-up like this correcting process will carry out to the image behind the distortion correction, improve the precision of proofreading and correct.
After setting up above-mentioned distortion correction model, first camera in the present embodiment, second camera and the 3rd camera will carry out following twice shooting:
For the first time, use first camera and second camera to take calibrating template, the putting position of calibrating template need make first camera and second camera all can photograph complete image.It is first image that first camera is taken behind the calibrating template what obtain through the first distortion correction models treated, and it is second image that second camera is taken behind the calibrating template what obtain through the second distortion correction models treated.Use first image and second image to demarcate first external parameter of left camera with respect to middle camera, first external parameter specifically comprises: first rotation matrix
R_1 [3] [3] and first translation matrix
T_1 [3].The concrete scaling method of external parameter is the common practise of this area, repeats no more here.
For the second time, use the 3rd camera and second camera to take calibrating template, the putting position of calibrating template need make the 3rd camera and second camera all can photograph complete image.It is the 3rd image that the 3rd camera is taken behind the calibrating template what obtain through the 3rd distortion correction models treated, and it is second image that second camera is taken behind the calibrating template what obtain through the second distortion correction models treated.Use the 3rd image and second image demarcate in camera with respect to the external parameter of right camera; Comprise rotation matrix and translation matrix; With this rotation matrix transposition, and this translation matrix got contrary will obtain second external parameter of right camera with respect to middle camera, second external parameter specifically comprises: second rotation matrix
R_3 [3] [3] and second translation matrix
T_3 [3].The concrete scaling method of external parameter is the common practise of this area, repeats no more here.
Fig. 2 is the process flow diagram of the bearing calibration of three order cameras in the embodiment of the invention, and this flow process comprises:
Step 21: be utilized as the inner parameter of left camera calibration and for first external parameter with respect to middle camera of left camera calibration, calculate coordinate after the correction of each pixel correspondence in first image.
In this step, the pixel of establishing in first image does
Src1 (
J, i), corresponding correction recoil be labeled as (
X, y), confirm coordinate after the corresponding correction of each pixel in first image, specifically realize through following calculating:
1. calculate
;
,
;
2. calculate
;
3. calculate
,
;
4. obtain proofreading and correct the back coordinate:
,
.
Step 22: confirm that each proofreaies and correct the pixel value at coordinate place, back in first image, and said pixel value assignment is proofreaied and correct the corresponding pixel of back coordinate to this.
In this step, be designated as decimal, then can use approach based on linear interpolation to confirm that each proofreaies and correct the pixel value at coordinate place, back in first image if proofread and correct the recoil.
Step 23: be utilized as the inner parameter of right camera calibration and for second external parameter with respect to middle camera of right camera calibration, confirm coordinate after the correction of each pixel correspondence in the 3rd image.
In this step, the pixel of establishing in the 3rd image does
Src3 (
J, i), the correction recoil that this pixel is corresponding be labeled as (
X, y).Confirm coordinate after the corresponding correction of each pixel in said the 3rd image, specifically realize through following calculating:
Calculate
;
,
;
Calculate
;
Calculate
,
;
Obtain proofreading and correct the back coordinate:
,
.
Step 24: confirm that each proofreaies and correct the pixel value at coordinate place, back in the 3rd image, and said pixel value assignment is proofreaied and correct the corresponding pixel of back coordinate to this.
In this step, be designated as decimal, then can use approach based on linear interpolation to confirm that each proofreaies and correct the pixel value at coordinate place, back in the 3rd image if proofread and correct the recoil.
Process above-mentioned steps 21 is to step 24; Set up the imaging model of three order cameras; Because the image that in trimming process, has kept middle camera to take is constant; And the image of left and right sides camera being taken as benchmark is rotated translation, and the corresponding pixel points that has reached three width of cloth images at last is on same horizontal line.
In practical application; After left side camera and right camera are taken calibrating template; Handle the image that will directly obtain with respect to after the middle camera correction through this imaging model, the image after proofreading and correct based on these carries out the calculating of follow-up three-dimensional coordinate, with the computational accuracy that improves three-dimensional coordinate.
Above step 23 and step 24 can be carried out before step 21 and step 22, and perhaps, step 21 and step 23 can merge execution, and corresponding, step 22 and step 24 can merge execution.
Above embodiment is that left camera, second camera are that middle camera, the 3rd camera are that right camera is an example with first camera; Can also adopt other modes in the practical application, for example: first camera is that middle camera, the 3rd camera are that right camera, second camera are left camera.No matter adopt which kind of mode; For the camera that is in as the camera left side of benchmark; Adopt like the calibrating external parameters method of left camera among the above embodiment with respect to middle camera; For the camera that is in as the camera right side of benchmark, adopt as above embodiment right-of-center in political views's camera with respect to the calibrating external parameters method of middle camera, the concrete grammar of correction all with above embodiment in similar.
Fig. 3 is the structural representation of the means for correcting of three order cameras among the present invention, and this device comprises: first correction module 31 and second correction module 32.
It is thus clear that in the means for correcting of three order cameras provided by the invention, second image that keeps second camera to take is constant, as benchmark, the 3rd image of respectively first image and the 3rd camera of the shooting of first camera being taken is proofreaied and correct.Owing to all adopted second image as correction reference to first image and the 3rd image, after proofreading and correct, pixel corresponding in three width of cloth images will be positioned at same horizontal line.
Provide the embodiment of means for correcting of the present invention below.
Fig. 4 is the means for correcting of three order cameras in the embodiment of the invention, and this device comprises: first correction module 41, second correction module 42, first demarcating module 43, second demarcating module 44, processing module 45 and the 3rd demarcating module 46.
First demarcating module 43 is used to be respectively first camera, second camera and the 3rd camera calibration inner parameter.
Processing module 45, the inner parameter that is used to be utilized as first camera calibration is set up the first distortion correction model, first camera is taken the image that obtains behind the calibrating template handle and obtaining said first image; The inner parameter that is utilized as second camera calibration is set up the second distortion correction model, the image that obtains behind second camera shooting calibrating template is handled obtaining said second image; The inner parameter that is utilized as the 3rd camera calibration is set up the 3rd distortion correction model, the image that obtains behind the 3rd camera shooting calibrating template is handled obtaining said the 3rd image.
Second demarcating module 44 is used to utilize said first image and said second image, is first external parameter of first camera calibration with respect to second camera.
The 3rd demarcating module 46 is used to utilize said the 3rd image and said second image, is second external parameter of the 3rd camera calibration with respect to second camera.
First correction module 41 comprises: first coordinate is confirmed the submodule 411 and the first assignment submodule 412.
First coordinate is confirmed submodule 411, is used to be utilized as the inner parameter of first camera calibration and is first external parameter with respect to second camera of first camera calibration, calculates coordinate after the corresponding correction of each pixel in said first image.Concrete, first coordinate confirms that submodule 411 can calculate coordinate after the corresponding correction of each pixel in first image according to the calculation process among the inventive method embodiment.
The first assignment submodule 412, each proofreaies and correct the pixel value at coordinate place, back to be used for confirming said first image, and with the pixel of the pixel value assignment of determining to this correction back coordinate correspondence.
Second correction module 42 comprises: second coordinate is confirmed the submodule 421 and the second assignment submodule 422.
Second coordinate is confirmed submodule 421, is utilized as the inner parameter of the 3rd camera calibration and is second external parameter with respect to second camera of the 3rd camera calibration, calculates coordinate after the corresponding correction of each pixel in said the 3rd image.Concrete, second coordinate confirms that submodule 421 can calculate coordinate after the corresponding correction of each pixel in the 3rd image according to the calculation process among the inventive method embodiment.
The second assignment submodule 422, each proofreaies and correct the pixel value at coordinate place, back to be used for confirming said the 3rd image, and with the pixel of the pixel value assignment of determining to this correction back coordinate correspondence.
It will be appreciated by those skilled in the art that the particular order of the step in the above disclosed process or the instance that level is illustrative methods.Based on design preference, should be appreciated that the particular order of the step in the process or level can be rearranged under the situation that does not break away from protection domain of the present disclosure.Appended claim to a method has provided the key element of various steps with exemplary order, and is not to be limited to described particular order or level.
Those skilled in the art it is also understood that various illustrative box, module and the algorithm steps of the embodiment description that combines this paper all can be embodied as electronic hardware, computer software or its combination.For the interchangeability between the hardware and software clearly is described, above various illustrative parts, frame, module, circuit and step have all been carried out usually describing around its function.Be embodied as hardware or be embodied as software as for this function, depend on certain applications and design constraint that total system applied.Those skilled in the art can be directed against each application-specific, realize described function with the mode of accommodation, and still, this realization decision-making should not be construed as and deviates from protection domain of the present disclosure.
For making any technician in this area can realize or use the present invention, above disclosed embodiment is described.To those skilled in the art, the various alter modes of these embodiment all are conspicuous, and the General Principle of this paper definition also can be applicable to other embodiment on the basis that does not break away from spirit of the present disclosure and protection domain.Therefore, the disclosure is not limited to the embodiment that this paper provides, but consistent with the widest scope of disclosed principle of the application and novel features.
Claims (16)
1. the bearing calibration of an order camera, said three order cameras comprise first camera, second camera and the 3rd camera; It is characterized in that this method comprises:
Taking second image that obtains behind the calibrating template with second camera is benchmark, proofreaies and correct first camera and takes first image that obtains behind the calibrating template;
Taking second image that obtains behind the calibrating template with second camera is benchmark, proofreaies and correct the 3rd camera and takes the 3rd image that obtains behind the calibrating template.
2. the method for claim 1 is characterized in that, also comprises: be respectively first camera, second camera and the 3rd camera calibration inner parameter; The inner parameter that is utilized as first camera calibration is set up the first distortion correction model, and the inner parameter that is utilized as second camera calibration is set up the second distortion correction model, and the inner parameter that is utilized as the 3rd camera calibration is set up the 3rd distortion correction model;
Said first image is to obtain through the first distortion correction models treated after first camera is taken calibrating template again; Said second image is to obtain through the second distortion correction models treated after second camera is taken calibrating template again; Said the 3rd image is to obtain through the 3rd distortion correction models treated after the 3rd camera is taken calibrating template again.
3. method as claimed in claim 2 is characterized in that, is that said first image of N Reference Alignment comprises with said second image:
With said second image is that benchmark calculates coordinate after the corresponding correction of each pixel in said first image;
Confirm that each proofreaies and correct the pixel value at coordinate place, back in said first image, and said pixel value assignment is proofreaied and correct the corresponding pixel of back coordinate to this.
4. method as claimed in claim 3 is characterized in that, also comprises: utilizing said first image and said second image, is first external parameter of first camera calibration with respect to second camera;
With said second image is that coordinate comprised after benchmark calculated the corresponding correction of each pixel in said first image: be utilized as the inner parameter of first camera calibration and be first external parameter with respect to second camera of first camera calibration, calculate coordinate after the corresponding correction of each pixel in said first image.
5. method as claimed in claim 4 is characterized in that, said is that the inner parameter of first camera calibration comprises: the equivalent focal length of first camera
Fx1 draw
Fy1, reaches the central point of first camera
Cx1 draw
Cy1; Said first external parameter comprises: first rotation matrix
R_1 [3] [3] and first translation matrix
T_1 [3];
Calculate coordinate after the corresponding correction of each pixel in said first image, comprise to pixel
Src1 (
J, i) carry out as follows and calculate:
Calculate
;
,
;
Calculate
;
Calculate
,
;
Obtain proofreading and correct the back coordinate:
,
.
6. method as claimed in claim 2 is characterized in that, is that said the 3rd image of N Reference Alignment comprises with said second image:
With said second image is that benchmark calculates coordinate after the corresponding correction of each pixel in said the 3rd image;
Confirm that each proofreaies and correct the pixel value at coordinate place, back in said the 3rd image, and said pixel value assignment is proofreaied and correct the corresponding pixel of back coordinate to this.
7. method as claimed in claim 6 is characterized in that, also comprises: utilizing said the 3rd image and said second image, is second external parameter of the 3rd camera calibration with respect to second camera;
With said second image is that coordinate comprised after benchmark calculated the corresponding correction of each pixel in said the 3rd image: be utilized as the inner parameter of the 3rd camera calibration and be second external parameter with respect to second camera of the 3rd camera calibration, calculate coordinate after the corresponding correction of each pixel in said the 3rd image.
8. method as claimed in claim 7 is characterized in that, is that the inner parameter of the 3rd camera calibration comprises: the equivalent focal length of the 3rd camera
Fx3 draws
Fy3, reach the central point of the 3rd camera
Cx3 draws
Cy3; Said second external parameter comprises: second rotation matrix
R_3 [3] [3] and second translation matrix
T_3 [3];
Calculate coordinate after the corresponding correction of each pixel of said the 3rd image, comprise to pixel
Src3 (
J, i) carry out as follows and calculate:
Calculate
;
,
;
Calculate
;
Calculate
,
;
Obtain proofreading and correct the back coordinate:
,
.
9. the means for correcting of an order camera is characterized in that, this device comprises:
First correction module, being used for taking second image that obtains behind the calibrating template with second camera is benchmark, proofreaies and correct first camera and takes first image that obtains behind the calibrating template;
Second correction module, being used for taking second image that obtains behind the calibrating template with second camera is benchmark, proofreaies and correct the 3rd camera and takes the 3rd image that obtains behind the calibrating template.
10. device as claimed in claim 9 is characterized in that, this device also comprises:
First demarcating module is used to be respectively first camera, second camera and the 3rd camera calibration inner parameter;
Processing module, the inner parameter that is used to be utilized as first camera calibration is set up the first distortion correction model, first camera is taken the image that obtains behind the calibrating template handle and obtaining said first image; The inner parameter that is utilized as second camera calibration is set up the second distortion correction model, the image that obtains behind second camera shooting calibrating template is handled obtaining said second image; The inner parameter that is utilized as the 3rd camera calibration is set up the 3rd distortion correction model, the image that obtains behind the 3rd camera shooting calibrating template is handled obtaining said the 3rd image.
11. device as claimed in claim 10 is characterized in that, said first correction module comprises:
First coordinate is confirmed submodule, and being used for said second image is that benchmark calculates coordinate after the corresponding correction of each pixel of said first image;
The first assignment submodule, each proofreaies and correct the pixel value at coordinate place, back to be used for confirming said first image, and with the pixel of the pixel value assignment of determining to this correction back coordinate correspondence.
12. device as claimed in claim 11 is characterized in that, also comprises in this device: second demarcating module, be used to utilize said first image and said second image, be first external parameter of first camera calibration with respect to second camera;
Said first coordinate is confirmed submodule, is utilized as the inner parameter of first camera calibration and is first external parameter with respect to second camera of first camera calibration, calculates coordinate after the corresponding correction of each pixel in said first image.
13. device as claimed in claim 12 is characterized in that, said is that the inner parameter of first camera calibration comprises: the equivalent focal length of first camera
Fx1 draw
Fy1, reaches the central point of first camera
Cx1 draw
Cy1; Said first external parameter comprises: first rotation matrix
R_1 [3] [3] and first translation matrix
T_1 [3];
Said first coordinate confirms that submodule is to the pixel in said first image
Src1 (
J, i) carry out as follows and calculate:
Calculate
;
,
;
Calculate
;
Calculate
,
;
Obtain proofreading and correct the back coordinate:
,
.
14. device as claimed in claim 10 is characterized in that, said second correction module comprises:
Second coordinate is confirmed submodule, and being used for said second image is benchmark, calculates coordinate after the corresponding correction of each pixel in said the 3rd image;
The second assignment submodule, each proofreaies and correct the pixel value at coordinate place, back to be used for confirming said the 3rd image, and with the pixel of the pixel value assignment of determining to this correction back coordinate correspondence.
15. device as claimed in claim 14 is characterized in that, also comprises in this device: the 3rd demarcating module, be used to utilize said the 3rd image and said second image, be second external parameter of the 3rd camera calibration with respect to second camera;
Said second coordinate confirms that submodule is utilized as the inner parameter of the 3rd camera calibration and is second external parameter with respect to second camera of the 3rd camera calibration, calculates coordinate after the corresponding correction of each pixel in said the 3rd image.
16. the described device of claim 15 is characterized in that, said is that the inner parameter of the 3rd camera calibration comprises: the equivalent focal length of the 3rd camera
Fx3 draws
FyThe central point of 3, the three cameras
Cx3 draws
Cy3; Said second external parameter comprises: second rotation matrix
R_3 [3] [3] and second translation matrix
T_3 [3];
Said second coordinate confirms that submodule is to the pixel in said the 3rd image
Src3 (
J, i) carry out as follows and calculate:
Calculate
;
,
;
Calculate
;
Calculate
,
;
Coordinate behind the calculation correction:
,
.
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| CN104581136A (en) * | 2013-10-14 | 2015-04-29 | 钰创科技股份有限公司 | Image calibration system and calibration method of stereo camera |
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| CN106618450A (en) * | 2016-11-21 | 2017-05-10 | 电子科技大学 | Three-camera three-dimensional endoscope |
| CN106618450B (en) * | 2016-11-21 | 2018-08-07 | 电子科技大学 | A kind of method of three mesh stereo endoscope self-calibration |
| CN107566720A (en) * | 2017-08-25 | 2018-01-09 | 维沃移动通信有限公司 | A kind of method and mobile terminal of the calibration value for updating mobile terminal |
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