CN102750698B - Texture camera calibration device, texture camera calibration method and geometry correction method of texture image of texture camera - Google Patents
Texture camera calibration device, texture camera calibration method and geometry correction method of texture image of texture camera Download PDFInfo
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Abstract
The invention relates to a texture camera calibration device, a texture camera calibration method and a geometry correction method of a texture image of a texture camera applied in optical three-dimensional measurement. The texture camera calibration device comprises a reference panel provided with dot mark arrays and a movable bench, wherein the reference panel is fixed on the movable bench and is perpendicular to a moving direction of the movable bench. The texture camera calibration method comprises that the movable bench drives the reference panel to move in parallel to at least 3 positions, and moving distances are read and serve as coordinates of circle centers Z of dot arrays on the reference panel; in all positions of the reference panel, the texture camera photographs dot mark array images and pixel coordinates of circle centers of dots are extracted; and 14 undetermined parameters are solved. The geometry correction method of the texture image comprises steps of generating a blank texture image for measuring camera viewing angles; reading surface point three-dimensional coordinates of an object to be measured corresponding to pixels of the blank image; solving corresponding pixel coordinates of the blank image in a color texture image photographed by the texture camera; and using colors to fill in pixels of the blank image for measuring camera viewing angles.
Description
Technical field
The present invention relates to a kind of caliberating device and method and geometric image correction method thereof of video camera, relate in particular to texture camera calibration apparatus and method and texture image geometric correction method thereof in a kind of optical three-dimensional measurement.
Background technology
Optical three-dimensional measurement technology, refers to and measures object Shape ' taking optical means as means, obtains the technology of object plane three dimensional point cloud.This technology, with its non-contacting advantage, has very wide application prospect at aspects such as industrial detection, biology and medical science, Human Cultural Heritage protection and computer visions.Active optical three-dimensional measurement technology adopts active illumination light source to object projective structure light coding pattern, utilizes video camera from another angle shot distortion pattern, therefrom calculates object plane three dimensional point cloud.Passive optical three-dimensional measurement technology is utilized ambient lighting, adopts two or multiple cameras from multiple angle shot objects, utilizes principle of stereoscopic vision to rebuild object plane three dimensional point cloud.The three dimensional point cloud that utilization records can be rebuild the three-dimensional model of object.In measuring system, be to avoid the tonal distortion that color correction or color balance operation etc. cause to reduce measuring accuracy, generally select B/W camera as measurement video camera, the three dimensional point cloud of reconstruction with measure camera pixel and there is direct corresponding relation.
Visual realism while demonstration in order to strengthen three-dimensional measuring result, can map to the photo of tested three-dimensional body the three-dimensional model surface of reconstruction by texture mapping.In optical three-dimensional measurement, the mode of obtaining texture photo mainly contains three kinds.One, directly with measuring video camera shot object texture photo.This method cloud data and data texturing are obtained by same video camera, can accuracy registration, when pinup picture, there is no site error.But be generally B/W camera owing to measuring video camera, lost colouring information.Measure (S Zhang and S-T Yau if adopt color camera, " Simultaneous three-dimensional geometry and color texture acquisition using a single-chip color camera; " Opt. Eng. 47 (12), 123604,2008), Bayer color filter and camera color EQUILIBRIUM CALCULATION FOR PROCESS can cause tonal distortion, thereby reduce measuring accuracy.Its two, utilize light-dividing device that the light beam of object plane reflection is divided into two-way.A road therein, takes texture photo (S. Zhang and P. S. Huang, " High-resolution, real-time threedimensional shape measurement, " Opt. Eng. 45,123601,2006) with colour TV camera.This method not only needs to increase light-splitting device, also needs texture camera pixel, with to measure camera pixel accurately corresponding, to adjust comparatively difficult.Its three, color texture video camera be installed on measure optional position, video camera side.It is this that method is simple, but because the visual angle of texture video camera and measurement video camera there are differences.The texture photo of directly taking can not be directly used in texture mapping, need to pass through registration or the geometry correction of image, this texture photo is converted into measurement visual angle, video camera place and could realizes pinup picture.
Above-mentioned the third method is simple, the most practical, but must set up texture video camera visual angle image and measure the mapping relations between video camera visual angle image by demarcation, recycle color texture image that these mapping relations photograph texture video camera and be converted into and measure visual angle, video camera place.There is direct corresponding relation owing to measuring between camera pixel and reconstruction point cloud, so just can utilize the image after conversion to realize texture mapping.But general camera marking method (for example Z.Zhang, " Flexibel camera calibration by viewing a plane from unknown orientation; " International conference on computer vision (ICCV ' 99), Corfu, Greece. 666-673,1999) be applicable to obtain the inside and outside parameter of a video camera, can not be directly used in the mapping relations of determining between above-mentioned two visual angle image pixels.
Summary of the invention
Object of the present invention, is to provide a kind of texture camera calibration apparatus and method for optical three-dimensional measurement and the geometric correction method of texture image thereof.By said apparatus and method, can determine texture video camera visual angle image in optical three-dimensional measurement system and measure the pixel mapping relations between the image of video camera visual angle.By these mapping relations, the color texture image that texture video camera can be photographed is converted into measures video camera visual angle, thereby realizes the texture mapping of three-dimensional model, the visual realism while strengthening three-dimensional measuring result demonstration.
For achieving the above object, the present invention adopts following proposal:
A texture camera calibration device in optical three-dimensional measurement, comprises reference plate and the travelling table of a surface with two-dimensional circle point mark array.Round dot mark array edge on reference plate
x,
ytwo vertical direction distribute.Each round dot central coordinate of circle (
x k ,
y k ) accurately known, wherein
k(
k=1,2 ...,
k) be round dot sequence number.For improving picture contrast, round dot mark and background color are respectively black-and-white two color.Reference plate is fixed on travelling table, and makes reference plate plane vertical with travelling table moving direction, so travelling table can drive reference plate to move along Z-direction, displacement can accurately read.
A texture camera marking method in optical three-dimensional measurement, calibration process comprises the following steps:
S1: above-mentioned caliberating device is placed in measuring system, and reference plate round dot mark, towards video camera place direction, can be photographed by two video cameras simultaneously.Reference plate initial position is recorded as
z 0=0, as the reference position of the figure that fathoms.Measure video camera and the texture video camera image of shot mark round dot array simultaneously.Travelling table drives reference plate extremely
nindividual diverse location (
n>=2), and record its position
z n (
n=1,2 ...,
n).By this process, the marker dots center of circle of reference plate forms a three dimensions dot matrix, its each point volume coordinate (
x k, n ,
y k, n ,
z k, n ) known.In the each mobile in-position of reference plate, with the image of texture video camera shot mark round dot array.
S2: the image that texture video camera in step S1 is obtained is processed, extract each round dot barycenter as the pixel coordinate in the round dot center of circle (
u k, n ,
v k, n ).
S3: by the pixel coordinate in each texture camera review round dot center of circle (
u k, n ,
v k, n ) and corresponding three dimensions point coordinate (
x k, n ,
y k, n ,
z k, n ) substitution formula:
Formation comprises 2
k(
n+1) system of equations of individual equation.Utilize least square method, can solve 14 unknown undetermined parameters from this system of equations
q m(m=1,2 ..., 14).These parameters have determined texture video camera visual angle image in optical three-dimensional measurement system and have measured the mapping relations between the image pixel of video camera visual angle.
The geometric correction method of the texture image in a kind of optical three-dimensional measurement.In actual measurement, measuring system can record object plane three dimensional point cloud, wherein measure camera pixel (
s,
t) corresponding object plane point three-dimensional coordinate be [
x(
s,
t),
y(
s,
t),
z(
s,
t)].Can photograph object plane color texture image by texture video camera simultaneously.On this texture image (
u,
v) the red, green, blue three primary colours component of pixel be [
r t(
u,
v),
g t(
u,
v),
b t(
u,
v)].Utilize the calibration result of aforementioned scaling method, can carry out geometry correction to this coloured image, can by its by texture video camera visual angle image conversion to measuring video camera visual angle, step is as follows:
S4: generate one width measure video camera visual angle blank coloured image [
r m(
s,
t),
g m(
s,
t),
b m(
s,
t)], its component represent respectively pixel in this image (
s,
t) red, green, blue three primary colours component.
S5: for each pixel coordinate of above-mentioned blank image (
s,
t), utilize formula
Calculate its in texture camera review respective pixel coordinate (
u,
v).
S6: read pixel in texture camera review (
u,
v) each color component.With these color components fill measure video camera visual angles blank coloured image (
s,
t) pixel,
To all pixels (
s,
t) carry out same operation and can obtain and measure the color texture image at video camera visual angle, realize the geometry correction of texture image.
The present invention compared with prior art, has following apparent outstanding substantive distinguishing features and remarkable advantage:
1, the present invention can ensure that optical three-dimensional measurement point cloud is measured and texture acquisition process independently carries out, and avoids phase mutual interference.Utilize B/W camera to measure to ensure measuring accuracy, utilize colour TV camera to record texture image to retain color information.
2, the present invention allows texture video camera to be installed on and measures optional position, video camera side, does not need to increase light-dividing device, is easy to realize.
3, choosing of the parameter of texture video camera can be different from measurement video camera.For example, can select high quantization resolution and high linear measurement video camera to measure, the impact on measuring accuracy with lower quantization error and nonlinear response; Select general quantization resolution (8-bit) and the colour TV camera with GAMMA correction to carry out the shooting of color texture image simultaneously, ensure the visual effect of texture image.Both picture size sizes also can be different.
4, apparatus of the present invention are simple, and method is easy to operate, without obtaining texture camera interior and exterior parameter.Caliberating device can be simultaneously for measuring the demarcation of video camera and measuring system.Texture camera calibration and measuring system are demarcated and can be carried out simultaneously, are conducive to reduce the nominal time.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention's " texture camera calibration device in optical three-dimensional measurement ";
Fig. 2 is the schematic diagram of the present invention's " texture camera marking method in optical three-dimensional measurement ".
Embodiment
Details are as follows by reference to the accompanying drawings for the preferred embodiments of the present invention:
embodiment mono-:referring to Fig. 1, the texture camera calibration device that should be used for optical three-dimensional measurement is made up of reference plate (1) and travelling table (2); Reference plate (1) surface is surperficial with two-dimensional circle point mark array, round dot mark array edge
x,
ytwo vertical direction distribute; The upper each round dot central coordinate of circle of reference plate (1) (
x k ,
y k ) accurately known, wherein
k(
k=1,2 ...,
k) be round dot sequence number; The upper round dot mark of reference plate (1) and background color are respectively black-and-white two color, to improve the contrast of its image, are conducive to cutting apart of round dot mark; It is upper that reference plate (1) is fixed on travelling table (2), and make reference plate (1) plane vertical with travelling table (2) moving direction; Travelling table (2) can drive reference plate (1) to move along Z-direction, and displacement can accurately read; Caliberating device, at timing signal, is placed in the measurement space of the measuring system being made up of structure light source (3) and black and white measurement video camera (5), is positioned at the visual field of black and white measurement video camera (5) and color texture video camera.
embodiment bis-:referring to Fig. 2, should be used for the texture camera marking method of optical three-dimensional measurement, utilize the device of embodiment mono-to demarcate, its calibration principle and step are described below.
, can be photographed by two video cameras towards video camera place direction with reference to dull and stereotyped round dot mark simultaneously.
This reference plate can be simultaneously for the demarcation of measuring system and the demarcation of texture video camera.Measurement video camera in measuring system can be taken reference plate round dot mark array, in order to set up the mapping relations of measuring between camera pixel coordinate and the three-dimensional coordinate of measured object millet cake, realize measuring system laterally (
xwith
ydirection) demarcate.Simultaneously, by reference to dull and stereotyped translation, utilize structure light source projective structure light pattern to this reference plate, the distressed structure light pattern when measuring video camera and obtain reference plate and be positioned at different depth position.Analyze these patterns, can set up the mapping relations between structured light patterns deformation quantity and the degree of depth of measured object millet cake, realize measuring system longitudinally (
zdirection) demarcate.The present invention is mainly the problem of calibrating for texture video camera.Can carry out due to the demarcation of measuring system and the demarcation of texture video camera, measuring system and texture camera system just have the same space coordinate system simultaneously.
Reference plate initial position is recorded as
z 0=0, as the reference position of the figure that fathoms.Measure video camera and the texture video camera image of shot mark round dot array simultaneously.Travelling table drives reference plate extremely
nindividual diverse location (
n>=2), and record its position
z n (
n=1,2 ...,
n).By this process, the marker dots center of circle of reference plate forms a three dimensions dot matrix, its each point volume coordinate (
x k, n ,
y k, n ,
z k, n ) known.In the each mobile in-position of reference plate, with the image of texture video camera shot mark round dot array.
The former dot image of mark that texture video camera is obtained is processed.First can remove by smothing filtering the noise of the former dot image of mark, more each round dot is done to image cut apart.Because reference plate is a flat shape, its glazing is according to relatively even, and round dot mark and background color be respectively black-and-white two color, and contrast is larger, and image is cut apart and can be realized by global threshold of simple setting.Image is by cutting apart by binaryzation, and mark initial point is that white is expressed as 1, and background is that black white is expressed as 0.Then ask for each round dot barycenter as the pixel coordinate in the round dot center of circle (
u k, n ,
v k, n ):
Wherein subscript
k(
k=1,2 ...,
k) represent the sequence number of marker dots on reference plate,
n(
n=0,1,2 ...,
n) expression reference plate position number;
d k,n for reference plate
nwhen individual the position
kthe connected region of individual marker dots, (
i,
j) be the pixel coordinate of bianry image, the denominator of above-mentioned formula is actually region
d k,n area.
As previously mentioned, travelling table drives reference plate to move, and the marker dots center of circle of reference plate forms a three dimensions dot matrix, its each point volume coordinate (
x k, n ,
y k, n ,
z k, n ) be known.Wherein (
x k, n ,
y k, n ) be round dot mark central coordinate of circle, in the time that making, reference plate just determines.Coordinate
z k, n determined by reference plate shift position, in the time that reference plate moves, read.
By the pixel coordinate in each texture camera review round dot center of circle (
u k, n ,
v k, n ) and corresponding three dimensions point coordinate (
x k, n ,
y k, n ,
z k, n ) substitution formula:
Formation comprises 2
k(
n+1) system of equations of individual equation.Above-mentioned formula obtains by measuring system is carried out to strict geometric analysis, can accurately describe in measurement space the mapping relations between any coordinate and camera pixel coordinate.Notice that above-mentioned system of equations is nonlinear, need by solution by iterative method, comparatively difficulty, can be transformed to following linear equation
Wherein
trepresenting matrix transposition.Utilize Housholder conversion, can solve this system of linear equations least square solution, solve 14 unknown undetermined parameters
q m(m=1,2 ..., 14).These parameters have determined in optical three-dimensional measurement system the mapping relations between the three-dimensional coordinate of object plane point in texture video camera visual angle image and measurement space.Owing to there is the direct corresponding relation of determining between object plane point cloud and measurement camera pixel, can utilize above-mentioned demarcation parameters obtained to determine texture video camera visual angle image and measure the mapping relations between the image pixel of video camera visual angle.
embodiment tri-:the geometric correction method that should be used for the texture image of optical three-dimensional measurement utilizes the calibration result of embodiment bis-to carry out geometry correction to the color texture image of texture video camera shooting, be transformed to and measured video camera visual angle image, so that realize the texture mapping of measuring gained three-dimensional model.
In actual measurement, measuring system can record object plane three dimensional point cloud, and cloud data exists direct corresponding relation with measuring camera pixel, pixel (
s,
t) corresponding object plane point three-dimensional coordinate can be expressed as [
x(
s,
t),
y(
s,
t),
z(
s,
t)].In measuring, texture video camera can photograph object plane texture image.This texture image is coloured image, the model representations such as available RGB model or HIS.Adopt RGB model, on texture image (
u,
v) the red, green, blue three primary colours component of pixel can be expressed as [
r t(
u,
v),
g t(
u,
v),
b t(
u,
v)].
For obtaining measuring the texture image at video camera visual angle, can first generate the blank coloured image at this visual angle of width, use equally RGB model, this image pixel (
s,
t) red, green, blue three primary colours component be [
r m(
s,
t),
g m(
s,
t),
b m(
s,
t)].
For each pixel coordinate of above-mentioned blank image (
s,
t), utilize the calibration result of embodiment bis-, i.e. parameter
q m(m=1,2 ..., 14), pass through formula
Can calculate its in texture camera review respective pixel coordinate (
u,
v).
Read pixel in texture camera review (
u,
v) each color component.With these color components fill measure video camera visual angles blank coloured image (
s,
t) pixel,
So can obtain the color texture image of measuring video camera visual angle, realize the geometry correction of texture image.
This method does not require that texture video camera has and has identical Pixel Dimensions and pixel count with measurement video camera.In said process, by (
s,
t) calculating gained texture image pixel coordinate (
u,
v) general non integer value, can utilize that to round up its rounding be round values, or utilize bilinearity difference approach by (
u,
v) around nearest 4 pixels calculate its color gray-scale value; In addition, also likely by (
s,
t) calculating gained texture image pixel coordinate (
u,
v) exceed texture image range of size, now cannot obtain this pixel color texture information.
Claims (3)
1. a texture camera marking method, is characterized in that the concrete steps of the method are:
The first step, with reference to dull and stereotyped (1) round dot mark towards measuring video camera (4) and texture video camera (5) place direction, can be photographed by two video cameras (4,5) simultaneously; Reference plate (1) initial position is recorded as
z 0=0; With the image of texture video camera (5) shot mark round dot array; Travelling table (2) drives reference plate (1) extremely
nindividual diverse location,
n>=2, and record its position
z n ,
n=1,2 ...,
n;
By this process, the marker dots center of circle of reference plate (1) forms a three dimensions dot matrix, its each point volume coordinate (
x k, n ,
y k, n ,
z k, n ) known, wherein
kfor round dot marking serial numbers; In the each mobile in-position of reference plate (1), with the image of texture video camera (5) shot mark round dot array;
Second step, the image that texture video camera (5) in the first step is obtained are processed, extract each round dot barycenter as the pixel coordinate in the round dot center of circle (
u k, n ,
v k, n );
The 3rd step, by the pixel coordinate in each texture camera review round dot center of circle (
u k, n ,
v k, n ) and corresponding three dimensions point coordinate (
x k, n ,
y k, n ,
z k, n ) substitution formula:
Formation comprises 2
k(
n+1) system of equations of individual equation; Utilize least square method, can solve 14 unknown undetermined parameters from this system of equations
q m, m=1,2 ..., 14; These parameters have determined texture video camera visual angle image in optical three-dimensional measurement system and have measured the mapping relations between the image pixel of video camera visual angle.
2. a texture camera calibration device, for realizing texture camera marking method according to claim 1, is characterized in that this device is made up of reference plate (1) and travelling table (2); On reference plate, on (1), there is edge
x,
ytwo two-dimentional round dot mark array that vertical direction distributes; The central coordinate of circle of (1) round dot mark on reference plate (
x k ,
y k ) accurately known, wherein
kfor round dot marking serial numbers; On reference plate, round dot mark and the background color of (1) is respectively black-and-white two color, to improve the contrast of its image; It is upper that reference plate (1) is fixed on travelling table (2), and make reference plate (1) plane vertical with travelling table (2) moving direction; Travelling table (2) can drive reference plate (1) to move along Z-direction, and displacement can accurately read.
3. a geometric correction method for texture image, adopts the result of texture camera marking method according to claim 1 to carry out the geometric correction of imagery, it is characterized in that: trimming process comprises the following steps:
The first step, generate one width measure video camera visual angle blank coloured image [
r m(
s,
t),
g m(
s,
t),
b m(
s,
t)], its component represent respectively pixel in this image (
s,
t) red, green, blue three primary colours component;
Second step, for the first step generate each pixel coordinate of blank image (
s,
t), utilize the calibration result of texture camera marking method according to claim 1
q m, m=1,2 ..., 14, by the object plane point three-dimensional coordinate being measured by measuring system corresponding this pixel [
x(
s,
t),
y(
s,
t),
z(
s,
t)] the following formula of substitution, calculate its in texture camera review respective pixel coordinate (
u,
v)
The 3rd step, read pixel in texture camera review (
u,
v) RGB color component [
r t(
u,
v),
g t(
u,
v),
b t(
u,
v)];
With these color components fill measure video camera visual angles blank coloured image (
s,
t) pixel,
。
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| CN106203257B (en) * | 2016-06-27 | 2019-12-06 | 深圳市新国都支付技术有限公司 | Method and system capable of identifying identification |
| CN108036740B (en) * | 2017-12-05 | 2020-04-10 | 南京理工大学 | High-precision real-time three-dimensional color measurement system and method based on multiple viewing angles |
| CN110942506B (en) * | 2019-12-05 | 2023-05-02 | 河北科技大学 | Object surface texture reconstruction method, terminal equipment and system |
| CN113155053B (en) * | 2020-01-22 | 2024-09-06 | 株式会社三丰 | Three-dimensional geometry measuring device and three-dimensional geometry measuring method |
| CN112884898B (en) * | 2021-03-17 | 2022-06-07 | 杭州思看科技有限公司 | Reference device for measuring texture mapping precision |
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