CN104408704A - Automatic zoom lens calibration device and calibration method - Google Patents
Automatic zoom lens calibration device and calibration method Download PDFInfo
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- CN104408704A CN104408704A CN201410421069.1A CN201410421069A CN104408704A CN 104408704 A CN104408704 A CN 104408704A CN 201410421069 A CN201410421069 A CN 201410421069A CN 104408704 A CN104408704 A CN 104408704A
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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Abstract
The invention discloses an automatic zoom lens calibration device and calibration method. The calibration method comprises the following steps: designing a calibration board pattern, identifying and positioning the calibration board pattern, establishing a calibration method operation flow and a function relationship between a camera zooming ring value and a camera internal reference. The calibration device comprises a camera, a calibration board, a calibration board bracket and a driving mechanism. The step of designing the calibration board pattern comprises calibration board layout and code pattern design, and guarantees the stability of the precision of various zooming ring positions. The calibration method operation flow comprises a step of driving the calibration board through a motor to save manual cost and guarantee the stability of calibration precision. The function relationship between the camera zooming ring value and the camera internal reference comprises a step of establishing the function relationship between the zooming ring value and each element in an internal parameter matrix of the camera so as to provide a data foundation for the later-stage special effect manufacture of a movie.
Description
Technical field
The present invention relates to a kind of camera lens caliberating device and scaling method, particularly a kind of robotization Zoom lens calibration device and scaling method.
Background technology
Camera calibration technology world coordinates and image coordinate is connected by scaling board, and calculate the inside and outside parameter of video camera according to corresponding relation.Particularly by calibration technique, the funtcional relationship obtained between focusing, focal length, lens distortion is the basis of virtual special efficacy technique for taking.
In the application, the scaling board of gridiron pattern or round dot is usually used to complete the calibration process of video camera.The use of scaling board is usually: by taking several gridiron patterns under different attitude or round dot scaling board image, and according to the coordinate of corresponding point in image coordinate system and world coordinate system, try to achieve camera interior and exterior parameter but scaling board traditional in the calibration process of the different focal to same camera lens exists following defect:
1), when taking the scaling board image of diverse location, need not stop to regulate the position of scaling board to make imaging clearly;
2) scaling board is when shooting angle is excessive, and imaging is less, fuzzy in the picture for the pattern of scaling board peripheral edge, affects the accuracy of corresponding point;
3) for demarcation telephoto lens, cannot take complete scaling board image is also the difficult problem run in traditional scaling method.
Therefore, the present invention devises a kind of scaling board with specific coding pattern, by the plant equipment making scaling board automatically change attitude, can make calibration process robotization, and solved the problem run in above-mentioned calibration process by the design of scaling board.
Summary of the invention
Goal of the invention: be a kind of scaling board and recognition methods with specific coding pattern of demarcation design of video camera, the robotization for camera lens is demarcated and provided solution.The present invention, by designing the specific coding pattern of some on scaling board, by identifying and location it, obtains the coordinate of point in scaling board coordinate system in image.Simultaneously, use scaling board of the present invention, can when wide-angle, remote and focal length, all obtain the scaling board pattern of enough imaging clearlies in the picture, therefore, by machine automatization conversion scaling board attitude, avoid the artificial frequent work regulating scaling board, achieve the automatic Calibration of video camera.
1. technical scheme: in order to realize above object, the invention discloses a kind of design and test method of camera calibration plate, comprises the following steps:
S1: scaling board integral layout and design;
S2: measure and preserve scaling board information;
S3: camera calibration.
Further, described step S1 specifically comprises the following steps:
S11: length and the area of determining scaling board according to actual needs, ensure that scaling board peripheral edge has enough coding patterns can by blur-free imaging when wide-angle is taken;
S12: design coding pattern unduplicated, not of uniform size, ensure that when demarcating telephoto lens, always having the coding pattern of suitable size to carry out demarcating in the various zoom ring positions for camera lens and to be identified;
S13: by described coding pattern layout in scaling board.
Further, in described step S1, by machine automatization conversion scaling board attitude, avoid the artificial frequent work regulating scaling board, achieve the automatic Calibration of video camera.
Further, the coding pattern in described step S12 is foursquare coding pattern or circle codification pattern.Wherein, foursquare coding pattern, integral calibrating plate adopts rectangle, and length is comparatively large, and coding pattern uses multiple size, and the pattern near centre is minimum, and the pattern on both sides is maximum; Adopt circle codification pattern, integral calibrating plate adopts the rectangle that length is larger equally, and coding pattern uses the circle codification pattern of two kinds of sizes, is respectively distributed in scaling board.
Further, described step S2 specifically comprises the following steps:
S21: by the code storage of scaling board pattern in database, sets up the corresponding relation of coding and pattern;
S22: by precision measurement equipment, measures the coordinate that each demarcates the size of pattern, coordinate, pattern characteristics point and the sampled point in scaling board.
Further, described step S3 specifically comprises the following steps:
S31: Feature point recognition;
S32: camera calibration;
S33: set up the funtcional relationship between each element in burnt ring value and video camera internal reference matrix.
Further, described step S31 specifically comprises the following steps:
S311: Connected area disposal$, obtains the region containing data block in the picture;
S312: angle point grid;
S313: screening angle point, obtains four angle points of composition data block pattern quadrilateral;
S314: the projection matrix H of data block in calculation template data block to image;
S315: decoded data block, obtains the positional information of the data block in image for this data block in scaling board.
Further, described step S32 specifically comprises the following steps:
S321: obtain the data block centre coordinate that can identify in scaling board image, adopts the method for step S31, sets up the corresponding relation with world coordinate system;
S322: the initial value obtaining the inside and outside ginseng of video camera and distortion parameter;
S323: screen by L-M optimized algorithm camera interior and exterior parameter and distortion factor optimization.
Further, described step S33 specifically comprises the following steps:
S331: under zooming range, regulates zoom level;
S332: by the method described in step S22, demarcates and is working as the camera parameters under front focal length, thus set up the funtcional relationship between burnt ring value and each camera parameters;
S333: under next zoom level, zoom level generally gets more than 20 groups in span, repeats step S322.
Beneficial effect: compared with prior art, the present invention has the following advantages:
1., by machine automatization conversion scaling board attitude, avoid the artificial frequent work regulating scaling board, achieve the automatic Calibration of video camera;
2., when wide-angle is taken, scaling board peripheral edge has enough coding patterns can by blur-free imaging;
3., when demarcating telephoto lens, always there is the coding pattern of suitable size to carry out demarcating in the various zoom ring positions for camera lens and to be identified.
Accompanying drawing explanation
Fig. 1 is a kind of robotization Zoom lens calibration device, is the scaling board schematic diagram adopting square numbering pattern;
Fig. 2 is scaling board schematic diagram, is the scaling board schematic diagram adopting circle codification pattern;
Fig. 3 is scaling board pattern data block schematic diagram, is square scaling board pattern schematic diagram 1;
Fig. 4 is the schematic flow sheet of camera calibration, is square scaling board pattern schematic diagram 2;
Fig. 5 is Feature point recognition process flow diagram, is the schematic diagram of circle codification pattern;
Fig. 6 is data block sampled point schematic diagram, is a kind of design and test method flow diagram of camera calibration plate.
embodiment
Below in conjunction with the drawings and specific embodiments, illustrate the present invention further, these embodiments should be understood only be not used in for illustration of the present invention and limit the scope of the invention, after having read the present invention, the amendment of those skilled in the art to the various equivalent form of value of the present invention has all fallen within the application's claims limited range.
Embodiment:
Embodiment 1:
A design and test method for camera calibration plate, comprises the following steps (as shown in Figure 6):
S1: scaling board integral layout and design;
S2: measure and preserve scaling board information;
S3: camera calibration.
Further, described step S1 specifically comprises the following steps:
S11: length and the area of determining scaling board according to actual needs, ensure that scaling board peripheral edge has enough coding patterns can by blur-free imaging when wide-angle is taken;
S12: design coding pattern unduplicated, not of uniform size, ensure that when demarcating telephoto lens, always having the coding pattern of suitable size to carry out demarcating in the various zoom ring positions for camera lens and to be identified;
S13: by described coding pattern layout in scaling board.
Further, in described step S1, by machine automatization conversion scaling board attitude, avoid the artificial frequent work regulating scaling board, achieve the automatic Calibration of video camera.
Further, the coding pattern in described step S12 is foursquare coding pattern, and integral calibrating plate adopts rectangle, and length is comparatively large, and coding pattern uses multiple size, and the pattern near centre is minimum, and the pattern on both sides is maximum.Square rectangular coding pattern entirety is a rectangle, and the inner grid type layout of m*n that adopts uses another kind of color to encode.Encoding by rectangular coordinate system from left to right, from top to bottom, foreground is 1, background colour is 0, is a string 2 carry system codes by pattern transfer.
The schematic diagram of a rectangle coding pattern as shown in Figure 3, this pattern uses square, the part of its middle 5*5 is data division, encode with order from left to right, from top to bottom, white is 1, black is 0, being then encoded to of this coding pattern: 00,001 11,000 01,110 00,010 00100.
Be again the coding pattern of a 8*8 as shown in Figure 4, it is encoded to: 00,000,001 0,010,001,000,011,110 01,001,110 01,100,010 00,001,010 11,000,100 11000000, can simply be written as: 01221E4E620AC4C0 with 16 systems.
Further, described step S2 specifically comprises the following steps:
S21: by the code storage of scaling board pattern in database, sets up the corresponding relation of coding and pattern;
S22: by precision measurement equipment, measures the coordinate that each demarcates the size of pattern, coordinate, pattern characteristics point and the sampled point in scaling board.
Further, described step S3 specifically comprises the following steps:
S31: Feature point recognition;
S32: camera calibration;
S33: set up the funtcional relationship between each element in burnt ring value and video camera internal reference matrix.
Further, described step S31 specifically comprises the following steps:
S311: Connected area disposal$, obtains the region containing data block in the picture;
S312: angle point grid, the present invention adopts Harris Angular Point Extracting Method, and other Robust Algorithm of Image Corner Extractions are all feasible;
S313: screening angle point, obtain four angle points of composition data block pattern quadrilateral, in a connected domain, the angle point having the angle point for demarcating and data block forecast is produced, 4 the angle point (u1 be on square or rectangular four angles for demarcating are extracted from these angle points, v1), (u2, v2), (u3, v3), (u4, v4), and calculate cornerwise intersection point (u0, v0) of the quadrilateral that these 4 angle points are formed, as the centre coordinate of data block pattern;
S314: the projection matrix H of data block in calculation template data block to image, ask for transformation matrix by 4 groups of corresponding point.Method is as follows:
S315: decoded data block, the data block obtained in image corresponds to the positional information of this data block in scaling board.Method is as follows:
Sample point coordinate in template, according to projective transformation matrix H, obtains the sample coordinate in image, and in the m*n neighborhood of sample coordinate, the pixel value in zoning, obtains the encoded radio (0 or 1) in this region.Record sampled value in order, namely obtain the coding of data block, obtain the correspondence position of this data block in scaling board by code search, and using pattern center (u0, v0) as this data block position in the picture.
Further, described step S32 specifically comprises the following steps:
S321: obtain the data block centre coordinate that can identify in scaling board image, adopts the method for step S31, sets up the corresponding relation with world coordinate system;
S322: the initial value obtaining the inside and outside ginseng of video camera and distortion parameter;
S323: screen by L-M optimized algorithm camera interior and exterior parameter and distortion factor optimization.
Further, described step S33 specifically comprises the following steps:
S331: under zooming range, regulates zoom level;
S332: by the method described in step S22, demarcates and is working as the camera parameters under front focal length, thus set up the funtcional relationship between burnt ring value and each camera parameters;
S333: under next zoom level, zoom level generally gets more than 20 groups in span, repeats step S322.
Embodiment 2:
A design and test method for camera calibration plate, comprises the following steps (as shown in Figure 6):
S1: scaling board integral layout and design;
S2: measure and preserve scaling board information;
S3: camera calibration.
Further, described step S1 specifically comprises the following steps:
S11: length and the area of determining scaling board according to actual needs, ensure that scaling board peripheral edge has enough coding patterns can by blur-free imaging when wide-angle is taken;
S12: design coding pattern unduplicated, not of uniform size, ensure that when demarcating telephoto lens, always having the coding pattern of suitable size to carry out demarcating in the various zoom ring positions for camera lens and to be identified;
S13: by described coding pattern layout in scaling board.
Further, in described step S1, by machine automatization conversion scaling board attitude, avoid the artificial frequent work regulating scaling board, achieve the automatic Calibration of video camera.
Further, the coding pattern in described step S12 is for adopting circle codification pattern, and integral calibrating plate adopts the rectangle that length is larger equally, and coding pattern uses the circle codification pattern of two kinds of sizes, is respectively distributed in scaling board.Circle codification pattern entirety is a circle, and inside division is n donut, each annulus is encoded by bisects angle (m decile), is namely encoded by polar coordinate system.Such as can adopt from inside to outside, be positive dirction clockwise, and every 2 π/m radians are that a unit encodes.It should be noted that in circle codification pattern, the re-encode start point of an angle must be provided, to determine the position of 0 degree.
The schematic diagram of a circle codification pattern as shown in Figure 5, this pattern uses circular, it is the coding pattern of a 8*2, pair radius 5 decile, circular dividing is become 5 annulus, each annulus is divided into 8 deciles by bisects angle, and wherein first lap and the 5th circle (i.e. interior and outermost) are not encoded, 2nd circle and the 4th Quan Shi data encoding district, the 3rd circle is that the region at identification point place is for determining the direction of circle codification pattern.Coding method is: encode by clock-wise order from inside to outside, and 0 degree of position is 12 o'clock direction, and white is 1, black is 0, being then encoded to of this coding pattern: 10,000,000 00111010.
Further, described step S2 specifically comprises the following steps:
S21: by the code storage of scaling board pattern in database, sets up the corresponding relation of coding and pattern;
S22: by precision measurement equipment, measures the coordinate that each demarcates the size of pattern, coordinate, pattern characteristics point and the sampled point in scaling board.
Further, described step S3 specifically comprises the following steps:
S31: Feature point recognition;
S32: camera calibration;
S33: set up the funtcional relationship between each element in burnt ring value and video camera internal reference matrix.
Further, described step S31 specifically comprises the following steps:
S311: edge extracting, obtains the edge of target in image with Canny Boundary extracting algorithm;
S312: the circular scaling board in positioning image, due to shooting angle, circular scaling board pattern presents ellipse in the picture.Adopt the ellipse in RHT Ellipses Detection positioning image, and be partitioned into elliptic region, for identifying circular scaling board;
S313: in region, by the projection of 4 mark circles in RHT Ellipses Detection positioning image, and using the coordinate of their center as identification point, be respectively: (u1, v1), (u2, v2), (u3, v3), (u4, v4), the identification point coordinate that they correspond in scaling board is (x1, y1), (x2, y2), (x3, y3), (x4, y4), wherein correspond to the center of identification point as this pattern of scaling board pattern center, coordinate is (u0, v0);
S314: the projection matrix H of data block in calculation template data block to image, ask for transformation matrix by 4 groups of corresponding point.Method is as follows:
S315: decoded data block, obtains the positional information of the data block in image for this data block in scaling board.Method is as follows:
Sample point coordinate in template, according to projective transformation matrix H, obtains the sample coordinate in image, and in the m*n neighborhood of sample coordinate, the pixel value in zoning, obtains the encoded radio (0 or 1) in this region.Record sampled value in order, namely obtain the coding of data block, obtain the correspondence position of this data block in scaling board by code search, and using pattern center (u0, v0) as this data block position in the picture.
Further, described step S32 specifically comprises the following steps:
S321: obtain the data block centre coordinate that can identify in scaling board image, adopts the method for step S31, sets up the corresponding relation with world coordinate system;
S322: the initial value obtaining the inside and outside ginseng of video camera and distortion parameter;
S323: screen by L-M optimized algorithm camera interior and exterior parameter and distortion factor optimization.
Further, described step S33 specifically comprises the following steps:
S331: under zooming range, regulates zoom level;
S332: by the method described in step S22, demarcates and is working as the camera parameters under front focal length, thus set up the funtcional relationship between burnt ring value and each camera parameters;
S333: under next zoom level, zoom level generally gets more than 20 groups in span, repeats step S322.
Claims (7)
1. a robotization Zoom lens calibration device, is characterized in that, comprises video camera, scaling board, scaling board support and driving mechanism; Described scaling board is connected on scaling board support; Described scaling board support is connected with driving mechanism.
2. a kind of robotization Zoom lens calibration device according to claim 1, is characterized in that, described driving mechanism is motor.
3. a robotization Zoom lens calibration method, is characterized in that, comprises the following steps:
S1: scaling board designs;
S2: camera calibration.
4. a kind of robotization Zoom lens calibration method according to claim 3, it is characterized in that, described step S1 specifically comprises the following steps:
S11: need to carry out scaling board layout according to embody rule;
S12: design N number of different size scaling board pattern and by its layout in scaling board;
S13: measure and preserve scaling board information.
5. a kind of robotization Zoom lens calibration method according to claim 3, it is characterized in that, described step S2 specifically comprises the following steps:
S21: Feature point recognition;
S22: camera calibration;
S23: set up the funtcional relationship between each element in burnt ring value and video camera internal reference matrix.
6. a kind of robotization Zoom lens calibration method according to claim 3 or 5, it is characterized in that, described step S21 specifically comprises the following steps:
S211: Connected area disposal$, obtains the region containing data block in the picture;
S212: angle point grid;
S213: screening angle point, obtains four angle points of composition data block pattern quadrilateral;
S214: the projection matrix H of data block in calculation template data block to image;
S215: decoded data block, obtains the positional information of the data block in image for this data block in scaling board.
7. a kind of robotization Zoom lens calibration method according to claim 3 or 5, it is characterized in that, described step S23 specifically comprises the following steps:
S231: under zooming range, regulates zoom level;
S232: by the method described in step S22, demarcates and is working as the camera parameters under front focal length, thus set up the funtcional relationship between burnt ring value and each camera parameters;
S233: under next zoom level, zoom level generally gets more than 20 groups in span, repeats step S22.
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| CN106998463A (en) * | 2016-01-26 | 2017-08-01 | 宁波舜宇光电信息有限公司 | The method of testing of camera module based on latticed mark version |
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| CN109584311A (en) * | 2018-11-30 | 2019-04-05 | Oppo广东移动通信有限公司 | Camera calibration method, device, electronic equipment and computer readable storage medium |
| WO2020239093A1 (en) * | 2019-05-31 | 2020-12-03 | 深圳市道通智能航空技术有限公司 | Camera calibration method and apparatus, and electronic device |
| CN113129388A (en) * | 2020-12-23 | 2021-07-16 | 合肥工业大学 | Coding stereo target for quickly calibrating internal and external parameters of camera and coding method thereof |
| CN113538590A (en) * | 2021-06-15 | 2021-10-22 | 深圳云天励飞技术股份有限公司 | Zoom camera calibration method and device, terminal equipment and storage medium |
| CN113538590B (en) * | 2021-06-15 | 2024-07-02 | 深圳云天励飞技术股份有限公司 | Calibration method and device of zoom camera, terminal equipment and storage medium |
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Application publication date: 20150311 |