CN104657982A - Calibration method for projector - Google Patents
Calibration method for projector Download PDFInfo
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- CN104657982A CN104657982A CN201510018869.3A CN201510018869A CN104657982A CN 104657982 A CN104657982 A CN 104657982A CN 201510018869 A CN201510018869 A CN 201510018869A CN 104657982 A CN104657982 A CN 104657982A
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Abstract
The invention discloses a calibration method for a projector. The calibration method can be implemented by using camera equipment, projector equipment, a lattice array calibration plate and grid projection pattern. The calibration method comprises the following steps: firstly, the camera shoots to obtain a lattice photo of the calibration plate at a shooting position of the lattice array calibration plate; the projector projects grid pattern onto the plate surface by keeping the position of the calibration plate unchanged; the camera shoots again to obtain a photo of the calibration plate with projection pattern; then the shot calibration plate lattice array photo is used and a two-dimensional target surface calibration method is adopted to calibrate the camera; finally, the image coordinate of grid angular points on the photo is obtained through performing image processing on the shot photo with the projection pattern; the world coordinate of the angular points is obtained by utilizing the camera calibration result or the crossratio invariance principle, so that calibration on the projector can be finished with the aid of known grid projection pattern. According to the calibration method for the projector, the calibration device is convenient to manufacture and rapid in calibration process.
Description
Technical field
The invention belongs to machine vision calibration technique field, relate to a kind of projector calibrating method based on lattice array scaling board and image processing techniques.
Background technology
Structural light three-dimensional measuring technique has the advantages such as noncontact, high precision, high speed, and its measurement result is convenient and various software interface, and this makes it be widely used in fields such as scientific analysis, bioengineering, commercial production.And in structural light measurement, there is the three-dimension measuring system of a kind of one camera, single projector composition, this system architecture is simple, measurement efficiency is high, but its measuring system must relate to the demarcation of camera and projector.Camera calibration has had the scaling method of comparative maturity, but projector is not imaging device, is considered as reverse camera, therefore demarcation difficulty is high, and precision is difficult to ensure.How to learn that the three-dimensional world coordinate of the series of features point of projector calibrating and image pixel coordinates are large problems needing to solve.
Conventional projector calibrating method is main following several: the world coordinates accurately obtaining unique point on target, uses phase techniques to obtain its image coordinate; Use flexible target, then specific pattern is projected on target, utilize Cross ration invariability to calculate the world coordinates of projected pattern features point; Use specific projection pattern, the image coordinate of its unique point is known, and recycling camera calibration result obtains the world coordinates of unique point;
Existing projector calibrating problem mainly contains: (1) its special calibrating equipment preparation trouble, and cost is higher; (2) calibration algorithm adopted is complicated, and some method precision rely on Absolute phase-unwrapping precision, and what have needs gray-level interpolation and fitting a straight line.
Summary of the invention
For the defect of prior art, the object of the present invention is to provide a kind of projector calibrating method, it is characterized in that, the method utilizes camera, projector, lattice array scaling board and Grid Projection pattern, wherein: what the pattern of lattice array scaling board adopted is binary map, for white background is uniformly distributed black unique point line by line; Grid Projection pattern, for mesh lines white on black background, the distribution of white mesh lines and width can design as required, and the pixel coordinate at each white line point of intersection center is known thus, and this intersection point center is the unique point of projector calibrating, the method comprises the steps:
(1) build measuring system, install the position of described projector and described camera;
(2) described scaling board is placed in certain position within the scope of described camera and described projector common viewing angle, first with camera described scaling board taken and preserve image, keep the invariant position of described scaling board, project Grid Projection pattern by described projector to described scaling board, take the described scaling board image with lattice with camera and preserve image; Adjust the multiple positions of described scaling board within the scope of the common viewing angle of camera and projector, and repeat said process shooting and preserve multiple series of images;
(3) utilize the photo of the scaling board of shooting and calculate with the calibrating parameters of scaling board photo to camera and projector of lattice, described computation process is as follows:
(3-1) with the black unique point on described scaling board, utilize described scaling board image to adopt two-dimentional target surface standardization to demarcate camera, and ask for distortion parameter;
(3-2) several groups of photos with projective net grid pattern of shooting are processed, obtain the pixel coordinate of grid bright line intersection point on photo;
(3-3) the normalization plane pixel coordinate that described step (3-2) obtains being mapped to spacing 1mm between described camera photocentre and imaging surface obtains the unique point coordinate in normalization plane, and utilize the distortion parameter obtained in the camera calibration process of described step (3-1), revise the unique point coordinate in normalization plane, connect the described unique point coordinate in camera photocentre and revised normalization plane, be the corresponding world coordinates on scaling board of bright line intersection point;
(4) world coordinates of the pixel coordinate of the bright line intersection point utilizing described step (3-2) to obtain and the middle bright line intersection point obtained of described step (3-3), adopts two-dimentional target surface scaling method to demarcate projector.
Further, the process of described step (3-2) also comprises the steps:
(3-2-1) adopt the scaling board photo with lattice of threshold method to shooting to carry out binaryzation, obtain binary map, ensure that the grid bright line of projection is white, background is black;
(3-2-2) adopt image to close the method for process, make up in described binary map, the fracture that grid bright line occurs at the darkened features point place on scaling board;
(3-2-3) adopt the method for image skeletonization process, the grid bright line broadened because of projection in described binary map is converted into the grid bright line of single pixel wide degree;
(3-2-4) adopt the method for zone marker, find 8 connected regions maximum in image, thus obtain dispelling background interference, only remained the image of grid bright line;
(3-2-5) adopt the method asking take-off point in skeletonizing image, obtain the pixel coordinate of the intersection point of each bar line in the grid bright line of skeletonizing, it can be used as the unique point of projector calibrating; Namely the pixel coordinate of projector calibrating unique point on taking pictures is obtained.
In general, according to projector calibrating method of the present invention, scaling board is easy to make, and calibration process is easy, and later stage computing method are simple, and implementation procedure is quick, easy to operate, and precision is high.
Accompanying drawing explanation
Fig. 1 is for arranging figure according to the system used in projector calibrating method in the present invention;
Fig. 2 is for according to the projective net grid pattern used in projector calibrating method of the present invention;
Fig. 3 be according to binaryzation in projector calibrating method of the present invention after the scaling board photo with projection pattern;
Fig. 4 closes the binary picture with projection pattern after process according in projector calibrating method of the present invention;
Fig. 5 be according to skeletonizing in projector calibrating method of the present invention after close process figure with projection pattern;
Fig. 6 closes in process figure maximum 8 connected domains with projection pattern according to extracting in projector calibrating method of the present invention after skeletonizing, obtain only containing the figure of mesh lines;
Fig. 7 obtains the pixel coordinate of unique point on photo according to the skeleton branches point using MATLAB to extract in projector calibrating method of the present invention;
Fig. 8 is according to using pixel coordinate to map the schematic diagram of trying to achieve world coordinates in projector calibrating method of the present invention.
Wherein 1-projector calibrating plate 2-aluminum alloy frame 3-camera 4-projector 5-camera and the common angular field of view of projector
Embodiment
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
In the present embodiment, what camera adopted is the MVC1300SAM/C-GE60-N00 camera of the gigabit wire side battle array CMOS camera series of micro-view picture, resolution is 1280*1024, Pixel Dimensions is 5.3 μm * 5.3 μm, the Computar camera lens of the Japanese CBC company that camera lens is selected, model is M1614-MP2, and focal length is 16mm; That projector adopts is Texas Instruments
lightCrafter
tMevaluation Module, resolution is 608*684;
Scaling method in the present embodiment mainly comprises following two large divisions, and a part is the work of the preparation shooting of the equipment demarcated, and a part is that the algorithm carrying out demarcating is analyzed calibration facility in addition.
Proving operation:
The first step, optical table is built experimental system framework, and is fixed on framework by projector and camera; What the pattern that the scaling board used in the present embodiment adopts adopted is binary map, for white background is uniformly distributed black unique point line by line; Grid Projection pattern is the white mesh lines on black background, and the distribution of white mesh lines and width can design according to actual needs, and because the pixel coordinate of this intersection point center is known, and this intersection point center is the unique point of projector calibrating
As shown in Figure 1, be the system three-dimensional simulation figure according to this projector calibrating method, the present embodiment has built aluminum alloy frame 2 on optical table as shown in the figure, and camera 3 and projector 4 is fixed on aluminum alloy frame 2.
Then, scaling board 1 is placed in camera and the common angular field of view 5 of projector, first takes scaling board 1 photo by camera 3;
Come again, project lattice by projector 4 to scaling board 1, and again take the scaling board photo with lattice with camera 3;
Lattice array scaling board involved by the present embodiment, its pattern resolution is 1024*768, print paper is A4 paper, wherein total 16*12 darkened features point, each unique point is 3*3 pixel size, and on the paper of actual measurement, in each unique point center and row, column, the distance of adjacent feature dot center is 16.10mm.
Projective net grid pattern involved by the present embodiment as shown in Figure 2, pattern resolution is 608*684, wherein total 8*9 bar white bright line, the width of every bar bright line is 1 pixel, because projection pattern is engineer, so the pixel coordinate of every bar bright line point of intersection is all known, therefore select a series of bright line intersection point as the unique point of projector calibrating.
Finally, in camera 3 and the common angular field of view of projector 4, adjustment scaling board 1 is in multiple different position, repeat above-mentioned two processes of taking pictures, and leave several groups of photos, in practical operation, preferably have two kinds of photos of 3 different scaling board positions at least, complete proving operation.
Calibrated and calculated:
First, several groups of shooting are utilized only to adopt two-dimensional calibrations method to demarcate camera 3 containing the photo of scaling board;
Then, aforesaid image processing method is adopted to several groups of photos with projective net grid pattern of shooting, obtain the pixel coordinate of grid bright line intersection point on photo;
The scaling board photo with projection pattern of a series of different scaling board position is carried out follow-up image procossing to obtain the pixel coordinate of white bright line position of intersecting point on photo, i.e. the pixel coordinate of unique point on photo.
Next, adopt camera 3 calibration result in conjunction with pin-hole imaging model, try to achieve the corresponding world coordinates on scaling board of bright line intersection point;
This world coordinates to ask for process as follows:
(1) the scaling board photo with lattice of threshold method to shooting is adopted to carry out binaryzation, obtain binary map, ensure that the grid bright line projected is white, background is black, after above-mentioned process, certain background interference and bright line can be there is in figure in the fracture through scaling board darkened features point place;
(2) adopt image to close the method for process, make up in described binary map, the fracture that grid bright line occurs at the darkened features point place on scaling board;
(3) adopt the method for image skeletonization process, the grid bright line broadened because of projection in described binary map is converted into the grid bright line of single pixel wide degree;
Fig. 3 is the scaling board photo with projection pattern after binaryzation, wherein adopts the method for threshold process, obtains projection bright line part and part jamming pattern.
Fig. 4 is the binary picture after closing process, can see after closing process, and on scaling board, the bright line of black unique point place fracture is connected originally.
(4) adopt the method for zone marker, find 8 connected regions maximum in image, thus obtain dispelling background interference, only remained the image of grid bright line;
Fig. 5 closes process figure after skeletonizing, and after skeletonizing process, the grid bright line thicker due to projection is converted into single pixel line, and every bar bright line is from edge's uniform corrosion to single pixel line.
As shown in Figure 6, for extracting 8 connected domains maximum in the figure of skeletonizing, the figure only containing mesh lines obtained, can see after maximum 8 connected regions are extracted, the grid bright line be only projected on scaling board is retained, remainder is all removed, the image so just obtain and dispel background interference, only containing grid bright line part.
(5) adopt the method asking take-off point in skeletonizing image, obtain the pixel coordinate of the intersection point of each bar line in the grid bright line of skeletonizing, it can be used as the unique point of projector calibrating; Namely the pixel coordinate of projector calibrating unique point on taking pictures is obtained;
As shown in Figure 7, be the skeleton branches point using Matlab to extract, obtain at the pixel coordinate being projected in grid bright line point of intersection on scaling board, i.e. the pixel coordinate of unique point on photo.
(6) pixel coordinate of projector calibrating unique point on taking pictures described step (5) obtained, be mapped in the normalization plane of spacing photocentre 1mm of camera photocentre and imaging surface, utilize the distortion parameter of camera calibration result, revise the unique point coordinate in normalization plane, make it become ideal coordinates under camera linear model in normalization plane;
(7) connect the unique point in camera photocentre and revised normalization plane, according to the imaging model of camera, the intersection point of its extended line and scaling board, is the world coordinates of unique point on scaling board;
Fig. 8 asks the world coordinates of unique point to adopt pin-hole model figure, according to pin-hole imaging model, the line of photocentre and the ideal position of unique point in normalization plane, the intersection point of its extended line and scaling board must be the world coordinates position of unique point on scaling board, wherein photocentre position, unique point are mapped to coordinate in normalization plane, the unique point distortions correction of actual coordinate to ideal coordinates, position of the relative world coordinate system of camera coordinates system in normalization plane, are all utilize the calibration result of camera to calculate.
Finally, the world coordinates utilizing the pixel coordinate of bright line intersection point in known projection pattern and obtain above, adopts the two-dimensional calibrations method of similar camera to demarcate projector.
After adopting the scaling method of the present embodiment to carry out projector calibrating, its back projection's error (Reprojection Error) is horizontal direction ± 0.9pixel and vertical direction ± 1.0pixel.
Those skilled in the art will readily understand; the foregoing is only preferred embodiment of the present invention; not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (2)
1. a projector calibrating method, is characterized in that, the method utilizes camera, projector, lattice array scaling board and Grid Projection pattern, wherein: what the pattern of lattice array scaling board adopted is binary map, for white background is uniformly distributed black unique point line by line; Grid Projection pattern, for mesh lines white on black background, the distribution of white mesh lines and width can design as required, and the pixel coordinate at each white line point of intersection center is known thus, and this intersection point center is the unique point of projector calibrating, the method comprises the steps:
(1) build measuring system, install the position of described projector and described camera;
(2) described scaling board is placed in certain position within the scope of described camera and described projector common viewing angle, first with camera described scaling board taken and preserve image, keep the invariant position of described scaling board, project Grid Projection pattern by described projector to described scaling board, take the described scaling board image with lattice with camera and preserve image; Adjust the multiple positions of described scaling board within the scope of the common viewing angle of camera and projector, and repeat said process shooting and preserve multiple series of images;
(3) utilize the photo of the scaling board of shooting and calculate with the calibrating parameters of scaling board photo to camera and projector of lattice, described computation process is as follows:
(3-1) with the black unique point on described scaling board, utilize described scaling board image to adopt two-dimentional target surface standardization to demarcate camera, and ask for distortion parameter;
(3-2) several groups of photos with projective net grid pattern of shooting are processed, obtain the pixel coordinate of grid bright line intersection point on photo;
(3-3) the normalization plane pixel coordinate that described step (3-2) obtains being mapped to spacing 1mm between described camera photocentre and imaging surface obtains the unique point coordinate in normalization plane, and utilize the distortion parameter obtained in the camera calibration process of described step (3-1), revise the unique point coordinate in normalization plane, connect the described unique point coordinate in camera photocentre and revised normalization plane, be the corresponding world coordinates on scaling board of bright line intersection point;
(4) world coordinates of the pixel coordinate of the bright line intersection point utilizing described step (3-2) to obtain and the middle bright line intersection point obtained of described step (3-3), adopts two-dimentional target surface scaling method to demarcate projector.
2. projector calibrating method as claimed in claim 1, it is characterized in that, the process of described step (3-2) also comprises the steps:
(3-2-1) adopt the scaling board photo with lattice of threshold method to shooting to carry out binaryzation, obtain binary map, ensure that the grid bright line of projection is white, background is black;
(3-2-2) adopt image to close the method for process, make up in described binary map, the fracture that grid bright line occurs at the darkened features point place on scaling board;
(3-2-3) adopt the method for image skeletonization process, the grid bright line broadened because of projection in described binary map is converted into the grid bright line of single pixel wide degree;
(3-2-4) adopt the method for zone marker, find 8 connected regions maximum in image, thus obtain dispelling background interference, only remained the image of grid bright line;
(3-2-5) adopt the method asking take-off point in skeletonizing image, obtain the pixel coordinate of the intersection point of each bar line in the grid bright line of skeletonizing, it can be used as the unique point of projector calibrating; Namely the pixel coordinate of projector calibrating unique point on taking pictures is obtained.
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| CN106384355A (en) * | 2016-09-21 | 2017-02-08 | 安徽慧视金瞳科技有限公司 | Automatic calibration method applied to projection interactive system |
| CN107462184A (en) * | 2017-08-15 | 2017-12-12 | 东南大学 | The parameter recalibration method and its equipment of a kind of structured light three-dimensional measurement system |
| CN108225216A (en) * | 2016-12-14 | 2018-06-29 | 中国科学院深圳先进技术研究院 | Structured-light system scaling method and device, structured-light system and mobile equipment |
| CN108830907A (en) * | 2018-06-15 | 2018-11-16 | 深圳市易尚展示股份有限公司 | Projection surveying method and system based on monocular system |
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Application publication date: 20150527 |