CN104732539A - Projector calibration method - Google Patents
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- CN104732539A CN104732539A CN201510140481.0A CN201510140481A CN104732539A CN 104732539 A CN104732539 A CN 104732539A CN 201510140481 A CN201510140481 A CN 201510140481A CN 104732539 A CN104732539 A CN 104732539A
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Abstract
The invention discloses a projector calibration method. The calibration method is completed by using camera equipment, projector equipment, a checkerboard calibration plate and grid projection patterns. A calibration process includes the following steps that firstly, a checkerboard picture of the calibration plate is shot by a camera from a certain shooting position of the calibration plate, the position of the calibration plate is kept unchanged, grid patterns are projected to the calibration plate through a projector, and a calibration plate picture with the projection patterns is shot by the camera; secondly, the shot calibration plate picture and the shot checkerboard picture are used, and a two-dimensional target surface calibration method is adopted for calibrating the camera; finally, picture processing is carried out on the shot picture with the projection patterns to obtain picture coordinates of grid corners on the picture, world coordinates of the corners are obtained according to the camera calibration result or the crossratio invariance principle, and ultimately the projector is calibrated with the help of the known grid projection patterns. According to the projector calibration method, a calibration device is convenient to manufacture, and the calibration process is quick.
Description
Technical field
The invention belongs to machine vision calibration technique field, relate to a kind of projector calibrating method based on gridiron pattern 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, gridiron pattern scaling board and Grid Projection pattern, wherein: the pattern of gridiron pattern scaling board is staggered black and white lattice, and the intersection point of black and white compartment is unique point; 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 position of more than at least three 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 unique point of 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) pixel coordinate that described step (3-2) obtains is mapped to the unique point coordinate normalization plane that spacing between described camera photocentre and imaging surface is unit 1 obtained 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 in camera photocentre and revised normalization plane, then its extended line and the intersection point of described scaling board are the corresponding world coordinates on scaling board of described grid bright line intersection point;
(4) world coordinates of the pixel coordinate of the described grid bright line intersection point utilizing described step (3-2) to obtain and the middle described grid 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) the scaling board photo with lattice of threshold method to shooting is adopted to carry out binaryzation, obtain binary map, the white portion of this binary map is the projection bright line line segment be positioned under the white grid background on described gridiron pattern scaling board, and remainder is black;
(3-2-2) 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;
(3-2-3) adopt the method for zone marker, obtain each 8 connected regions in figure, the line segment of each dispersion in described image after step (3-2-2) process is extracted respectively;
(3-2-4) to the figure after the zone marker in described step (3-2-3), adopt Hough transformation, fitting a straight line is carried out to the line segment of described each 8 connected regions, asks for the head and the tail point of fitting a straight line section;
(3-2-5) principle that the image processed through described step (3-2-5) closes on according to slope and position is connected, is spliced into a lattice;
(3-2-6) angular coordinate is extracted to the lattice after described step (3-2-5) process, obtains the pixel coordinate of described grid intersection point.
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;
The pattern of Fig. 3 for producing after projecting to scaling board according to the projection grid described in projector calibrating method of the present invention;
Fig. 4 be according to binaryzation in projector calibrating method of the present invention after the scaling board pattern with projection pattern;
Fig. 5 be according to skeletonizing process in projector calibrating method of the present invention after the binary picture with projection pattern;
Fig. 6 is according to the figure in projector calibrating method of the present invention after the matching of Hough transformation straight-line segment;
Fig. 7 be according in projector calibrating method of the present invention by the figure after the matching of Hough transformation straight-line segment, the lattice after straight-line segment is interconnected;
Fig. 8 is the grid angle point according to using MATLAB to extract in projector calibrating method of the present invention, obtains the pixel coordinate being projected in grid bright line point of intersection on scaling board;
Fig. 9 is according to adopting normalization plane and pin-hole imaging illustraton of model in projector calibrating method of the present invention;
Figure 10 is the back projection's error according to projector calibrating result 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 gridiron pattern scaling board, is the scaling board that the black and white lattice on similar chessboard lattice are staggered; 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;
Gridiron pattern scaling board involved by the present embodiment, its pattern resolution is 1024*768, and print paper is A4 paper, wherein total 16*12 checker, and on the paper of actual measurement, the length of side of each grid is 17.10mm.
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) adopt the scaling board photo with lattice of threshold method to shooting to carry out binaryzation, obtain binary map, obtain projection bright line line segment;
(2) binary picture in above-mentioned steps (1) is carried out skeletonizing process, can see 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;
(3) figure in above-mentioned steps (2) is carried out the matching of Hough transformation straight-line segment, after connected component labeling and Hough fitting a straight line, the line segment in each 8 connected regions all by matching out, and obtains its slope and head and the tail coordinate;
(4) straight-line segment is interconnected, splices lattice;
(5) the grid angle point in the lattice after using MATLAB to extract above-mentioned steps (4) process, obtains the pixel coordinate of the grid bright line point of intersection be projected on scaling board, i.e. the pixel coordinate of projector unique point on photo.
Fig. 3 is the scaling board photo with projection pattern after binaryzation, wherein adopts the method for threshold process, obtains projection bright line line segment.
Fig. 4 is the binary picture after skeletonizing process, can see after skeletonizing process, and 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.
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, be the figure after the matching of Hough transformation straight-line segment, after connected component labeling and Hough transformation fitting a straight line, the line segment in each 8 connected regions all by matching out, and obtains its slope and head and the tail coordinate.
Fig. 7 for straight-line segment is interconnected, the lattice spliced;
Fig. 8 is the grid angle point using MATLAB to extract, and obtains being projected in the pixel coordinate of grid bright line point of intersection on scaling board, then obtains the pixel coordinate of projector unique point on photo.
(6) pixel coordinate of projector calibrating unique point on taking pictures described step (5) obtained, the spacing photocentre being mapped to camera photocentre and imaging surface is in the normalization plane of unit 1, 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 camera photocentre and the unique point in the revised normalization plane of above-mentioned steps (6), 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. 9 asks the world coordinates of unique point to adopt pin-hole model schematic diagram, 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.
As shown in Figure 10, 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, gridiron pattern scaling board and Grid Projection pattern, wherein: the pattern of gridiron pattern scaling board is staggered black and white lattice, and the intersection point of black and white compartment is unique point; 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 position of more than at least three 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 unique point of 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) pixel coordinate that described step (3-2) obtains is mapped to the unique point coordinate normalization plane that spacing between described camera photocentre and imaging surface is unit 1 obtained 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 in camera photocentre and revised normalization plane, then its extended line and the intersection point of described scaling board are the corresponding world coordinates on scaling board of described grid bright line intersection point;
(4) world coordinates of the pixel coordinate of the described grid bright line intersection point utilizing described step (3-2) to obtain and the middle described grid 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) the scaling board photo with lattice of threshold method to shooting is adopted to carry out binaryzation, obtain binary map, the white portion of this binary map is the projection bright line line segment be positioned under the white grid background on described gridiron pattern scaling board, and remainder is black;
(3-2-2) 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;
(3-2-3) adopt the method for zone marker, obtain each 8 connected regions in figure, the line segment of each dispersion in described image after step (3-2-2) process is extracted respectively;
(3-2-4) to the figure after the zone marker in described step (3-2-3), adopt Hough transformation, fitting a straight line is carried out to the line segment of described each 8 connected regions, asks for the head and the tail point of fitting a straight line section;
(3-2-5) principle that the image processed through described step (3-2-5) closes on according to slope and position is connected, is spliced into a lattice;
(3-2-6) angular coordinate is extracted to the lattice after described step (3-2-5) process, obtain the pixel coordinate of described grid intersection point.
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| CN109754436A (en) * | 2019-01-07 | 2019-05-14 | 北京工业大学 | A kind of camera calibration method based on camera lens subregion distortion function model |
| CN109961482A (en) * | 2017-12-22 | 2019-07-02 | 比亚迪股份有限公司 | Camera calibration method, device and vehicle |
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| CN106197321B (en) * | 2016-07-06 | 2019-06-28 | 太原科技大学 | Projector calibrating method based on red blue gridiron pattern scaling board |
| CN106197321A (en) * | 2016-07-06 | 2016-12-07 | 太原科技大学 | Projector calibrating method based on red blue gridiron pattern scaling board |
| CN107730554B (en) * | 2016-08-10 | 2020-11-24 | 合肥美亚光电技术股份有限公司 | Calibration method and device of area array structured light imaging system |
| CN107730554A (en) * | 2016-08-10 | 2018-02-23 | 合肥美亚光电技术股份有限公司 | The scaling method and device of face battle array structure light imaging system |
| CN106991702A (en) * | 2017-03-03 | 2017-07-28 | 浙江华睿科技有限公司 | A kind of projector calibrating method and device |
| CN106991702B (en) * | 2017-03-03 | 2020-06-23 | 浙江华睿科技有限公司 | Projector calibration method and device |
| CN109961482A (en) * | 2017-12-22 | 2019-07-02 | 比亚迪股份有限公司 | Camera calibration method, device and vehicle |
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| CN110891170A (en) * | 2018-09-11 | 2020-03-17 | 康耐视公司 | Method and apparatus for optimizing image acquisition of an object subjected to an illumination pattern |
| CN109754436A (en) * | 2019-01-07 | 2019-05-14 | 北京工业大学 | A kind of camera calibration method based on camera lens subregion distortion function model |
| CN109754436B (en) * | 2019-01-07 | 2020-10-30 | 北京工业大学 | Camera calibration method based on lens partition area distortion function model |
| WO2020228274A1 (en) * | 2019-05-10 | 2020-11-19 | 苏州雷泰医疗科技有限公司 | Accelerator optical distance indicator apparatus, calibration method, and optical distance indicator generation method |
| CN110084860A (en) * | 2019-05-24 | 2019-08-02 | 深圳市速杰电子有限公司 | A kind of projector lens distortion correction system and method |
| CN113052910A (en) * | 2019-12-27 | 2021-06-29 | 杭州海康机器人技术有限公司 | Calibration guiding method and camera device |
| CN113436265A (en) * | 2020-03-08 | 2021-09-24 | 天津理工大学 | Binocular calibration device for thermal infrared imager and visible light camera and use method thereof |
| CN112050751A (en) * | 2020-07-17 | 2020-12-08 | 深圳大学 | Projector calibration method, intelligent terminal and storage medium |
| CN112050751B (en) * | 2020-07-17 | 2022-07-22 | 深圳大学 | Projector calibration method, intelligent terminal and storage medium |
| CN112991457A (en) * | 2021-02-22 | 2021-06-18 | 北京理工大学 | Method and device for calibrating spatial position and internal and external parameters of projector in surgical navigation |
| CN112991457B (en) * | 2021-02-22 | 2023-05-26 | 北京理工大学 | Method and device for calibrating spatial position and internal and external parameters of projector in operation navigation |
| CN113793390A (en) * | 2021-08-26 | 2021-12-14 | 光量信息科技(宁波)有限公司 | Interactive three-dimensional marking method of projector |
| CN114577140A (en) * | 2022-01-20 | 2022-06-03 | 桂林电子科技大学 | Robust stripe projection system calibration method |
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