CN105976374B - The field associated dysmorphia scaling method of photogrammetric camera - Google Patents
The field associated dysmorphia scaling method of photogrammetric camera Download PDFInfo
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Abstract
The present invention provides one kind under out-of-focus appearance, the field associated dysmorphia scaling method of photogrammetric camera, reflects coplanar line array field for the light echo of field associated dysmorphia calibration comprising steps of a) establishing；B) camera focusing state to be calibrated, and the imaging system of fixed camera are adjusted according to the measurement environment depth of field and required distance, is allowed to not focus；C) it establishes under any focusing state, the relatively radial distortion model in field；D) the field associated dysmorphia calibrating parameters, i.e. radial distortion parameter are demarcated in two different distances, and are derived by other any distortion parameters apart from upper spatial point in camera image planes；E) the radial distortion amount on different imaging radiuses is calculated using the radial distortion parameter obtained in step d.
Description
Technical field
The present invention relates to a kind of methods of the distortion parameter of camera calibration, more particularly to are carried out greatly using more industrial cameras
The field associated dysmorphia scaling method of photogrammetric camera when size, dynamic 3 D measurement.
Background technique
Along with being constantly progressive for industry, the same aerospace of industry, military affairs, engineering construction, the pass between new energy development
Be it is more and more closer, various large scales, high-accuracy, the real-time even non-contacting measurement demand of dynamic also increasingly occur and increase
Add, it is photogrammetric to have obtained extensive trial and application in external related fields.
Currently, the nonlinear distortion varying model being most widely used contains the attached of radial distortion, centrifugal distortion and multiplicity
Add distortion.This model and scaling method are directly applied in large scale measurement in space, huge error can be generated, it is basic former
Because being to have ignored amount of distortion with the relationship between object distance and focusing state, it is constant to be mistakenly considered distortion parameter.
In this problem, it is traditional it is photogrammetric well solved this problem, due to have planning rationally, redundancy
High multi-court position measures network, and the self-calibration of camera intrinsic parameter during bundle adjustment may be implemented to measure, calibration result is the same as tested
Distance, measurement range even environmental factor are closely related.
Commercial measurement camera of this research for the fixation focusing state pointed out in aforementioned applications field, research object distance variation
To the model of imaging point distortion parameter, the method for proposing to demarcate this distortion model under more pervasive out-of-focus appearance.
Summary of the invention
In order to solve the above technical problem, the present invention provides a kind of field associated dysmorphia scaling method of photogrammetric camera,
Step are as follows: a) establish and reflect coplanar line array field for the light echo of field associated dysmorphia calibration；B) according to measurement the environment depth of field and
Required distance adjusts camera focusing state to be calibrated, and the imaging system of fixed camera, is allowed to not focus；C) it is any right to establish
Under coke-like state, the relatively radial distortion model in field；D) the field associated dysmorphia calibrating parameters are demarcated in two different distances, i.e.,
Radial distortion parameter, and it is derived by other any distortion parameters apart from upper spatial point in camera image planes；E) step d is utilized
The radial distortion parameter of middle acquisition calculates the radial distortion amount on different imaging radiuses.
Preferably, the step of establishing field associated dysmorphia Calibration Field in the step a) are as follows:
A1 frame) is unfolded, and supports the turning joint of the frame with connecting rod, keeps the frame stability；
A2) straight line material vertical is fixed on the frame upper and lower ends in parallel, and stretches the straight line material, keep institute
State the straightness of straight line material；
A3 the encoded point) is arranged in the connecting rod, the angle of camera optical axis when for measuring and adjust calibration.
Preferably, the frame is to stretch frame, can shrink and be unfolded；Size is at least long 3 after the frame expansion
Rice, it is 2 meters high.
Preferably, the background of the frame is arranged as black light-absorbing flannelette, for mitigating environment light bring imaging background
Noise.
Preferably, the straight line material is set as the light echo reflection lines with width, the width of the light echo reflection lines
The distance of camera distance calibration field determines when spending by demarcating.
Preferably, the reflectorized material of the light echo reflection lines is glass microballoon.
Preferably, the drawing process of the straight line material is the upper and lower ends arrangement G word folder in the frame, by described
G word folder stretches the straight line material.
Preferably, the method for radial distortion model is established in the step c) are as follows:
C1 it) sets camera and practises physiognomy focusing in S distance, measured point is located at away from camera S1On the object plane at place, radial distortion amount is obtained；
C2 camera focusing) is set in S1The radial distortion parameter of focal plane is when object distanceObtain this focusing state
Radial distance is in lower image planesAny picture point at radial distortion amount；
C3 the focusing of camera image planes) is set again at distance S, obtains S using defocus amount of distortion similarity analysis1In plane
Amount of distortion of the object point in camera image planes.
Preferably, radial distortion parameter scaling method in the step d) are as follows:
D1 it) sets camera and practises physiognomy focusing in S distance, demarcate two distance S using coplanar line array field1And S2On radial direction
Distortion parameter, respectivelyAnd
D2 known lens focus f) is set, records S simultaneously in mark Timing measurement1And S2Exact value, seek image distanceWith
D3) using the conclusion in step C, the calibration result of radial distortion parameter under out-of-focus appearance is established
AndWith the distortion parameter under focusing stateAndBetween mathematics
Relationship；
D4) according to the model of Brown, by two under focusing state apart from upper distortion parameter, obtain focusing in arbitrarily away from
Camera image planes amount of distortion δ from the place S 'rs′；
Wherein, focusing is it is known that leading in two relationships between upper distortion parameter and corresponding defocus distortion parameter
Cross d3) description.
D5) again by amount of distortion δrs′It is main away from for C in defocus to camera image planess；
D6 each radial distortion parameter) is calculated:
D7) calculate object distance in S ', and acquire image planes focusing in S apart from when radial distortion parameter.
The above method is summarized, the field associated dysmorphia scaling method of photogrammetric camera of the invention solves following problems:
For the dependence of focusing when overcoming camera calibration, calibration process is simplified, does not depend on accurate lens focus and object distance measurement,
Eliminate defocus bring systematic error；Calibration for cameras finish can stationary phase owner away from, in subsequent measurement guarantee measurement essence
The stabilization of degree；Model is very suitable for the calibration of high precision three-dimensional measurement industrial camera, for promoting large scale in industrial circle
Dynamic photogrammtry technology have theory and practice meaning.
Detailed description of the invention
Illustrate the embodiment of the present invention or technical solution in the prior art in order to clearer, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Other accompanying drawings can also be obtained according to these attached drawings.
Fig. 1 is the flow chart of the field associated dysmorphia scaling method of the photogrammetric camera of the present invention；
Fig. 2 a is that the light echo for the calibration of field associated dysmorphia established in step a) of the invention reflects coplanar line array
?；
Fig. 2 b is that the light echo for the calibration of field associated dysmorphia established in step a) of the invention reflects coplanar line array
The layout drawing with the clamping boning out material of G word in.
Fig. 2 c is the unfolded state of frame；
Fig. 3 is the modeling principle figure of the relatively radial distortion model in field.
Specific embodiment
By reference to exemplary embodiment, the purpose of the present invention and function and the side for realizing these purposes and function
Method will be illustrated.However, the present invention is not limited to exemplary embodiment as disclosed below, can by different form come
It is realized.The essence of specification is only to aid in those skilled in the relevant arts' Integrated Understanding detail of the invention.
The present invention is directed to the commercial measurement camera of fixed focusing state, mould of the research object distance variation to imaging point distortion parameter
Type, the method for proposing to demarcate this distortion model under more pervasive out-of-focus appearance.
Measurand volume in the present invention is big, and camera optical axis direction depth bounds are big, and the target point in different distance exists
There is different distortion parameters, it is therefore desirable to be demarcated on imaging surface in special large-scale Calibration Field；The industrial phase used
Machine does not have auto-focusing ability, certainly exists the focus errors of 0.5 to 1 pixel, simulation analysis by manually seeing that figure is focused
It points out, this focus errors can carry out huge calibrated error to small aperture camera strap；It is photogrammetric to need to guarantee that camera internal is joined
Several stabilizations obtains position of focal plane by change image distance (focusing) and is detrimental to guarantee measurement accuracy.Therefore the present invention is ground
Study carefully a kind of camera to be led surely away under, out-of-focus appearance, demarcates the model and method of the relevant distortion parameter with object distance.
As shown in Figure 1, the flow chart of the field associated dysmorphia scaling method for the photogrammetric camera of the present invention, comprising steps of
Step 101: establishing and reflect coplanar line array field for the light echo of field associated dysmorphia calibration；
As shown in Figure 2 a, coplanar line array is reflected for the light echo described in step a) for the calibration of field associated dysmorphia
, including frame 201, straight line material 202, encoded point 203, black light-absorbing flannelette 204, connecting rod 205 and G word folder 206；
Fig. 2 b is the layout drawing with the clamping boning out material of G word；
Fig. 2 c is the unfolded state of frame 201, and wherein connecting rod 205 is used to support frame 201.
According to one embodiment of present invention, the step of establishing field associated dysmorphia Calibration Field in the step a) are as follows:
A1 frame 201) is unfolded, and supports the turning joint 207 of the frame 201 with connecting rod 205, keeps the frame
201 stablize；
A2) straight line material 202 is fixed on 201 upper and lower ends of frame in parallel vertically, and stretches the straight line material
202, keep the straightness of the straight line material 202；
A3 the encoded point 203) is arranged in the connecting rod 205, camera optical axis when for measuring and adjust calibration
Angle.
According to one embodiment of present invention, the frame is to stretch frame, can shrink and be unfolded；The frame 201
Size is at least 3 meters long, 2 meters high after expansion, as shown in Figure 2 c.
According to one embodiment of present invention, the background of the frame 201 is arranged as black light-absorbing flannelette 204, for subtracting
Ambient noise is imaged in light environment light bring.
According to one embodiment of present invention, the straight line material 202 is set as the light echo reflection lines with width, returns
The distance of camera distance calibration field determines when the width of light reflection lines is by demarcating.
According to one embodiment of present invention, the reflectorized material of the light echo reflection lines is glass microballoon.
According to one embodiment of present invention, the drawing process of the straight line material 202 is above and below the frame 201
G word folder 206 is arranged at both ends, it is seen that shown in Fig. 2 b, for the layout drawing of the clamping boning out material of G word；Pass through G word folder 203
The straight line material 202 is stretched.
Step 102: camera focusing state to be calibrated is adjusted according to the measurement environment depth of field and required distance, and fixed camera
Imaging system is allowed to not focus；
Step 103: establishing under any focusing state, the relatively radial distortion model in field；
As shown in figure 3, being the modeling principle figure of the relatively radial distortion model in field:
Wherein: object space point P is located on the object plane at camera S1, Cs1It is that its coke for meeting Gaussian imaging equation is flat
Face；Cs is the actual image planes position of camera.It is the radial distortion amount on focal plane at picture point,It is to propagate to reality by light
Radial distortion amount in the image planes of border.We can demarcate Cs1Radial distortion parameter on focal plane is needed through similar triangles point
Analysis obtains corresponding distortion parameter and amount of distortion in practical Cs image planes.About radial in connection and two image planes between the two
Relationship between amount of distortion, it is available by following deduction.
According to one embodiment of present invention, the method for radial distortion model is established in the step 103 are as follows:
C1 it) sets camera and practises physiognomy focusing in S distance, measured point is located at away from camera S1On the object plane at place, radial distortion amount passes through
Following multinomial descriptions:
δr=k1r3+k2r5+k3r7
C2 camera focusing) is set in S1The radial distortion parameter of focal plane is when object distanceObtain this focusing state
Radial distance is in lower image planesAny picture point at radial distortion amount are as follows:
C3 the focusing of camera image planes) is set again at distance S, obtains S using defocus amount of distortion similarity analysis1In plane
Amount of distortion of the object point in camera image planes are as follows:
Wherein,It is a proportionality coefficient,With CsIt is focusing respectively in S1Mould is imaged apart from upper Gauss with S
The image distance of type.It may know that simultaneously:
C4) the amount of distortion formula in step c3) is rewritten are as follows:
It can be seen that it is fixed main away from when, radial distortion is closely related with object distance.
Since the radial distortion in the present invention is with object distance correlation, then need to demarcate two apart from upper radial distortion parameter,
Further resolve any other apart from upper radial distortion parameter, the following are the radial distortion parameters asked in any different distance
Method.
Step 104: the field associated dysmorphia calibrating parameters, i.e. radial distortion parameter are demarcated in two different distances, and
It is derived by other any distortion parameters apart from upper spatial point in camera image planes；
According to one embodiment of present invention, radial distortion parameter scaling method in the step 104 are as follows:
D1 it) sets camera and practises physiognomy focusing in S distance, demarcate two distance S using coplanar line array field1With the radial direction on S2
Distortion parameter, respectivelyAnd
Step c4) in obtain camera practise physiognomy focusing in S and object point is located at S1When, the radial distortion amount in image planes, similarly,
For camera image planes focus in S and object point is located at distance S2When, the radial distortion amount model in image planes:
Under experimental situation, the radial direction in any distance in camera image planes can be demarcated by establishing specific Calibration Field
Distortion parameter, i.e.,And
D2 known lens focus f) is set, records S simultaneously in mark Timing measurement1And S2Exact value, asked using following formula
It takesWith
D3) using the conclusion in step 103, it can establish the mark of radial distortion parameter under out-of-focus appearance by the formula in c4
Determine resultAndWith the distortion parameter under focusing state
AndBetween mathematical relationship:
D4 it) focuses in two when known apart from upper distortion parameterWithAccording to Brown's
Model obtains focusing in the camera image planes amount of distortion at the place any distance S ' by two under focusing state apart from upper distortion parameter；
δrs′=k1s′rs′ 3+k2s′rs′ 5+k3s′rs′ 7
Wherein:
αs′For can calculation amount.
Wherein, focusing is it is known that leading in two relationships between upper distortion parameter and corresponding defocus distortion parameter
Cross d3) description.
D5) again by amount of distortion δrs′It is (main away from for C in defocus to camera image planess), it obtains:
δrss′=γss′ 2k1s′rs 3+γss′ 4k2s′rs 5+γss′ 6k3s′rs 7
=k1ss′rs 3+k2ss′rs 5+k3ss′rs 7
Wherein:
Cs′For can calculation amount；
D6 each radial distortion parameter) is calculated:
D7) calculate object distance in S ', and acquire image planes focusing in S apart from when radial distortion parameter:
Step d7) show can be by any two distances S1And S2On radial distortion parameter calibration result, calculate other
Radial distortion parameter on distance S '.It is also shown that this method even without measurement camera image planes focal distance S or
Cs, further reduce staking-out work amount.
Step 105: calculating the radial distortion on different imaging radiuses using the radial distortion parameter obtained in step 104
Amount.
The field associated dysmorphia scaling method that the present invention passes through following experimental verification photogrammetric camera of the present invention.
It is illustrated in figure 2 distortion parameter Calibration Field, wherein arranging several coplanar light echo reflection straight lines.Due to depositing for distortion
The buckling curve array with certain rule is imaged as in, linear array.By complicated Nonlinear Least Squares Adjustment method,
It is exactly the distortion parameter of imaging system by the distortion parameter that curvature correction is straight line.
Firstly, research radial direction and decentering distortion are with object distance situation of change.
For AVT GE4900, there is the industrial camera that this experiment uses the silent frame of 16,000,000 pixel resolutions to sense for it
Device, for experiment have focal length be 50mm and 35mm two fixed-focus silent frame camera lenses, and focus respectively in it is a certain it is unknown away from
From.Different distance subscript sizing to decentering distortion parameter, while calculate it is different imaging radiuses on radial directions and decentering distortion
Amount, as a result as shown in Table 1 and Table 2.
In 1 different distance of table, radius, the variation of the radial distortion of 50mm camera lens and decentering distortion
In 2 different distance of table, radius, the variation of the radial distortion of 35mm camera lens and decentering distortion
It can be seen that radial distortion amount from the calibration result of two camera lenses and very important change have occurred with object distance variation
Amount, and decentering distortion amount keeps stable, demonstrates the theory analysis to distort for two kinds.
Then, calibration is carried out to above two distortion and calculation method is verified
Other are calculated apart from upper amount of distortion, then with this apart from upper amount of distortion apart from upper calibration result using two
Calibration result is compared, as a result as shown in Table 3 and Table 4.
Table 3 calculates other apart from upper radial distortion amount using 50mm camera lens the 2nd, 3 time calibration result
Table 4 calculates other apart from upper radial distortion amount using 35mm camera lens the 2nd, 5 time calibration result
Calculated result with the deviation overwhelming majority between calibration result less than 1 micron, particularly with the calibration of 35mm camera lens,
To demonstrate the theoretical model of radial distortion scaling method.As a comparison, not considering radial distortion amount with the pass between object distance
System directly calculates the amount of distortion of other distances apart from upper calibration result using some, is equally compared with calibration result, ties
Fruit is as shown in table 5 and table 6.
5 50mm camera lens of table does not consider the radial distortion amount and error when object distance influences
6 35mm camera lens of table does not consider the radial distortion amount and error when object distance influences
The correlation data of table 5 and table 6 explanation can generate biggish when not considering object distance bring radial distortion variation
Systematic error.After considering object distance-distortion model in the present invention, this systematic error is greatly reduced.
By above it is demonstrated experimentally that radial distortion amount occurs with object distance in out-of-focus appearance distortion model proposed by the present invention
Significant change, decentering distortion amount do not change；
Peg model and method under out-of-focus appearance proposed by the present invention can demarcate the industrial camera of any focal distance.
This method be suitable for it is fixed main away from commercial measurement camera, overcome the influence of focus errors bring, in this embodiment it is not even necessary to know
The focal distance of camera greatly improves calibration efficiency and subsequent measurement accuracy；
The present invention propose can to calculate using any two apart from upper radial distortion calibration result it is any other apart from upper
Radial distortion parameter, using any one apart from upper decentering distortion calibration result, can calculate it is any other apart from upper inclined
Heart distortion parameter, error calculated are very small.
The present invention overcomes dependences when camera calibration for focusing, simplify calibration process, do not depend on accurate camera lens
Focal length and object distance measurement, eliminate defocus bring systematic error；Calibration for cameras finish can stationary phase owner away from subsequent survey
Guarantee the stabilization of measurement accuracy in amount；Model is very suitable for the calibration of high precision three-dimensional measurement industrial camera, in industry
Large-sized dynamic photogrammtry technology is promoted in field has theory and practice meaning.
The above only preferable example of the present invention, be not to limit the scope of the present invention, therefore it is all special according to the present patent application
The equivalent change or modification that structure, feature and principle described in sharp range is done should be included in present patent application range
It is interior.
Claims (8)
1. a kind of field associated dysmorphia scaling method of photogrammetric camera, which is characterized in that comprising steps of
A) it establishes and reflects coplanar line array field for the light echo of field associated dysmorphia calibration；
B) camera focusing state to be calibrated, and the imaging system of fixed camera are adjusted according to the measurement environment depth of field and required distance,
It is allowed to not focus；
C) it establishes under any focusing state, the relatively radial distortion model in field；
D) Calibration Field associated dysmorphia calibrating parameters, i.e. radial distortion parameter in two different distances obtain other any distances
Distortion parameter of the upper spatial point in camera image planes；
E) the radial distortion amount on different imaging radiuses is calculated using the radial distortion parameter obtained in step d；
Wherein, radial distortion parameter scaling method in the step d) are as follows:
D1 it) sets camera and practises physiognomy focusing in S distance, demarcate two distance S using coplanar line array field1And S2On radial distortion
Parameter, respectivelyAnd
D2 known lens focus f) is set, records distance S simultaneously in mark Timing measurement1And S2Exact value, seek image distanceWith
D3) using the conclusion in step c), the calibration result of radial distortion parameter under out-of-focus appearance is established
AndWith the distortion parameter under focusing stateAndBetween number
Relationship；
D4 focusing) is obtained in any distance S ' by two under focusing state apart from upper distortion parameter according to the model of Brown
The camera image planes amount of distortion δ at placers′；
Wherein, focusing in two relationships between upper distortion parameter and corresponding defocus distortion parameter is it is known that passing through d3)
Description；
D5) again by amount of distortion δrs′In defocus to camera image planes；
D6 each radial distortion parameter) is calculated:
D7) calculate object distance in S ', and acquire image planes focusing in S apart from when radial distortion parameter.
2. as described in claim 1 associated dysmorphia scaling method, which is characterized in that it is abnormal to establish field correlation in the step a)
The step of becoming Calibration Field are as follows:
A1 frame) is unfolded, and supports the turning joint of the frame with connecting rod, keeps the frame stability；
A2) straight line material vertical is fixed on the frame upper and lower ends in parallel, and stretches the straight line material, keep described straight
The straightness of wire material；
A3 encoded point) is arranged in the connecting rod, the angle of camera optical axis when for measuring and adjust calibration.
3. as claimed in claim 2 associated dysmorphia scaling method, it is characterised in that: the frame is to stretch frame, can
It shrinks and is unfolded；Size is at least 3 meters long, 2 meters high after the frame expansion.
4. as claimed in claim 2 associated dysmorphia scaling method, it is characterised in that: the background of the frame is arranged as black
Extinction flannelette, for mitigating environment light bring imaging ambient noise.
5. as claimed in claim 2 associated dysmorphia scaling method, it is characterised in that: the straight line material is set as having width
The light echo of degree reflects lines, and the distance of camera distance calibration field determines when the width of the light echo reflection lines is by demarcating.
6. as claimed in claim 5 associated dysmorphia scaling method, it is characterised in that: the reflective material of the light echo reflection lines
Material is glass microballoon.
7. as claimed in claim 2 associated dysmorphia scaling method, it is characterised in that: the drawing process of the straight line material is
In the upper and lower ends arrangement G word folder of the frame, the straight line material is stretched by G word folder.
8. as described in claim 1 associated dysmorphia scaling method, which is characterized in that establish radial distortion in the step c)
The method of model are as follows:
C1 it) sets camera and practises physiognomy focusing in S distance, measured point is located at away from camera S1On the object plane at place, radial distortion amount is obtained；
C2 camera focusing) is set in S1The radial distortion parameter of focal plane is when object distanceObtain picture under this focusing state
Radial distance is on faceAny picture point at radial distortion amount；
C3 the focusing of camera image planes) is set again at distance S, obtains S using defocus amount of distortion similarity analysis1Object in plane
Amount of distortion of the point in the practical image planes of camera.
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