CN106023234B - A kind of linear array CCD camera alignment adjusting method - Google Patents
A kind of linear array CCD camera alignment adjusting method Download PDFInfo
- Publication number
- CN106023234B CN106023234B CN201610403680.0A CN201610403680A CN106023234B CN 106023234 B CN106023234 B CN 106023234B CN 201610403680 A CN201610403680 A CN 201610403680A CN 106023234 B CN106023234 B CN 106023234B
- Authority
- CN
- China
- Prior art keywords
- line
- array ccd
- linear array
- ccd camera
- vertical
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Classifications
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
- G02B7/003—Alignment of optical elements
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30244—Camera pose
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Studio Devices (AREA)
Abstract
The invention discloses a kind of linear array CCD cameras to be directed at adjusting method, is related to the technical field of vision system camera calibration.The present invention is adjusted using the alignment for having the calibration plate of vertical moulding group and oblique line item group to complete linear array CCD camera is drawn, it is adjusted when adjusting using the included software that adjusts of camera, it not only determines the specific location of scan line, judge whether scan line is horizontal, the focus adjustment for being also able to achieve line-scan digital camera does not need additional hardware supported, reduce cost, it does not need mobile on-gauge plate and can be realized quickly and effectively to calibrate, flexible operation.
Description
Technical field
The invention discloses a kind of linear array CCD cameras to be directed at adjusting method, is related to the technology of vision system camera calibration
Field.
Background technique
The test object of linear array CCD camera usually moves with uniform velocity, and working method is one for only scanning object every time
For line as a line in image, precision is high and is highly suitable for Image Acquisition to moving target.But due to line array CCD phase
Machine can only once scan a line of measurand, can not once obtain the complete image of testee, therefore be difficult effectively to determine
Its scan position of position is simultaneously adjusted, to influence acquired image quality.
Application No. is 201310425241.6, the patent of entitled " a kind of CCD camera calibration alignment method " will
Calibration sample is fixed on to quantitative offset and rotation on bit platform, is done on contraposition platform level, and two CCD cameras record
Coordinate where Mark point after movement every time obtains the coordinate system of CCD camera and to bit platform by calculating the transformation of Mark point
The transformational relation of coordinate system, after two CCD camera calibrations are completed, it can carried out towards processed products using transformational relation
Contraposition, entire method need repeatedly to accurately control the translation to bit platform and rotate simultaneously coordinates computed transformational relation, need volume
Outer hardware supported is complicated for operation and computationally intensive to complete the control that platform moves.
Summary of the invention
Goal of the invention of the invention is the deficiency for above-mentioned background technique, provides a kind of linear array CCD camera alignment tune
Section method proposes a kind of calibration plate adjusted for linear array CCD camera alignment, realizes line array CCD phase using the calibration plate
The automatic adjustment of machine, solves in existing method that alignment precision is difficult to ensure, calibration system is complicated, and technology complicated for operation is asked
Topic.
The present invention adopts the following technical scheme that for achieving the above object
A kind of linear array CCD camera alignment adjusting method, includes the following steps:
A, by calibration plate be disposed vertically in be located at detected object region in detection platform on, the calibration plate packet
It includes: the top half and be used for linear array CCD camera from shooting that alignment is adjusted when for linear array CCD camera farther out from reference object
Alignment is adjusted when object is closer lower half portion, top half and lower half portion are drawn respectively to be had spacing equal and is parallel to each other
Vertical moulding group, the spacing between top half vertical moulding are greater than the spacing between the vertical moulding of lower half portion, top half and lower half
Part is drawn respectively the oblique line item group for being 45 degree with vertical moulding group angle, is 135 degree with vertical moulding group angle
Oblique line item group, the oblique line spacing in each oblique line item group is equal and is parallel to each other；
B, the clear image that acquisition linear array CCD camera continuous scanning calibration plate same position obtains；
C, linear array CCD camera scan line position is determined by the clear image that step B is obtained and judges whether scan line is horizontal:
In inclining scanning line, return step B behind linear array CCD camera position is adjusted；Alignment is completed in scan line level to adjust.
Scheme is advanced optimized as a kind of linear array CCD camera alignment adjusting method, what is acquired in step B is clear
Image: the imaging when linear array CCD camera leaves school quasi- plate farther out for scan line in calibration plate top half, in line array CCD phase
Imaging of the machine from calibration plate when closer for scan line in calibration plate lower half portion, clear image include more characterization scan lines with
The vertical line of oblique line intersection position information.
As a kind of further prioritization scheme of the linear array CCD camera alignment adjusting method, by step B in step C
The method that the clear image of acquisition determines linear array CCD camera scan line position are as follows: read every vertical line and its phase in clear image
The distance between adjacent vertical moulding is determined the intersection point of scan line and oblique line by the distance between every vertical line vertical moulding adjacent thereto,
It connects each intersection point and determines linear array CCD camera scan line position.
As a kind of further prioritization scheme of linear array CCD camera alignment adjusting method, scanning is judged in step C
The whether horizontal method of line are as follows: when between scan line and the intersection point and respective the same side vertical moulding of same oblique line item group bend
When being equidistant, scan line is horizontal；Otherwise, inclining scanning line.
Further, calibration plate described in a kind of linear array CCD camera alignment adjusting method step A is white background, is erected
Lines and oblique line are black lines, and the spacing ratio between spacing and lower half portion vertical moulding between top half vertical moulding is
It is two-to-one.
Further, in a kind of linear array CCD camera alignment adjusting method, linear array CCD camera is come with for adjusting
With the DALSA QuickCam software of real-time display scan image.
The present invention by adopting the above technical scheme, has the advantages that
(1) it using the alignment for having the calibration plate of vertical moulding group and oblique line item group to complete linear array CCD camera adjusting is drawn, adjusts
When be adjusted using the included software DALSA QuickCam that adjusts of camera, do not need additional hardware supported, reduce cost, no
It needs mobile on-gauge plate can be realized quickly and effectively to calibrate, flexible operation；
(2) method of adjustment of the present invention not only determines the specific location of scan line, judges whether scan line is horizontal, also
It is able to achieve the focus adjustment of line-scan digital camera, use scope is wide.
Detailed description of the invention
Fig. 1 (a), Fig. 1 (b) are the schematic diagrames of two kinds of calibration plates.
Calibration shown in scanning figure 1 (a) that Fig. 2 (a), Fig. 2 (b) are linear array CCD camera scan line respectively when being horizontal, Fig. 1 (b)
The schematic diagram of plate.
The camera scanning image that Fig. 3 is obtained when being scan line position shown in Fig. 2 (a).
Fig. 4 is the schematic diagram that linear array CCD camera scan line is calibration plate shown in scanning figure 1 (a) when tilting.
The camera scanning image that Fig. 5 is obtained when being scan line position shown in Fig. 4.
Specific embodiment
Below by taking near-sighted field control as an example, in conjunction with attached drawing, the present invention is described in further detail.
It is as shown in the figure the schematic diagram of alignment plate of the present invention referring to Fig. 1.In use, Fig. 1 is directly printed with A4 paper
It can be used to be attached on one piece of rigid flat.As shown in Figure 1, calibration plate is divided into top half and the portion of lower half portion two
Point, spacing between top half vertical moulding is twice of spacing between the vertical moulding of lower half portion.Top half can be used for camera from bat
Alignment when taking the photograph target farther out adjusts (as long sight field control), and lower half portion can be used for pair of the camera from photographic subjects when closer
Standard adjusts (as near-sighted field control), and top half, lower half portion, which are all drawn, the oblique line for being 45 degree with vertical moulding angle
Item group and the oblique line item group for being 135 degree with vertical moulding angle, the oblique line spacing in each oblique line item group are equal.With
For lower half portion, there are 9 equidistant parallel vertical lines and four oblique line items, oblique line item is thicker than vertical lines and mutually flat
Row, in order to the subsequent identification in scan image, Fig. 1 (a) and Fig. 1 (b) give the schematic diagram of two kinds of calibration plates.
(a) and Fig. 2 (b) referring to fig. 2, Fig. 2 (a) are that scanning figure 1 (a) is shown when linear array CCD camera scan line is level
The schematic diagram of calibration plate, the signal that Fig. 2 (b) is the calibration plate shown in scanning figure 1 (b) when linear array CCD camera scan line is level
Figure, in order to make it easy to understand, indicating the scan line position of camera in figure with black chain-dotted line.
Referring to Fig. 3, the camera scanning as shown in the figure to be obtained when linear array CCD camera scan line position shown in Fig. 2 (a)
Image.It is convenient for statement, position of the oblique line item in scan image is indicated with black double dot dash line in figure.When scan line is level
When, having has four fixed vertical mouldings and this two lines being equidistant apart from its previous vertical moulding between two lines,
It is a1=b1 in Fig. 3.The position of scan line can be also judged according to Fig. 3.Method particularly includes: first article of double dot dash line is in the 2nd, 3
It is a1 with the 2nd article of vertical line distance between vertical line, in corresponding oblique line section a little on calibration plate between the 2nd, 3 article of vertical line, distance
The position of 2nd article of vertical line a1；Article 2 double dot dash line is b1 with the 6th article of vertical line distance between the 6th, 7 article of vertical line, corresponding oblique
On line segment a little on calibration plate between the 6th, 7 article of vertical line, the position of the 6th article of vertical line b1 of distance；Article 3 double dot dash line is
7, between 8 vertical lines, the 7th article of vertical line of distance is c1, in corresponding oblique line section a little on calibration plate between the 7th, 8 article of vertical line, away from
Position from the 7th article of vertical line c1 can uniquely only have one, as where Fig. 2 (a) chain lines by the straight line of this 3 points determinations
Position, can judge the position of line-scan digital camera scan line accordingly.With the variation of scan line position, scan line and oblique line
Intersection point also changes therewith.For horizontal scanning line, shown in linear array CCD camera scanning figure 1 (a) when calibration plate, horizontal sweep
The oblique line that oblique line that line is 45 degree with two and vertical moulding angle, one and vertical moulding angle are 135 degree intersects
(shown in such as Fig. 2 (a))；Shown in linear array CCD camera scanning figure 1 (b) when calibration plate, horizontal scanning line and one and vertical moulding angle
The oblique line intersection for being 135 degree for 45 degree of oblique lines, two and vertical moulding angle (shown in such as Fig. 2 (b)).
Referring to fig. 4, it is as shown in the figure for when linear array CCD camera scan line is inclination calibration plate shown in scanning figure 1 (a) show
It is intended to, black chain-dotted line indicates the scan line position of camera.
Referring to Fig. 5, the camera scanning figure as shown in the figure to be obtained when linear array CCD camera scan line position shown in Fig. 4
Picture.Black double dot dash line indicates position of the oblique line item in scan image in figure.It may determine that the position of scan line according to Fig. 5
It sets, method particularly includes: first article of double dot dash line is a2 with the 2nd article of vertical line distance between the 2nd, 3 article of vertical line, corresponding oblique line section
Above a little on calibration plate between the 2nd, 3 article of vertical line, the position of the 2nd article of vertical line a2 of distance；Article 2 double dot dash line is at the 6th, 7 article
It is b2 with the 6th article of vertical line distance between vertical line, in corresponding oblique line section a little on calibration plate between the 6th, 7 article of vertical line, distance the
The position of 6 vertical line b2；Between the 8th, 9 article of vertical line, the 8th article of vertical line of distance is c2 for Article 3 double dot dash line, corresponding oblique line section
Above a little on calibration plate between the 8th, 9 article of vertical line, the position of the 8th article of vertical line c2 of distance can uniquely pass through this 3 points determinations
Straight line only has one, the as position where Fig. 4 chain lines, can judge the position of line-scan digital camera scan line accordingly.
It should be used for the application method for the calibration plate that line array CCD alignment is adjusted are as follows: firstly, being disposed vertically calibration plate in inspection
It surveys on platform, calibration plate is static.Camera connection computer simultaneously starts imaging software DALSAQuickCam real-time display on a display screen
Image.With the same position of linear array CCD camera continuous scanning calibration plate, obtained scan image is a series of vertical lines
Item, may determine that the position of scan line according to the specific location of lines, described in detailed process embodiment as above.In addition, this sends out
The bright adjusting that can also be used in linear array CCD camera focal length, specifically: adjusting camera focus can see image svelteness degree
Variation, adjust camera focus until obtaining clearest lines the adjusting of camera focus can be completed.
The embodiment is only the example of near-sighted field control, and protection scope of the present invention is not limited to the embodiment.According to this
The record of application, those skilled in the art can specify the scheme of long sight field control, can also specify top half in calibration plate
Alignment regulation scheme when the ratio between vertical line stripe pitch and lower half portion vertical line stripe pitch are other numerical value.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (6)
1. a kind of linear array CCD camera is directed at adjusting method, which comprises the steps of:
A, calibration plate is disposed vertically in the detection platform being located in detected object region, the calibration plate includes:
The top half and be used for linear array CCD camera from shooting pair that alignment is adjusted when for linear array CCD camera farther out from reference object
As it is closer when the lower half portion that adjusts of alignment, top half and lower half portion are drawn respectively has spacing equal and what is be parallel to each other erects
Lines group, the spacing between top half vertical moulding are greater than the spacing between the vertical moulding of lower half portion, top half and lower half
Divide drafting respectively to have the oblique line item group for being 45 degree with vertical moulding group angle, be 135 degree with vertical moulding group angle
Oblique line item group, the oblique line spacing in each oblique line item group is equal and is parallel to each other；
B, the clear image that acquisition linear array CCD camera continuous scanning calibration plate same position obtains；
C, linear array CCD camera scan line position is determined by the clear image that step B is obtained and judges whether scan line is horizontal: swept
When retouching line inclination, return step B behind linear array CCD camera position is adjusted；Alignment is completed in scan line level to adjust.
2. a kind of linear array CCD camera is directed at adjusting method according to claim 1, which is characterized in that is acquired in step B is clear
Clear image: the imaging when linear array CCD camera leaves school quasi- plate farther out for scan line in calibration plate top half, in line array CCD
Imaging of the camera from calibration plate when closer for scan line in calibration plate lower half portion, clear image include more characterization scan lines
With the vertical line of oblique line intersection position information.
3. a kind of linear array CCD camera is directed at adjusting method according to claim 2, which is characterized in that by step B in step C
The method that the clear image of acquisition determines linear array CCD camera scan line position are as follows: read every vertical line and its phase in clear image
The distance between adjacent vertical moulding is determined the intersection point of scan line and oblique line by the distance between every vertical line vertical moulding adjacent thereto,
It connects each intersection point and determines linear array CCD camera scan line position.
4. a kind of linear array CCD camera is directed at adjusting method according to claim 3, which is characterized in that judge scanning in step C
The whether horizontal method of line are as follows: when between scan line and the intersection point and respective the same side vertical moulding of same oblique line item group bend
When being equidistant, scan line is horizontal；Otherwise, inclining scanning line.
5. a kind of linear array CCD camera as claimed in any of claims 1 to 4 is directed at adjusting method, which is characterized in that
Calibration plate described in step A is white background, and vertical moulding and oblique line are black lines, the spacing between top half vertical moulding with
Spacing ratio between the vertical moulding of lower half portion is two-to-one.
6. being directed at adjusting method to a kind of linear array CCD camera described in any one of 4 according to claim 1, which is characterized in that line
Array CCD camera comes with for adjusting and the DALSAQuickCam software of real-time display scan image.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610403680.0A CN106023234B (en) | 2016-06-08 | 2016-06-08 | A kind of linear array CCD camera alignment adjusting method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610403680.0A CN106023234B (en) | 2016-06-08 | 2016-06-08 | A kind of linear array CCD camera alignment adjusting method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106023234A CN106023234A (en) | 2016-10-12 |
| CN106023234B true CN106023234B (en) | 2019-01-08 |
Family
ID=57090032
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610403680.0A Expired - Fee Related CN106023234B (en) | 2016-06-08 | 2016-06-08 | A kind of linear array CCD camera alignment adjusting method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106023234B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106982370B (en) * | 2017-05-03 | 2018-07-06 | 武汉科技大学 | A kind of camera high-precision calibration scaling board and the method for realizing calibration |
| CN107517374B (en) * | 2017-07-19 | 2019-06-04 | 西安工业大学 | A kind of determination method and device of line-scan digital camera visual field |
| CN108322736B (en) * | 2018-01-30 | 2023-08-15 | 武汉科技大学 | Calibration plate and calibration method for calibrating rotation angles of multiple linear array cameras around visual axis |
| CN108057645B (en) * | 2018-02-07 | 2024-01-23 | 合肥美亚光电技术股份有限公司 | Camera alignment device of color sorter and control method thereof |
| CN109002008A (en) * | 2018-04-23 | 2018-12-14 | 西安工业大学 | A kind of cross slid platform automated calibration system based on monocular vision |
| CN112428264B (en) * | 2020-10-26 | 2021-12-07 | 中国计量大学 | Robot arm correction method and system |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008224341A (en) * | 2007-03-12 | 2008-09-25 | Jfe Steel Kk | Face distortion measuring instrument and method |
| CN101365144A (en) * | 2008-10-14 | 2009-02-11 | 北京信息科技大学 | Regulating and calibrating method for linear array CCD scanning detection system |
| CN103065303A (en) * | 2012-12-25 | 2013-04-24 | 中国科学院长春光学精密机械与物理研究所 | Device and method capable of rapidly achieving line-scan digital camera standardization |
| CN103179427A (en) * | 2011-12-21 | 2013-06-26 | 北京兆维电子(集团)有限责任公司 | Calibration paper of multiple-linear-array charge coupled device (CCD) scanning system and adjusting method |
| CN103175851A (en) * | 2011-12-21 | 2013-06-26 | 北京兆维电子(集团)有限责任公司 | Calibrating tool and calibrating method for multi-camera scanning system |
| CN104123725A (en) * | 2014-07-14 | 2014-10-29 | 河南科技大学 | Homography matrix H computing method of single line array camera |
| CN204650606U (en) * | 2015-04-27 | 2015-09-16 | 长安大学 | A kind of line-scan digital camera calibration facility of high ferro detection system |
-
2016
- 2016-06-08 CN CN201610403680.0A patent/CN106023234B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008224341A (en) * | 2007-03-12 | 2008-09-25 | Jfe Steel Kk | Face distortion measuring instrument and method |
| CN101365144A (en) * | 2008-10-14 | 2009-02-11 | 北京信息科技大学 | Regulating and calibrating method for linear array CCD scanning detection system |
| CN103179427A (en) * | 2011-12-21 | 2013-06-26 | 北京兆维电子(集团)有限责任公司 | Calibration paper of multiple-linear-array charge coupled device (CCD) scanning system and adjusting method |
| CN103175851A (en) * | 2011-12-21 | 2013-06-26 | 北京兆维电子(集团)有限责任公司 | Calibrating tool and calibrating method for multi-camera scanning system |
| CN103065303A (en) * | 2012-12-25 | 2013-04-24 | 中国科学院长春光学精密机械与物理研究所 | Device and method capable of rapidly achieving line-scan digital camera standardization |
| CN104123725A (en) * | 2014-07-14 | 2014-10-29 | 河南科技大学 | Homography matrix H computing method of single line array camera |
| CN204650606U (en) * | 2015-04-27 | 2015-09-16 | 长安大学 | A kind of line-scan digital camera calibration facility of high ferro detection system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106023234A (en) | 2016-10-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106023234B (en) | A kind of linear array CCD camera alignment adjusting method | |
| US7139424B2 (en) | Stereoscopic image characteristics examination system | |
| CN108489423B (en) | Method and system for measuring horizontal inclination angle of product surface | |
| CN102768762B (en) | Digital camera calibration method targeted to shield tunnel defect digital radiography detection and device thereof | |
| US11562478B2 (en) | Method and system for testing field of view | |
| CN106154721A (en) | A kind of distance-finding method, automatic focusing method and device | |
| CN108510549B (en) | Distortion parameter measuring method, device and system of virtual reality equipment | |
| WO2014106303A1 (en) | Panoramic lens calibration for panoramic image and/or video capture apparatus | |
| CN105258710A (en) | High-precision camera principal point calibration method | |
| CN106162157A (en) | The method of testing of the spatial frequency response of fish-eye camera | |
| JP6141497B2 (en) | Method and measuring device for specifying dimensional characteristics of measurement object | |
| CN112556594A (en) | Strain field and temperature field coupling measurement method and system fusing infrared information | |
| CN118509576A (en) | Method and device for measuring optical center position of camera module | |
| CN106296703A (en) | Scaling board, camera calibration method and device | |
| CN103175851A (en) | Calibrating tool and calibrating method for multi-camera scanning system | |
| CN115086549B (en) | Shooting method, shooting device, computer equipment and storage medium | |
| US7999851B2 (en) | Optical alignment of cameras with extended depth of field | |
| CN101726316A (en) | Internal orientation element and distortion tester | |
| JP2008281481A (en) | Apparatus and method for measuring resolution | |
| CN107091729B (en) | A kind of focal length of lens test method of no mechanical movement | |
| CN117475122A (en) | Linear array camera image recognition method adaptive to different material speeds | |
| JPH04172213A (en) | Calibrating method for three-dimensional shape measuring apparatus | |
| CN105717502B (en) | A kind of high-rate laser range unit based on line array CCD | |
| TW200902964A (en) | System and method for height measurement | |
| RU2579532C2 (en) | Optoelectronic stereoscopic range-finder |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190108 |