CN106559619B - 3D Camera Calibration Methods, device and 3D video camera - Google Patents
3D Camera Calibration Methods, device and 3D video camera Download PDFInfo
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- CN106559619B CN106559619B CN201611078632.5A CN201611078632A CN106559619B CN 106559619 B CN106559619 B CN 106559619B CN 201611078632 A CN201611078632 A CN 201611078632A CN 106559619 B CN106559619 B CN 106559619B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/275—Image signal generators from 3D object models, e.g. computer-generated stereoscopic image signals
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/62—Control of parameters via user interfaces
Abstract
The embodiment of the invention discloses a kind of 3D Camera Calibration Methods, and the method includes the following steps: in the default calibration reference model in region of the image frame of display image collection sensor acquisition；The shooting angle for adjusting image collection sensor, makes the image frame edge intersect at the angle point of the scaled reference model；The position of the fixed image collection sensor.Pass through the default calibration reference model in region of the image frame in display image collection sensor acquisition, the mode that the edge for the image frame for acquiring image collection sensor intersects with the angle point of scaled reference model is calibrated, the image frame that image acquisition device is shot is put into the reference coordinate model being pre-collimated, it is calibrated by the way that whether the image frame of observation image acquisition device shooting is in preset calibration range, it can either complete to calibrate without cutting off by picture of the software to acquisition, ensure that the quality of shooting picture.
Description
Technical field
The present embodiments relate to field of photography and field of computer technology, especially a kind of 3D Camera Calibration Methods,
Device and 3D video camera.
Background technique
With the development of 3D technology and universal, the 3D capture apparatus of some consumer levels enters the life of ordinary people.3D is clapped
Take the photograph the working principle of equipment are as follows: two pick-up lens are placed in the same horizontal line, due to the shooting visual field of two taking lens
Difference, therefore the angle of the image frame acquired is also different, but since the spacing of pick-up lens is smaller, therefore the image of its shooting is drawn
There is the part of overlapping in face.The part for shooting to be overlapped in image frame when display by two pick-up lens carries out seamless matching,
And the picture of two pick-up lens shooting is played simultaneously, the image of 3D effect can either be watched by filter mirror spectators.Therefore
It is calibrated before the use in 3D filming apparatus, so that the picture of two taking lens shooting can be realized superposition.
In the prior art, software is generally used to determine calibration method when calibrating 3D filming apparatus, it is in the prior art
Software determines calibration method are as follows: using the tangent line of the upper end-face edge of the picture of wherein the first filming apparatus acquisition as normal line excision second
It is more than the part of the tangent line, the tangent line of the lower edge in the picture of the second filming apparatus acquisition in the picture of filming apparatus acquisition
Normal line cuts off the part in the picture of the first filming apparatus acquisition more than the tangent line, achievees the effect that calibration with this.
The inventor of the invention has found under study for action, is calibrated by software carry out to 3D filming apparatus in the prior art
Calibration, the processor for not requiring nothing more than 3D filming apparatus have biggish memory headroom to run the application software of calibration, Er Qieyi
The method that knife is cut not only sacrifices the pixel of shooting, collecting device filmed image, but also since the filmed image after excision is clapped
The picture image height taken the photograph does not have consistency, equally sacrifices the shooting angle of two filming apparatus.
Summary of the invention
The embodiment of the present invention is mainly solving the technical problems that provide a kind of 3D Camera Calibration Methods, device and 3D camera shooting
Machine passes image collection by the default calibration reference model in region of the image frame in display image collection sensor acquisition
The mode that the edge of the image frame of sensor acquisition intersects with the angle point of scaled reference model is calibrated, without passing through software pair
The picture of acquisition, which carries out excision, can either complete to calibrate.
In order to solve the above technical problems, the technical solution that the embodiment of the invention uses is: providing a kind of 3D
Camera Calibration Methods, the method includes the following steps:
In the default calibration reference model in region of the image frame of display image collection sensor acquisition；
The shooting angle for adjusting image collection sensor, makes the image frame edge intersect at the scaled reference model
Angle point；
The position of the fixed image collection sensor.
Optionally, the shooting angle of the adjustment image collection sensor, intersects at the image frame edge described
Include: before the angle point step of scaled reference model
Translucent shield object is placed in image collection sensor shooting vision range, so that the image collection passes
The picture of sensor acquisition is circle.
Optionally the veil be white translucent veil so that the image collection sensor acquisition picture with
It shoots dark space and forms maximum aberration.
Optionally, the scaled reference model includes two calibration wire frames to intersect vertically, described two calibration wire frames
Midpoint is overlapped.
Optionally, the calibration wire frame is rectangle wire frame, and described two calibration wire frames form eight scaled reference angle points.
Optionally, the shooting angle of the adjustment image collection sensor, intersects at the image frame edge described
Include: after the angle point step of scaled reference model
Intercept the image information of the image frame；
Obtain the area information that the image frame figure is characterized in described image information；
The area information of the image frame figure of two image collection sensors acquisition is compared；
The area information of the image frame figure of two image collection sensors acquisition is determined not according to the comparison result
When consistent, information warning is issued.
Optionally, it obtains and characterizes the area information of the image frame figure in described image information and include:
The grid graph known to filling area into the characterization image frame figure；
Count the sum of the grid graph；
According to the product of the area of the single grid graph and the grid graph sum, the characterization image is calculated
The area of picture figure.
Optionally, the area of the image frame figure of two image collection sensors acquisition is determined according to the comparison result
When information is inconsistent, issuing information warning includes:
The filling warning color into the image frame figure；
Flashing is carried out to the image frame figure filled with the warning color to show.
In order to solve the above technical problems, the embodiment of the present invention also provides a kind of 3D camera calibration device for mark, described device packet
It includes:
Module is formed, scaled reference mould is preset in the region for the image frame in display image collection sensor acquisition
Type；
Adjust module makes the image frame edge intersect at institute for adjusting the shooting angle of image collection sensor
State the angle point of scaled reference model；
Fixed module, for fixing the position of the image collection sensor.
Optionally, the first shielding module is translucent for placing in image collection sensor shooting vision range
Veil, so that the picture of image collection sensor acquisition is circle.
Optionally, the veil is white translucent veil, so that the picture of image collection sensor acquisition
Maximum aberration is formed with shooting dark space.
Optionally, the scaled reference model includes two calibration wire frames to intersect vertically, described two calibration wire frames
Midpoint is overlapped.
Optionally, the calibration wire frame is rectangle wire frame, and described two calibration wire frames form eight scaled reference angle points.
Optionally, described device further include:
Interception module, for intercepting the image information of the image frame；
Module is obtained, for obtaining the area information for characterizing the image frame figure in described image information；
The area information of comparison module, the image frame figure for acquiring two image collection sensors compares
It is right；
Alarm module is determined, for determining the image frame of two image collection sensors acquisition according to the comparison result
When the area information of figure is inconsistent, information warning is issued.
Optionally, described device further include:
First filling module, for grid graph known to the filling area into the characterization image frame figure；
Statistical module, for counting the sum of the grid graph；
Computing module, for calculating according to the area of the single grid graph and the product of the grid graph sum
The area of the image frame figure is characterized out.
Optionally, described device further include:
Second filling module, for the filling warning color into the image frame figure；
Display module is shown for carrying out flashing to the image frame figure filled with the warning color.
In order to solve the above technical problems, the embodiment of the present invention also provides a kind of 3D video camera, comprising: 3D described above takes the photograph
Camera robot scaling equipment.
The beneficial effect of the embodiment of the present invention is: passing through the region of the image frame in display image collection sensor acquisition
Default calibration reference model, the edge for the image frame for acquiring image collection sensor intersects with the angle point of scaled reference model
Mode calibrated, by image acquisition device shoot image frame be put into the reference coordinate model being pre-collimated, pass through sight
Whether the image frame for examining image acquisition device shooting is in preset calibration range and is calibrated, without by software to adopting
The picture of collection, which carries out excision, can either complete to calibrate, and ensure that the quality of shooting picture.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those skilled in the art, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is the basic flow chart of 3D of embodiment of the present invention Camera Calibration Methods；
Fig. 2 is display area schematic diagram in the embodiment of the present invention；
Fig. 3 is the basic flow chart that the calibration results are confirmed in the embodiment of the present invention；
Fig. 4 is the specific flow chart that image frame method is calculated in the embodiment of the present invention；
Fig. 5 is that the present invention implements alarming method for power specific implementation flow chart；
Fig. 6 is 3D of embodiment of the present invention camera calibration device for mark basic structure block diagram；
Fig. 7 is the structural block diagram of 3D of embodiment of the present invention video camera.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described.
In some processes of the description in description and claims of this specification and above-mentioned attached drawing, contain according to
Multiple operations that particular order occurs, but it should be clearly understood that these operations can not be what appears in this article suitable according to its
Sequence is executed or is executed parallel, and serial number of operation such as 101,102 etc. is only used for distinguishing each different operation, serial number
It itself does not represent and any executes sequence.In addition, these processes may include more or fewer operations, and these operations can
To execute or execute parallel in order.It should be noted that the description such as " first " herein, " second ", is for distinguishing not
Same message, equipment, module etc., does not represent sequencing, does not also limit " first " and " second " and be different type.
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those skilled in the art's every other implementation obtained without creative efforts
Example, shall fall within the protection scope of the present invention.
Embodiment
Referring to Fig. 1, Fig. 1 is the basic flow chart of the present embodiment 3D Camera Calibration Methods.
S1100, calibration reference model is preset in the region of the image frame of display image collection sensor acquisition.3D is taken the photograph
The purpose that camera is calibrated is: being able to maintain two camera lenses of 3D video camera in same horizontal line.Therefore, in this reality
It applies in example, is able to maintain two camera lenses of 3D video camera in the same horizontal line to reach, two image acquisition devices are clapped
The picture while projection taken the photograph arrive tv screen display area, and scaled reference model is demarcated in display area, are displayed on aobvious
The Scaling rules for showing that the image frame in region is placed in scaled reference model, and meeting the scaled reference model can meet fixed
Mark demand.Display area is liquid crystal display, electronic display or projection screen for referring to display electronics picture etc. for showing
The screen shown.
Scaled reference model is to draw means by physics, in the regular figure that the fixed position in display area is drawn, or
Preset the regular electronics pattern for being shown in display area, scaled reference model can be the relative position of image frame and big
The small corresponding reference of offer, image frame is compared with scaled reference model, can confirm whether image frame is located at conjunction
It sets right position.Therefore, the concrete shape of scaled reference model can be the planar graph of rule, and label can be true in planar graph
Fixing picture whether presumptive area mark key point, such as when scaled reference model concrete shape be rectangle, image
Picture is circle, and the normal place of determining image frame is the midpoint weight for the midpoint and scaled reference model for making image frame
Close, be identification image frame whether in determining normal place, determine image frame edge whether with scaled reference model
Inscribe, or determine whether the edge of image frame intersects with four angle points of scaled reference model, that is, it can determine image frame
Whether in determining normal place.
S1200, the shooting angle for adjusting image collection sensor make the image frame edge intersect at the calibration ginseng
Examine the angle point of model.The image frame being shown in display area is the picture that image acquisition device acquires in real time, to make to shoot
Image frame can be moved in display area, with reach its shooting area determine normal place, pass through setting
The shooting direction of mobile device adjustment image collection sensor on device for filming image, or the tune by way of manually adjusting
The shooting direction of whole image collection sensor, so that filming image picture is rotated therewith.
3D image collection sensor is calibrated for the convenience of the user, preset scaled reference model is in the present embodiment
Rectangle or regular polygon, and the main standard calibrated is that the midpoint of the image frame of image collection sensor acquisition and calibration are joined
The center for examining model is overlapped, and two are overlapped, and midpoint is located along the same line and the scaled reference model being placed in parallel is made
To refer to, after the midpoint of the image frame of two image collection sensors acquisition is overlapped with the midpoint of two calibration models respectively,
Indicate that two image collection sensor acquisition visual angles are located in same horizontal line, calibration work is accused and completed.
Since image frame is round and needs the movement for following image collection sensor and moves, it is not easy to determine
Whether its midpoint cannot be overlapped to determine to be overlapped its midpoint and the midpoint of scaled reference model by two midpoints of observation,
Since preset scaled reference model is rectangle or regular polygon, can by determine image frame edge whether phase
The angle point for meeting at scaled reference model, determines whether the midpoint of image frame is overlapped with the midpoint of scaled reference model.
The position of S1300, the fixed image collection sensor.Determine that the midpoint of two image frames is fixed with two respectively
The midpoint for marking reference model is overlapped, that is, completes the calibration work of image collection sensor, at this time since two image collections pass
Sensor completes calibration work, adjusts image collection sensor shooting visual angle to same plane, at this time, it may be necessary to keeping
It is fixed in the case that image collection sensor position is constant, in the present embodiment, image collection sensor is arranged in stationary plane
It in plate (not shown), and is connected on fixed panel in the guide groove (not shown) of item threadiness, is passed through by screw rod (not shown)
Movable image acquires sensor in the range of guide groove, and the image frame for making it through acquisition is completed after calibrating, and passes through screw
Image collection sensor is fixed on fixed panel.The method of stabilized image acquisition sensor is without being limited thereto in the present embodiment,
In some selective embodiments, image collection sensor is connected on micromachine arm, is by rotating micromachine arm
The relative position that image collection sensor can be adjusted, behind the position for determining image acquisition device, the customization movement of micromachine arm
Secure the position of image collection sensor.
Above-mentioned embodiment presets scaled reference by the region of the image frame in display image collection sensor acquisition
Model, the mode that the edge for the image frame for acquiring image collection sensor intersects with the angle point of scaled reference model are determined
The image frame that image acquisition device is shot is put into the reference coordinate model being pre-collimated by mark, passes through observation image collection dress
Whether the image frame for setting shooting, which is in preset calibration range, is calibrated, without being carried out by picture of the software to acquisition
Excision can either be completed to calibrate, and ensure that the quality of shooting picture.
The shooting visual field of image collection sensor is from the near to the distant in horn-like scattering path, and starting point is image collection biography
The lens location of sensor, since image collection sensor lens position is circle, in the shooting visual field of image collection sensor
Translucent shield object is placed in a certain range, the image frame of image collection sensor acquisition is circle, due to light scattering
Reason, veil range image acquire that sensor is remoter, and the edge shape of the image frame of acquisition can not more limit, veil away from
Closer from image collection sensor, the shape of the image frame of acquisition is more intended to circle, and reaches continuation after certain distance
Close, adjustable image acquires the circular radius of picture profile, according to specific scaling requirements, can determine and places veil
Optimum distance.Veil in the present embodiment can directly be placed when placing by artificial, can also pass through external mechanical arm
Veil is placed in the shooting vision range of image collection sensor.
Veil used in the present embodiment is translucent shield object, due to guarantee that the profile of image frame of shooting is
Circle, therefore therefore the distance between veil and image collection sensor lens very little inject shadow when using opaque veil
It as the insufficient light of acquisition sensor, causes the image frame content of shooting smudgy, needs using translucent veil
Keep the picture of shooting clear, the color of translucent shield object can be: a variety of different colours such as white, blue, red or purple.
In some selective embodiments, image collection sensor when shooting, since veil is blocked in its shooting
In visual field path, therefore, in display area other than the image frame of display shooting, it can also show in addition to image frame
The shooting dark space of image collection sensor, i.e. image collection sensor can not collect the picture in region, show in display area
The picture of the part is black, in order to make image frame and the picture of dark space of display area form maximum value of chromatism, with side
Just observation shooting picture whether the relative position between scaled reference model.Therefore, when carrying out image collection, veil is
The translucent shield object of white places the translucent shield object of white on the shooting path of image collection sensor, makes to shoot
Image frame be shown as white, with shooting dark space black picture form maximum color difference.
In some selective embodiments, the concrete shape of scaled reference model is multiple polygonal shape, specific calibration ginseng
Examining model is two calibration wire frames to intersect vertically, and the shape for calibrating wire frame is specially square or rectangular, according to different
Usage scenario is able to carry out selection and collocation uses, to guarantee that the midpoint of image frame of shooting can be with scaled reference model
Midpoint is overlapped, and the midpoint of the calibration wire frame to intersect vertically must be also overlapped.
Referring to Fig. 2, Fig. 2 is display area schematic diagram in the present embodiment.
As shown in Fig. 2, being set in display area there are two scaled reference model, two scaled reference mould shapes are completely heavy
It closes, the adjacent placement that overlaps on one side of two scaled reference models.Scaled reference model is horizontal positioned rectangular by one
Shape and a rectangle composition being disposed vertically, two rectangular midpoints, which are overlapped, to be stacked together.Image collection sensor is clapped
The round image frame taken the photograph is placed in scaled reference model, and the scaled reference model of two rectangle compositions forms eight calibrations
With reference to angle point, after the edge of the image frame of shooting is intersected with this eight scaled reference points respectively, it can determine that image is drawn
With the normal place of position scaled reference model, the image frame of two image collection sensors acquisition, which is individually positioned in two, to be determined in face
After the normal place for marking reference model, calibration is completed.
It is located at the normal place of scaled reference model in the image frame for observing the acquisition of image collection sensor to complete
Calibration, whether the image for the two image acquisition devices acquisition of identification left and right is completely the same, needs to compare image frame
Right, to confirm that two image acquisition devices are calibrated successfully, concrete methods of realizing is referring to Fig. 3, Fig. 3 is the present embodiment confirmation calibration
As a result basic flow chart.
As shown in Figure 3, comprising the following steps:
The image information of S1410, the interception image frame.After the completion of calibration, display area is shown adopts there are two image
The image frame of acquisition means acquisition, obtains the picture of display area at this time, and is clipped using screenshot screenshot application program and drawn at this time
The screenshot picture in face, and the screenshot is stored.
S1420, the area information that the image frame figure is characterized in described image information is obtained.Get display area
Screenshot after, two image frames in screenshot picture are identified, by above-mentioned discussion it is found that image frame is circle,
Color is that the black background of white dark space has apparent color difference, and the figure for indicating image frame is obtained using PaintShop
Case, and the pattern is intercepted out.The pattern for the image frame for being intercepted out is horizontal positioned figure of eight pattern, two
The pattern of image frame links together in middle position, for the two image frames are distinguished, image processing software
It identifies the part in image frame tire with acute angle, and image frame is divided into two at the pixel for indicating acute angle end
Picture.Two graphics areas after segmentation are calculated by image processing techniques, circular is referring to Fig. 4, Fig. 4 is meter
Calculate the specific flow chart of image frame method.
As shown in figure 4, including the following steps:
S1421, the grid graph known to filling area into the characterization image frame figure；Pass through PaintShop
Two patterns through over-segmentation are filled, two after over-segmentation pattern respectively indicates two image acquisition device acquisitions
Image frame, PaintShop identify two respective profiles of pattern after, the grid known to filling area into the profile
Figure, filling area is 0.2cm such as into picture2Grid graph.
The sum of S142, the statistics grid graph.The number of the grid graph of filling in the graphic is counted, by
When having its number in each grid graph, therefore counting need to only cumulative system be carried out to the number of the number of characterization grid graph
Meter can be obtained the grid graph sum being filled into figure.
S1423, according to the product of the area of the single grid graph and the grid graph sum, calculate and characterize institute
State the area of image frame figure.After getting the sum of grid graph, according to the area and grid graph of single grid graph
The product of sum calculates the area of characterization image frame figure.
S1430, the area information of the image frame figure of two image collection sensors acquisition is compared.It gets
After the area of two characterization image frame figures, the numerical value of two areas is compared, worst error range is set when comparing
Numerical value such as sets the worst error value of two comparison numerical value as 5 percent, i.e., biggish area value subtracts lesser area value,
And difference is not more than 5 percent multiplied by a hundred percent, and assert two areas divided by compared with the numerical value obtained after facet product value
It is worth identical.
S1440, the area that the image frame figure that two image collection sensors acquire is determined according to the comparison result
When information is inconsistent, information warning is issued.After the area comparison result for determining two screenshot patterns, if comparison result discovery two
A area ratio to it is inconsistent when, send information warning to user, remind user to calibrate mistake, specific alarming method for power please refers to figure
5, Fig. 5 be the present embodiment alarming method for power specific implementation flow chart.
As shown in figure 5, including the following steps:
Filling warning color in S1441, Xiang Suoshu image frame figure.After getting the screenshot of display area, to screenshot
Two image frames in picture are identified that, by above-mentioned discussion it is found that image frame is circle, color is white dark space
Black background has apparent color difference, the pattern for indicating image frame is obtained using PaintShop, and the pattern is intercepted
Out.
After the pattern of image frame is intercepted out, the profile of the pattern is identified, and pass through PaintShop to image
Filling is red in picture pattern, and the color of filling is without being limited thereto, and in some selective embodiments, the warning color of filling can be
Other are different from the color of pattern script background color.
S1442, the image frame figure filled with the warning color is carried out by flashing shows.In image frame
After having filled color, which is stored, the image frame after the Fill Color is read after storage is in display area
It has been shown that, when display, carry out flashing and show, i.e., in a short time by the image frame after Fill Color and the image before being not filled by
Picture carries out wheel stream broadcasting, to realize the effect of flashing broadcasting.
The present embodiment also provides a kind of 3D camera calibration device for mark.
Referring to Fig. 6, Fig. 6 is the present embodiment 3D camera calibration device for mark basic structure block diagram.
As shown in fig. 6, a kind of 3D camera calibration device for mark, device includes: to form module, adjustment module and fixed module.
Wherein, module is formed to be used to preset calibration reference model in the region of the image frame of display image collection sensor acquisition；It adjusts
Mould preparation block is used to adjust the shooting angle of image collection sensor, and image frame edge is made to intersect at the angle of scaled reference model
Point；Position of the fixed module for stabilized image acquisition sensor.
In some selective embodiments, 3D camera calibration device for mark further include: the first shielding module, the first shielding module
For placing translucent shield object in image collection sensor shooting vision range, so that the picture of image collection sensor acquisition
Face is circle.
In some selective embodiments, 3D camera calibration device for mark further include: the second shielding module.Wherein, it second hides
Module is covered for placing white translucent veil in image collection sensor shooting vision range, so that image collection senses
The picture of device acquisition and shooting dark space form maximum aberration.
Scaled reference model includes two calibration wire frames to intersect vertically, and the midpoint of two calibration wire frames is overlapped.Calibration ginseng
The concrete shape for examining model is multiple polygonal shape, and specific scaled reference model is two calibration wire frames to intersect vertically, calibration
The shape of wire frame is specially square or rectangular, is able to carry out selection according to different usage scenarios and collocation uses, to protect
The midpoint for demonstrate,proving the image frame of shooting can be overlapped with the midpoint of scaled reference model, the midpoint of the calibration wire frame to intersect vertically
It must be overlapped.
Calibrating wire frame is rectangle or square wire frame, and two calibration wire frames form eight scaled reference angle points.It is showing
It is set in region there are two scaled reference model, two scaled reference mould shapes are completely coincident, and two scaled reference models are adjacent
The placement that overlaps on one side.Scaled reference model is by a horizontal positioned rectangle and a rectangle being disposed vertically
Composition, two rectangular midpoints, which are overlapped, to be stacked together.It is fixed that the round image frame of image collection sensor shooting is placed on
It marks in reference model, the scaled reference model of two rectangle compositions forms eight scaled reference angle points, and the image of shooting is drawn
After the edge in face intersects with this eight scaled reference points respectively, image frame can be determined with the standard of position scaled reference model
Position, after the image frame of two image collection sensors acquisition is individually positioned in the normal place of two scaled reference models,
Calibration is completed.
In some selective embodiments, 3D camera calibration device for mark further include: interception module obtains module, compares mould
Block and determining alarm module.Interception module is used to intercept the image information of image frame；Module is obtained for obtaining image information
The area information of middle characterization image frame figure；Comparison module is used for the image frame figure for acquiring two image collection sensors
The area information of shape is compared；Determine alarm module for determining two image collection sensor acquisitions according to comparison result
When the area information of image frame figure is inconsistent, information warning is issued.
In some selective embodiments, 3D camera calibration device for mark further include: the first filling module, statistical module and meter
Calculate module.Wherein, the first filling module is used for the grid graph known to filling area into characterization image frame figure；Count mould
Block is used to count the sum of grid graph；Computing module is used for according to the area of single grid graph and multiplying for grid graph sum
Product calculates the area of characterization image frame figure.
In some selective embodiments, 3D camera calibration device for mark further include: the second filling module and display module.The
Two filling modules are used for the filling warning color into image frame figure；Display module is used for the image filled with warning color
Picture figure carries out flashing and shows.
Described image collection sensor includes but is not limited in the present embodiment: simulation camera and digital camera.
The present embodiment also provides a kind of 3D video camera, is the structural block diagram of 3D video camera referring specifically to Fig. 7, Fig. 7.
Referring to Fig. 7,3D video camera includes: one or more processors 3110 and memory 3120；One or more is answered
With program, wherein one or more application programs are stored in memory and are configured as being held by one or more processors
Row, one or more programs are configured to:
In the default calibration reference model in region of the image frame of display image collection sensor acquisition；
The shooting angle for adjusting image collection sensor, makes image frame edge intersect at the angle point of scaled reference model；
The position of stabilized image acquisition sensor.
It is to be noted that storage images in the memory of 3D video camera for realizing 3D in the present embodiment in this implementation column
All programs in machine calibrating method, processor can call the program in the memory, execute the above-mentioned camera calibration side 3D
Institute cited by method is functional.Since the function 3D Camera Calibration Methods in the present embodiment that 3D video camera is realized carry out
It is described in detail, is no longer repeated herein.
It should be noted that specification of the invention and its a better embodiment of the invention is given in the attached drawing, still,
The present invention can be realized by many different forms, however it is not limited to this specification described embodiment, these embodiments
Not as the additional limitation to the content of present invention, purpose of providing these embodiments is makes understanding to the disclosure
It is more thorough and comprehensive.Also, above-mentioned each technical characteristic continues to be combined with each other, and forms the various embodiments not being enumerated above,
It is considered as the range of description of the invention record；It further, for those of ordinary skills, can be according to the above description
It is improved or converted, and all these modifications and variations all should belong to the protection of appended claims of the present invention.
Claims (15)
1. a kind of 3D Camera Calibration Methods, which is characterized in that the method includes the following steps:
In the default calibration reference model in region of the image frame of display image collection sensor acquisition；
Translucent shield object is placed in image collection sensor shooting vision range, so that the image collection sensor
The picture of acquisition is circle；
The shooting angle for adjusting image collection sensor, makes the image frame edge intersect at the angle of the scaled reference model
Point；
The position of the fixed image collection sensor.
2. 3D Camera Calibration Methods according to claim 1, which is characterized in that the veil is white translucent screening
Object is covered, so that the picture of image collection sensor acquisition and shooting dark space form maximum aberration.
3. 3D Camera Calibration Methods according to claim 1, which is characterized in that the scaled reference model includes two
The midpoint of the calibration wire frame to intersect vertically, described two calibration wire frames is overlapped.
4. 3D Camera Calibration Methods according to claim 3, which is characterized in that the calibration wire frame is rectangle line
Frame, described two calibration wire frames form eight scaled reference angle points.
5. 3D Camera Calibration Methods according to claim 1, which is characterized in that the adjustment image collection sensor
Shooting angle, the angle point step for making the image frame edge intersect at the scaled reference model include: later
Intercept the image information of the image frame；
Obtain the area information that the image frame figure is characterized in described image information；
The area information of the image frame figure of two image collection sensors acquisition is compared；
Determine that the area information of the image frame figure of two image collection sensors acquisition is inconsistent according to the comparison result
When, issue information warning.
6. 3D Camera Calibration Methods according to claim 5, which is characterized in that obtain in described image information and characterize institute
The area information for stating image frame figure includes:
The grid graph known to filling area into the characterization image frame figure；
Count the sum of the grid graph；
According to the product of the area of the single grid graph and the grid graph sum, the characterization image frame is calculated
The area of figure.
7. 3D Camera Calibration Methods according to claim 5, which is characterized in that determine two according to the comparison result
When the area information of the image frame figure of image collection sensor acquisition is inconsistent, issuing information warning includes:
The filling warning color into the image frame figure；
Flashing is carried out to the image frame figure filled with the warning color to show.
8. a kind of 3D camera calibration device for mark, which is characterized in that described device includes:
Module is formed, the default calibration reference model in region for the image frame in display image collection sensor acquisition；
First shielding module, for placing translucent shield object in image collection sensor shooting vision range, so that
The picture of the image collection sensor acquisition is circle；
Adjust module intersects at the image frame edge described fixed for adjusting the shooting angle of image collection sensor
Mark the angle point of reference model；
Fixed module, for fixing the position of the image collection sensor.
9. 3D camera calibration device for mark according to claim 8, described device further include:
The veil is white translucent veil, so that the picture of image collection sensor acquisition and shooting dark space shape
At maximum aberration.
10. 3D camera calibration device for mark according to claim 8, the scaled reference model includes two and intersects vertically
Wire frame is calibrated, the midpoint of described two calibration wire frames is overlapped.
11. 3D camera calibration device for mark according to claim 10, the calibration wire frame is rectangle wire frame, described two
It calibrates wire frame and forms eight scaled reference angle points.
12. 3D camera calibration device for mark according to claim 8, described device further include:
Interception module, for intercepting the image information of the image frame；
Module is obtained, for obtaining the area information for characterizing the image frame figure in described image information；
The area information of comparison module, the image frame figure for acquiring two image collection sensors is compared；
Alarm module is determined, for determining the image frame figure of two image collection sensors acquisition according to the comparison result
Area information it is inconsistent when, issue information warning.
13. 3D camera calibration device for mark according to claim 12, described device further include:
First filling module, for grid graph known to the filling area into the characterization image frame figure；
Statistical module, for counting the sum of the grid graph；
Computing module, for calculating table according to the area of the single grid graph and the product of the grid graph sum
Levy the area of the image frame figure.
14. 3D camera calibration device for mark according to claim 12, described device further include:
Second filling module, for the filling warning color into the image frame figure；
Display module is shown for carrying out flashing to the image frame figure filled with the warning color.
15. a kind of 3D video camera, which is characterized in that the 3D video camera includes that 3D described in claim 8-14 any one takes the photograph
Camera robot scaling equipment.
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| CN101582161A (en) * | 2009-06-15 | 2009-11-18 | 北京航空航天大学 | C-type arm image correction method based on perspective imaging model calibration |
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