CN106570907B - Camera calibration method and device - Google Patents
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Abstract
The invention discloses a camera calibration method and a camera calibration device, which are used for simply and effectively calibrating a camera. The method comprises the following steps: constructing a world coordinate system according to a calibration object, and respectively acquiring coordinates of each calibration point on the calibration object under the world coordinate, wherein the calibration object consists of two mutually orthogonal straight lines, and the calibration points are positioned on the straight lines; shooting the calibration object through a camera to obtain an image of the calibration object, and obtaining the coordinate of each calibration point in the image coordinate system according to the image coordinate system where the image of the calibration object is located; and determining the parameters of the camera according to the coordinates of each calibration point in the world coordinate system and the coordinates of each calibration point in the image of the calibration object.
Description
Technical Field
The invention relates to the technical field of computer vision, in particular to a camera calibration method and device.
Background
The calibration of the stereo camera is required before the camera leaves the factory. The commonly used camera calibration method at present is a Zhang's plane calibration method proposed by Zhang Zhengyou professor, and the method can accurately calibrate the internal parameters and the external parameters of the camera.
The calibration plate adopted by the Zhang's plane calibration method is a plane checkerboard, as shown in FIG. 1, the calibration principle is as follows: the camera model is expressed as:
where the homogeneous coordinate of M represents the pixel coordinate (u, v,1) of the image plane and the homogeneous coordinate of M represents the coordinate point (X, Y, Z,1) of the world coordinate system. R denotes a rotation matrix, t denotes a translation matrix, and s denotes a scale factor. A represents the internal parameters of the camera, and the specific expression is as follows:
where α, β, and γ represent the scale deviation of the pixel in x and y directions, let H be a [ R t ]]H is a homography matrix of size 3 × 3 from the world coordinate system to the image coordinate system H is transformed, assuming H1, H2, H3 are the column vectors of H, yielding:
two equations can be established according to a photo obtained by shooting a planar checkerboard, and since there are 5 unknowns in A, at least 5 equations are needed for solving the 5 unknowns, that is, at least 3 photos are needed for solving A.
It can be seen that the current zhang's plane calibration method has the following problems: because a world coordinate system needs to be established according to the checkerboards, the distances between every two checkerboards need to be guaranteed to be equal, however, errors necessarily exist in the actual manufacturing process, and theoretically, the probability that the errors occur is higher when the number of the checkerboards is larger, the world coordinate system determined according to the checkerboards is inaccurate due to the existence of the errors, and therefore the errors exist in the whole calibration process. Furthermore, it is necessary to ensure that each grid on the checkerboard is on the same horizontal plane. However, in an actual scene, it is difficult to find a checkerboard with an absolutely smooth plane, and calibration errors can also be caused when the checkerboard is not located on the same horizontal plane. In addition, the camera can be calibrated only by taking multiple pictures.
Therefore, the existing camera calibration method is complex to implement and difficult, and a simple and effective camera calibration method needs to be found.
Disclosure of Invention
The embodiment of the invention provides a camera calibration method and device, which are used for simply and effectively calibrating a camera.
The embodiment of the invention provides the following specific technical scheme:
in a first aspect, an embodiment of the present invention provides a camera calibration method, including:
constructing a world coordinate system according to a calibration object, and respectively acquiring coordinates of each calibration point on the calibration object under the world coordinate, wherein the calibration object consists of two mutually orthogonal straight lines, and the calibration points are positioned on the straight lines;
shooting the calibration object through a camera to obtain an image of the calibration object, and obtaining the coordinate of each calibration point in the image coordinate system according to the image coordinate system where the image of the calibration object is located;
and determining the parameters of the camera according to the coordinates of each calibration point in the world coordinate system and the coordinates of each calibration point in the image of the calibration object.
In a second aspect, an embodiment of the present invention provides a camera calibration apparatus, including:
the system comprises a first processing module, a second processing module and a third processing module, wherein the first processing module is used for constructing a world coordinate system according to a calibration object and respectively acquiring coordinates of each calibration point on the calibration object under the world coordinate, the calibration object consists of two mutually orthogonal straight lines, and the calibration point is positioned on the straight line;
the second processing module is used for shooting the calibration object through a camera to obtain an image of the calibration object and obtaining the coordinate of each calibration point in the image coordinate system according to the image coordinate system where the image of the calibration object is located;
and the third processing module is used for determining the parameters of the camera according to the coordinates of each calibration point in the world coordinate system and the coordinates of each calibration point in the image of the calibration object.
Based on the technical scheme, in the embodiment of the invention, the calibration object is designed into two mutually orthogonal straight lines, the calibration points are arranged on the straight lines of the calibration object, the world coordinate system is constructed according to the designed calibration object, the coordinate of each calibration point on the calibration object under the world coordinate system is obtained, the image of the calibration object is obtained by shooting the calibration object, the coordinate of each calibration point under the image coordinate system is obtained, the camera parameters are determined according to the coordinate of each calibration point under the world coordinate system and the coordinate under the image coordinate system, the image of the calibration object is obtained by shooting the calibration object only once in the whole process, multiple shooting is not needed, the calibration object is simple to manufacture, the error caused by the calibration object is reduced, and the calibration efficiency of the camera is improved.
Drawings
FIG. 1 is a schematic diagram of a prior art flat checkerboard;
FIG. 2a is a schematic view of a calibration object according to an embodiment of the present invention;
FIG. 2b is a schematic view of another calibration object in an embodiment of the present invention;
FIG. 2c is a schematic view of another calibration object in an embodiment of the present invention;
FIG. 2d is a schematic view of another calibration object in an embodiment of the present invention;
FIG. 3 is a flowchart illustrating a method for camera calibration according to an embodiment of the present invention;
FIG. 4 is a diagram illustrating a specific process of camera calibration according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a camera calibration device in an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments.
The camera calibration method provided by the embodiment of the invention is used for calibrating a camera based on an image obtained by shooting a calibration object by a single piece of image, and the main idea is as follows: according to the particularity of the calibration object, the rotation angles of the camera along two axes of the world coordinate system are solved through simple linear relation, for example, the rotation angles along X axis of the world coordinate system are solvedwAxis and YwRotation angle of the axis and will be along X of the world coordinate systemwAxis and YwThe rotation angle of the shaft is used as a known value to solve other parameters of the camera, and the calibration precision of the camera can be greatly improved through the method.
The calibration object used for camera calibration in the implementation of the invention is shown in fig. 2 a-2D, the calibration object is composed of two mutually orthogonal straight lines which are respectively represented as L1 and L2, wherein O represents the intersection point of the two straight lines, wherein A, B, O is three points on L1, C, D, O is three points on L2, the distance from point a to point O is h1, the distance from point B to point O is h2, the distance from point C to point O is D3, the distance from point D to point O is d4., and h1, h2, D3 and D4 are all known conditions in the calibration process.
The calibration object in the embodiment of the invention is simple to manufacture, and only the distance from each of the given points to the intersection point of the two mutually orthogonal straight lines needs to be obtained. The calibration error caused by the calibration object is greatly reduced, and the calibration of the camera can be completed according to the picture only by taking one picture based on the designed calibration object, so that the calibration efficiency is greatly improved, and particularly under the condition that a large number of cameras need to be calibrated.
Based on the calibration object, the process of performing camera calibration in the embodiment of the present invention is shown in fig. 3, and is described in detail as follows:
step 301: the method comprises the steps of constructing a world coordinate system according to a calibration object, and respectively obtaining coordinates of each calibration point on the calibration object under the world coordinate, wherein the calibration object consists of two mutually orthogonal straight lines, and the calibration points are located on the straight lines.
In one embodiment, an intersection point of the two mutually orthogonal straight lines is used as an origin of the world coordinate system, each straight line is used as a coordinate axis of the world coordinate system, for example, one of the straight lines in the calibration object is used as X of the world coordinate systemwAxis, Z of world coordinate system is another straight line in the calibration objectwAxis, which is a straight line perpendicular to the plane formed by the two straight lines of the calibration object and is used as Y of the world coordinate systemwA shaft.
In a preferred embodiment, there are at least two of the calibration points on each of the straight lines, respectively, so that all parameters of the camera can be calibrated.
As shown in fig. 2a to 2d, the calibration object according to the embodiment of the present invention is formed by two mutually orthogonal straight lines, which are respectively represented as L1 and L2, wherein O represents an intersection of the two straight lines, wherein A, B is 2 calibration points on L1, and C, D is 2 calibration points on L2.
Step 302: and shooting the calibration object through a camera to obtain an image of the calibration object, and obtaining the coordinate of each calibration point in the image coordinate system according to the image coordinate system where the image of the calibration object is located.
Step 303: and determining the parameters of the camera according to the coordinates of each calibration point in the world coordinate system and the coordinates of each calibration point in the image of the calibration object.
In particular, from the coordinates of each of the index points in the world coordinate system, anThe coordinate of each calibration point in the image of the calibration object and a first constraint condition met by the world coordinate system and the image coordinate system determine the rotation angles of the camera relative to two axis directions of the world coordinate system respectively; determining f, R, T and T of the camera according to the obtained rotation angles of the camera relative to two axial directions of the world coordinate system, the first constraint condition, the coordinates of each calibration point in the world coordinate system and the respective coordinates of each calibration point in the image of the calibration objectX、TYAnd TZ；
Wherein, the first constraint condition is expressed as shown in formula 1 and formula 2:
r represents a rotation matrix of the camera, expressed as formula 3:
x denotes the abscissa of the index point in the image coordinate system, y denotes the ordinate of the index point in the image coordinate system, f denotes the focal length of the camera, X denotes the focal length of the camerawX representing the index point in the world coordinate systemwValue on axis, YwY representing the index point in the world coordinate systemwValue on the axis, ZwZ representing the index point in the world coordinate systemwValue on axis, TXX representing the camera relative to the world coordinate systemwAmount of translation in axial direction, TYY representing the camera relative to the world coordinate systemwAmount of translation in axial direction, TZZ representing the camera relative to the world coordinate systemwAmount of translation in the axial direction, αRepresenting the camera relative to XwRotation angle of the axes β represents the camera relative to YwRotation angle of the axes, γ representing the camera relative to ZwThe angle of rotation of the shaft.
The following description illustrates the camera calibration process by way of specific embodiments
Fig. 4 is a schematic diagram of the camera calibration process in this embodiment, which is described as follows:
obtaining an image of the calibration object by photographing the calibration object, obtaining coordinates of each calibration point O, A, B, C, D in the calibration object in the image of the calibration object, simultaneously establishing a world coordinate system according to the calibration object, and obtaining coordinates of each calibration point O, A, B, C, D in the calibration object in the world coordinate system;
according to a projection change model between the image coordinate and a world coordinate system, establishing a mapping relation between the coordinate of the calibration point in the image of the calibration object and the coordinate in the world coordinate system;
solving parameters α and β according to the established mapping relation, and then solving parameters gamma and T according to the parameters α and β obtained by solvingX、TY、TZAnd f, completing the calibration process of the camera.
In this embodiment, a world coordinate system is first established according to a calibration object, with O point as the origin of coordinates and OBA as Z of the world coordinate systemwAxis, ODC being X of the world coordinate systemwAxis, Y of world coordinate systemwAxis perpendicular to ZwAxis and XwThe plane of the axis. Suppose the abscissa of the image imaging coordinate system is denoted as x and the ordinate of the image imaging coordinate system is denoted as y. Assume a point (X) under the world coordinate systemw，Yw，Zw) Then, the corresponding imaging coordinate (x, y) of the point in the imaging coordinate system of the image can be obtained by using projective transformation, which is expressed as shown in equation 4 and equation 5:
where f represents the camera focal length and the rotation matrix R is expressed as shown in equation 6:
wherein α denotes the camera relative to XwRotation angle of the axes β denotes camera relative to YwRotation angle of the axes, γ representing the camera relative to ZwAngle of rotation of the shaft, TxRepresenting camera edge XwAmount of translation in axial direction, TyIndicating camera edge YwAmount of translation in axial direction, TzRepresenting camera edge ZwThe amount of translation in the axial direction.
In the world coordinate system, the coordinates of O are (0,0,0), the coordinates of a point a are (0,0, h1), and the coordinates of B point are (0,0, h2), and then the coordinates of O point after being projectively transformed into the image imaging coordinate system are (x, h2)0,y0) The coordinate after the projection transformation of the point A to the image imaging coordinate system is (x)1,y1) And the coordinate after the B point projection transformation to the image imaging coordinate system is (x)2,y2). Expressed as shown in equations 7 to 10:
wherein, the value of i is 1 or 2.
From equations 7 and 9, the relationship shown in equation 11 can be obtained:
(xi-x0)(R31Tx+R32Ty+R33Tz)-xihiR33＝-fhiR13,(i＝1,2) (11)
further, with equation (11), i takes 1 and 2 respectively, and two corresponding equations can be obtained, and the relationship shown in equation 12 can be obtained by using the two equations and equation 7:
from equation 8 and equation 10, the relationship shown in equation 13 can be obtained:
(yi-y0)(R31Tx+R32Ty+R33Tz)-yihiR33＝-fhiR23,(i＝1,2) (13)
further, for equation (13), i takes 1 and 2 respectively, and two corresponding equations can be obtained, and the relationship shown in equation 14 can be obtained by using the two equations and equation 8:
using equation 6 and equations 12 and 14, equation 15 is obtained:
similarly, using the three points O, C and D, equation 16 can be obtained:
the parameters α and β can be solved by the equations 15 and 16, and the parameters γ and T can be solved by substituting the solved parameters α and β into the equations 6 to 10X、TY、TZAnd f.
Based on the same inventive concept, the embodiment of the present invention further provides a camera calibration apparatus, as shown in fig. 5, the apparatus mainly includes:
the first processing module 501 is configured to construct a world coordinate system according to a calibration object, and respectively obtain coordinates of each calibration point on the calibration object under the world coordinate, where the calibration object is composed of two mutually orthogonal straight lines, and the calibration point is located on the straight line;
a second processing module 502, configured to capture the calibration object by a camera to obtain an image of the calibration object, and obtain coordinates of each calibration point in an image coordinate system according to the image coordinate system where the image of the calibration object is located;
a third processing module 503, configured to determine the parameters of the camera according to the coordinates of each of the calibration points in the world coordinate system and the coordinates of each of the calibration points in the image of the calibration object.
In a possible implementation manner, the first processing module 501 is specifically configured to:
and taking the intersection point of the two mutually orthogonal straight lines as the origin of the world coordinate system, and respectively taking each straight line as one coordinate axis of the world coordinate system.
In a possible embodiment, each of the straight lines has at least two of the calibration points.
In a possible implementation manner, the third processing module 503 is specifically configured to:
determining rotation angles of the camera relative to two axis directions of the world coordinate system respectively according to the coordinates of each calibration point in the world coordinate system, the coordinates of each calibration point in the image of the calibration object and a first constraint condition met by the world coordinate system and the image coordinate system;
according to the obtained rotation angles of the camera relative to two axial directions of the world coordinate system, the first constraint condition, the coordinates of each calibration point in the world coordinate system, and the coordinates of each calibration pointDetermining f, R, T of the camera at coordinates in the image of the calibration objectX、TYAnd TZ；
Wherein the first constraint condition is
X represents the abscissa of the index point in the image coordinate system, y represents the ordinate of the index point in the image coordinate system, f represents the focal length of the camera, R represents the rotation matrix of the camera, XwX representing the index point in the world coordinate systemwValue on axis, YwY representing the index point in the world coordinate systemwValue on the axis, ZwZ representing the index point in the world coordinate systemwValue on axis, TXX representing the camera relative to the world coordinate systemwAmount of translation in axial direction, TYY representing the camera relative to the world coordinate systemwAmount of translation in axial direction, TZZ representing the camera relative to the world coordinate systemwTranslation in the axial direction, α representing the camera relative to XwRotation angle of the axes β represents the camera relative to YwRotation angle of the axes, γ representing the camera relative to ZwThe angle of rotation of the shaft.
For convenience of description, each part of the above-described apparatus is separately described as being functionally divided into various modules or units. Of course, the functionality of the various modules or units may be implemented in the same one or more pieces of software or hardware in practicing the invention.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (6)
1. A camera calibration method is characterized by comprising the following steps:
constructing a world coordinate system according to a calibration object, and respectively acquiring coordinates of each calibration point on the calibration object under the world coordinate, wherein the calibration object consists of two mutually orthogonal straight lines, and the calibration points are positioned on the straight lines;
shooting the calibration object through a camera to obtain an image of the calibration object, and obtaining the coordinate of each calibration point in the image coordinate system according to the image coordinate system where the image of the calibration object is located;
determining the rotation angles of the camera relative to two axial directions of the world coordinate system according to the coordinates of each calibration point in the world coordinate system, the coordinates of each calibration point in the image of the calibration object and first constraint conditions met by the world coordinate system and the image coordinate system, wherein the first constraint conditions are that the rotation angles of the camera relative to the two axial directions of the world coordinate system
X denotes the abscissa of the index point in the image coordinate system, y denotes the ordinate of the index point in the image coordinate system, XwX representing the index point in the world coordinate systemwValue on axis, YwY representing the index point in the world coordinate systemwValue on the axis, ZwZ representing the index point in the world coordinate systemwOn-axis value, α denotes the camera relative to XwRotation angle of the axes β represents the camera relative to YwRotation angle of the axes, γ representing the camera relative to ZwThe rotation angle of the shaft;
according to the obtained rotation angles of the camera relative to two axial directions of the world coordinate system, the first constraint condition and the coordinate of each calibration point in the world coordinate systemAnd the coordinates of each calibration point in the image of the calibration object, determining f, R, T of the cameraX、TYAnd TZWhere f denotes the focal length of the camera, R denotes the rotation matrix of the camera, TXX representing the camera relative to the world coordinate systemwAmount of translation in axial direction, TYY representing the camera relative to the world coordinate systemwAmount of translation in axial direction, TZZ representing the camera relative to the world coordinate systemwThe amount of translation in the axial direction.
2. The method of claim 1, wherein constructing a world coordinate system from the calibration objects comprises:
and taking the intersection point of the two mutually orthogonal straight lines as the origin of the world coordinate system, and respectively taking each straight line as one coordinate axis of the world coordinate system.
3. The method of claim 2, wherein there are at least two of said index points on each of said lines.
4. A camera calibration device is characterized by comprising:
the system comprises a first processing module, a second processing module and a third processing module, wherein the first processing module is used for constructing a world coordinate system according to a calibration object and respectively acquiring coordinates of each calibration point on the calibration object under the world coordinate, the calibration object consists of two mutually orthogonal straight lines, and the calibration point is positioned on the straight line;
the second processing module is used for shooting the calibration object through a camera to obtain an image of the calibration object and obtaining the coordinate of each calibration point in the image coordinate system according to the image coordinate system where the image of the calibration object is located;
a third processing module, configured to obtain coordinates of each of the calibration points in the world coordinate system, coordinates of each of the calibration points in the image of the calibration object, and a full of the world coordinate system and the image coordinate systemA first constraint condition of feet, which is to determine the rotation angles of the camera relative to two axis directions of the world coordinate system respectively, wherein the first constraint condition is that
X denotes the abscissa of the index point in the image coordinate system, y denotes the ordinate of the index point in the image coordinate system, XwX representing the index point in the world coordinate systemwValue on axis, YwY representing the index point in the world coordinate systemwValue on the axis, ZwZ representing the index point in the world coordinate systemwOn-axis value, α denotes the camera relative to XwRotation angle of the axes β represents the camera relative to YwRotation angle of the axes, γ representing the camera relative to ZwThe rotation angle of the shaft;
determining f, R, T and T of the camera according to the obtained rotation angles of the camera relative to two axial directions of the world coordinate system, the first constraint condition, the coordinates of each calibration point in the world coordinate system and the coordinates of each calibration point in the image of the calibration object respectivelyX、TYAnd TZWhere f denotes the focal length of the camera, R denotes the rotation matrix of the camera, TXX representing the camera relative to the world coordinate systemwAmount of translation in axial direction, TYY representing the camera relative to the world coordinate systemwAmount of translation in axial direction, TZZ representing the camera relative to the world coordinate systemwThe amount of translation in the axial direction.
5. The apparatus of claim 4, wherein the first processing module is specifically configured to:
and taking the intersection point of the two mutually orthogonal straight lines as the origin of the world coordinate system, and respectively taking each straight line as one coordinate axis of the world coordinate system.
6. The apparatus of claim 5, wherein there are at least two of said index points on each of said lines.
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| CN111754581A (en) * | 2019-03-28 | 2020-10-09 | 阿里巴巴集团控股有限公司 | Camera calibration method, roadside sensing equipment and intelligent traffic system |
| CN112581547B (en) * | 2020-12-30 | 2022-11-08 | 安徽地势坤光电科技有限公司 | Rapid method for adjusting installation angle of imaging lens |
| CN113345026A (en) * | 2021-05-13 | 2021-09-03 | 北京三快在线科技有限公司 | Camera parameter calibration method and device, storage medium and electronic equipment |
| CN113643379A (en) * | 2021-08-05 | 2021-11-12 | 北京的卢深视科技有限公司 | Calibration method, calibration device, interaction device, electronic device and storage medium |
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