CN107730554A - The scaling method and device of face battle array structure light imaging system - Google Patents
The scaling method and device of face battle array structure light imaging system Download PDFInfo
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Abstract
The present invention proposes a kind of scaling method and device of face battle array structure light imaging system, wherein, this method comprises the following steps：By first image of the camera acquisition correction plate under all light light irradiation, and gather second image of the correcting plate under the irradiation of bright half-light；The projected image of the bright half-light is generated according to described first image and second image；The vision parameter of the camera is demarcated according to described first image；The perspective transformation matrix of the camera is determined according to the vision parameter of the camera；The first image coordinate and first world's coordinate of the first scaling point of the projected image are determined according to the vision parameter of the perspective transformation matrix and the camera；According to described first image coordinate and the vision parameter of first world's coordinate labeling projection instrument.Embodiments of the invention, computational methods are simple, and it is easy and simple to operate that algorithm is realized, without auxiliary equipments such as electronic theodolites.
Description
Technical field
The present invention relates to structure light imaging technical field, more particularly to a kind of scaling method of face battle array structure light imaging system
And device.
Background technology
Structure light imaging technology is a kind of detection method of contactless quick obtaining three-dimensional object profile.Thrown with projecting apparatus
Grating is penetrated to testee surface, is then gathered by camera because the geometry of object profile changes the striped that distorted and caused by
Image, and the image of collection is handled, the surface of object is taken turns further according to corresponding Data Translation model and algorithm for reconstructing
Exterior feature is rebuild, it is possible to obtains the three-dimensional profile data message on testee surface.
Before reconstruction, it is necessary first to structure light imaging system is demarcated, to ask in structure light imaging system
The vision parameters such as portion's parameter, external parameter and distortion parameter, so as to provide parameter foundation to algorithm for reconstructing.Structure light imaging system
Demarcation can be divided into camera calibration and projector calibrating two parts.At present, projector calibrating, can be by projecting post-equalization plate figure
The amendment of feature point deformation as in, so as to ask for correction parameter.However, the scaling method carries out school by phase shift method to projecting apparatus
Just, phase unwrapping process easily receives interference, and precision suffers from this.
The content of the invention
It is contemplated that at least solves above-mentioned technical problem to a certain extent.
Therefore, first purpose of the present invention is to propose a kind of scaling method of face battle array structure light imaging system, calculate
Method is simple, and algorithm is realized easy and simple to operate.
Second object of the present invention is to propose a kind of caliberating device of face battle array structure light imaging system.
For the above-mentioned purpose, embodiment proposes a kind of mark of face battle array structure light imaging system according to a first aspect of the present invention
Determine method, comprise the following steps：
By first image of the camera acquisition correction plate under all light light irradiation, and gather the correcting plate and shone in bright half-light
The second image under penetrating；
The projected image of the bright half-light is generated according to described first image and second image；
The vision parameter of the camera is demarcated according to described first image；
The perspective transformation matrix of the camera is determined according to the vision parameter of the camera；
The first scaling point of the projected image is determined according to the vision parameter of the perspective transformation matrix and the camera
The first image coordinate and first world's coordinate；
According to described first image coordinate and the vision parameter of first world's coordinate labeling projection instrument.
In addition, the scaling method of face battle array structure light imaging system according to embodiments of the present invention, can also have following additional
Technical characteristic：
In certain embodiments, the vision parameter that the camera is demarcated according to described first image, including：
Extract the second scaling point of described first image；
Second image of second scaling point in pre-set image coordinate system is determined according to the size of described first image
Coordinate；
Determine that the second world of second scaling point in default world coordinate system is sat according to the size of the correcting plate
Mark；
The vision parameter of the camera is demarcated according to second image coordinate and the second world coordinate.
In certain embodiments, it is described according to described first image and second image generates the projection of the bright half-light
Image, including：
Described first image is removed in second image, obtains the projected image of the bright half-light.
In certain embodiments, the vision parameter according to the camera determines the perspective transformation matrix of the camera,
Including：
Distortion correction, the second figure corrected are carried out to second image coordinate according to the vision parameter of the camera
As coordinate；
Corresponding two-dimensional coordinate is extracted from the second world coordinate；
The perspective transformation matrix is determined according to the second image coordinate of the correction and the two-dimensional coordinate.
In certain embodiments, the vision parameter according to the perspective transformation matrix and the camera determines the throwing
The first image coordinate and first world's coordinate of first scaling point of shadow image, including：
The first image coordinate of first scaling point is determined according to the size of the projected image；
The first world of first scaling point is determined according to the vision parameter of the camera and the perspective transformation matrix
Coordinate.
In certain embodiments, the vision parameter and the perspective transformation matrix according to the camera determines described
First world's coordinate of one scaling point, including：
Determine first scaling point in default projected coordinate system according to the size of the micro mirror array of the projecting apparatus
First projection coordinate；
Distortion correction is carried out to first projection coordinate according to the vision parameter of the camera, obtains the second projection seat
Mark；
Perspective transform is carried out to second projection coordinate according to the perspective transformation matrix, obtains the 3rd projection coordinate；
Three-dimensional coordinate transformation is carried out to the 3rd projection coordinate, obtains first world's coordinate of first scaling point.
In certain embodiments, in addition to：
Described first image and the second image are gathered respectively in multiple positions, obtain the first image sets and the second image sets；
The set of projection images of the bright half-light is generated according to described first image group and second image；
Determine the first image coordinate of the first scaling point of each projected image and the first world in the set of projection images
Coordinate；
The projection is demarcated according to the first image coordinate of the first scaling point of each projected image and first world's coordinate
The vision parameter of instrument.
Second aspect of the present invention embodiment provides a kind of caliberating device of face battle array structure light imaging system, including：
Acquisition module, for the first image by camera acquisition correction plate under all light light irradiation, and gather the school
Second image of the positive plate under the irradiation of bright half-light；
Generation module, for generating the projected image of the bright half-light according to described first image and second image；
First demarcating module, for demarcating the vision parameter of the camera according to described first image；
First determining module, for determining the perspective transformation matrix of the camera according to the vision parameter of the camera；
Second determining module, for determining the projection according to the vision parameter of the perspective transformation matrix and the camera
The first image coordinate and first world's coordinate of first scaling point of image；
Second demarcating module, for being joined according to the vision of described first image coordinate and first world's coordinate labeling projection instrument
Number.
In addition, the caliberating device of face battle array structure light imaging system according to embodiments of the present invention, can also have following additional
Technical characteristic：
In certain embodiments, first demarcating module is used for：
Extract the second scaling point of described first image；
Second image of second scaling point in pre-set image coordinate system is determined according to the size of described first image
Coordinate；
Determine that the second world of second scaling point in default world coordinate system is sat according to the size of the correcting plate
Mark；
The vision parameter of the camera is demarcated according to second image coordinate and the second world coordinate.
In certain embodiments, the generation module is used for：
Described first image is removed in second image, obtains the projected image of the bright half-light.
In certain embodiments, first determining module is used for：
Distortion correction, the second figure corrected are carried out to second image coordinate according to the vision parameter of the camera
As coordinate；
Corresponding two-dimensional coordinate is extracted from the second world coordinate；
The perspective transformation matrix is determined according to the second image coordinate of the correction and the two-dimensional coordinate.
In certain embodiments, second determining module is used for：
The first image coordinate of first scaling point is determined according to the size of the projected image；
The first world of first scaling point is determined according to the vision parameter of the camera and the perspective transformation matrix
Coordinate.
In certain embodiments, second determining module is used for：
Determine first scaling point in default projected coordinate system according to the size of the micro mirror array of the projecting apparatus
First projection coordinate；
Distortion correction is carried out to first projection coordinate according to the vision parameter of the camera, obtains the second projection seat
Mark；
Perspective transform is carried out to second projection coordinate according to the perspective transformation matrix, obtains the 3rd projection coordinate；
Three-dimensional coordinate transformation is carried out to the 3rd projection coordinate, obtains first world's coordinate of first scaling point.
In certain embodiments, the acquisition module is additionally operable to gather described first image and second respectively in multiple positions
Image, obtain the first image sets and the second image sets；
The generation module is additionally operable to generate the throwing of the bright half-light according to described first image group and second image
Shadow image sets；
Described device also includes：
3rd determining module, for determining the first figure of the first scaling point of each projected image in the set of projection images
As coordinate and first world's coordinate；
3rd demarcating module, the first image coordinate and the first world for the first scaling point according to each projected image
Coordinate demarcates the vision parameter of the projecting apparatus.
The scaling method and device of the face battle array structure light imaging system of the embodiment of the present invention, acquisition correction plate is in all light respectively
The first image and the second image under light and the irradiation of bright half-light, and according to the first image calibration camera parameter, according to the first image
Projected image is obtained with the second image, and according to projected image and the vision parameter of the vision parameter labeling projection instrument of camera, by
This, regards structure light imaging system as multiple individually monocular imaging systems, a correction version in kind can be directed to, for each phase
Machine need to only gather two images every time, and to be demarcated respectively to each monocular imaging system, computational methods are simple, and algorithm is realized
Easily, it is and simple to operate, without auxiliary equipments such as electronic theodolites.
The additional aspect and advantage of the present invention will be set forth in part in the description, and will partly become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Brief description of the drawings
The above-mentioned and/or additional aspect and advantage of the present invention will become in the description from combination accompanying drawings below to embodiment
Substantially and it is readily appreciated that, wherein：
Fig. 1 is the flow chart according to the scaling method of the face battle array structure light imaging system of one embodiment of the invention；
Fig. 2 a are the schematic diagram according to the correction plate pattern of one embodiment of the invention；
Fig. 2 b are the schematic diagram of the projection pattern of the bright half-light sent according to the projecting apparatus of one embodiment of the invention；
Fig. 3 a are the schematic diagram of the first image under all light light irradiation according to the correcting plate of one embodiment of the invention；
Fig. 3 b are the schematic diagram of the second image under the irradiation of bright half-light according to the correcting plate of one embodiment of the invention；
Fig. 4 is the schematic diagram according to the projected image of the bright half-light of one embodiment of the invention；
Fig. 5 a are the schematic diagram according to the second scaling point of the first image of one embodiment of the invention；
Fig. 5 b are the schematic diagram according to the first scaling point of the projected image of one embodiment of the invention；
Fig. 6 a are the schematic diagram according to the image coordinate system of one embodiment of the invention；
Fig. 6 b are according to the world coordinate system of one embodiment of the invention and the schematic diagram of projected coordinate system；
Fig. 7 is the structural representation according to the caliberating device of the face battle array structure light imaging system of one embodiment of the invention；
Fig. 8 is the structural representation according to the caliberating device of the face battle array structure light imaging system of another embodiment of the present invention
Figure.
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, is only used for explaining the present invention, and is not considered as limiting the invention.
Below with reference to the accompanying drawings the scaling method and device of face battle array structure light imaging system according to embodiments of the present invention are described.
Fig. 1 is the flow chart according to the scaling method of the face battle array structure light imaging system of one embodiment of the invention.
As shown in figure 1, the scaling method of face battle array structure light imaging system according to embodiments of the present invention, including：
S101, by first image of the camera acquisition correction plate under all light light irradiation, and the correcting plate is gathered bright
The second image under half-light irradiation.
In one embodiment of the invention, will can be pasted after the correction plate pattern printing shown in Fig. 2 a on planar substrates
Make correcting plate.
Then, controllable projecting apparatus sends the projection pattern of all light light, with irradiation correction plate, and passes through camera acquisition correction
First image (for example, as shown in Figure 3 a) of the plate under all light light irradiation.Keep the position of correcting plate constant, control projection
Instrument sends the projection pattern (as shown in Figure 2 b) of bright half-light, with irradiation correction plate, and by camera acquisition correction plate in bright half-light
The second image (for example, as shown in Figure 3 b) under irradiation.
, can be with it should be noted that in an embodiment of the present invention, the structure light that projecting apparatus is launched is not limited to monochromatic light
It is polychrome complex light.Wherein, all light light can be any monochromatic light or polychrome complex light.Bright half-light can be all light light and full half-light
The light with specific projection pattern that is formed of permutation and combination.Distribution luminous point hair in the middle part of the light emitting array of controllable projecting apparatus
Light, remainder luminous point do not light, so as to launch bright half-light.The projection pattern of bright half-light can arbitrarily have obvious spy
Sign, the pattern that scaling point can be specified, for example, projection pattern can include but is not limited to gridiron pattern, round dot etc..Projecting apparatus
The structure light launched can be the face battle array structure light of arbitrary graphic pattern, so as to realize more flexible, various, expand calibration
The scope of application.
In embodiments of the invention, the species of light source and projecting apparatus to projecting apparatus does not limit.For example
LED (Light Emitting Diode, light emitting diode) lamp etc. can be but not limited to.Projecting apparatus may include but be not limited to
DLP (Digital Light Processing, digital light processing), LCD (Liquid Crystal Display, liquid crystal display
Device) etc..
S102, the projected image of the bright half-light is generated according to described first image and second image.
During the bright half-light irradiation correction plate sent due to projecting apparatus, what bright half-light that projecting apparatus is sent was formed on correcting plate
Projected image and correcting plate imaging importing on correcting plate, form the second image.Therefore, in one embodiment of the invention, may be used
Described first image is removed in second image, obtains the projected image of the bright half-light.
Further, can be to obtaining image progress two-value after the first image (image M1) is removed in the second image (image M2)
Change, obtain the projected image (image M0) of bright half-light, i.e., the bright half-light projection pattern that projecting apparatus is launched is projected to correcting plate
Image (the not image including correcting plate in itself).
Image M0=(image M2- image M1) binaryzation.The projected image of bright half-light can be as shown in Figure 4.
S103, the vision parameter of the camera is demarcated according to described first image.
Wherein, vision parameter may include distortion parameter, inner parameter and external parameter.
Specifically, camera and correcting plate can all the way be regarded as to a monocular vision imaging system, carry out monocular vision correction,
With this distortion parameter, inner parameter and external parameter all the way of calibration for cameras.
In one embodiment of the invention, step S103 may include：Extract the second scaling point of described first image；Root
Second image coordinate of second scaling point in pre-set image coordinate system is determined according to the size of described first image；According to institute
The size for stating correcting plate determines second world coordinate of second scaling point in default world coordinate system；According to described second
Image coordinate and the second world coordinate demarcate the vision parameter of the camera.
That is, first angle point grid can be carried out to the first image, the second scaling point is obtained.For example, for figure
The first image shown in 3a, the extraction result of the second scaling point can be as shown in 5a.
Then, can establish or based on the image coordinate system X as shown in Figure 6 a pre-establishedCYC(origin OC) and figure
World coordinate system X shown in 6bWYWZW(origin OW), according to the size of the first image, the second scaling point for calculating the first image exists
Image coordinate system XCYCUnder coordinate, and be used as the second image coordinate ImagePointsC.According to size (the actual thing of correcting plate
Manage size) the second scaling point of the first image is calculated in world coordinate system XWYWZWLower coordinate, and it is used as second world coordinate
ObjectPointsC。
And then phase can be used according to the second image coordinate ImagePointsC and second world coordinate ObjectPointsC
Machine scaling method calibration for cameras, obtain the distortion parameter B, inner parameter A and external parameter RT of camera.Wherein, reality of the invention
Apply example not limit the scaling method used in calibration process, for example, Zhang Zhengyou standardizations etc. can be used.
For the first image M1 shown in Fig. 3 a, the camera vision parameter of demarcation is：
Distrotion parameter:B=[- 0,160 7516-0,076 0006-190903]
Further, spin matrix that can be according to needed for the external parameter RT of demarcation determines process of reconstruction.For example,
For external parameter：
Rotating vector [r can be therefrom extracted in external parameter RT1 r2 r3], and changed by function and change rotating vector
For spin matrix：
S104, the perspective transformation matrix of the camera is determined according to the vision parameter of the camera.
In one embodiment of the invention, step S104 may include：According to the vision parameter of the camera to described
Two image coordinates carry out distortion correction, the second image coordinate corrected；Extracted from the second world coordinate correspondingly
Two-dimensional coordinate；The perspective transformation matrix is determined according to the second image coordinate of the correction and the two-dimensional coordinate.
For example, can be according to the distortion parameter and inner parameter demarcated in step S103, to the second figure of the first image
The the second image coordinate UndistortedImagePointC corrected as coordinate ImagePointsC progress distortion corrections；And
Two-dimensional coordinate FeaturePointC corresponding to being extracted from second world coordinate ObjectPointsC three-dimensional coordinate.Enter
And it can be based on according to the second image coordinate UndistortedImagePointC and two-dimensional coordinate FeaturePointC of correction
Below equation calculates perspective transformation matrix H：
PH=Q
Wherein, P is the matrix being made up of the second image coordinate UndistortedImagePointC corrected, and H is perspective
Transformation matrix, Q are the matrix being made up of two-dimensional coordinate FeaturePointC.
It should be noted that the present invention is not limited the method for distortion correction.
S105, determine the projected image according to the vision parameter of the perspective transformation matrix and the camera first are determined
The first image coordinate and first world's coordinate of punctuate.
In one embodiment of the invention, the of first scaling point can be determined according to the size of the projected image
One image coordinate.Wherein, the first scaling point of projected image obtains to projected image progress angle point grid, can be such as Fig. 5 b institutes
Show.
Specifically, can establish or based on the projected coordinate system X as shown in Figure 6 b pre-establishedPYP(origin OP), and then
According to the size of projected image, first scaling point of projected image (image M0) can be calculated in projected coordinate system XPYPUnder coordinate,
And as the first image coordinate ImagePointsP of the first scaling point.Wherein, the size of projected image is the throwing in projecting apparatus
After on shadow data projection to correcting plate, the picture size that is projected on correcting plate.
In one embodiment of the invention, can be determined according to the vision parameter of the camera and the perspective transformation matrix
First world's coordinate of first scaling point.
Specifically, it is determined that the process of first world's coordinate may include：It is true according to the size of the micro mirror array of the projecting apparatus
First projection coordinate of fixed first scaling point in default projected coordinate system；According to the vision parameter of the camera to described
First projection coordinate carries out distortion correction, obtains the second projection coordinate；Projected according to the perspective transformation matrix to described second
Coordinate carries out perspective transform, obtains the 3rd projection coordinate；Three-dimensional coordinate transformation is carried out to the 3rd projection coordinate, obtained described
First world's coordinate of first scaling point.
Wherein, the size of the micro mirror array (DMD, Digital Micro mirror Device) of projecting apparatus, is as projected
The size for the projection pattern that instrument is launched.Therefore, can be according to the permutation calculation projected image (image M0) of micro mirror array in projecting apparatus
The first scaling point in projected coordinate system XPYPUnder coordinate, and be used as the first projection coordinate PreImagePointsP.Then, root
Distortion correction is carried out to the first projection coordinate PreImagePointsP according to the vision parameter of camera, the second projection is obtained after correction
Coordinate UndistortedPreImagePointP.Further projected according to the perspective transformation matrix H that step S104 is determined to second
Coordinate UndistortedPreImagePointP carries out perspective transform and obtains the 3rd projection coordinate
TransformedPreImagePointP.Finally, the 3rd projection coordinate TransformedPreImagePointP can be carried out
Three-dimensional coordinate transformation, obtain the first world coordinate ObjectPointsP of projected image M0 the first scaling point.
S106, according to described first image coordinate and the vision parameter of first world's coordinate labeling projection instrument.
The inverse process of collection in view of projection, therefore, projecting apparatus and correcting plate can be regarded as another monocular vision into
As system, monocular vision correction is carried out, with this distortion parameter, inner parameter and external parameter all the way of labeling projection instrument.
To after the first image coordinate of projected image and first world's coordinate, can be adopted according to the first image coordinate and first world's coordinate
With scaling method labeling projection instrument, the vision parameters such as the distortion parameter, inner parameter and external parameter of projecting apparatus are obtained.
, can be according to its first image coordinate and first world's coordinate labeling projection instrument for the projected image M0 shown in Fig. 4
Vision parameter it is as follows：
Distrotion parameter:B=[- 11.183 656.749-0.046 0.003-1103.915]
Wherein, embodiments of the invention are not limited the scaling method used in calibration process, for example, can be with
Use Zhang Zhengyou standardizations etc..
Because the datum mark of the external parameter of two monocular systems of camera-correcting plate and projecting apparatus-correcting plate is consistent, because
This, the external parameter of two monocular systems is combined into an external parameter in one embodiment of the invention.
Thus, all parameters of demarcation required for having obtained structure light imaging.Integrated structure photoimaging methods can be completed
Follow-up structure light imaging.
The scaling method of the face battle array structure light imaging system of the embodiment of the present invention, acquisition correction plate is in all light light and bright respectively
The first image and the second image under half-light irradiation, and according to the first image calibration camera parameter, according to the first image and second
Image obtains projected image, and according to projected image and the vision parameter of the vision parameter labeling projection instrument of camera, thus, will tie
Structure photoimaging systems regard multiple individually monocular imaging systems as, can be directed to a correction version in kind, each for each camera
Two images only need to be gathered, to be demarcated respectively to each monocular imaging system, computational methods are simple, and it is easy that algorithm is realized,
And it is simple to operate, without auxiliary equipments such as electronic theodolites.
It should be noted that the structured-light system that the above embodiment of the present invention is formed with a camera, a projecting apparatus enters
Row illustrates.If being related to the system of multiple cameras and multiple projecting apparatus, system can be regarded as multiple monocular imagings
System forms, and scaling method is identical.Wherein, the system of a projecting apparatus and a camera combination can regard 2 single monoculars as
Camera imaging system.If the system of U projection and V camera combination can regard U+V monocular camera imaging system as,
And demarcated respectively, so as to complete the demarcation of whole system.
In another embodiment of the present invention, in order to improve demarcation and correction accuracy, convertible correcting plate is in space
Position, and the first image and the second image are gathered respectively in each opening position, and the first image for each opening position and the
Two images repeat embodiment illustrated in fig. 1 respectively, to improve correction accuracy.
Therefore, in one embodiment of the invention, can also include the steps of：Gather described respectively in multiple positions
One image and the second image, obtain the first image sets and the second image sets；According to described first image group and second image
Generate the set of projection images of the bright half-light；Determine first of the first scaling point of each projected image in the set of projection images
Image coordinate and first world's coordinate；Sat according to the first image coordinate of the first scaling point of each projected image and the first world
Mark demarcates the vision parameter of the projecting apparatus.
Specifically, convertible correcting plate irradiates all light to correcting plate respectively in the position in space, and in each opening position
Light and bright half-light, to collect the first image of each position correspondence and the second image, thus obtain the first image sets and second
Image sets.Wherein, each position of the first image in the first image sets and correcting plate corresponds, and the in the second image sets
Each position of two images and correcting plate corresponds, i.e. the second figure in first the second image sets of image in the first image sets
As corresponding.
Wherein it is determined that in the set of projection images the first scaling point of each projected image the first image coordinate and first
World coordinates is identical with embodiment illustrated in fig. 1, can refer to embodiment illustrated in fig. 1, will not be repeated here.
It is determined that each projected image the first scaling point the first image coordinate and first world's coordinate after, can by with
The vision parameter of lower two ways labeling projection instrument：
Mode one
The first image is generated according to the first image coordinate of the first calibration point of each projected image in set of projection images to sit
Matrix is marked, and is sat according to the Coordinate generation first world of the first world of the first calibration point of each projected image in set of projection images
Mark matrix；Then, using the first image coordinate matrix and second world coordinates matrix as input parameter, marked based on scaling method
Determine the vision parameter of projecting apparatus.
That is, the first image that can form the first image coordinate corresponding to the projected image of all opening positions is sat
Matrix is marked as an entirety, first world's coordinate that first world's coordinate corresponding to the projected image of all opening positions is formed
Matrix as an entirety, and then can both be used as two input parameters, pass through the vision parameter of scaling method labeling projection instrument.
Mode two
Determined according to described first image group and second image sets corresponding multiple first respectively with the multiple position
Beginning camera vision parameter；According to corresponding multiple initial camera vision parameters determine the projecting apparatus respectively with the multiple position
Vision parameter.
That is, for the first image corresponding to every group and the second image, the embodiment shown in Fig. 1 is repeated, according to
The vision parameter of first image calibration camera, and then perspective transformation matrix is determined, and generated according to the first image and the second image
Corresponding projected image, and then, the first image coordinate and the first generation of projected image are determined according to the perspective transformation matrix of camera
Boundary's coordinate, demarcated with the initial visual parameter to projecting apparatus.Thus, can obtain corresponding a series of respectively with each position
The initial visual parameter of projecting apparatus.
And then the vision parameter of projecting apparatus can be calculated according to multiple initial visual parameters corresponding with multiple positions difference.
For example, the average value of multiple initial visual parameters can be calculated, and as the vision parameter of projecting apparatus, or pass through other calculations
Method is calculated multiple initial visual parameters, obtains the vision parameter of projecting apparatus.
It should be noted that at the position of conversion correcting plate every time, it can be ensured that correcting plate is constantly in camera shooting
Within sweep of the eye, so that camera can collect complete first image and the second image.The evolution number of correcting plate can
Set according to correction accuracy machine, for example, can be 20 times.
Corresponding with the scaling method embodiment of above-mentioned face battle array structure light imaging system, the present invention also proposes a kind of face battle array knot
The caliberating device of structure photoimaging systems.
Fig. 7 is the structural representation according to the caliberating device of the face battle array structure light imaging system of one embodiment of the invention.
As shown in fig. 7, the caliberating device of face battle array structure light imaging system according to embodiments of the present invention, including：Gather mould
Block 10, generation module 20, the first demarcating module 30, the first determining module 40, the second determining module 50 and the second demarcating module 60.
Specifically, acquisition module 10 is used to pass through first image of the camera acquisition correction plate under all light light irradiation, and adopts
Collect second image of the correcting plate under the irradiation of bright half-light.
In one embodiment of the invention, will can be pasted after the correction plate pattern printing shown in Fig. 2 a on planar substrates
Make correcting plate.
Then, controllable projecting apparatus sends the projection pattern of all light light, with irradiation correction plate, and passes through camera acquisition correction
First image (for example, as shown in Figure 3 a) of the plate under all light light irradiation.Keep the position of correcting plate constant, control projection
Instrument sends the projection pattern (as shown in Figure 2 b) of bright half-light, with irradiation correction plate, and by camera acquisition correction plate in bright half-light
The second image (for example, as shown in Figure 3 b) under irradiation.
, can be with it should be noted that in an embodiment of the present invention, the structure light that projecting apparatus is launched is not limited to monochromatic light
It is polychrome complex light.Wherein, all light light can be any monochromatic light or polychrome complex light.Bright half-light can be all light light and full half-light
The light with specific projection pattern that is formed of permutation and combination.Distribution luminous point hair in the middle part of the light emitting array of controllable projecting apparatus
Light, remainder luminous point do not light, so as to launch bright half-light.
The projection pattern of bright half-light can arbitrarily be had obvious characteristic, can specify the pattern of scaling point, for example, throw
Shadow pattern can include but is not limited to gridiron pattern, round dot etc..The structure light that projecting apparatus is launched can be the face battle array knot of arbitrary graphic pattern
Structure light, so as to realize more flexible, various, expand the scope of application of calibration.
In embodiments of the invention, the species of light source and projecting apparatus to projecting apparatus does not limit.For example
LED (Light Emitting Diode, light emitting diode) lamp etc. can be but not limited to.Projecting apparatus may include but be not limited to
DLP (Digital Light Processing, digital light processing), LCD (Liquid Crystal Display, liquid crystal display
Device) etc..
Generation module 20 is used for the projected image that the bright half-light is generated according to described first image and second image.
During the bright half-light irradiation correction plate sent due to projecting apparatus, what bright half-light that projecting apparatus is sent was formed on correcting plate
Projected image and correcting plate imaging importing on correcting plate, form the second image.Therefore, in one embodiment of the invention, it is raw
It can be used for removing described first image in second image into module 20, obtain the projected image of the bright half-light.
Further, can be to obtaining image progress two-value after the first image (image M1) is removed in the second image (image M2)
Change, obtain the projected image (image M0) of bright half-light, i.e., the bright half-light projection pattern that projecting apparatus is launched is projected to correcting plate
Image (the not image including correcting plate in itself).
Image M0=(image M2- image M1) binaryzation.The projected image of bright half-light can be as shown in Figure 4.
First demarcating module 30 is used for the vision parameter that the camera is demarcated according to described first image；
Wherein, vision parameter may include distortion parameter, inner parameter and external parameter.
Specifically, camera and correcting plate can all the way be regarded as to a monocular vision imaging system, carry out monocular vision correction,
With this distortion parameter, inner parameter and external parameter all the way of calibration for cameras.
In one embodiment of the invention, the first demarcating module 30 can be used for：Extract described first image second is fixed
Punctuate；Determine that second image of second scaling point in pre-set image coordinate system is sat according to the size of described first image
Mark；Second world coordinate of second scaling point in default world coordinate system is determined according to the size of the correcting plate；Root
The vision parameter of the camera is demarcated according to second image coordinate and the second world coordinate.
That is, the first demarcating module 30 first can carry out angle point grid to the first image, the second scaling point is obtained.Lift
For example, for the first image shown in Fig. 3 a, the extraction result of the second scaling point can be as shown in 5a.
Then, the first demarcating module 30 can be established or based on the image coordinate system X as shown in Figure 6 a pre-establishedCYC
(origin OC) and Fig. 6 b shown in world coordinate system XWYWZW(origin OW), according to the size of the first image, calculate the first image
The second scaling point in image coordinate system XCYCUnder coordinate, and be used as the second image coordinate ImagePointsC.According to correcting plate
Size (actual physical size) calculate the first image the second scaling point in world coordinate system XWYWZWLower coordinate, and it is used as the
Two world coordinates ObjectPointsC.
And then first demarcating module 30 can be according to the second image coordinate ImagePointsC and second world coordinate
ObjectPointsC uses camera calibration method calibration for cameras, obtains the distortion parameter B, inner parameter A and external parameter of camera
RT.Wherein, embodiments of the invention are not limited the scaling method used in calibration process, for example, can be used
Zhang Zhengyou standardizations etc..
For the first image M1 shown in Fig. 3 a, the camera vision parameter of demarcation is：
Distrotion parameter:B=[- 0.160 7.516-0.076 0.006-190.903]
Further, spin matrix that can be according to needed for the external parameter RT of demarcation determines process of reconstruction.For example,
For external parameter：
Rotating vector [r can be therefrom extracted in external parameter RT1 r2 r3], and changed by function and change rotating vector
For spin matrix：
First determining module 40 is used for the perspective transformation matrix that the camera is determined according to the vision parameter of the camera.
In one embodiment of the invention, the first determining module 40 can be used for：According to the vision parameter pair of the camera
Second image coordinate carries out distortion correction, the second image coordinate corrected；Extracted from the second world coordinate
Go out corresponding two-dimensional coordinate；The perspective transform square is determined according to the second image coordinate of the correction and the two-dimensional coordinate
Battle array.
For example, the distortion parameter and inner parameter that the first determining module 40 can demarcate according to the first demarcating module 30,
The second image coordinate corrected to the second image coordinate ImagePointsC progress distortion corrections of the first image
UndistortedImagePointC；And corresponding to being extracted from second world coordinate ObjectPointsC three-dimensional coordinate
Two-dimensional coordinate FeaturePointC.And then can be according to the second image coordinate UndistortedImagePointC of correction and two
Dimension coordinate FeaturePointC is based on below equation and calculates perspective transformation matrix H：
PH=Q
Wherein, P is the matrix being made up of the second image coordinate UndistortedImagePointC corrected, and H is perspective
Transformation matrix, Q are the matrix being made up of two-dimensional coordinate FeaturePointC.
It should be noted that the present invention is not limited the method for distortion correction.
Second determining module 50 is used to determine the throwing according to the vision parameter of the perspective transformation matrix and the camera
The first image coordinate and first world's coordinate of first scaling point of shadow image；
In one embodiment of the invention, the second determining module 50 can be according to determining the size of the projected image
First image coordinate of the first scaling point.Wherein, the first scaling point of projected image is to carry out angle point grid to projected image to obtain
Arrive, can be as shown in Figure 5 b.
Specifically, the second determining module 50 can be established or based on the projected coordinate system as shown in Figure 6 b pre-established
XPYP(origin OP), and then the first scaling point that according to the size of projected image, can calculate projected image (image M0) is sat in projection
Mark system XPYPUnder coordinate, and as the first image coordinate ImagePointsP of the first scaling point.Wherein, the chi of projected image
Very little is the picture size that is projected on correcting plate after the data for projection in projecting apparatus is projected to correcting plate.
In one embodiment of the invention, the second determining module 50 can be according to the vision parameter of the camera and described
First world's coordinate of first scaling point is determined depending on transformation matrix.
Specifically, the second determining module 50 determines that the process of first world's coordinate may include：According to the micro- of the projecting apparatus
The size of lens array determines first projection coordinate of first scaling point in default projected coordinate system；According to the camera
Vision parameter carries out distortion correction to first projection coordinate, obtains the second projection coordinate；According to the perspective transformation matrix
Perspective transform is carried out to second projection coordinate, obtains the 3rd projection coordinate；Three-dimensional seat is carried out to the 3rd projection coordinate
Mark conversion, obtains first world's coordinate of first scaling point.
Wherein, the size of the micro mirror array (DMD, Digital Micro mirror Device) of projecting apparatus, is as projected
The size for the projection pattern that instrument is launched.Therefore, can be according to the permutation calculation projected image (image M0) of micro mirror array in projecting apparatus
The first scaling point in projected coordinate system XPYPUnder coordinate, and be used as the first projection coordinate PreImagePointsP.Then, root
Distortion correction is carried out to the first projection coordinate PreImagePointsP according to the vision parameter of camera, the second projection is obtained after correction
Coordinate UndistortedPreImagePointP.Further projected according to the perspective transformation matrix H that step S104 is determined to second
Coordinate UndistortedPreImagePointP carries out perspective transform and obtains the 3rd projection coordinate
TransformedPreImagePointP.Finally, the 3rd projection coordinate TransformedPreImagePointP can be carried out
Three-dimensional coordinate transformation, obtain the first world coordinate ObjectPointsP of projected image M0 the first scaling point.
Second demarcating module 60 is used for the vision according to described first image coordinate and first world's coordinate labeling projection instrument
Parameter.
It is the inverse process of collection in view of projection, therefore, the second demarcating module 60 can regard projecting apparatus and correcting plate as another
One monocular vision imaging system, carry out monocular vision correction, with labeling projection instrument this distortion parameter all the way, inner parameter and
External parameter.After the first image coordinate of projected image and first world's coordinate is obtained, the second demarcating module 60 can basis
First image coordinate and first world's coordinate use scaling method labeling projection instrument, obtain the distortion parameter of projecting apparatus, internal ginseng
The vision parameter such as number and external parameter.
, can be according to its first image coordinate and first world's coordinate labeling projection instrument for the projected image M0 shown in Fig. 4
Vision parameter it is as follows：
Distrotion parameter:B=[- 11.183 656.749-0.046 0.003-1103.915]
Wherein, embodiments of the invention are not limited the scaling method used in calibration process, for example, can be with
Use Zhang Zhengyou standardizations etc..
Because the datum mark of the external parameter of two monocular systems of camera-correcting plate and projecting apparatus-correcting plate is consistent, because
This, the external parameter of two monocular systems is combined into an external parameter in one embodiment of the invention.
Thus, all parameters of demarcation required for having obtained structure light imaging.Integrated structure photoimaging methods can be completed
Follow-up structure light imaging.
The caliberating device of the face battle array structure light imaging system of the embodiment of the present invention, acquisition correction plate is in all light light and bright respectively
The first image and the second image under half-light irradiation, and according to the first image calibration camera parameter, according to the first image and second
Image obtains projected image, and according to projected image and the vision parameter of the vision parameter labeling projection instrument of camera, thus, will tie
Structure photoimaging systems regard multiple individually monocular imaging systems as, can be directed to a correction version in kind, each for each camera
Two images only need to be gathered, to be demarcated respectively to each monocular imaging system, computational methods are simple, and it is easy that algorithm is realized,
And it is simple to operate, without auxiliary equipments such as electronic theodolites.
It should be noted that the structured-light system that the above embodiment of the present invention is formed with a camera, a projecting apparatus enters
Row illustrates.If being related to the system of multiple cameras and multiple projecting apparatus, system can be regarded as multiple monocular imagings
System forms, and scaling method is identical.Wherein, the system of a projecting apparatus and a camera combination can regard 2 single monoculars as
Camera imaging system.If the system of U projection and V camera combination can regard U+V monocular camera imaging system as,
And demarcated respectively, so as to complete the demarcation of whole system.
Fig. 8 is the structural representation according to the caliberating device of the face battle array structure light imaging system of another embodiment of the present invention
Figure.
As shown in figure 8, the caliberating device of face battle array structure light imaging system according to embodiments of the present invention, shown in Fig. 7
On the basis of may also include：3rd determining module 70 and the 3rd demarcating module 80.
Wherein, acquisition module 10 can be used in multiple positions gathering described first image and the second image respectively, obtain the
One image sets and the second image sets.
Generation module 20 is additionally operable to generate the projection of the bright half-light according to described first image group and second image
Image sets.
Described device also includes：
3rd determining module 70 is used to determine first of the first scaling point of each projected image in the set of projection images
Image coordinate and first world's coordinate；
3rd demarcating module 80 is used for the first image coordinate and the first generation of the first scaling point according to each projected image
Boundary's coordinate demarcates the vision parameter of the projecting apparatus.
Specifically, convertible correcting plate irradiates all light to correcting plate respectively in the position in space, and in each opening position
Light and bright half-light, so as to which acquisition module 10 can collect the first image and the second image of each position correspondence, thus obtain the
One image sets and the second image sets.Wherein, each position of the first image in the first image sets and correcting plate corresponds, the
Each position of the second image and correcting plate in two image sets corresponds, i.e. first the second figure of image in the first image sets
As the second image in group corresponds.
Wherein it is determined that in the set of projection images the first scaling point of each projected image the first image coordinate and first
World coordinates is identical with embodiment illustrated in fig. 1, can refer to embodiment illustrated in fig. 1, will not be repeated here.
It is determined that each projected image the first scaling point the first image coordinate and first world's coordinate after, can by with
The vision parameter of lower two ways labeling projection instrument：
Mode one
The first image is generated according to the first image coordinate of the first calibration point of each projected image in set of projection images to sit
Matrix is marked, and is sat according to the Coordinate generation first world of the first world of the first calibration point of each projected image in set of projection images
Mark matrix；Then, using the first image coordinate matrix and second world coordinates matrix as input parameter, marked based on scaling method
Determine the vision parameter of projecting apparatus.
That is, the first image that can form the first image coordinate corresponding to the projected image of all opening positions is sat
Matrix is marked as an entirety, first world's coordinate that first world's coordinate corresponding to the projected image of all opening positions is formed
Matrix as an entirety, and then can both be used as two input parameters, pass through the vision parameter of scaling method labeling projection instrument.
Mode two
Determined according to described first image group and second image sets corresponding multiple first respectively with the multiple position
Beginning camera vision parameter；According to corresponding multiple initial camera vision parameters determine the projecting apparatus respectively with the multiple position
Vision parameter.
That is, for the first image corresponding to every group and the second image, the embodiment shown in Fig. 1 is repeated, according to
The vision parameter of first image calibration camera, and then perspective transformation matrix is determined, and generated according to the first image and the second image
Corresponding projected image, and then, the first image coordinate and the first generation of projected image are determined according to the perspective transformation matrix of camera
Boundary's coordinate, demarcated with the initial visual parameter to projecting apparatus.Thus, can obtain corresponding a series of respectively with each position
The initial visual parameter of projecting apparatus.
And then the vision parameter of projecting apparatus can be calculated according to multiple initial visual parameters corresponding with multiple positions difference.
For example, the average value of multiple initial visual parameters can be calculated, and as the vision parameter of projecting apparatus, or pass through other calculations
Method is calculated multiple initial visual parameters, obtains the vision parameter of projecting apparatus.
It should be noted that at the position of conversion correcting plate every time, it can be ensured that correcting plate is constantly in camera shooting
Within sweep of the eye, so that camera can collect complete first image and the second image.The evolution number of correcting plate can
Set according to correction accuracy machine, for example, can be 20 times.
Those skilled in the art will readily occur to the present invention its after considering specification and putting into practice invention disclosed herein
Its embodiment.The application be intended to the present invention any modification, purposes or adaptations, these modifications, purposes or
Person's adaptations follow the general principle of the present invention and including the undocumented common knowledges in the art of the disclosure
Or conventional techniques.Description and embodiments are considered only as exemplary, and true scope and spirit of the invention are by following
Claim is pointed out.
It should be appreciated that the invention is not limited in the precision architecture for being described above and being shown in the drawings, and
And various modifications and changes can be being carried out without departing from the scope.The scope of the present invention is only limited by appended claim.
Claims (14)
1. a kind of scaling method of face battle array structure light imaging system, it is characterised in that comprise the following steps：
By first image of the camera acquisition correction plate under all light light irradiation, and the correcting plate is gathered under the irradiation of bright half-light
The second image；
The projected image of the bright half-light is generated according to described first image and second image；
The vision parameter of the camera is demarcated according to described first image；
The perspective transformation matrix of the camera is determined according to the vision parameter of the camera；
The of the first scaling point of the projected image is determined according to the vision parameter of the perspective transformation matrix and the camera
One image coordinate and first world's coordinate；
According to described first image coordinate and the vision parameter of first world's coordinate labeling projection instrument.
2. the method as described in claim 1, it is characterised in that the vision that the camera is demarcated according to described first image
Parameter, including：
Extract the second scaling point of described first image；
Second image coordinate of second scaling point in pre-set image coordinate system is determined according to the size of described first image；
Second world coordinate of second scaling point in default world coordinate system is determined according to the size of the correcting plate；
The vision parameter of the camera is demarcated according to second image coordinate and the second world coordinate.
3. the method as described in claim 1, it is characterised in that described to be generated according to described first image with second image
The projected image of the bright half-light, including：
Described first image is removed in second image, obtains the projected image of the bright half-light.
4. method as claimed in claim 2, it is characterised in that the vision parameter according to the camera determines the camera
Perspective transformation matrix, including：
Distortion correction is carried out to second image coordinate according to the vision parameter of the camera, the second image corrected is sat
Mark；
Corresponding two-dimensional coordinate is extracted from the second world coordinate；
The perspective transformation matrix is determined according to the second image coordinate of the correction and the two-dimensional coordinate.
5. the method as described in claim 1, it is characterised in that the regarding according to the perspective transformation matrix and the camera
Feel that parameter determines the first image coordinate and first world's coordinate of the first scaling point of the projected image, including：
The first image coordinate of first scaling point is determined according to the size of the projected image；
First world's coordinate of first scaling point is determined according to the vision parameter of the camera and the perspective transformation matrix.
6. method as claimed in claim 5, its feature exists, the vision parameter according to the camera and the perspective transform
Matrix determines first world's coordinate of first scaling point, including：
First of first scaling point in default projected coordinate system is determined according to the size of the micro mirror array of the projecting apparatus
Projection coordinate；
Distortion correction is carried out to first projection coordinate according to the vision parameter of the camera, obtains the second projection coordinate；
Perspective transform is carried out to second projection coordinate according to the perspective transformation matrix, obtains the 3rd projection coordinate；
Three-dimensional coordinate transformation is carried out to the 3rd projection coordinate, obtains first world's coordinate of first scaling point.
7. the method as described in claim 1, it is characterised in that also include：
Described first image and the second image are gathered respectively in multiple positions, obtain the first image sets and the second image sets；
The set of projection images of the bright half-light is generated according to described first image group and second image；
Determine the first image coordinate and first world's coordinate of the first scaling point of each projected image in the set of projection images；
The projecting apparatus is demarcated according to the first image coordinate of the first scaling point of each projected image and first world's coordinate
Vision parameter.
A kind of 8. caliberating device of face battle array structure light imaging system, it is characterised in that including：
Acquisition module, for the first image by camera acquisition correction plate under all light light irradiation, and gather the correcting plate
The second image under the irradiation of bright half-light；
Generation module, for generating the projected image of the bright half-light according to described first image and second image；
First demarcating module, for demarcating the vision parameter of the camera according to described first image；
First determining module, for determining the perspective transformation matrix of the camera according to the vision parameter of the camera；
Second determining module, for determining the projected image according to the vision parameter of the perspective transformation matrix and the camera
The first scaling point the first image coordinate and first world's coordinate；
Second demarcating module, for the vision parameter according to described first image coordinate and first world's coordinate labeling projection instrument.
9. device as claimed in claim 8, it is characterised in that first demarcating module is used for：
Extract the second scaling point of described first image；
Second image coordinate of second scaling point in pre-set image coordinate system is determined according to the size of described first image；
Second world coordinate of second scaling point in default world coordinate system is determined according to the size of the correcting plate；
The vision parameter of the camera is demarcated according to second image coordinate and the second world coordinate.
10. device as claimed in claim 8, it is characterised in that the generation module is used for：
Described first image is removed in second image, obtains the projected image of the bright half-light.
11. device as claimed in claim 9, it is characterised in that first determining module is used for：
Distortion correction is carried out to second image coordinate according to the vision parameter of the camera, the second image corrected is sat
Mark；
Corresponding two-dimensional coordinate is extracted from the second world coordinate；
The perspective transformation matrix is determined according to the second image coordinate of the correction and the two-dimensional coordinate.
12. device as claimed in claim 8, it is characterised in that second determining module is used for：
The first image coordinate of first scaling point is determined according to the size of the projected image；
First world's coordinate of first scaling point is determined according to the vision parameter of the camera and the perspective transformation matrix.
13. device as claimed in claim 12, its feature exists, and second determining module is used for：
First of first scaling point in default projected coordinate system is determined according to the size of the micro mirror array of the projecting apparatus
Projection coordinate；
Distortion correction is carried out to first projection coordinate according to the vision parameter of the camera, obtains the second projection coordinate；
Perspective transform is carried out to second projection coordinate according to the perspective transformation matrix, obtains the 3rd projection coordinate；
Three-dimensional coordinate transformation is carried out to the 3rd projection coordinate, obtains first world's coordinate of first scaling point.
14. device as claimed in claim 8, it is characterised in that
The acquisition module is additionally operable to gather described first image and the second image respectively in multiple positions, obtains the first image sets
With the second image sets；
The generation module is additionally operable to generate the perspective view of the bright half-light according to described first image group and second image
As group；
Described device also includes：
3rd determining module, for determining that the first image of the first scaling point of each projected image in the set of projection images is sat
Mark and first world's coordinate；
3rd demarcating module, the first image coordinate and first world's coordinate for the first scaling point according to each projected image
Demarcate the vision parameter of the projecting apparatus.
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