CN107945237A - Multiple dimensioned scaling board - Google Patents
Multiple dimensioned scaling board Download PDFInfo
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- CN107945237A CN107945237A CN201711440906.5A CN201711440906A CN107945237A CN 107945237 A CN107945237 A CN 107945237A CN 201711440906 A CN201711440906 A CN 201711440906A CN 107945237 A CN107945237 A CN 107945237A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/11—Region-based segmentation
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- G06—COMPUTING; CALCULATING OR COUNTING
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- G06T7/155—Segmentation; Edge detection involving morphological operators
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Abstract
The invention discloses a kind of multiple dimensioned scaling board, the multiple dimensioned calibration plate surface is provided with least two groups of calibration basic points and identifiable coding；Every group of calibration basic point includes at least three identical and orthogonal relationship distribution calibration points；Define first group of calibration basic point be close to the multiple dimensioned scaling board edge one group of calibration basic point and second group of calibration basic point be the one group calibration basic point adjacent with first group of calibration basic point；The single calibration point area of first group of calibration basic point, which is more than in second group of calibration basic point, corresponds to calibration point area；The encoding setting is in every group of calibration basic point between at least one adjacent two nearest calibration points, and the coding between each group calibration basic point is different.The imaging device that the present invention is suitable for the different visuals field is demarcated, and is avoided and is customized scaling board not of uniform size and matching algorithm, saves the cost that hardware is safeguarded with exploitation.
Description
Technical field
The present invention relates to technical field of computer vision, in particular to a kind of multiple dimensioned scaling board.
Background technology
Industrial 4.0 epoch, industrial automation technology have obtained quick development.Machine vision technique is industrial automation skill
The important directions of art, increasingly play its important effect in terms of social production life, as vision monitoring, part automatic identification with
Measurement, three-dimensional reconstruction, terrain match, medical image processing etc..Imaging device is as a kind of important detection hand in vision-based detection
Section, its calibration technique are the same for scale just as scale for the importance of computer vision.
In conventional calibration process, because test product is not of uniform size, matching imaging dress selected by vision system
The visual field put is of different sizes, in order to maximumlly improve accuracy of detection and reduce cost, suitable resolution imaging can be selected to fill
Put and camera lens.Since the visual field is not of uniform size, during calibration, it is necessary to customize scaling board not of uniform size and matching
Algorithm, cause hardware cost to improve, while increase development and maintenance cost.
In addition, the adjusting calibration of vision system original state is operated by manually, except repetitive operation and needs
Skilled worker is outer to operate, and calibration result can not often avoid the error that human factor is brought.
The content of the invention
In view of the above problems, the present invention provides a kind of multiple dimensioned scaling board, it is only necessary to a scaling board, for it is different into
As the form size of device, the calibration basic points of different calibration ranges on scaling board is automatically selected to complete to demarcate, so as to reduce
Hardware cost and development and maintenance cost, while the calibrated error for avoiding human factor from bringing.
According to embodiment of the present invention, there is provided a kind of multiple dimensioned scaling board, the multiple dimensioned calibration plate surface are set
It is equipped with least two groups of calibration basic points and identifiable coding；
Every group of calibration basic point includes at least three identical and orthogonal relationship distribution calibration points；
It is the one group of calibration basic point and second group of mark close to the multiple dimensioned scaling board edge to define first group of calibration basic point
It is the one group calibration basic point adjacent with first group of calibration basic point to determine basic point；The single calibration point of first group of calibration basic point
Area, which is more than in second group of calibration basic point, corresponds to calibration point area；
The encoding setting in every group of calibration basic point between at least one adjacent two nearest calibration points, and
Coding between each group calibration basic point is different.
In above-mentioned multiple dimensioned scaling board, the calibration point for the circle with fill color, ellipse, square, "+" shape,
"×" shape or triangle.
In above-mentioned multiple dimensioned scaling board, the coding between every group of calibration basic point can be by multi-faceted identification and correspondence
Identical recognition result.
It is described to be encoded to bar code, Quick Response Code, numeral, character or geometric figure in above-mentioned multiple dimensioned scaling board.
In above-mentioned multiple dimensioned scaling board, the corresponding at least one physical distance of coding.
In above-mentioned multiple dimensioned scaling board, the coding includes encoding start bit, bits of coded and end-of-encode position.
In above-mentioned multiple dimensioned scaling board, the multiple dimensioned calibration plate shape for circular, oval, square, triangle or
Polygon.
In above-mentioned multiple dimensioned scaling board, the multiple dimensioned scaling board is two-sided to be both provided with the calibration point and the volume
Code.
In above-mentioned multiple dimensioned scaling board, the multiple dimensioned scaling board material can be printing opacity or backlight material.
Another embodiment of the present invention provides a kind of self-adapting calibration system, including：
Multiple dimensioned scaling board, including at least two groups of calibration basic points, every group of calibration basic point include at least three it is identical and
The calibration point of orthogonal relationship distribution；It is one group of calibration close to the multiple dimensioned scaling board edge to define first group of calibration basic point
Basic point and second group of calibration basic point are the one group calibration basic point adjacent with first group of calibration basic point；First group of calibration base
The single calibration point area of point, which is more than in second group of calibration basic point, corresponds to calibration point area；The encoding setting is in described every
In group calibration basic point between at least one adjacent two nearest calibration points, and the mutual not phase of coding between each group calibration basic point
Together；
Imaging device, for gathering the view data of the multiple dimensioned scaling board and to described image data handled
Into calibration process.
The multiple dimensioned scaling board of the present invention provides at following technique effect：A scaling board is only needed, in a scaling board
The middle calibration basic point for having merged different calibration ranges, can the vision system of compatible different visuals field size demarcated, avoid
Scaling board not of uniform size and matching algorithm are customized, the cost of hardware cost and exploitation maintenance is saved, avoids at the same time
The human factor for repeating to place caused by scaling board brings calibrated error.
Brief description of the drawings
In order to illustrate more clearly of technical scheme, letter will be made to attached drawing needed in the embodiment below
Singly introduce, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore be not construed as to the present invention
The restriction of protection domain.
Fig. 1 shows a kind of structure diagram for multiple dimensioned scaling board that first embodiment of the invention provides.
Fig. 2 shows a kind of self-adapting calibration systematic difference environment schematic provided in an embodiment of the present invention.
Fig. 3 shows a kind of flow diagram of self-adapting calibration method provided in an embodiment of the present invention.
Fig. 4 shows a kind of structure diagram for multiple dimensioned scaling board that second embodiment of the invention provides.
Fig. 5 is shown in a kind of multiple dimensioned scaling board provided in an embodiment of the present invention between adjacent nearest two calibration points
The structure diagram of coding.
Fig. 6 shows a kind of structure diagram for multiple dimensioned scaling board that third embodiment of the invention provides.
Main element symbol description：
10- imaging devices；The multiple dimensioned scaling boards of 12-；121- calibration points；122- is encoded；123- encodes start bit；124- is compiled
Code stop bits；125- bits of coded.
Embodiment
Below in conjunction with attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Ground describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.Usually exist
The component of the embodiment of the present invention described and illustrated in attached drawing can be arranged and designed with a variety of configurations herein.Cause
This, the detailed description of the embodiment of the present invention to providing in the accompanying drawings is not intended to limit claimed invention below
Scope, but it is merely representative of the selected embodiment of the present invention.Based on the embodiment of the present invention, those skilled in the art are not doing
Go out all other embodiments obtained on the premise of creative work, belong to the scope of protection of the invention.
In addition, term " first ", " second " are only used for description purpose, and it is not intended that instruction or hint relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can be expressed or
Implicitly include one or more this feature.In the description of the present invention, " multiple " are meant that two or more,
Unless otherwise specifically defined.
Unless otherwise defined, all of technologies and scientific terms used here by the article is with belonging to technical field of the invention
The normally understood implication of technical staff is identical.It is intended merely to herein in the term used in the description of multiple dimensioned scaling board
The purpose of specific embodiment is described, it is not intended that the limitation present invention.Term as used herein " and/or " include one or more
The arbitrary and all combination of a relevant Listed Items.
Below in conjunction with the accompanying drawings, elaborate to the embodiment of the present invention.
Embodiment 1
Fig. 1 shows a kind of distribution schematic diagram of multiple dimensioned scaling board provided in an embodiment of the present invention.Multiple dimensioned scaling board
12 surfaces are provided with least two groups of calibration basic points 121 and identifiable coding 122.
Every group of calibration basic point 121 includes at least three identical and orthogonal relationship distribution calibration points.In the present embodiment, often
Group calibration basic point is explained by taking the calibration point of four orthogonal relationships as an example.In other embodiments of the invention, every group of mark
Determining basic point can also include that any angle calibration point central point line forms three of orthogonality relation or more than four calibration points are
Example explains.
It is the one group of calibration basic point and second group of mark close to the multiple dimensioned scaling board edge to define first group of calibration basic point
It is the one group calibration basic point adjacent with first group of calibration basic point to determine basic point；The single calibration point of first group of calibration basic point
Area, which is more than in second group of calibration basic point, corresponds to calibration point area.For example, first group of calibration basic point includes four calibration points
A0, B0, C0, D0, second group of calibration basic point include four calibration points A1, B1, C1, D1, wherein A0, B0, C0, D0 central point line
Orthogonal relationship is distributed, and also orthogonal relationship is distributed A1, B1, C1, D1 central point line.
Tetra- calibration point sizes of A0, B0, C0, D0, shape are identical with structure, A1, B1, C1, D1 tetra- calibration point sizes, shapes
Shape is identical with structure.The area of A0, B0, C0, D0 are all higher than second group of calibration basic point A1, B1, C1, D1 in first group of calibration basic point
Area.
Coding 122 is arranged between the adjacent two nearest calibration points of every group of calibration basic point at least one, described
Every group of calibration basic point coding is identical, and is encoded between each group calibration basic point different.In the present embodiment, coding 122 is set
Between the adjacent two nearest calibration points of every group of calibration basic point one, that is, it is one to encode 122.In its of the present invention
In his embodiment, 122 quantity of coding in every group of calibration basic point is multiple.For example, first group of calibration basic point A0, B0, C0,
In D0, coding is equipped between only calibration point B0C0, between calibration point A0B0, between calibration point C0D0, between calibration point A0D0
Do not encode.It is equipped with and encodes in second group of calibration basic point A1, B1, C1, D1, between only calibration point B1C1, between calibration point A1B1,
Do not encoded between calibration point C1D1, between calibration point A1D1.Coding and second group of calibration base between first group of calibration basic point
Encoded between point different, i.e. encode different, corresponding different thing between calibration point B0C0 between coding and calibration point B1C1
Manage distance.
In the present embodiment, the calibration point is the circle filled with black, in other embodiments of the invention, described
Calibration point is oval, square, "+" shape, "×" shape or triangle etc..Finally it is attributed to a point and participates in computing, all in this hair
In bright protection domain, for example, needing to calculate between circular calibration point central point pixel coordinate and two central points in the present embodiment
Pixel distance participates in the calculating of follow-up calibration parameter, other such as trellis-types need calibration point particle pixel coordinate and two particles
Between pixel distance participate in subsequent arithmetic.
In the present embodiment, it is described to be encoded to a kind of bar code of mode, it multi-faceted can identify and obtain identical identification
As a result.For example, between calibration point B1C1 exemplified by bar code, believe using B1 positions as beginning to the coding acquired in C1 scanning directions
Cease identical to the recognition result of the coding information acquired in B1 scanning directions to start with using C1 positions；If described be encoded to
In the case of Quick Response Code, it can be scanned by upper and lower left back four direction and obtain identical recognition result.The present invention's
In other embodiment, the coding can be other modes bar code, Quick Response Code, numeral, character or several picture.Such as numeral
" 1 ", " 2 " " 3 ", character " 123+abc " etc..
The shape and material of multiple dimensioned scaling board 12 can be configured according to the actual needs, for example, in the present embodiment
In, multiple dimensioned 12 shape of scaling board is square, and multiple dimensioned calibration plate shape can be circular, ellipse in other embodiments of the invention
Circle, triangle or polygon.In the photosystem of surface, can placement surface reflective material multiple dimensioned scaling board；In back light system
In, the multiple dimensioned scaling boards of light-transmitting materials can be placed.The multiple dimensioned scaling board can the two-sided setting calibration point and the volume
Code.
The multiple dimensioned scaling board of the present invention, has merged the calibration basic point of different calibration ranges, Ke Yijian in a scaling board
The vision system for holding different visual field sizes is demarcated, and is avoided and is customized scaling board not of uniform size and matching algorithm,
The cost of hardware cost and exploitation maintenance is saved, while avoids the human factor that repetition is placed caused by scaling board and brings mark
Determine error.
Fig. 2 shows a kind of self-adapting calibration systematic difference environment schematic provided in an embodiment of the present invention.
The self-adapting calibration systematic difference environment includes imaging device 10 and multiple dimensioned scaling board 12.
Imaging device 10 is used to gather view data, can include the terminal for being integrated with camera function, such as have
There are the mobile phone of camera function, tablet computer, notebook, desktop computer etc.；The terminal device of camera function can also be included, such as shone
Camera, video recorder, shooting are first-class, and imaging device 10 and terminal pass through connection mode individualism.Wherein, connection mode
Can be fixedly connected, can also be detachably connected or be integrally connected；Can mechanically connect or be electrically connected
Connect；Can be wired connection or wireless connection；Can be directly connected to or by the indirect phase of intermediary
Even；It can be the connection inside two elements.For the ordinary skill in the art, can understand as the case may be
The concrete meaning of above-mentioned term in the present invention.
Multiple dimensioned scaling board 12 is used to demarcate imaging device calibrating parameters, includes at least two composition orthogonality relations
Basic point is demarcated, every group of calibration basic point includes at least three identical calibration points, the phase of every group of calibration basic point orthogonal relationship distribution
Coding is provided between adjacent nearest two calibration points, each group coding is different.
Self-adapting calibration system shown in Figure 2 does not form limitation of the invention, can include than illustrate it is more or
Less component, either combines some components or different components arrangement.
Fig. 3 shows a kind of flow diagram of self-adapting calibration method provided in an embodiment of the present invention.
In step S170, collection includes the view data of multiple dimensioned scaling board.
For example, one group of calibration basic point on multiple dimensioned scaling board is included at least in acquired image data.
In step S180, judge whether include multiple dimensioned scaling board in view data.
Judge whether include multiple dimensioned scaling board in the view data of collection, multiple dimensioned mark is included at least in view data
On fixed board in the case of one group of calibration basic point, step S190 is advanced to.The feelings of multiple dimensioned scaling board are not included in view data
Under condition, step S200 is advanced to.
In step S190, judge multiple dimensioned scaling board data if appropriate for measurement.
Judge the whether intact suitable measurement of multiple dimensioned scaling board data gathered.That is, the figure of multiple dimensioned scaling board is included
As data can identify calibration point with complete and accurate.In the case where multiple dimensioned scaling board data are intact, step is advanced to
S210.In the case where multiple dimensioned scaling board data cannot be measured accurately, step S200 is advanced to.
In step s 200, the multiple dimensioned scaling board for being adapted to calibration is placed.
The multiple dimensioned scaling board for being adapted to calibration is reapposed according to factors such as the position of multiple dimensioned scaling board, intact degree,
Step S170 is advanced to, re-starts imaging device calibration.
Here one group of calibration on multiple dimensioned scaling board is included at least in the view data captured by position, that is, imaging device
Basic point.Here the volume on intact degree, that is, multiple dimensioned scaling board between every group of calibration basic point and every adjacent nearest two calibration points
Code is excellent, every group of calibration basic point captured by imaging device and subject to coding can be identified by terminal between it.
In step S210, one group of calibration basic point of area maximum in view data is obtained.
For example, carrying out binarization segmentation processing to image, the connected region in described image data is identified,
Using the noise spot in Morphology Algorithm filtering described image data and the connected region with edge adhesion, institute is calculated
The area of remaining each connected region in view data is stated, it is maximum and equal to obtain area in each connected region of residue
One group calibration basic point of one group of connected region as area maximum on the multiple dimensioned scaling board.
Here Morphology Algorithm is not formed to self-adapting calibration method to be a kind of than more preferably image processing method
Limit, identical effect can also be obtained by other image processing methods.
As shown in figure 4, in the Rect0 of the visual field, behind filtering noise spot, edge adhesion region and non-interconnected region, one group is obtained
The calibration basic point of area maximum is A0, B0, C0, D0；In the Rect1 of the visual field, filtering noise spot, edge adhesion region and non-interconnected area
Behind domain, the calibration basic point for obtaining one group of area maximum is A1, B1, C1, D1；In the Rect2 of the visual field, filtering noise spot, edge adhesion
Behind region and non-interconnected region, the calibration basic point for obtaining one group of area maximum is A2, B2, C2, D2.
In step S220, same group of calibration basic point is determine whether.
Relative position relation, area, shape according to one group of calibration basic point of the area maximum obtained in step S210 etc.
Factor judges whether group calibration basic point is same group of calibration point.In the case that group calibration basic point is same group, step is advanced to
Rapid S230.The group demarcates basic point not in the case of same group, advances to step S170 and re-starts the calibrated of imaging device
Journey.
As shown in figure 4, if one group of calibration basic point of the area maximum obtained is A0, B0, C0, D0, and A0, B0, C0 and D0
Area, shape are identical and orthogonal relationship is distributed, then judge that A0, B0, C0, D0 are same group of calibration basic point；If the area obtained
One group of maximum calibration basic point is A1, B0, C0, D0, then judges that A1, B0, C0, D0 are not same group of calibration basic points.
In step S230, calculate the group calibration basic point in each calibration point center pixel coordinate and it is adjacent nearest 2 points it
Between pixel distance.
Calculate the acquisition the group calibration basic point in each calibration point central point pixel coordinate and according to the center
Point pixel coordinate is calculated in group calibration basic point per the pixel distance between adjacent two nearest calibration points.
For example, the central point pixel of each calibration point in group calibration basic point is calculated using least square ellipse fitting algorithm
Coordinate and calculated according to central point pixel coordinate per the pixel distance between adjacent nearest two calibration points.
Here least square ellipse fitting algorithm is not formed to adaptive to be a kind of than more preferably image approximating method
The restriction of scaling method, can also obtain identical effect by other image approximating methods.
In step S240, the physical distance between every adjacent nearest two calibration points in group calibration basic point is obtained.
According to pair between the coding between every group of calibration basic point on the multiple dimensioned scaling board prestored and physical distance
It should be related to, obtain the corresponding physical distance of coding between group calibration basic point.
As shown in figure 4, in one group of calibration basic point A0, B0, C0, D0, the coding between A0B0, B0C0, C0D0 and A0D0
Identical, the physical distance between corresponding calibration point is identical.Coding between A0B0 and A1B1 is different, corresponding different physics away from
From.
In step s 250, calibrating parameters are calculated according to the pixel distance of acquisition and physical distance.
According to the spatial relationship between the pixel distance of acquisition, physical distance and imaging device and multiple dimensioned scaling board, meter
Calculate calibrating parameters.
In step S260, test to calibration result.
Test to calibration result, calibrated error is calculated according to inspection result, for example, truthful data is subtracted inspection knot
Fruit obtains calibrated error.Wherein, truthful data is the physical distance being examined between the target point of object.
In step S270, whether calibration result is in the range of system default.
Judge calibration result whether in the range of system default.If in the range of system default, calibration terminates.If calibration misses
Difference, which is more than in the range of system default, then to be advanced to step S170 and re-starts calibration.
Here system default scope sets for system default, or is preset by user.
In the example above,, can be no longer to view data in order to simplify calibration process during re-scaling
In whether comprising multiple dimensioned scaling board and comprising multiple dimensioned scaling board data judged if appropriate for measurement, perform step
The calculating of step S210 is directly entered after S170.
Embodiment 2
Fig. 4 shows a kind of structure diagram for multiple dimensioned scaling board that second embodiment of the invention provides.
Multiple dimensioned scaling board 12 includes：Calibration point 121, demarcates imaging device calibrating parameters；Coding 122, is used for
Corresponding physical distance is identified, including：Encode start bit 123, end-of-encode position 124 and bits of coded 125.
The present embodiment is done by taking the multiple dimensioned scaling board view data acquired in the imaging device in three kinds of different visuals field as an example
Illustrate, wherein, the computer vision system visual field can be arbitrary dimension, be not limited only in the present embodiment three kinds.Different cyclograms
As the calibration basic point of the corresponding one group of area maximum of data is different, for example, in the Rect0 of the visual field, filtering noise spot, edge glue
After connecting region and non-interconnected region, the calibration basic point for obtaining one group of area maximum is A0, B0, C0, D0；In the Rect1 of the visual field, filtering
Behind noise spot, edge adhesion region and non-interconnected region, the calibration basic point for obtaining one group of area maximum is A1, B1, C1, D1；Depending on
In wild Rect2, behind filtering noise spot, edge adhesion region and non-interconnected region, the calibration basic point for obtaining one group of area maximum is
A2、B2、C2、D2。
Coding 122, between being arranged at each group of calibration basic point per adjacent nearest two calibration points, coding is corresponding with coding letter
Breath, coding information and physical distance there are correspondence be used to identifying each group of calibration basic point per adjacent nearest two calibration points it
Between physical distance.
For example, in first group of calibration basic point A0, B0, C0, D0, between calibration point A0B0, between calibration point B0C0, calibration point
Coding is equipped between C0D0 and between calibration point A0D0.In second group of calibration basic point A1, B1, C1, D1, calibration point A1B1,
Coding is equipped between B1C1, C1D1 and A1D1.Wherein, first group of calibration basic point coding is identical, i.e. is compiled between calibration point A0B0
Coding structure is identical between coding and calibration point A0D0 between coding, calibration point C0D0 between code, calibration point B0C0.Second group of mark
It is identical to determine basic point coding, i.e. coding between calibration point A1B1, between calibration point B1C1 between coding, calibration point C1D1 coding and
Encoded between calibration point A1D1 identical.Encoded between first group of calibration basic point between coding and second group of calibration basic point different, i.e.
Encoded between calibration point A0B0 between coding and calibration point A1B1 different.
Encode start bit 123 to represent to start scanning encoding position, end-of-encode position 124 represents to terminate coded scanning, bits of coded
125 are provided with coding useful information, for example, exemplified by being encoded between calibration point A0B0, SS0 expression beginning scanning encodings, S00~
S07 represents 8 bits of coded, is stored with the corresponding coding of the physical distance between calibration point A0B0, SE0 presentation codes scanning knot
Beam.
Fig. 5 is shown in a kind of multiple dimensioned scaling board provided in an embodiment of the present invention between adjacent nearest two calibration points
The structure diagram of coding.
In the Rect0 of the visual field, behind filtering noise spot, edge adhesion region and non-interconnected region, it is maximum to obtain one group of area
Calibration basic point be A0, B0, C0, D0, utilize the central point pixel that image processing algorithm obtains calibration point A0, B0, C0 and D0 to sit
Mark and radius R0.Since the coding between A0B0, B0C0, C0D0 and A0D0 is identical, the physical distance between corresponding calibration point
Identical, the present embodiment specifically describes a kind of coding mode of multiple dimensioned scaling board exemplified by the coding between calibration point A0B0.
It should be noted that the present invention is not limited only to the coding mode in the present embodiment, can also be Quick Response Code, numeral, character, geometry
The modes such as image, can be by multi-faceted identification and corresponding identical recognition result.
Illustrate between A0B0 by taking 8 codings as an example, for identifying every group of calibration basic point both horizontally and vertically
The distance between calibration point.Wherein, SS0 is coding start bit, and SE0 is end-of-encode position, and S00~S07 is 8 bits of coded.Its
In, bits of coded is uniformly distributed relative to calibration point A0B0, and coding start bit is consistent with end-of-encode position window width ratio, and and coding
Position aspect ratio distinguishes.
Centre distance is L0 between calibration point A0 and calibration point B0, between calibration point A0 and calibration point B0 between bits of coded between
Gauge can be obtained from for S0 with following expression formula：
Correspondingly, in i-th group of calibration basic point, Si is：
Wherein, Li is in i-th of visual field, the calibration basic point of one group of area maximum is the distance between AiBiCiDi, and Ri is
The group demarcates basic point radius.
For example, by starting position：
Center position+the R0+0.5*S0 of starting position=calibration point A0, starts to scan along A0B0 directions；
Moved right for the first time with step-length S0, reach the center of coding start bit SS0, obtain the pixel of current location
Gray value, according to the gray value and systemic presupposition threshold determination current location with the presence or absence of coding.It should be noted that here
Systemic presupposition threshold value is to judge the system default gray value that coding whether there is, if obtaining gray value is more than systemic presupposition threshold value,
Judge that present bit is equipped with coding, continued to scan on to the right in this, as coding start bit；If gray value is less than systemic presupposition threshold value, move back
Go out scanning；
Moved right for the second time with step-length 2*S0, reach the center of bits of coded S00, judge that current location whether there is
Coding.If current location has coding, it is 1 that S00, which is encoded to encoded radio, is otherwise 0；
Third time is moved right with step-length 2*S0, reaches the center of S01；
And so on, continuously move right according to step-length 2*S0 and arrive end-of-encode position SE0 until scanning, between acquisition A0B0
8 coding.
According to the correspondence between every group of calibration basic point on the multiple dimensioned scaling board prestored between coding and physical distance
Relation acquisition and the corresponding physical distance of acquired 8 codings.
Wherein, which can be mapping table or formula function etc..It is as shown in the table, the volume between calibration point
Correspondence between code and physical distance.
| Coding | Physical distance (mm) |
| 11001101 | 100 |
| …… | …… |
| 11110100 | 20 |
If for example, being encoded to " 11001101 " between calibration point, corresponding physical distance is 100mm；If between calibration point
It is encoded to " 11110100 ", corresponding physical distance is 20mm.
Embodiment 3
Fig. 6 shows a kind of structure diagram for multiple dimensioned scaling board that third embodiment of the invention provides.
In the present embodiment, every group of calibration basic point includes three identical and central point line orthogonal relationship calibration points 121,
Calibration point 121 is the circle of filling black.Coding 122, is arranged at two calibration of each group of calibration basic point per orthogonal relationship
Between point, for identifying physical distance between corresponding two calibration points.Each group of calibration basic point encodes identical, each group mark
The coding for determining basic point is mutually different.For example, in the Rect0 of the visual field, after filtering noise spot and connected region, the area of acquisition is maximum
One group of calibration basic point be A0, B0, C0, wherein, the coding between A0B0 and A0C0 is identical, the physics between corresponding calibration point
Apart from identical.Coding in A0B0C0 and visual field Rect1 between A1B1C1 is different, corresponding different physical distance.Coding starts
Position 123 represents beginning scanning encoding position, and end-of-encode position 124 represents to terminate coded scanning, and it is useful that bits of coded 125 is provided with coding
Information.For example, exemplified by being encoded between calibration point A0B0, SS0 represents to start scanning encoding, and S00~S07 represents 8 bits of coded,
It is stored with the corresponding coding of the physical distance between calibration point A0B0, the SE0 presentation code ends of scan.
Two calibration of each group of calibration basic point per orthogonal relationship are obtained according to coding mode shown in Fig. 4 in embodiment 3
Encoded between point.Obtained according to the correspondence between the coding and physical distance prestored corresponding with acquired 8 codings
At least one physical distance.
The correspondence can be mapping table or formula function etc..It is as shown in the table, coding between calibration point and
Correspondence between physical distance.
| Coding | Physical distance (mm) |
| 11001101 | 1,1,1.414 |
| …… | …… |
| 11110100 | 10,10,14.14 |
If for example, being encoded to " 11001101 " between calibration point, corresponding physical distance is 1mm, 1mm, 1.414mm；If
It is encoded between calibration point " 11110100 ", corresponding physical distance is 10mm, 10mm, 14.14mm.
It is triangle since every group of calibration basic point central point line forms figure, and orthogonal relationship both sides physical distance
It is equal, then, it can be obtained in every group of calibration basic point per physical distance between adjacent nearest two calibration points according to correspondence.Example
Such as, exemplified by the coding between calibration point A0B0 in the Rect0 of the visual field, if being encoded to " 11110100 " between calibration point A0B0,
By the correspondence between coding and physical distance understand calibration point A0B0 between physical distance for 10mm, calibration point A0C0 it
Between physical distance be 10mm, physical distance is 14.14mm between calibration point B0C0.
In several embodiments provided herein, it should be understood that disclosed apparatus and method, can also pass through
Other modes are realized.Device embodiment described above is only schematical, for example, flow chart and structure in attached drawing
Figure shows device, the system frame in the cards of method and computer program product of multiple embodiments according to the present invention
Structure, function and operation.At this point, each square frame in flow chart or block diagram can represent a module, program segment or code
A part, the part of the module, program segment or code include one or more be used for realization as defined in logic function
Executable instruction.It should also be noted that in the implementation as replacement, the function that is marked in square frame can also with different from
The order marked in attached drawing occurs.For example, two continuous square frames can essentially perform substantially in parallel, they are sometimes
It can perform in the opposite order, this is depending on involved function.It is also noted that in structure chart and/or flow chart
The combination of each square frame and the square frame in structure chart and/or flow chart, can use the special of function as defined in performing or action
Hardware based system realize, or can be realized with the combination of specialized hardware and computer instruction.
In addition, each function module or unit in each embodiment of the present invention can integrate and to form an independence
Part or modules individualism, can also two or more modules be integrated to form an independent part.
If the function is realized in the form of software function module and is used as independent production marketing or in use, can be with
It is stored in a computer read/write memory medium.Based on such understanding, technical scheme is substantially in other words
The part to contribute to the prior art or the part of the technical solution can be embodied in the form of software product, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be intelligence
Can mobile phone, personal computer, server or network equipment etc.) perform each embodiment the method for the present invention whole or
Part steps.And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only Memory),
Random access memory (RAM, Random Access Memory), magnetic disc or CD etc. are various can be with store program codes
Medium.
The above description is merely a specific embodiment, but protection scope of the present invention is not limited thereto, any
Those familiar with the art the invention discloses technical scope in, change or replacement can be readily occurred in, should all be contained
Cover within protection scope of the present invention.
Claims (10)
1. a kind of multiple dimensioned scaling board, it is characterised in that the multiple dimensioned calibration plate surface is provided with least two groups of calibration basic points
With identifiable coding；
Every group of calibration basic point includes at least three identical and orthogonal relationship distribution calibration points；
It is the one group of calibration basic point and second group of calibration base close to the multiple dimensioned scaling board edge to define first group of calibration basic point
Point is the one group calibration basic point adjacent with first group of calibration basic point；The single calibration point area of first group of calibration basic point
More than corresponding to calibration point area in second group of calibration basic point；
The encoding setting is in every group of calibration basic point between at least one adjacent two nearest calibration points, and each group
The coding demarcated between basic point is different.
2. multiple dimensioned scaling board according to claim 1, it is characterised in that the calibration point is the circle with fill color
Shape, ellipse, square, "+" shape, "×" shape or triangle.
3. multiple dimensioned scaling board according to claim 1, it is characterised in that the coding between every group of calibration basic point can
By multi-faceted identification and corresponding identical recognition result.
4. multiple dimensioned scaling board according to claim 1, it is characterised in that described to be encoded to bar code, Quick Response Code, number
Word, character or geometric figure.
5. multiple dimensioned scaling board according to claim 1, it is characterised in that the corresponding at least one physics of coding away from
From.
6. multiple dimensioned scaling board according to claim 1, it is characterised in that the coding includes encoding start bit, coding
Position and end-of-encode position.
7. multiple dimensioned scaling board according to claim 1, it is characterised in that the multiple dimensioned calibration plate shape for it is circular,
Oval, square, triangle or polygon.
8. multiple dimensioned scaling board according to claim 1, it is characterised in that the multiple dimensioned scaling board is two-sided to be both provided with
The calibration point and the coding.
9. multiple dimensioned scaling board according to claim 1, it is characterised in that the multiple dimensioned scaling board material for printing opacity or
Backlight material.
A kind of 10. self-adapting calibration system, it is characterised in that including：
Multiple dimensioned scaling board, including at least two groups of calibration basic points, it is identical and into just that every group of calibration basic point includes at least three
The calibration point of friendship relation distribution；It is one group of calibration basic point close to the multiple dimensioned scaling board edge to define first group of calibration basic point
And second group of calibration basic point is the one group calibration basic point adjacent with first group of calibration basic point；First group of calibration basic point
Single calibration point area, which is more than in second group of calibration basic point, corresponds to calibration point area；The encoding setting is in every group of mark
The coding determined in basic point between at least one adjacent two nearest calibration points, and between each group calibration basic point is different；
Imaging device, mark is completed for gathering the view data of the multiple dimensioned scaling board and described image data being carried out with processing
Determine process.
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| CN107945237B (en) | 2020-06-23 |
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