CN108447095A - A kind of fisheye camera scaling method and device - Google Patents
A kind of fisheye camera scaling method and device Download PDFInfo
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- CN108447095A CN108447095A CN201810095529.4A CN201810095529A CN108447095A CN 108447095 A CN108447095 A CN 108447095A CN 201810095529 A CN201810095529 A CN 201810095529A CN 108447095 A CN108447095 A CN 108447095A
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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
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
Abstract
The invention discloses a kind of fisheye camera scaling methods and device, method to include：With the three dimensional space coordinate value of interior angle point on space structure world coordinate system where scaling board and determining scaling board；Obtain the image of the scaling board of fisheye camera shooting；Corner Detection is carried out to image using calibration algorithm, corresponding three dimensional space coordinate value is determined according to the image coordinate value of angle point in angle point in the whole detected or part and is preserved；According to the point pair of the image coordinate value comprising interior angle point and three dimensional space coordinate value, the internal reference of fisheye camera and outer ginseng are calculated, completes camera calibration.A kind of fisheye camera caliberating device, including coordinate system construction unit, image acquisition unit detect corresponding unit, demarcate unit.Can the technical solution of the application improve calibration efficiency according to the interior angle point progress flexible calibration processing that detect scaling board whole, and the heavy industrialization of fisheye camera calibration correction is facilitated to implement.
Description
Technical field
The present invention relates to camera technique fields, and in particular to a kind of fisheye camera scaling method and device.
Background technology
The lens of fisheye camera lead to the mistake of original image since the accuracy of manufacture, the deviation of packaging technology can introduce distortion
Very.The visual effect of image contributions of distortion, cannot show original scene, it is therefore desirable to carry out distortion correction, and distort
The premise of correction is accurately to obtain fish-eye internal reference (that is, inner parameter) and outer ginseng (that is, external parameter), internal reference and outer ginseng
Acquisition dependent on stringent accurately calibration, it can be seen that, the quality of calibration is the basis of fisheye camera image rectification, to entire
Image rectification plays the role of very important.
Currently, common calibration algorithm is to detect the interior angle point in gridiron pattern by gridiron pattern, fish is obtained after being calculated
The internal reference of eye camera and outer ginseng, according to the setting of this calibration algorithm, for failing to detect the figure of angle point in all gridiron patterns
As can all be given it up.But influenced by various factors in practical application, the image of fisheye camera shooting can not often be adopted
Collect the interior angle point of gridiron pattern whole, this great amount of images for resulting in fisheye camera to shoot can not use, and only a small number of images can
With image mortality is high, and calibration efficiency is low.
Invention content
The present invention provides a kind of fisheye camera scaling method and devices, are only made with solving existing fisheye camera scaling scheme
With the image that can detect angle point in gridiron pattern whole, it is not used to demarcate for detecting that the image of angle point in part abandons
Caused by the low problem of calibration efficiency.
According to the one side of the application, a kind of fisheye camera scaling method is provided, including：
With the three dimensional space coordinate value of interior angle point on space structure world coordinate system where scaling board and determining scaling board；
Obtain the image of the scaling board of the fisheye camera shooting；
Corner Detection is carried out to described image using calibration algorithm, according to angle point in angle point in the whole detected or part
Image coordinate value determine corresponding three dimensional space coordinate value and preserve；
According to the point pair of the image coordinate value comprising the interior angle point and the three dimensional space coordinate value of interior angle point, institute is calculated
The internal reference of fisheye camera and outer ginseng are stated, camera calibration is completed.
Optionally, the number of angle point is less than the number of angle point in whole, the number of angle point in the whole in the part
The sum of count out equal to the interior angle on each scaling board.
Optionally, corresponding three-dimensional is determined according to the image coordinate value of angle point in angle point in the whole detected or part
Spatial value and preserve include：
Putting in order really for interior angle point in the sequence and each scaling board of multiple scaling boards is shot according to fisheye camera
Regular inspection each of measures the corresponding three dimensional space coordinate value of image coordinate value of interior angle point and preserves.
Optionally, according to the point pair of the image coordinate value comprising the interior angle point and the three dimensional space coordinate value of interior angle point,
Calculate the fisheye camera internal reference and it is outer ginseng include：
The three dimensions of image coordinate value according to linear least square and comprising the interior angle point and interior angle point is sat
The point pair of scale value, calculates fisheye camera projection matrix, is solved to obtain the fisheye camera according to fisheye camera projection matrix
Internal reference and outer ginseng.
According to further aspect of the application, a kind of fisheye camera caliberating device is provided, which includes：
Coordinate system construction unit, for interior angle point on space structure world coordinate system where scaling board and determining scaling board
Three dimensional space coordinate value；
Image acquisition unit, the image of the scaling board for obtaining the fisheye camera shooting；
Corresponding unit is detected, for carrying out Corner Detection to described image using calibration algorithm, according to the whole detected
The image coordinate value of angle point is determined corresponding three dimensional space coordinate value and is preserved in interior angle point or part；
Unit is demarcated, for according to the three dimensional space coordinate value of the image coordinate value comprising the interior angle point and interior angle point
Point pair calculates the internal reference of the fisheye camera and outer ginseng, completes camera calibration.
Optionally, the number of angle point is less than the number of angle point in whole, the number of angle point in the whole in the part
The sum of count out equal to the interior angle on each scaling board.
Optionally, detection corresponding unit is specifically used for, and the sequence of multiple scaling boards is shot according to fisheye camera, and
Putting in order for interior angle point each of confirmly detects the corresponding three dimensions of image coordinate value of interior angle point and sits on each scaling board
Scale value simultaneously preserves.
Optionally, calibration unit is specifically used for, and according to linear least square and the image comprising the interior angle point is sat
The point pair of the three dimensional space coordinate value of scale value and interior angle point, calculates fisheye camera projection matrix, and square is projected according to fisheye camera
Battle array solves and obtains the internal reference of the fisheye camera and outer ginseng.
According to the another aspect of the application, a kind of electronic equipment is provided, electronic equipment includes：Memory and processing
Device is communicated by internal bus between the memory and the processor and is connected, and the memory is stored with can be described
The program instruction that processor executes, described program instruction can be realized when being executed by the processor described in the application one side
Fisheye camera scaling method.
The beneficial effects of the invention are as follows：The fisheye camera scaling method and device of the embodiment of the present invention, with where scaling board
Space builds world coordinate system and determines the three dimensional space coordinate value of interior angle point on scaling board, obtains the calibration of fisheye camera shooting
The image of plate carries out Corner Detection, according to angle point in angle point in the whole detected or part using calibration algorithm to image
Image coordinate value is determined corresponding three dimensional space coordinate value and is preserved, and the image coordinate value and three-dimensional for including interior angle point are recycled
The point pair of spatial value calculates the internal reference of fisheye camera and outer ginseng, completes camera calibration.To realize for those only
It detects that the image of angle point in part can be used for calculating the internal reference of fisheye camera and outer ginseng, and then completes camera calibration, drop
The image request of the low gridiron pattern scaling board to fisheye camera shooting, solves the image that can only be used and include angle point in whole
The low problem of caused calibration efficiency, facilitates and carries out heavy industrialization implementation.The electronic equipment of the application is due to can be quick
Camera calibration is completed, efficiency is improved and saves resource, improve the market competitiveness.
Description of the drawings
Fig. 1 is the flow chart of the fisheye camera scaling method of one embodiment of the invention；
Fig. 2 a are the interior angle point schematic diagram on a standard gridiron pattern；
Fig. 2 b are the signal that the image of angle point in whole is not detected of one embodiment of the invention；
Fig. 3 is the block diagram of the fisheye camera caliberating device of one embodiment of the invention；
Fig. 4 is the structural schematic diagram of the electronic equipment of one embodiment of the invention.
Specific implementation mode
The present invention design concept be：When carrying out fisheye camera calibration using scaling board (such as gridiron pattern), due to shooting
Angle, fish eye lens is at a distance from scaling board, the precision of scaling board, and many factors such as image scene complexity may all cause
Calibration algorithm can't detect interior angle point whole on the image of fisheye camera shooting.Traditional calibration algorithm is：Use fisheye camera
After shooting tens chessboard table images, interior Corner Detection is carried out to these images, if it is possible to detect angle point in whole, then to this
The image passed through is detected a bit to save backup.For example, some tessellated interior angle point is 5*9=45, then only it is correctly detecting
45 whole interior angle points could preserve these coordinate values of the interior angle point in gridiron pattern and be calculated for subsequent parameter.
If the interior angle detected is counted out less than 45, such image will be rejected.And the camera lens of fisheye camera is a kind of
The larger camera lens of aberration rate, especially in the image of marginal position, many interior angle points all can't detect, it is seen then that traditional flake phase
The image mortality of machine calibration is excessively high, causes calibration efficiency low.
In order to solve the problems, such as that fish eye lens calibration efficiency is low, can the technical solution of the present embodiment according to detecting gridiron pattern
Can angle point in whole flexibly uses Different treatments, improves the efficiency of calibration algorithm so that no matter detect all interior
Angle point can be demarcated, and making up could be into rower when the prior art only detects angle point in whole on all scaling boards
Fixed deficiency improves the efficiency of fisheye camera calibration.
Fig. 1 is the flow chart of the fisheye camera scaling method of one embodiment of the invention, referring to Fig. 1, the fish of the present embodiment
Eye camera calibration method includes the following steps：
Step S101, with the three dimensions of interior angle point on space structure world coordinate system where scaling board and determining scaling board
Coordinate value；
Step S102 obtains the image of the scaling board of the fisheye camera shooting；
Step S103 carries out Corner Detection using calibration algorithm to described image, according to angle point in the whole detected or
The image coordinate value of angle point is determined corresponding three dimensional space coordinate value and is preserved in part；
Step S104, according to the point of the image coordinate value comprising the interior angle point and the three dimensional space coordinate value of interior angle point
It is right, the internal reference of the fisheye camera and outer ginseng are calculated, camera calibration is completed.
As shown in Figure 1 it is found that the fisheye camera scaling method of the present embodiment, builds the world coordinates of interior angle point on scaling board
It is and determines interior angle point three dimensional space coordinate value, the image of the scaling board of fisheye camera shooting is obtained, in detecting
The case where angle point, then can directly carry out according to existing calibration algorithm at calculating when the image can be detected angle point in whole
Reason；And when the image fails to detect angle point in whole, be not directly give up image as prior art, but according to
Angle point in the part detected determines the image coordinate value of this part of interior angle point, and then according to the image coordinate value of interior angle point
It determines corresponding interior angle point three dimensional space coordinate value, then preserves for subsequently calculating the internal reference of fisheye camera and outer ginseng, it is complete
At camera calibration calibration efficiency is improved to reduce the requirement for shooting image to fisheye camera.
Moreover, because the distortion of the same fisheye camera is certain, that is, internal reference and outer ginseng are certain, then based on detection
In to whole angle point and based on detect the calculated internal reference of the image of angle point in part and it is outer ginseng be identical.That is,
Using detecting that the calculated calibration accuracy of the image of angle point in part and precision are guaranteed, the present embodiment is ensured that
The feasibility of technical solution.
The realization step of the fisheye camera scaling method of this implementation column is illustrated below in conjunction with a concrete scene.
First, using fisheye camera from different directions, different angle shoot one group contain scaling board (such as gridiron pattern)
Image procossing is spare；
Then, Corner Detection is carried out to image using calibration algorithm.
The interior angle point on the image of the scaling board containing gridiron pattern is detected using calibration algorithm, for example encapsulates function using OpenCV
Interior angle point in detection image.Before testing, due to for specific gridiron pattern scaling board, the sum of interior angle point thereon
Mesh is known, so, calibration algorithm can detect whether certain width image contains calibration according to known interior angle point total number
Angle point in the whole of plate, if detecting angle point in whole, the coordinate value and correspondence that preserve interior angle point are determined in reality
Interior angular coordinate value on (i.e. world coordinate system) scaling board preserves, you can is subsequently used for the calculating of internal reference and outer ginseng.
For that cannot detect on gridiron pattern scaling board in whole the case where angle point, that is, only detect the feelings of angle point in part
Condition.Present embodiments provide a kind of new selection.It should be noted that the number of angle point is less than whole interior angles in part here
The number of point, the number of angle point is equal to the interior angle on each scaling board and the sum of counts out in whole.For example, four scaling boards, each
Interior angle point on scaling board is 10, and angle point is 4*10=40 in that whole.When some image only detects in 3 or 5
When angle point, angle point in part is as detected.Interior angle point is the point of the infall of two lines inside gridiron pattern.Fig. 2 a are a mark
Interior angle point schematic diagram on quasi- gridiron pattern, referring to Fig. 2 a, it is interior angle point to beat × locate inside gridiron pattern.
Fig. 2 b are the image signal that angle point in whole is not detected of one embodiment of the invention, referring to Fig. 2 b, are being shot
In the image of six width gridiron patterns 201, bottom two tessellated interior angle points (label 2011 indicate be interior angle point position)
It cannot detect entirely, if being handled according to prior art calibration algorithm, figure as Fig. 2 b is with regard to needing to be rejected.And according to this implementation
The method of example can record the coordinate value detected in Fig. 2 b, when carrying out Corner Detection for example, being examined in the image of Fig. 2 b
Eight coordinate values are measured, respectively：(580.5,115), (668.5,116), (757,116), (847,117.5), (936.5,
117), (1024.5,118.5), (764,185.5), (939.5,188.5).According to this eight coordinate values, in conjunction with the picture in image
Vegetarian refreshments come judge respectively each coordinate value be which row which row interior angle point.It is practical to grasp by taking coordinate value (580.5,115) as an example
The process of work can be：In OpenCV, the image captured by fisheye camera is opened in edit-mode, and sliding mouse can very easily
The transverse and longitudinal coordinate value each put of acquisition, judge that the transverse and longitudinal coordinate value of angle point is closest with (580.5,115) in which, as selects
The interior angle point selected out.
The above process can shoot the sequence of multiple scaling boards and each scaling board according to fisheye camera in practical applications
Angle point puts in order in upper, each of confirmly detects the corresponding three dimensional space coordinate value of image coordinate value of interior angle point and protects
It deposits, it is follow-up to participate in internal reference and the calculating of outer ginseng.Here, fisheye camera shoots the sequence of multiple scaling boards, such as first according to shooting
The such tessellated sequence of shooting of front right rear left, then determined from top to bottom, left to right on each gridiron pattern
Corner location in gridiron pattern in the corresponding realistic space of interior angular coordinate value of record, and determine the interior angle in realistic space
It is preserved after the three dimensional space coordinate value of point.
It should be noted that in calibration algorithm, the position of interior angle point on the image and the position in realistic space are wanted
It is corresponding respectively to preserve, correct accurately result could be obtained.
After obtaining the position of interior angle point on the image and the position in realistic space, according to linear least square
And the point pair of the three dimensional space coordinate value of the image coordinate value and interior angle point comprising interior angle point, calculate fisheye camera projection square
Battle array, solves to obtain the internal reference of fisheye camera and outer ginseng according to fisheye camera projection matrix.Specific calculating process is carried out below
Explanation.
Camera projection matrix P is estimated using linear least square, internal reference matrix K is solved according to camera projection matrix P
With outer ginseng matrix R, t.
To the one group of 2D-3D point pair determined, mi is two-dimensional coordinate (the position seat of i.e. interior angle point on the image of interior angle point
Scale value), Mi is the three dimensional space coordinate value (position coordinate value of the angle point in reality in i.e.) of interior angle point on gridiron pattern.
Then have：
Wherein, P=[p11, p12 ..., p34] T, 0=[0,0] T.P is 3 × 4 matrix, and P is divided into two pieces：First three columns
The matrix b of the matrix B of (3 × 3) and last row (3 × 1), therefore matrix P can be expressed as：P ≡ [Bb], and know P=A
[Rt], then have：
B=AR
B=At
Enable ku=α 2+ γ 2+u20, kc=u0v0+ γ β, kv=β 2+v20.Known p-shaped is practical like a scale coefficient
In, the last one element K33 ≠ 1 of K matrix, it is therefore desirable to it is normalized, be obtained with internal reference later：
U0=K13
v0K2.3
After the internal reference and outer ginseng for obtaining fisheye camera, fisheye camera distortion correction is carried out using internal reference and outer ginseng.
From the foregoing, it will be observed that using the fisheye camera scaling method of the present embodiment, even if the situation undesirable in shooting image, than
It is such as not detected all interior angle points according to traditional calibration algorithm width image, or even only detects the interior angle of only a few
Point can still utilize these limited interior angle points to obtain accurate fisheye camera internal reference and outer ginseng, facilitate the figure according to shooting
The different situations of picture are flexibly handled, and are provided more choices for fisheye camera calibration, for example, can be detected with Selection utilization
The image of angle point in whole can also select the image for detecting angle point in part, reduce the requirement to image, improve
Demarcate efficiency.
Fig. 3 is the block diagram of the fisheye camera caliberating device of one embodiment of the invention, referring to Fig. 3, fisheye camera calibration dress
Setting 300 includes：
Coordinate system construction unit 301, for interior on space structure world coordinate system where scaling board and determining scaling board
The three dimensional space coordinate value of angle point；
Image acquisition unit 302, the image of the scaling board for obtaining the fisheye camera shooting；
Corresponding unit 303 is detected, it is complete according to what is detected for carrying out Corner Detection to described image using calibration algorithm
The image coordinate value of angle point is determined corresponding three dimensional space coordinate value and is preserved in angle point or part in portion；
Unit 304 is demarcated, for the three dimensional space coordinate according to image coordinate value and interior angle point comprising the interior angle point
The point pair of value calculates the internal reference of the fisheye camera and outer ginseng, completes camera calibration.
In one implementation column, the number of angle point is less than the number of angle point in whole in part, the number etc. of angle point in whole
The sum of count out in the interior angle on each scaling board.
In the implementation column of the present invention, detection corresponding unit 303 is specifically used for, and multiple institutes are shot according to fisheye camera
It states putting in order for interior angle point in the sequence and each scaling board of scaling board and each of confirmly detects the image coordinate of interior angle point
It is worth corresponding three dimensional space coordinate value and preserves.
The present invention an implementation column in, calibration unit 304 be specifically used for, according to linear least square and comprising
The image coordinate value of the interior angle point and the point pair of three dimensional space coordinate value, calculate fisheye camera projection matrix, according to flake
Camera projection matrix solves to obtain the internal reference of the fisheye camera and outer ginseng.
It should be noted that the course of work of the fisheye camera caliberating device of the present embodiment is demarcated with aforementioned fisheye camera
The realization step of method is corresponding, therefore does not have the part of description to may refer to the explanation in previous embodiment in the present embodiment,
Details are not described herein.
Fig. 4 is the structural schematic diagram of the electronic equipment of one embodiment of the invention.As shown in figure 4, the electronic equipment includes
Memory 41 and processor 42 are communicated by internal bus 43 between memory 41 and processor 42 and are connected, and memory 41 stores
There are the program instruction that can be executed by processor 42, program instruction that can realize above-mentioned fisheye camera when being executed by processor 42
Scaling method.
In addition, the logical order in above-mentioned memory 41 can be realized by the form of SFU software functional unit and is used as only
Vertical product is sold or in use, can be stored in a computer read/write memory medium.Based on this understanding, this hair
Substantially the part of the part that contributes to existing technology or the technical solution can be with soft in other words for bright technical solution
The form of part product embodies, which is stored in a storage medium, including some instructions are making
It obtains a computer equipment (can be personal computer, server or the network equipment etc.) and executes each embodiment of the application
The all or part of step of the method.And storage medium above-mentioned includes：USB flash disk, mobile hard disk, read-only memory (ROM,
Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. it is various
The medium of program code can be stored.
An alternative embodiment of the invention provides a kind of computer readable storage medium, computer-readable recording medium storage
Computer instruction, computer instruction make the computer execute above-mentioned fisheye camera scaling method.
It should be understood by those skilled in the art that, the embodiment of the present invention can be provided as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the present invention
Apply the form of example.Moreover, the present invention can be used in one or more wherein include computer usable program code computer
The computer program production implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.)
The form of product.
The present invention be with reference to according to the method for the embodiment of the present invention, the flow of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that can be realized by computer program instructions every first-class in flowchart and/or the block diagram
The combination of flow and/or box in journey and/or box and flowchart and/or the block diagram.These computer programs can be provided
Instruct the processor of all-purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine so that the instruction executed by computer or the processor of other programmable data processing devices is generated for real
The dress for the function of being specified in a present flow of flow chart or a box or multiple boxes for multiple flows and/or block diagram
It sets.
It should be noted that the terms "include", "comprise" or its any other variant are intended to the packet of nonexcludability
Contain, so that the process, method, article or equipment including a series of elements includes not only those elements, but also includes
Other elements that are not explicitly listed, or further include for elements inherent to such a process, method, article, or device.
In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including the element
Process, method, article or equipment in there is also other identical elements.
In the specification of the present invention, numerous specific details are set forth.Although it is understood that the embodiment of the present invention can
To put into practice without these specific details.In some instances, well known method, structure and skill is not been shown in detail
Art, so as not to obscure the understanding of this description.Similarly, it should be understood that disclose in order to simplify the present invention and helps to understand respectively
One or more of a inventive aspect, in the above description of the exemplary embodiment of the present invention, each spy of the invention
Sign is grouped together into sometimes in single embodiment, figure or descriptions thereof.However, should not be by the method solution of the disclosure
It releases and is intended in reflection is following：The feature that i.e. the claimed invention requirement ratio is expressly recited in each claim is more
More features.More precisely, as the following claims reflect, inventive aspect is to be less than single reality disclosed above
Apply all features of example.Therefore, it then follows thus claims of specific implementation mode are expressly incorporated in the specific implementation mode,
Wherein each claim itself is as a separate embodiment of the present invention.
The above description is merely a specific embodiment, under the above-mentioned introduction of the present invention, those skilled in the art
Other improvement or deformation can be carried out on the basis of the above embodiments.It will be understood by those skilled in the art that above-mentioned tool
Body description only preferably explains that the purpose of the present invention, protection scope of the present invention are subject to the protection scope in claims.
Claims (9)
1. a kind of fisheye camera scaling method, which is characterized in that this method includes：
With the three dimensional space coordinate value of interior angle point on space structure world coordinate system where scaling board and determining scaling board；
Obtain the image of the scaling board of the fisheye camera shooting；
Corner Detection is carried out to described image using calibration algorithm, according to the figure of angle point in angle point in the whole detected or part
As coordinate value determines corresponding three dimensional space coordinate value and preserves；
According to the point pair of the image coordinate value comprising the interior angle point and the three dimensional space coordinate value of interior angle point, the fish is calculated
The internal reference of eye camera and outer ginseng, complete camera calibration.
2. fisheye camera scaling method according to claim 1, which is characterized in that the number of angle point is less than in the part
The number of angle point in whole, the number of angle point is equal to the interior angle on each scaling board and the sum of counts out in the whole.
3. fisheye camera scaling method according to claim 2, which is characterized in that according to angle point in the whole detected or
The image coordinate value of angle point determines that corresponding three dimensional space coordinate value and preservation include in part：
Putting in order for interior angle point in the sequence and each scaling board of multiple scaling boards, which is shot, according to fisheye camera determines inspection
It each of measures the corresponding three dimensional space coordinate value of image coordinate value of interior angle point and preserves.
4. fisheye camera scaling method according to claim 1, which is characterized in that according to the image for including the interior angle point
The point pair of the three dimensional space coordinate value of coordinate value and interior angle point, the internal reference and outer ginseng for calculating the fisheye camera include：
The three dimensional space coordinate value of image coordinate value according to linear least square and comprising the interior angle point and interior angle point
Point pair, calculate fisheye camera projection matrix, solved to obtain the internal reference of the fisheye camera according to fisheye camera projection matrix
With outer ginseng.
5. a kind of fisheye camera caliberating device, which is characterized in that the device includes：
Coordinate system construction unit, for three of interior angle point on space structure world coordinate system where scaling board and determining scaling board
Dimension space coordinate value；
Image acquisition unit, the image of the scaling board for obtaining the fisheye camera shooting；
Corresponding unit is detected, for carrying out Corner Detection to described image using calibration algorithm, according to the whole interior angles detected
The image coordinate value of angle point is determined corresponding three dimensional space coordinate value and is preserved in point or part；
Unit is demarcated, for the point according to the image coordinate value comprising the interior angle point and the three dimensional space coordinate value of interior angle point
It is right, the internal reference of the fisheye camera and outer ginseng are calculated, camera calibration is completed.
6. fisheye camera caliberating device according to claim 5, which is characterized in that the number of angle point is less than in the part
The number of angle point in whole, the number of angle point is equal to the interior angle on each scaling board and the sum of counts out in the whole.
7. fisheye camera caliberating device according to claim 6, which is characterized in that detection corresponding unit is specifically used for, root
Putting in order for interior angle point in the sequence and each scaling board of multiple scaling boards is shot according to fisheye camera to confirmly detect
The corresponding three dimensional space coordinate value of image coordinate value of each interior angle point simultaneously preserves.
8. fisheye camera caliberating device according to claim 5, which is characterized in that calibration unit is specifically used for, according to line
Property least square method and image coordinate value and interior angle point comprising the interior angle point three dimensional space coordinate value point pair, calculate
Go out fisheye camera projection matrix, is solved to obtain the internal reference of the fisheye camera and outer ginseng according to fisheye camera projection matrix.
9. a kind of electronic equipment, which is characterized in that the electronic equipment includes：Memory and processor, the memory and institute
It states to communicate by internal bus between processor and connect, the memory, which is stored with, to be referred to by the program that the processor executes
It enables, described program instruction can realize that claim 1-4 any one of them fisheye cameras are demarcated when being executed by the processor
Method.
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| CN109509200A (en) * | 2018-12-26 | 2019-03-22 | 深圳市繁维医疗科技有限公司 | Checkerboard angle point detection process, device and computer readable storage medium based on contours extract |
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| CN109993799A (en) * | 2019-03-08 | 2019-07-09 | 贵州电网有限责任公司 | A kind of ultraviolet camera scaling method and caliberating device |
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| CN112562003A (en) * | 2019-09-10 | 2021-03-26 | 北京京东乾石科技有限公司 | Calibration method and calibration system for external parameters of camera |
| CN111815714A (en) * | 2020-07-01 | 2020-10-23 | 广州视源电子科技股份有限公司 | Fisheye camera calibration method and device, terminal device and storage medium |
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| CN114022370A (en) * | 2021-10-13 | 2022-02-08 | 山东大学 | Galvanometer laser processing distortion correction method and system |
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