CN108683908B - Multifunctional calibration device - Google Patents
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- CN108683908B CN108683908B CN201810689830.8A CN201810689830A CN108683908B CN 108683908 B CN108683908 B CN 108683908B CN 201810689830 A CN201810689830 A CN 201810689830A CN 108683908 B CN108683908 B CN 108683908B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N17/00—Diagnosis, testing or measuring for television systems or their details
- H04N17/002—Diagnosis, testing or measuring for television systems or their details for television cameras
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B43/00—Testing correct operation of photographic apparatus or parts thereof
Abstract
The invention discloses a multifunctional calibration device, which comprises: a light source for emitting a light beam; a homogenizer for receiving the light beam and generating a uniform light beam; the calibration paper is printed with calibration patterns on one surface facing the light source, the surface facing away from the light source is a pure-color pattern, and when the light source is turned on, the calibration paper is illuminated by uniform light beams, and the calibration patterns can be displayed on one side facing away from the light source. When the light source is turned off, one side of the pure color pattern of the calibration paper can be utilized; when the light source is turned on, the calibration patterns in the calibration paper can be utilized, so that the requirements of different function calibration are met. Meanwhile, the multifunctional calibration device has the characteristics of compact structure, convenient operation and low cost.
Description
Technical Field
The invention relates to the field of optical measurement and manufacturing, in particular to a multifunctional calibration device.
Background
The structured light depth camera can be used for collecting depth images and further achieving the functions of 3D modeling, gesture recognition, somatosensory interaction, face recognition and the like. In the manufacturing process of the structured light depth camera, the process steps of calibration of a depth algorithm, alignment calibration of a color image and a depth image, precision measurement and the like are involved, a plurality of different process equipment (such as a calibration device or a system) is often required to be collected to realize the steps, for example, a calibration plate with a three-dimensional texture engraved on the surface is adopted to realize alignment calibration (patent application CN 107507235A), a laser range finder and the like is adopted to realize precision measurement (patent application CN 106767933A), and the process steps have at least the following two problems. On one hand, the cost and the control difficulty are high due to the multiple processes; on the other hand, the process equipment of each link is difficult to achieve higher calibration or measurement accuracy.
Disclosure of Invention
In order to solve the problems, the invention provides a multifunctional calibration device which overcomes the defect of single function of a calibration plate in the prior art, can meet the requirements of different function calibration, and has the advantages of compact structure, convenient operation and low cost.
The invention provides a multifunctional calibration device, which comprises: a light source for emitting a light beam; a homogenizer for receiving the light beam and generating a uniform light beam; the calibration paper is printed with calibration patterns on one surface facing the light source, the surface facing away from the light source is a pure-color pattern, and when the light source is turned on, the calibration paper is illuminated by uniform light beams, and the calibration patterns can be displayed on one side facing away from the light source.
In some embodiments, the light source comprises at least one of a light emitting diode, a laser light source; the light source comprises a single light source or an array of light sources. When the light source is an array light source, at least two groups of sub-light sources emitting different wavelengths are included. In some embodiments, the sub-light sources include a white sub-light source and an infrared sub-light source. Wherein the sub-light sources may be independently controlled or integrally controlled.
In some embodiments, the homogenizer comprises a diffusing plate or a diffractive optical element.
In some embodiments, the calibration pattern comprises one or more of a checkerboard pattern, a circular marker dot pattern, a two-dimensional code pattern, a coded marker dot pattern; the solid color pattern includes a matte white pattern.
In some embodiments, the multifunctional calibration device further comprises a support for supporting the light source, the homogenizer, and the calibration paper.
In some embodiments, the multifunctional calibration device further comprises a light source bracket for fixing the light source; the light source bracket is also provided with a radiator for radiating the light source.
The invention has the beneficial effects that: the invention comprises a light source, a homogenizer and calibration paper which is a multifunctional calibration device, wherein a calibration pattern is printed on one surface of the calibration paper facing the light source, and a pure-color pattern is printed on the surface of the calibration paper facing away from the light source; when the light source is turned off, one surface of the pure-color pattern of the calibration paper can be utilized; when the light source is turned on, the calibration patterns in the calibration paper can be utilized, so that the requirements of different function calibration are met. Meanwhile, the multifunctional calibration device has the characteristics of compact structure, convenient operation and low cost.
Drawings
FIG. 1 is a schematic diagram of a multifunctional calibration system according to an embodiment of the present invention.
FIG. 2 is a schematic diagram of a multifunctional calibration device according to an embodiment of the present invention.
Fig. 3 is a schematic view showing the composition of a light source according to an embodiment of the present invention.
Detailed Description
The invention will now be described in further detail with reference to the following detailed description and with reference to the accompanying drawings, it being emphasized that the following description is merely exemplary in nature and is not intended to limit the scope of the invention and its application.
FIG. 1 is a schematic diagram of a multi-functional calibration system according to one embodiment of the present invention. The multifunctional calibration system 100 comprises a multifunctional calibration device 10, a depth camera 40 and a computing device 50, and may further comprise a bracket 20, a base 30 and other components according to actual needs. The side of the multifunctional calibration device 10 facing the depth camera 40 generally includes a plane (corresponding to a calibration paper, which may also be referred to as a calibration flat plate hereinafter), and the depth camera 40 may capture a two-dimensional image, a depth image, etc. of the plane, and the computing device 50 receives the two-dimensional image and/or the depth image and processes the two-dimensional image and/or the depth image to complete the calibration process. The stand 20 is used to support the depth camera 40. In one embodiment, the stand 20 may also be used to adjust the pose of the depth camera, such as lowering, lifting, rotating, etc. The base 30 is used to support the multifunctional calibration device 10, the stand 20, or the depth camera 40. In one embodiment, the base 30 includes rails that allow the multifunctional calibration device 10 and/or the stand 20 to move, or the base 30 may also include rotation, lifting, etc. devices to allow the multifunctional calibration device 10 and/or the stand 20 to be attitude controlled. The computing device 50 is connected with the multifunctional calibration device 10, the depth camera 40, the bracket 20, the base 30 and the like as required to realize functions of control, data transmission, calculation and the like.
The depth camera 40 is generally used to capture both visible light images and depth images, and thus generally includes a visible light camera (i.e., a two-dimensional image such as a color camera) for capturing visible light images and a three-dimensional camera (such as an infrared camera or the like) for capturing structured light images for computing depth images.
It will be appreciated that there is no clear boundary between the depth camera 40 and the computing device 50, either as a stand-alone device or as a composite device, such as a computing terminal having depth imaging capabilities, e.g., tablet, computer, cell phone, etc.
It will be appreciated that the multifunctional calibration device 10 and the depth camera 40 in fig. 1 are disposed transversely, the base is mounted at the bottom, and in some embodiments, the multifunctional calibration device 10 and the depth camera 40 may be disposed longitudinally or in other directions, and the base may be mounted at other suitable positions. Thus, FIG. 1 is provided by way of example only and is not intended to limit the structural arrangement of system 100.
In addition, the number of the depth cameras 40 may be plural, so that the system 100 can perform functions such as calibrating the plurality of depth cameras at the same time, thereby improving the working efficiency of the system 100.
FIG. 2 is a schematic diagram of a multi-function calibration device 10 according to one embodiment of the present invention. The multifunctional calibration device 10 comprises a light source 103, a homogenizer 104 and calibration paper 106, wherein the light source 103 is used for emitting light beams, the homogenizer 104 receives the light beams emitted by the light source and then forms uniform light beams with uniform brightness distribution, and the uniform light beams are incident on the calibration paper 106 to illuminate the calibration paper.
The light source 103 may be one or more of any form of Light Emitting Diode (LED), laser, etc. In one embodiment, the light source 103 is an LED array, such as shown in fig. 1, with a plurality of LED light beads 103 disposed on the same circuit board 102. The wavelength of the light source 103 may include visible light and invisible light such as infrared, ultraviolet, etc., and the specific wavelength setting may be set according to specific requirements.
The homogenizer 104 may be a diffuser plate, such as by sanding the glass surface to form the diffuser plate. In some embodiments, homogenizer 104 may also be a diffractive optical element, which diffracts the light beam to achieve a homogenizing effect. It will be appreciated that the uniformity effect herein may allow for some tolerance, such as the beam intensity distribution uniformity reaching a certain threshold, regarding the uniformity effect, such as the threshold being set at 80%, etc.
One surface of the calibration paper 106 is printed with a calibration pattern, such as one or a combination of a plurality of patterns of a checkerboard pattern, a circular mark point pattern, a two-dimensional code pattern, a coded mark point pattern and the like, and the other surface is a pure-color pattern which can be formed on the surface of the calibration paper 106 in a printing mode or the like, and can also be the original color of the calibration paper. In one embodiment, the calibration pattern is printed on the side of the calibration paper facing the light source (assumed to be the front side), the pure-color pattern is printed on the side facing away from the light source (assumed to be the back side), when the light source is turned off, only the pure-color pattern is displayed on the back side, and when the light source is turned on, the calibration pattern can be displayed on the back side.
The light source 103 is mounted on a light source driver such as the circuit board 102, and the light source 103 is controlled to emit light by an external power supply. The different cameras have different parameters, so the brightness of the light source 103 in this embodiment is adjustable within a certain range, so that illumination with different brightness can be realized, and the cameras with different performances can be ensured to acquire better images (such as two-dimensional images, depth images, etc.). In one embodiment, when the number of light sources 103 is larger (e.g., the number of light sources is increased to improve irradiation uniformity, etc.), a plurality of light source drivers may be further mounted on the light source holder 101, the light source holder 101 is generally made of a metal, etc., and a heat sink 108, such as a fin-type aluminum heat sink, a heat sink fan, etc., may be further provided on the light source holder 101 or the light source drivers for better heat dissipation of the light sources.
The calibration paper 106 may be attached to the transparent flat plate 105, and in general, the flatness of the transparent flat plate 105 and the calibration paper 106 needs to be corresponding to and meet a certain requirement, for example, in the calibration process or the precision test process, the smaller the flatness of the calibration paper 106 and the transparent flat plate 105 is, the better, for example, not more than 0.5mm. The calibration paper 106 may also be a transparent flat plate, i.e. the two surfaces of the transparent flat plate are respectively printed with calibration patterns and pure-color patterns, and compared with the paper form, the transparent flat plate has a higher imprinting process difficulty. In some embodiments, the calibration paper 106 may also be applied directly to the surface of the homogenizer 104. It will be appreciated that the calibration paper 106 is disposed on the side of the homogenizer 104 facing away from the light source 103, and that the calibration paper 106 may be mounted by any suitable means provided that the uniformity of the light beam is met.
The multifunctional calibration apparatus 10 further comprises a support 107 for supporting the components of the light source 103, the homogenizer 104, and the calibration paper 106. The supporting member 107 may be disposed at any position, such as the lower part in fig. 2, or the supporting member 107 may be disposed at both the lower part and the upper part to improve stability, or the supporting member may be disposed all around. The support 107 may comprise metal, plastic, some connectors, etc.
In the above-mentioned multifunctional calibration device 10, when performing the processes of calibrating the depth camera, the depth camera is placed on the side of the calibration paper facing away from the light source (as shown in fig. 1), the multifunctional calibration system 100 can implement at least the following process flows:
and 1, calibrating the depth, namely calibrating the reference structured light image. Firstly, setting a distance between a depth camera and calibration paper, then opening a structured light projection module in the depth camera to project a structured light image onto the calibration paper, then acquiring the structured light image by a three-dimensional camera in the depth camera, and taking the structured light image as a reference structured light image. In order to avoid the influence of ambient light on the image quality of the reference structured light during the depth calibration, in one embodiment, an external light shield (not shown in fig. 1) may be added to the multifunctional calibration system 100 to position the depth camera 40, the multifunctional calibration device 10 therein to avoid external ambient light interference. In one embodiment, the light source 103 in the multifunctional calibration device 10 is in an off state during the depth calibration process, and the surface of the calibration paper 106 facing the depth camera 40 has no pattern, such as white with a certain matte degree (matte white), and when the structured light projection module projects the structured light beam onto the calibration paper 106, the beam enters the camera through diffuse reflection and is imaged, and finally the structured light image is collected by the three-dimensional camera in the depth camera.
And 2, aligning and calibrating. The purpose of the alignment calibration is to obtain the respective internal parameters (internal parameters) of the visible light camera and the three-dimensional camera acquiring the structured light image in the depth camera and the external parameters (external parameters) between them. Since the visible light camera and the three-dimensional camera are usually used for performing photosensitive imaging on light beams with different wavelengths, the light source 103 inside the multifunctional calibration device 10 is set into at least two sub-light sources with different wavelengths, namely a first sub-light source with a first wavelength and a second sub-light source with a second wavelength. Fig. 3 is a schematic view of the composition of a light source according to one embodiment of the invention. Taking an array light source as an example, a plurality of light sources 103 arranged in an array are arranged on the light source driver, the light sources 103 are divided into three types, namely a sub-light source 103a for emitting a light beam with a first wavelength, a sub-light source 103b for emitting a light beam with a second wavelength and a sub-light source 103c for emitting a light beam with a third wavelength, the first wavelength, the second wavelength and the third wavelength can be set to corresponding wavelengths according to requirements, for example, the first wavelength corresponds to white light, the second wavelength corresponds to 940nm infrared light, the second wavelength corresponds to 850nm infrared light, and the light sources with different wavelengths can be independently controlled or can be integrally controlled. The advantage of setting the light sources with more than two wavelengths is that the multifunctional calibration device can be suitable for the technological processes of calibrating depth cameras with other different wavelengths.
When alignment calibration is performed, firstly, a visible photon light source (such as a white light source) is turned on, white light emitted by the white light source is homogenized by the diffusion plate 104 and then irradiated to the calibration paper 106, one surface (assumed to be the front surface and the other surface to be the back surface) of the calibration paper surface is printed with a calibration pattern, at this time, the calibration pattern is illuminated by the white light source, and in particular, both surfaces of the calibration paper 106 have a certain transmittance, so that when the white light source irradiates the calibration paper 106, a visible light camera in a depth camera arranged on the back surface of the calibration paper will collect a visible light calibration image (a first calibration image) containing the calibration pattern on the front surface of the calibration paper 106. And then transmitting the acquired white light calibration pattern to a computing device for internal reference calculation of the visible light camera.
Similarly, for the internal reference calculation process of the three-dimensional camera, a sub-light source 103b (it is understood that the wavelength of the structured light beam emitted by the structured light projection module should be 940nm in this example, and for convenience of description, the infrared sub-light source is taken as an example hereinafter) of the light source 103, which is the same as the photosensitive wavelength of the three-dimensional camera, is required to be turned on, when the infrared light irradiates the front surface of the calibration paper 106, the three-dimensional camera in the depth camera disposed on the back surface of the calibration paper will acquire a corresponding infrared light calibration image (second calibration image) containing a calibration pattern, and then the calculation device calculates the internal reference of the three-dimensional camera based on the calibration pattern.
After the internal parameters of the visible light camera and the three-dimensional camera are respectively acquired, the external parameters between the visible light camera and the three-dimensional camera can be further calculated based on the characteristic in consideration of the fact that the visible light calibration images acquired by the visible light camera and the infrared light calibration images acquired by the three-dimensional camera respectively satisfy a one-to-one correspondence (from the same calibration pattern) in the acquisition process. In other words, when the visible light camera and the three-dimensional camera are respectively calibrated, the same world coordinate system can be selected by taking calibration paper as a reference, relative external parameters of the visible light camera and the three-dimensional camera relative to the world coordinate system can be calculated respectively, and external parameters between the visible light camera and the three-dimensional camera can be calculated by combining the relative external parameters.
When the visible light camera and the three-dimensional camera are respectively calibrated, the acquisition is often required to be performed under different angles, so that the attitude or the position of the depth camera can be regulated and controlled by means of the base 30 or the bracket 20 to realize the acquisition under a plurality of angles, or the attitude or the position of the multifunctional calibration device 10 is controlled by utilizing the base 30 to realize the acquisition of multi-angle images.
3, measuring the depth calculation accuracy. One measure of the performance of a structured light depth camera is the accuracy of the depth image, which can be measured by the multi-functional calibration device 10 for the depth calculation accuracy of the depth camera 40. Precision herein refers primarily to accuracy, which may be measured as a measurement error, as well as precision, which may be measured as a deviation. In one embodiment, the depth cameras 40 are each positioned at a different known distance from the calibration paper 106 for depth image acquisition, at which time the light sources in the multi-function calibration device are all off. For example, a depth image is acquired every 10cm within the range of the depth camera 40, and then the depth image is output to the computing device 50 for error and deviation calculation, and a specific calculation method may be referred to in patent application CN106767933a.
4 alignment accuracy measurement. And in the alignment calibration step, the internal parameters and the external parameters of the visible light camera and the three-dimensional camera can be obtained. The color image and the depth image acquired by the depth camera in real time can be digitally aligned based on the internal reference and the external reference. Due to the existence of various factors such as errors, misoperation and the like, the alignment effects of different depth cameras are often different, and therefore the alignment accuracy needs to be measured by a certain method to judge the alignment effect of the depth cameras. In one embodiment, alignment accuracy measurements may be made by:
the first step, turning on a white light source in the multifunctional calibration device 10, and collecting a visible light image by using a visible light camera in a depth camera, wherein the visible light image comprises a calibration pattern on a calibration paper 106, and the calibration pattern is called a visible light calibration image (first calibration image);
a second step of, independently of the first step, turning on an infrared photon light source, and acquiring an infrared light calibration image (a second calibration image) by using a three-dimensional camera in the depth camera;
and thirdly, independently of the first step and the second step, enabling the light source in the multifunctional calibration device to be in a closed state, opening the structured light projection module in the depth camera, acquiring a structured light image by using the three-dimensional camera, and further acquiring the depth image.
And fourthly, performing digital alignment calculation on the visible light fixed image and the depth image according to the alignment calibration parameters calibrated by the depth camera, and obtaining the corresponding relation between the pixel points in the visible light fixed image and the pixel points in the depth image.
And fifthly, respectively extracting corresponding mark points in the visible light calibration image and the infrared light calibration image, taking the corresponding relation between pixels where the mark points are positioned as a theoretical alignment value, and comparing the theoretical alignment value with the corresponding relation obtained by the digital alignment calculation in the fourth step to judge the alignment precision.
Because the light sources in the multifunctional calibration device are turned on when the visible light calibration image and the infrared light calibration image are acquired, the calibration patterns are arranged in the two images, and the calibration patterns can be a plurality of small dots or other patterns with tomorrow outline characteristics. The marking points (characteristic points) are extracted from the visible light marking image and the infrared light marking image respectively, and meanwhile, the one-to-one correspondence between the marking points in the two images is easy to know because the images are acquired from the same piece of marking paper. In addition, since the depth image and the infrared light calibration image are acquired by the three-dimensional camera, there is no parallax therebetween, so that the corresponding relationship between the infrared light calibration image and the visible light calibration image can be used as a theoretical value (referred to as a theoretical corresponding relationship) of the corresponding relationship between the depth image and the visible light calibration image.
In the fourth step, the corresponding relation between the depth image and the visible light fixed image (called as a calculation corresponding relation) can be obtained through digital alignment, and finally the alignment precision of the depth camera can be judged through calculating the difference between the calculation corresponding relation and the theoretical corresponding relation.
The four processes can show that the multifunctional calibration device can be used for reference structured light image acquisition and depth image acquisition so as to further perform depth calibration or measurement of depth calculation accuracy by printing calibration patterns on the front surface of the calibration paper and arranging light sources with various wavelengths on the front surface. Preferably, the back of the calibration plate is in a matte white color, and the matte white color can acquire a structured light image and a depth image with higher quality compared with other various colors. When the light source is turned on, the calibration pattern can penetrate through the calibration paper and be collected by a depth camera arranged on the back side of the calibration paper, for example, a visible light camera collects a visible light calibration image or a three-dimensional camera collects an infrared calibration image, and the like, so that alignment calibration, alignment precision measurement and the like are further carried out. Compared with the prior art, the multifunctional calibration device has the characteristics of compact structure, more functions, convenience in operation, low cost and the like.
It will be appreciated that in some embodiments, only a single or multiple processes may be implemented using the apparatus or system described above, and that a single apparatus or system is not necessarily required to complete all processes, particularly considering the order of preference of the individual processes during the production of the depth camera, considering the specific performance requirements of the different processes on the apparatus or system, etc.
In one embodiment, the alignment calibration process uses a checkerboard pattern calibration pattern, and the alignment precision measurement process uses a dot pattern calibration pattern, so that the alignment calibration process can be completed by one set of multifunctional calibration devices and systems respectively, the alignment precision measurement process can be completed by the other set of multifunctional calibration devices and systems, and the two sets of devices and systems can be structurally optimized according to specific requirements, for example, in the alignment precision measurement process, attitude adjustment of a depth camera or the multifunctional calibration devices is not required.
In one embodiment, a set of multi-function calibration systems may be used to implement multiple process flows in certain steps to increase production efficiency. Such as:
firstly, performing depth calibration by utilizing a multifunctional calibration system, namely, when the depth camera is adjusted to be at a distance L from a multifunctional calibration device, acquiring a reference structure light image under the condition that a light source is turned off, and writing the reference structure light image into a memory of the depth camera by computing equipment so as to be convenient for calling during subsequent depth calculation;
secondly, the multifunctional calibration system is utilized to measure the depth precision, namely, when the depth camera is adjusted to be at the distances R1, R2, … and RN from the multifunctional calibration device, a depth image is obtained under the condition that a light source is turned off, and the computing equipment calculates the depth precision;
and finally, carrying out alignment precision measurement by utilizing the multifunctional calibration system, namely, when the depth camera is adjusted to be at a distance H from the multifunctional calibration device, carrying out alignment precision measurement according to the alignment precision measurement step.
The above sequence flow fully considers the sequence among the processes, such as depth calibration is the premise of calculating depth images and measuring depth precision, and the premise of measuring alignment precision (the premise of measuring alignment precision is that there are high-quality depth images and visible light images, so that the depth precision measurement is firstly performed to accurately know that the precision meets the requirement and then the alignment precision measurement is performed). In addition, because the depth calibration, the depth precision measurement and the alignment precision measurement often have different distances between the depth camera and the calibration paper, the stroke of the depth camera or the multifunctional calibration device can be reasonably set in advance according to different distances, the time waste caused by stroke reciprocation in multiple processes is avoided, part of operation step processes are reduced, and the calibration efficiency of the multifunctional calibration is improved. And by normalizing and mechanizing each link, such as: the multifunctional calibration device 10 or the depth camera 40 can accurately move, rotate, lift and the like along the guide rail, so that errors caused by external uncertain factors and misoperation caused by pure manual operation can be avoided.
The foregoing is a further detailed description of the invention in connection with specific/preferred embodiments, and it is not intended that the invention be limited to such description. It will be apparent to those skilled in the art that several alternatives or modifications can be made to the described embodiments without departing from the spirit of the invention, and these alternatives or modifications should be considered to be within the scope of the invention.
Claims (10)
1. A multifunctional calibration device, comprising:
a light source for emitting a light beam;
a homogenizer for receiving the light beam and generating a uniform light beam;
the calibration paper is printed with calibration patterns on one surface facing the light source, the surface facing away from the light source is a pure-color pattern, when the light source is turned on, the calibration paper is illuminated by uniform light beams, the calibration patterns can be displayed on one side facing away from the light source, and when the light source is turned off, the calibration paper only displays the pure-color patterns on one side facing away from the light source.
2. The multifunctional calibration apparatus of claim 1, wherein the light source comprises at least one of a light emitting diode, a laser light source; the light source comprises a single light source or an array of light sources.
3. The multifunctional calibration apparatus of claim 2, wherein the light source is an array light source and comprises at least two sets of sub-light sources that emit different wavelengths.
4. A multi-function calibration device according to claim 3, wherein the sub-light sources comprise white photon light sources and infrared photon light sources.
5. A multifunctional calibration apparatus according to claim 3, characterized in that the sub-light sources are controlled independently or in their entirety.
6. The multifunctional calibration apparatus of claim 1, wherein the homogenizer comprises a diffusing plate or a diffractive optical element.
7. The multifunctional calibration device of claim 1, wherein the calibration pattern comprises one or more of a checkerboard pattern, a circular marker dot pattern, a two-dimensional code pattern, a coded marker dot pattern.
8. The multi-functional calibration device of claim 1, wherein the solid color pattern comprises a matte white pattern.
9. The multi-purpose calibration device of claim 1, further comprising a support for supporting the light source, the homogenizer, and the calibration paper.
10. The multifunctional calibration apparatus of claim 1, further comprising a light source bracket for securing the light source; the light source bracket is also provided with a radiator for radiating the light source.
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| CN109754438B (en) * | 2019-01-15 | 2021-07-06 | 中国科学技术大学 | Calibration device of near-infrared camera under specific waveband, calibration point extraction method and system |
| CN112233183A (en) * | 2019-07-15 | 2021-01-15 | 南昌欧菲生物识别技术有限公司 | 3D structured light module support calibration method, device and equipment |
| CN111275772A (en) * | 2020-02-28 | 2020-06-12 | 泉州华中科技大学智能制造研究院 | Camera calibration board adopting diffuse reflection light, camera calibration system and method |
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| CN107121110A (en) * | 2017-06-12 | 2017-09-01 | 中国科学院长春光学精密机械与物理研究所 | The device and uncalibrated image acquisition method gathered applied to uncalibrated image |
| CN107204016A (en) * | 2016-03-17 | 2017-09-26 | 中航华东光电（上海）有限公司 | Multi-functional scaling board |
| CN208572296U (en) * | 2018-06-28 | 2019-03-01 | 深圳奥比中光科技有限公司 | Multi-functional caliberating device |
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| CN103761732A (en) * | 2014-01-06 | 2014-04-30 | 哈尔滨工业大学深圳研究生院 | Three-dimensional imaging device with visible light and thermal infrared integrated and calibrating method thereof |
| CN105184774A (en) * | 2015-08-12 | 2015-12-23 | 中国安全生产科学研究院 | Checker calibration apparatus capable of simultaneous calibration of visible light camera and infrared thermal imager |
| CN107204016A (en) * | 2016-03-17 | 2017-09-26 | 中航华东光电（上海）有限公司 | Multi-functional scaling board |
| CN107121110A (en) * | 2017-06-12 | 2017-09-01 | 中国科学院长春光学精密机械与物理研究所 | The device and uncalibrated image acquisition method gathered applied to uncalibrated image |
| CN208572296U (en) * | 2018-06-28 | 2019-03-01 | 深圳奥比中光科技有限公司 | Multi-functional caliberating device |
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