CN108833910A - A kind of calibration method and its system of stereo camera shooting mould group - Google Patents
A kind of calibration method and its system of stereo camera shooting mould group Download PDFInfo
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- CN108833910A CN108833910A CN201810942735.4A CN201810942735A CN108833910A CN 108833910 A CN108833910 A CN 108833910A CN 201810942735 A CN201810942735 A CN 201810942735A CN 108833910 A CN108833910 A CN 108833910A
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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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Abstract
The invention discloses the calibration methods and its system of a kind of stereo camera shooting mould group, including：A regulation light source device is provided, the regulation light source device, which has, to shine uniformly and in the hemispherical light-emitting surface of indent, and the stereo camera shooting mould group is set to the centre of sphere of the light-emitting surface, and a plurality of lenses of the stereo camera shooting mould group are towards the light-emitting surface；Obtain the brightness of image of each camera lens；The brightness of image of remaining camera lens is calibrated using the brightness of image of default camera lens as standard compensation.As shown in the above, technical solution provided by the invention, there is the regulation light source device for shining uniformly and be in the hemispherical light-emitting surface of indent by one, the a plurality of lenses of three-dimensional camera module are calibrated, the brightness of image of remaining camera lens is calibrated using the brightness of image of default camera lens as standard compensation, so that the brightness of image of a plurality of lenses of stereo camera shooting mould group is consistent, and then the compensating parameter for obtaining calibration process achievees the purpose that calibrate burning.
Description
Technical field
The present invention relates to camera module technical fields, more specifically, are related to a kind of calibration side of stereo camera shooting mould group
Method and its system.
Background technique
With the fast development of camera technology, SmartClient requires the imaging effect of camera higher and higher.
But each camera, due to the difference of individual, imaging effect is also not quite similar.In order to improve the effect effect one of camera
Cause property can generally carry out calibration burning, client is when using camera before factory to camera, it is only necessary to read preparatory
Calibration parameter of the burning in camera is simultaneously applied in the image of shooting, so that it may so as to realize town and country effect between camera
Unanimously.
But with the development of camera module, become the trend of development by the stereo camera shooting mould group that a plurality of lenses form,
With advantages such as wider array of angulars field of view.The prior art is in the preceding calibration burning device to camera of camera factory, only
Calibration burning can be carried out to the camera with single camera lens, and calibration burning cannot be carried out to the stereo camera shooting mould group developed recently
Record.
Summary of the invention
In view of this, there is hair by one the present invention provides the calibration method and its system of a kind of stereo camera shooting mould group
Light calibrates a plurality of lenses of three-dimensional camera module uniformly and in the regulation light source device of the hemispherical light-emitting surface of indent,
The brightness of image that remaining camera lens is calibrated using the brightness of image of default camera lens as standard compensation, so that multiple mirrors of stereo camera shooting mould group
The brightness of image of head is consistent, and then the compensating parameter for obtaining calibration process achievees the purpose that calibrate burning.
To achieve the above object, technical solution provided by the invention is as follows：
A kind of calibration method of stereo camera shooting mould group, including：
A regulation light source device is provided, the regulation light source device, which has, to shine uniformly and shine in indent is hemispherical
Face, the stereo camera shooting mould group are set to the centre of sphere of the light-emitting surface, and the equal direction of a plurality of lenses of the stereo camera shooting mould group
The light-emitting surface；
Obtain the brightness of image of each camera lens；
The brightness of image of remaining camera lens is calibrated using the brightness of image of default camera lens as standard compensation.
Optionally, the brightness of image of each camera lens is obtained, wherein obtain the brightness of image of any one camera lens
Method includes：
Obtain the imaging of the camera lens；
The imaging of the camera lens is divided into multiple regions；
Using the brightness of the central area of division as the brightness in remaining region of standard compensation, the imaging for obtaining the camera lens is bright
Degree.
Optionally, using the brightness of the central area of division as the brightness in remaining region of standard compensation, wherein to it is described remaining
The method that the brightness in any one region to be compensated compensates in region includes：
The brightness for obtaining the central area is the first brightness value；
The brightness for obtaining the region to be compensated is the second brightness value；
Ratio using first brightness value than second brightness value as regional luminance penalty coefficient, with to it is described to
The brightness of compensatory zone compensates.
Optionally, the brightness of image of remaining camera lens is calibrated using the brightness of image of default camera lens as standard compensation, wherein to institute
Stating the method that the brightness of image of any one camera lens to be compensated in remaining camera lens compensates includes：
The brightness of image for obtaining the default camera lens is third brightness value；
The brightness of image for obtaining the camera lens to be compensated is the 4th brightness value；
Ratio using the third brightness value than the 4th brightness value as camera lens luminance compensation coefficient, with to it is described to
The brightness of image of compensation camera lens compensates.
Optionally, the light-emitting surface is adjustable by multiple brightness and the light emitting diode of adjustable color forms.
Correspondingly, the present invention also provides a kind of calibration systems of stereo camera shooting mould group, including：
Regulation light source device, the regulation light source device, which has, to shine uniformly and is in the hemispherical light-emitting surface of indent, described
Stereo camera shooting mould group is set to the centre of sphere of the light-emitting surface, and a plurality of lenses of the stereo camera shooting mould group shine towards described
Face；
Acquiring unit, the acquiring unit are used to obtain the brightness of image of each camera lens；
Compensating unit, the compensating unit are used to calibrate remaining camera lens as standard compensation using the brightness of image for presetting camera lens
Brightness of image.
Optionally, the acquiring unit includes：
Acquisition submodule, the acquisition submodule are used to obtain the imaging of the camera lens；
Division module, the division module are used to the imaging of the camera lens dividing multiple regions；
First processing module, the first processing module be used for using the brightness of the central area of division as standard compensation remaining
The brightness in region obtains the brightness of image of the camera lens.
Optionally, the first processing module includes：
First luminance acquisition submodule, the brightness that the first luminance acquisition submodule is used to obtain the central area are
First brightness value；
Second luminance acquisition submodule, the second luminance acquisition submodule are used to obtain the brightness in the region to be compensated
For the second brightness value；
First comparison compensation submodule, the first comparison compensation submodule are used for first brightness value than described the
The ratio of two brightness values is compensated as regional luminance penalty coefficient with the brightness to the region to be compensated.
Optionally, the compensating unit includes：
Third luminance acquisition submodule, the imaging that the third luminance acquisition submodule is used to obtain the default camera lens are bright
Degree is third brightness value；
4th luminance acquisition submodule, the 4th luminance acquisition submodule are used to obtain the imaging of the camera lens to be compensated
Brightness is the 4th brightness value；
Second comparison compensation submodule, the second comparison compensation submodule are used for the third brightness value than described the
The ratio of four brightness values is compensated as camera lens luminance compensation coefficient with the brightness of image to the camera lens to be compensated.
Optionally, the light-emitting surface is adjustable by multiple brightness and the light emitting diode of adjustable color forms.
Compared to the prior art, technical solution provided by the invention has at least the following advantages：
The present invention provides the calibration methods and its system of a kind of stereo camera shooting mould group, including：One regulation light source dress is provided
It sets, the regulation light source device, which has, to shine uniformly and in the hemispherical light-emitting surface of indent, and the stereo camera shooting mould group is set to
The centre of sphere of the light-emitting surface, and a plurality of lenses of the stereo camera shooting mould group are towards the light-emitting surface；Obtain each mirror
The brightness of image of head；The brightness of image of remaining camera lens is calibrated using the brightness of image of default camera lens as standard compensation.
As shown in the above, technical solution provided by the invention has by one and shines uniformly and be in indent hemisphere face
Light-emitting surface regulation light source device, a plurality of lenses of three-dimensional camera module are calibrated, with preset camera lens brightness of image
The brightness of image of remaining camera lens is calibrated for standard compensation, so that the brightness of image of a plurality of lenses of stereo camera shooting mould group is consistent, into
And the compensating parameter for obtaining calibration process achievees the purpose that calibrate burning.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is a kind of flow chart of the calibration method of stereo camera shooting mould group provided by the embodiments of the present application；
Fig. 2 is a kind of structural schematic diagram of regulation light source device provided by the embodiments of the present application.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
As described in background, with the development of camera module, the stereo camera shooting mould group being made of a plurality of lenses becomes
The trend of development, with advantages such as wider array of angulars field of view.The prior art burns the calibration of camera before camera factory
Recording device can only carry out calibration burning to the camera with single camera lens, and cannot be to the stereo camera shooting developed recently
Mould group carries out calibration burning.
Based on this, the embodiment of the present application provides the calibration method and its system of a kind of stereo camera shooting mould group, passes through a tool
There is the regulation light source device for shining uniformly and be in the hemispherical light-emitting surface of indent, school is carried out to a plurality of lenses of three-dimensional camera module
Standard calibrates the brightness of image of remaining camera lens using the brightness of image of default camera lens as standard compensation, so that stereo camera shooting mould group is more
The brightness of image of a camera lens is consistent, and then the compensating parameter for obtaining calibration process achievees the purpose that calibrate burning.It is above-mentioned to realize
Purpose, technical solution provided by the embodiments of the present application is as follows, specifically combines Fig. 1 and Fig. 2 to technology provided by the embodiments of the present application
Scheme is described in detail.
Refering to what is shown in Fig. 1, be a kind of flow chart of the calibration method of stereo camera shooting mould group provided by the embodiments of the present application,
In, calibration method includes：
S1, a regulation light source device is provided, the regulation light source device, which has, to shine uniformly and be in the hemispherical hair of indent
Smooth surface, the stereo camera shooting mould group are set to the centre of sphere of the light-emitting surface, and the equal court of a plurality of lenses of the stereo camera shooting mould group
To the light-emitting surface；
S2, the brightness of image for obtaining each camera lens；
S3, the brightness of image that remaining camera lens is calibrated using the brightness of image for presetting camera lens as standard compensation.
As shown in the above, technical solution provided by the embodiments of the present application has by one and shines uniformly and be in indent
The regulation light source device of hemispherical light-emitting surface, calibrates a plurality of lenses of three-dimensional camera module, with preset camera lens at
Image brightness is the brightness of image that standard compensation calibrates remaining camera lens, so that the brightness of image one of a plurality of lenses of stereo camera shooting mould group
The compensating parameter for causing, and then obtaining calibration process achievees the purpose that calibrate burning.
It as shown in connection with fig. 2, is a kind of structural schematic diagram of regulation light source device provided by the embodiments of the present application, wherein school
Quasi-optical source device includes to shine uniformly and in the hemispherical light-emitting surface 100 of indent；
Stereo camera shooting mould group 200 is set to the centre of sphere of light-emitting surface 100, and a plurality of lenses 210 of stereo camera shooting mould group 200 are equal
Towards light-emitting surface 100.
In one embodiment of the application, the distance of each camera lens 210 to light-emitting surface 100 provided by the present application is all the same.This
Outside, stereo camera shooting mould group provided by the embodiments of the present application, the angular field of view of camera lens is generally 70 degree, so the embodiment of the present application
The stereo camera shooting mould group of offer includes at least five camera lens or more, wherein and a camera lens is set to center in all camera lenses,
And remaining lens collar around and be uniformly distributed in center camera lens surrounding.Default camera lens provided by the embodiments of the present application is preferably centre mirror
Head.
In one embodiment of the application, the light-emitting surface provided by the present application is adjustable by multiple brightness and the hair of adjustable color
Optical diode composition.Wherein, light-emitting surface provided by the present application, which shines, uniformly refers to that the brightness of each light emitting diode and colour temperature are uniform
It causes.In addition, the embodiment of the present application sets light-emitting surface to the light-emitting surface of brightness and adjustable color, can be used for stereo camera shooting mould
The calibration of the different parameters of group.
When obtaining the brightness of image of each camera lens, the whole average value of the brightness of image of available each camera lens.
In addition, in one embodiment of the application can be by the luminance compensation of each region of the imaging of independent camera lens it is consistent after obtain it
Brightness of image obtains the brightness of image of each camera lens, wherein the method for obtaining the brightness of image of any one camera lens
Including：
Obtain the imaging of the camera lens；
The imaging of the camera lens is divided into multiple regions；
Using the brightness of the central area of division as the brightness in remaining region of standard compensation, the imaging for obtaining the camera lens is bright
Degree.
Further, using the brightness of the central area of division as the brightness in remaining region of standard compensation, wherein to it is described its
The method that the brightness in any one region to be compensated compensates in remaining region includes：
The brightness for obtaining the central area is the first brightness value；
The brightness for obtaining the region to be compensated is the second brightness value；
Ratio using first brightness value than second brightness value as regional luminance penalty coefficient, with to it is described to
The brightness of compensatory zone compensates.
As shown in the above, technical solution provided by the embodiments of the present application, the brightness of image for obtaining each camera lens can be with
Luminance compensation for each region of the imaging to independent camera lens be it is consistent after obtain its brightness of image, in the process to obtaining
Regional luminance penalty coefficient carry out burning so that stereo camera shooting mould group compensates processing when shooting.
In one embodiment of the application, the imaging that the brightness of image to preset camera lens calibrates remaining camera lens as standard compensation is bright
Degree, wherein the method compensated to the brightness of image of any one camera lens to be compensated in remaining described camera lens includes：
The brightness of image for obtaining the default camera lens is third brightness value；
The brightness of image for obtaining the camera lens to be compensated is the 4th brightness value；
Ratio using the third brightness value than the 4th brightness value as camera lens luminance compensation coefficient, with to it is described to
The brightness of image of compensation camera lens compensates.Likewise, burning is carried out to obtained camera lens luminance compensation coefficient in the process,
So that stereo camera shooting mould group compensates processing when shooting.
Correspondingly, the embodiment of the present application also provides a kind of calibration systems of stereo camera shooting mould group, including：
Regulation light source device, the regulation light source device, which has, to shine uniformly and is in the hemispherical light-emitting surface of indent, described
Stereo camera shooting mould group is set to the centre of sphere of the light-emitting surface, and a plurality of lenses of the stereo camera shooting mould group shine towards described
Face；
Acquiring unit, the acquiring unit are used to obtain the brightness of image of each camera lens；
Compensating unit, the compensating unit are used to calibrate remaining camera lens as standard compensation using the brightness of image for presetting camera lens
Brightness of image.
In one embodiment of the application, the acquiring unit provided by the present application includes：
Acquisition submodule, the acquisition submodule are used to obtain the imaging of the camera lens；
Division module, the division module are used to the imaging of the camera lens dividing multiple regions；
First processing module, the first processing module be used for using the brightness of the central area of division as standard compensation remaining
The brightness in region obtains the brightness of image of the camera lens.
In one embodiment of the application, the first processing module provided by the present application includes：
First luminance acquisition submodule, the brightness that the first luminance acquisition submodule is used to obtain the central area are
First brightness value；
Second luminance acquisition submodule, the second luminance acquisition submodule are used to obtain the brightness in the region to be compensated
For the second brightness value；
First comparison compensation submodule, the first comparison compensation submodule are used for first brightness value than described the
The ratio of two brightness values is compensated as regional luminance penalty coefficient with the brightness to the region to be compensated.
In one embodiment of the application, the compensating unit provided by the present application includes：
Third luminance acquisition submodule, the imaging that the third luminance acquisition submodule is used to obtain the default camera lens are bright
Degree is third brightness value；
4th luminance acquisition submodule, the 4th luminance acquisition submodule are used to obtain the imaging of the camera lens to be compensated
Brightness is the 4th brightness value；
Second comparison compensation submodule, the second comparison compensation submodule are used for the third brightness value than described the
The ratio of four brightness values is compensated as camera lens luminance compensation coefficient with the brightness of image to the camera lens to be compensated.
In one embodiment of the application, the light-emitting surface provided by the present application is adjustable by multiple brightness and the hair of adjustable color
Optical diode composition.
The embodiment of the present application provides the calibration method and its system of a kind of stereo camera shooting mould group, including：One calibration is provided
Light supply apparatus, the regulation light source device, which has, to shine uniformly and is in the hemispherical light-emitting surface of indent, the stereo camera shooting mould group
It is set to the centre of sphere of the light-emitting surface, and a plurality of lenses of the stereo camera shooting mould group are towards the light-emitting surface；It obtains each
The brightness of image of the camera lens；The brightness of image of remaining camera lens is calibrated using the brightness of image of default camera lens as standard compensation.
As shown in the above, technical solution provided by the embodiments of the present application has by one and shines uniformly and be in indent
The regulation light source device of hemispherical light-emitting surface, calibrates a plurality of lenses of three-dimensional camera module, with preset camera lens at
Image brightness is the brightness of image that standard compensation calibrates remaining camera lens, so that the brightness of image one of a plurality of lenses of stereo camera shooting mould group
The compensating parameter for causing, and then obtaining calibration process achievees the purpose that calibrate burning.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (10)
1. a kind of calibration method of stereo camera shooting mould group, which is characterized in that including：
A regulation light source device is provided, the regulation light source device, which has, to shine uniformly and be in the hemispherical light-emitting surface of indent, institute
The centre of sphere that stereo camera shooting mould group is set to the light-emitting surface is stated, and a plurality of lenses of the stereo camera shooting mould group are towards the hair
Smooth surface；
Obtain the brightness of image of each camera lens；
The brightness of image of remaining camera lens is calibrated using the brightness of image of default camera lens as standard compensation.
2. the calibration method of stereo camera shooting mould group according to claim 1, which is characterized in that obtain each camera lens
Brightness of image, wherein the method for obtaining the brightness of image of any one camera lens includes：
Obtain the imaging of the camera lens；
The imaging of the camera lens is divided into multiple regions；
Using the brightness of the central area of division as the brightness in remaining region of standard compensation, the brightness of image of the camera lens is obtained.
3. the calibration method of stereo camera shooting mould group according to claim 2, which is characterized in that with the central area of division
Brightness is the brightness in remaining region of standard compensation, wherein is carried out to the brightness in any one region to be compensated in remaining described region
The method of compensation includes：
The brightness for obtaining the central area is the first brightness value；
The brightness for obtaining the region to be compensated is the second brightness value；
Ratio using first brightness value than second brightness value is as regional luminance penalty coefficient, to described to be compensated
The brightness in region compensates.
4. the calibration method of stereo camera shooting mould group according to claim 1, which is characterized in that bright with the imaging for presetting camera lens
Degree is that standard compensation calibrates the brightness of image of remaining camera lens, wherein in remaining described camera lens any one camera lens to be compensated at
The method that image brightness compensates includes：
The brightness of image for obtaining the default camera lens is third brightness value；
The brightness of image for obtaining the camera lens to be compensated is the 4th brightness value；
Ratio using the third brightness value than the 4th brightness value is as camera lens luminance compensation coefficient, to described to be compensated
The brightness of image of camera lens compensates.
5. the calibration method of stereo camera shooting mould group according to claim 1, which is characterized in that the light-emitting surface is by multiple bright
Spend adjustable and adjustable color light emitting diode composition.
6. a kind of calibration system of stereo camera shooting mould group, which is characterized in that including：
Regulation light source device, the regulation light source device, which has, to shine uniformly and is in the hemispherical light-emitting surface of indent, the solid
Camera module is set to the centre of sphere of the light-emitting surface, and a plurality of lenses of the stereo camera shooting mould group are towards the light-emitting surface；
Acquiring unit, the acquiring unit are used to obtain the brightness of image of each camera lens；
Compensating unit, the compensating unit are used to calibrate the imaging of remaining camera lens using the brightness of image for presetting camera lens as standard compensation
Brightness.
7. the calibration system of stereo camera shooting mould group according to claim 6, which is characterized in that the acquiring unit includes：
Acquisition submodule, the acquisition submodule are used to obtain the imaging of the camera lens；
Division module, the division module are used to the imaging of the camera lens dividing multiple regions；
First processing module, the first processing module are used for using the brightness of the central area of division as remaining region of standard compensation
Brightness, obtain the brightness of image of the camera lens.
8. the calibration system of stereo camera shooting mould group according to claim 7, which is characterized in that the first processing module packet
It includes：
First luminance acquisition submodule, the brightness that the first luminance acquisition submodule is used to obtain the central area is first
Brightness value；
Second luminance acquisition submodule, the brightness that the second luminance acquisition submodule is used to obtain the region to be compensated is the
Two brightness values；
First comparison compensation submodule, the first comparison compensation submodule are used for first brightness value is brighter than described second
The ratio of angle value is compensated as regional luminance penalty coefficient with the brightness to the region to be compensated.
9. the calibration system of stereo camera shooting mould group according to claim 6, which is characterized in that the compensating unit includes：
Third luminance acquisition submodule, the brightness of image that the third luminance acquisition submodule is used to obtain the default camera lens are
Third brightness value；
4th luminance acquisition submodule, the 4th luminance acquisition submodule are used to obtain the brightness of image of the camera lens to be compensated
For the 4th brightness value；
Second comparison compensation submodule, the second comparison compensation submodule are used for the third brightness value is brighter than the described 4th
The ratio of angle value is compensated as camera lens luminance compensation coefficient with the brightness of image to the camera lens to be compensated.
10. the calibration system of stereo camera shooting mould group according to claim 6, which is characterized in that the light-emitting surface is by multiple
Brightness is adjustable and the light emitting diode of adjustable color forms.
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| CN201810942735.4A CN108833910A (en) | 2018-08-17 | 2018-08-17 | A kind of calibration method and its system of stereo camera shooting mould group |
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| CN201810942735.4A CN108833910A (en) | 2018-08-17 | 2018-08-17 | A kind of calibration method and its system of stereo camera shooting mould group |
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| CN110830696A (en) * | 2019-11-26 | 2020-02-21 | 成都立鑫新技术科技有限公司 | Calibration method of binocular vision measurement technology |
| CN113132694A (en) * | 2021-04-19 | 2021-07-16 | 北京理工大学 | Colourity-based multi-camera lens colour consistency correction method for colour camera |
| CN114112021A (en) * | 2021-11-12 | 2022-03-01 | 杭州远方光电信息股份有限公司 | Method and device for calibrating imaging of oversized field of view |
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Application publication date: 20181116 |
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