CN109448062A

CN109448062A - A kind of camera calibration method, apparatus, terminal device and storage medium

Info

Publication number: CN109448062A
Application number: CN201811220717.1A
Authority: CN
Inventors: 孙丰
Original assignee: Suzhou Secote Precision Electronic Co Ltd
Current assignee: Suzhou Secote Precision Electronic Co Ltd
Priority date: 2018-10-19
Filing date: 2018-10-19
Publication date: 2019-03-08

Abstract

The invention discloses a kind of camera calibration method, apparatus, terminal device and storage mediums.The described method includes: the camera location information of camera to be calibrated is sent to execution terminal by controlling terminal；The controlling terminal receives the location information of the execution terminal feedback, and the location information is the world coordinates information for executing scaling board entrained by terminal, and the world coordinates information is determined by the execution terminal based on the camera location information is mobile；The controlling terminal receives the image information of the scaling board of the camera capture to be calibrated；The controlling terminal determines formula according to described image information, the location information and camera parameter, determines camera parameter.It can be realized the automatic Calibration of double camera using this method, improve double camera and demarcate speed, reduce the operating mistake and workload of engineer, while reducing the nominal time, improve the experience that user carries out double camera calibration.

Description

A kind of camera calibration method, apparatus, terminal device and storage medium

Technical field

The present embodiments relate to computer vision measurement technical field more particularly to a kind of camera calibration method, apparatus, Terminal device and storage medium.

Background technique

With the rapid development of 3C industry, the time of the update of electronic product is getting faster.For automated production The requirement of equipment also improves year by year.In order to improve the production efficiency, the production cycle of product is reduced, the division of labor of double camera is increasingly It is more.

The calibration of existing double camera needs engineer to manually control machine people and moves to designated position, and manually controls Double camera acquires multiple images, then multiple collected images are carried out to processing and the seat with robot (or axis) one by one again Mark matching.Time-consuming, waste of manpower and the failure that artificial misoperation causes calibration is had in entire calibration process, serious shadow The calibration of double camera is rung.

Summary of the invention

The embodiment of the invention provides a kind of camera calibration method, apparatus, terminal device and storage mediums, effectively improve The precision of double camera calibration.

In a first aspect, the embodiment of the invention provides a kind of camera calibration methods, comprising:

The camera location information of camera to be calibrated is sent to execution terminal by controlling terminal；

The controlling terminal receives the location information of the execution terminal feedback, and the location information is taken to execute terminal The world coordinates information of bandgap calibration plate, the world coordinates information are mobile based on the camera location information by the execution terminal It determines；

The controlling terminal receives the image information of the scaling board of the camera capture to be calibrated；

The controlling terminal determines formula according to described image information, the location information and camera parameter, determines camera Parameter.

Second aspect, the embodiment of the invention also provides a kind of camera calibration methods, comprising:

Execute the camera location information that terminal receives the camera to be calibrated that controlling terminal is sent；

The execution terminal is based on the camera location information and is moved to the camera to be calibrated；

Scaling board entrained by the execution terminal control is moved at preset first position, and eventually to the control End feedback first location information.

The third aspect, the embodiment of the present invention also provide a kind of camera calibration device, are configured at controlling terminal, comprising:

Position sending module, for the camera location information of camera to be calibrated to be sent to execution terminal；

Position receiving module, for receiving the location information of the execution terminal feedback, the location information is to execute end The world coordinates information of entrained scaling board is held, the world coordinates information is believed by the execution terminal based on the camera position Breath is mobile to be determined；

Image receiver module, the image information of the scaling board for receiving the camera capture to be calibrated；

Parameter determination module is determined for determining formula according to described image information, the location information and camera parameter Camera parameter.

Fourth aspect, the embodiment of the present invention also provide a kind of camera calibration device, are configured at execution terminal, comprising:

Camera position receiving module, the camera location information of the camera to be calibrated for receiving controlling terminal transmission；

Mobile module, for being moved to the camera to be calibrated based on the camera location information；

First position feedback module is moved at preset first position for controlling entrained scaling board, and to The controlling terminal feeds back first location information.

5th aspect, the embodiment of the invention also provides a kind of controlling terminals, comprising:

One or more processors；

Storage device, for storing one or more programs；

One or more of programs are executed by one or more of processors, so that one or more of processors Realize the camera calibration method provided in an embodiment of the present invention applied to controlling terminal.

6th aspect, the embodiment of the invention also provides a kind of execution terminals, comprising:

One or more controllers；

Storage device, for storing one or more programs；

One or more of programs are executed by one or more of controllers, so that one or more of controllers Realize the camera calibration method provided in an embodiment of the present invention for being applied to execute terminal.

7th aspect, the embodiment of the invention also provides a kind of computer readable storage mediums, are stored thereon with computer Program, the program realize the camera calibration method provided in an embodiment of the present invention applied to controlling terminal when being executed by processor.

The embodiment of the invention provides a kind of camera calibration method, apparatus, terminal device and storage mediums.This method is first The camera location information of camera to be calibrated is sent to execution terminal by controlling terminal；Then the controlling terminal, which receives, executes terminal The location information of feedback and the image information for receiving the scaling board that camera to be calibrated captures；The last controlling terminal is based on image Information, location information and camera parameter determine that formula can determine camera parameter.Phase can be based on using above-mentioned technical proposal Machine location information automatically controls the feedback for executing terminal to carry out location information, which can carry mark to execute terminal The world coordinates information of fixed board, the location information combine the image information of the scaling board of camera to be calibrated capture to can determine phase Machine parameter improves double camera calibration speed to realize the automatic Calibration of double camera, reduce engineer operating mistake and Workload, while the nominal time is reduced, improve the experience that user carries out double camera calibration.

Detailed description of the invention

Fig. 1 a is a kind of flow diagram for camera calibration method that the embodiment of the present invention one provides；

Fig. 1 b show world coordinate system, camera coordinate system, image physical coordinates system and image pixel coordinates system pass It is schematic diagram；

Fig. 2 is a kind of flow diagram of camera calibration method provided by Embodiment 2 of the present invention；

Fig. 3 is a kind of flow diagram for camera calibration method that the embodiment of the present invention three provides；

Fig. 4 a is a kind of flow diagram for camera calibration method that the embodiment of the present invention four provides；

Fig. 4 b is the mobile schematic diagram of scaling board that the embodiment of the present invention four provides；

Fig. 5 a is a kind of flow diagram for camera calibration method that the embodiment of the present invention five provides；

Figure 5b shows that one of controlling terminal in the embodiment of the present invention five interactive operation interface schematic diagrams；

Fig. 5 c shows one of controlling terminal user interface schematic diagram in the embodiment of the present invention five；

Fig. 5 d shows controlling terminal automatic Calibration interactive interface schematic diagram in the embodiment of the present invention five；

Fig. 6 is a kind of structural schematic diagram for camera calibration device that the embodiment of the present invention six provides；

Fig. 7 is a kind of structural schematic diagram for camera calibration device that the embodiment of the present invention seven provides；

Fig. 8 is a kind of structural schematic diagram for controlling terminal that the embodiment of the present invention eight provides；

Fig. 9 is a kind of structural schematic diagram for execution terminal that the embodiment of the present invention nine provides.

Specific embodiment

The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.

It should be mentioned that some exemplary embodiments are described as before exemplary embodiment is discussed in greater detail The processing or method described as flow chart.Although operations (or step) are described as the processing of sequence by flow chart, Many of these operations can be implemented concurrently, concomitantly or simultaneously.In addition, the sequence of operations can be pacified again Row.The processing can be terminated when its operations are completed, it is also possible to have the additional step being not included in attached drawing.Institute Stating processing can correspond to method, function, regulation, subroutine, subprogram etc..

Embodiment one

Fig. 1 a is a kind of flow diagram for camera calibration method that the embodiment of the present invention one provides, and this method is applicable to The case where carrying out automatic Calibration to camera, specifically, is applicable to demarcate double camera, determines double camera and executes terminal The case where affine transformation relationship between (such as robot).This method can be held by being configured at the camera calibration device of controlling terminal Row, wherein the device can be implemented by software and/or hardware, and be typically integrated in controlling terminal, and control in the present embodiment is eventually End includes but is not limited to: the equipment such as computer or personal digital assistant.The camera calibration method can be applied to automation industry Product orientation and assembled with high precision field.

In image measurement process and machine vision applications, for the three-dimensional geometry position for determining space object surface point With the correlation between its in the picture corresponding points, it is necessary to establish the geometrical model of camera imaging, these geometrical model parameters It is exactly camera parameter.These parameters must can just be obtained by experiment and calculating in most conditions, and it is (interior that this solves parameter Ginseng, outer ginseng and/or distortion parameter) process be just referred to as camera calibration (or camera calibration).Either in image measurement or In person's machine vision applications, the calibration of camera parameter is all unusual the key link, the precision of calibration result and algorithm it is steady The qualitative accuracy for directly affecting camera work and generating result.Therefore, carrying out camera calibration is the premise for carrying out follow-up work, is mentioned High stated accuracy is the emphasis place of research work.

As shown in Figure 1a, a kind of camera calibration method that the embodiment of the present invention one provides is applied to controlling terminal, including such as Lower step:

The camera location information of camera to be calibrated is sent to execution terminal by S101, controlling terminal.

In the present embodiment, controlling terminal can be understood as carrying out the control equipment that camera parameter determines, the controlling terminal It can control to execute terminal movement and control camera to be calibrated and take pictures, to complete the determination of camera parameter.Camera to be calibrated can To be interpreted as the camera for needing to carry out camera calibration, such as need to carry out the double camera that camera parameter determines.Camera location information can To be interpreted as the coordinate information of camera to be calibrated, camera to be calibrated can be moved to based on the camera location information by executing terminal. Terminal is executed to be understood that be moved according to the order of controlling terminal to complete the terminal of camera calibration, such as robot.Its The order of middle controlling terminal may include camera location information and/or move.

Controlling terminal can send camera location information to terminal is executed, and execute terminal with control and moved based on default route To camera to be calibrated.Controlling terminal can be computer, automation equipment development platform can be run on the computer, for user It is operated, completes automatic camera calibration.

Specifically, when carrying out camera calibration, the camera location information of camera to be calibrated can be sent to execution by this step Terminal is executed terminal with control and is moved based on camera location information.Such as, controlling terminal is established by Ethernet interface or serial ports With the connection for executing terminal, terminal is executed with realization and moves to specified place under the control of controlling terminal.

S102, the controlling terminal receive the location information of the execution terminal feedback, and the location information is to execute end The world coordinates information of entrained scaling board is held, the world coordinates information is believed by the execution terminal based on the camera position Breath is mobile to be determined.

In the present embodiment, location information can be understood as executing when terminal is moved at camera position to be calibrated and be fed back Scaling board world coordinates information.Scaling board is understood that be used to carry out having for camera calibration for what is carried by execution terminal The plate of constant spacing pattern array.

In the application such as machine vision, image measurement, photogrammetric, three-dimensional reconstruction, distort for corrective lens；Determine physics Conversion relation between size and pixel；And determine that the three-dimensional geometry position of space object surface point is corresponding in the picture with it Correlation between point, needs to establish the geometrical model of camera imaging.Scaling board is shot, by calibration algorithm by camera It calculates, it can be deduced that the geometrical model of camera, to obtain high-precision measurement and reconstructed results.

Specifically, after camera location information to be sent to execution terminal, this step, which can receive, executes terminal feedback Location information, it can be the world coordinates information of scaling board.If receive execute terminal feedback location information it may be said that Bright current execution terminal has been moved at camera position to be calibrated, and controlling terminal can control camera to be calibrated and be clapped at this time According to capture the image information for executing scaling board entrained by terminal.Location information the present embodiment based on execution terminal feedback is also It can carry out the determination of camera parameter.

S103, the controlling terminal receive the image information of the scaling board of the camera capture to be calibrated.

In the present embodiment, image information can be understood as camera to be calibrated and take pictures the image of acquisition to scaling board. It can determine the pixel coordinate of scaling board, based on the image information with the determination for carrying out camera parameter.

After receiving the location information for executing terminal feedback, whether camera to be calibrated is can be monitored in real time in the present embodiment anti- Present image information of the scaling board at the world coordinates position.If monitoring the image for the scaling board that camera to be calibrated is sent Information then receives the image information, with the determination for camera parameter.

In addition, can also directly receive the location information of preset quantity for executing terminal feedback and to be calibrated in the present embodiment The image information of the scaling board of the preset quantity of camera feedback.Specifically, when execution terminal is moved at camera position to be calibrated When, entrained scaling board is moved according to preset path.It can control phase to be calibrated when being moved to setting position Machine takes pictures to scaling board, to obtain corresponding image information.Wherein, the instruction for controlling camera to be calibrated can be by control eventually End is sent to camera to be calibrated every preset time.It executes terminal and camera to be calibrated obtains the location information and figure of preset quantity As after information, being sent to controlling terminal for carrying out camera calibration.

S104, the controlling terminal determine formula according to described image information, the location information and camera parameter, determine Camera parameter.

In the present embodiment, camera parameter determines that formula can be understood as determining based on image information and world coordinates information The formula of camera parameter.Camera parameter can be understood as the inner parameter and external parameter of camera.

After the image information for receiving the location information for executing terminal feedback and camera to be calibrated feedback, this step can be with base Camera parameter is determined in the pixel coordinate and location information of image information.It is understood that camera parameter may include camera Internal reference and Camera extrinsic, however, it is determined that going out whole camera parameters can receive 3 group image informations and location information.If received The group number of image information and location information is less than 3 groups, then can continue to the location information and to be calibrated for executing terminal feedback The image information of camera feedback, so that it is determined that going out whole camera parameters.

Wherein, every group of location information and image information, which can be at camera different location to be calibrated for scaling board, obtains 's.Do not limit the move mode of scaling board herein, the mobile route of scaling board can be it is preset, executing terminal can be with It is moved based on preset route.

It can continue to receive the image that the location information for executing terminal feedback and camera to be calibrated are fed back in the present embodiment Information, such as after receiving the image information of camera feedback to be calibrated, controlling terminal can send move to terminal is executed, To continue to execute the image of scaling board after the location information after the mobile scaling board of terminal and the movement of camera to be calibrated capture Information, to further determine that camera parameter.

In vision measurement, an important preparation work for needing to carry out is the meaning for defining four coordinate systems, it may be assumed that the world Coordinate system (X_w Y_w Z_w), camera coordinate system (xoy), image physical coordinates system and image pixel coordinates system；

Wherein, world coordinate system (X_w Y_w Z_w) it is also referred to as true or real-world coordinates system or global coordinate system.It is visitor See the absolute coordinate in the world, the three-dimensional coordinate system arbitrarily defined by user.General 3D scene all with this coordinate system come It indicates；

Camera coordinate system (xoy): using the focusing center of pinhole camera model as origin, with camera optical axis for OZ axis The three-dimensional cartesian coordinate system of foundation.X-axis and y-axis are generally parallel with the X-axis of image physical coordinates system and Y-axis；

Image physical coordinates system: its origin is the intersection point of lens axis and imaging plane, and X-axis is respectively parallel to take the photograph with Y-axis The x-axis and y-axis of camera coordinate system, are plane right-angle coordinates, and unit is millimeter.

Image pixel coordinates system (i.e. computer picture (frame is deposited) coordinate system): it is fixed on the image as unit of pixel Plane right-angle coordinate, origin are located at the image upper left corner, X_fAxis and Y_fAxis is parallel to the X-axis and Y-axis of image physical coordinates system. For digital picture, respectively ranks direction.

Fig. 1 b show world coordinate system, camera coordinate system, image physical coordinates system and image pixel coordinates system pass It is schematic diagram.As shown in Figure 1, camera coordinate system xoy and world coordinate system X_w Y_w Z_wBetween transformational relation are as follows:

Wherein, T is world coordinate system X_w Y_w Z_wCoordinate of the origin in camera coordinate system xoy, matrix R are orthogonal rotations Torque battle array.The constraint condition that R meets are as follows:

Orthogonal spin matrix is actually containing only there are three independent variable R_X, R_YAnd R_ZIn addition t_x, t_yAnd t_zA total of six parameter Determine camera optical axis in world coordinate system X_w Y_w Z_wIn coordinate, therefore this six parameters are known as the external ginseng of video camera Number.

The transformation relation of image physical coordinates system XOY and camera coordinate system xoy utilize similar triangles it can be concluded that, In, a point p in the camera coordinate system xoy picture point P coordinate in image physical coordinates system XOY are as follows:

Homogeneous coordinates indicate are as follows:

Image physical coordinates system XOY and image pixel coordinates system X_fO_fY_fTransformation relation indicate are as follows:

Wherein, u₀, v₀It is picture centre (intersection point of optical axis and the plane of delineation) coordinate, d_x, d_yRespectively a pixel is in X With the physical size in Y-direction, s_x=1/d_x, s_y=1/d_ySample frequency on respectively X and Y-direction, the i.e. picture of unit length Plain number.

Camera coordinate system xoy and image pixel coordinates system X_fO_fY_fTransformation relation, i.e. object point p and image pixel coordinates It is X_fO_fY_fMiddle picture point P_fTransformation relation indicate are as follows:

Wherein, f_x=fs_x, f_y=fs_yIt is respectively defined as the equivalent focal length of X and Y-direction.f_x, f_y, u₀And v₀Only and video camera Internal structure is related, therefore becomes intrinsic parameters of the camera.

The relationship of image pixel coordinates system XfOfYf and world coordinate system Xw Yw Zw are expressed as:

It is converted into the expression of homogeneous coordinates equation are as follows:

This is the mathematic(al) representation of pin-hole model or central projection.In image pixel coordinates system XfOfYf and world coordinates It is under conditions of the transformation relation of Xw Yw Zw determines, to utilize object point and corresponding picpointed coordinate known to several, so that it may Solve the inside and outside parameter of video camera.

Wherein, the relationship of image pixel coordinates system XfOfYf and world coordinate system Xw Yw Zw can be phase in the present embodiment Machine parameter determines formula, can read pixel coordinate based on image information, can determine phase based on pixel coordinate and world coordinates Machine parameter, that is, inner parameter M1 and external parameter M2, wherein inner parameter M1 may include f_x, f_y, u₀And v₀, external parameter can To include R and T.It can determine that formula is true in the present embodiment with one group of location information of every reception and image information, that is, combining camera parameter Part camera parameter is determined, until determining whole camera parameters；The present embodiment can also receive preset quantity location information and Image information, is then based on each position information and image information determines whole camera parameters.

It is understood that camera to be calibrated can be one group of camera in the present embodiment, the present embodiment can be successively to one The magazine camera of group determines camera parameter, to realize the calibration of this group of camera.It illustratively, can be in the present embodiment Including two cameras, first using first camera as camera to be calibrated, controlling terminal receives the corresponding location information of the camera And image information, the camera parameter of first camera is determined based on received location information and image information；Then by second For a camera as camera to be calibrated, controlling terminal receives the corresponding location information of the camera and image information, is based on received position Confidence breath and image information determine the camera parameter of second camera, to realize the calibration of this group of camera.

The embodiment of the present invention one provides a kind of camera calibration method, and this method is first by the camera position of camera to be calibrated Information is sent to execution terminal；Then it receives the location information for executing terminal feedback and receives the scaling board of camera capture to be calibrated Image information；Finally determine that formula can determine camera parameter based on image information, location information and camera parameter.It utilizes Above-mentioned technical proposal can automatically control the feedback for executing terminal to carry out location information, position letter based on camera location information Breath can be to execute the world coordinates information that terminal carries scaling board, which combines the calibration of camera to be calibrated capture The image information of plate can determine camera parameter, to realize the automatic Calibration of double camera, improve double camera calibration speed, The operating mistake and workload of engineer are reduced, while reducing the nominal time, improves the body that user carries out double camera calibration It tests.

Embodiment two

Fig. 2 is a kind of flow diagram of camera calibration method provided by Embodiment 2 of the present invention, and the present embodiment two is upper It states and optimizes on the basis of each embodiment.In the present embodiment, controlling terminal is believed according to described image information, the position Breath and camera parameter determine formula, determine camera parameter, are further detailed as: if the controlling terminal receives present count The location information and image information of amount, the then pixel coordinate and corresponding location information by scaling board in each described image information It substitutes into camera parameter and determines determining camera parameter in formula；Otherwise, move is sent to the execution terminal and return to execution The reception of world coordinates information operates, and the camera parameter determines that formula indicates are as follows:

Wherein, z is camera coordinates of the scaling board in camera coordinates system, and u and v are respectively the scaling board in image Pixel abscissa and pixel ordinate in pixel coordinate system, X_w、Y_wAnd Z_wThe respectively described scaling board is in world coordinate system World's abscissa, ordinate and ordinate, R are spin matrix, and T is translation matrix, u₀And v₀Respectively picture centre abscissa and Picture centre ordinate, f_xAnd f_yRespectively lateral equivalent focal length and longitudinal equivalent focal length.

Further, controlling terminal is also received the image of the scaling board of the camera capture to be calibrated by the present embodiment Information advanced optimizes are as follows: the controlling terminal sends photographing instruction to the camera to be calibrated；The controlling terminal receives institute It states camera to be calibrated and is based on the photographing instruction captured image frame；The controlling terminal determines the scaling board in described image Image information in frame.

On the basis of above-mentioned optimization, the camera location information of camera to be calibrated is sent to by controlling terminal and executes end End, it is specific to optimize are as follows: the controlling terminal receives user and triggers the calibration instruction generated, and determines that the calibration instruction is corresponding Camera to be calibrated；The controlling terminal searches the corresponding camera position letter of the camera to be calibrated in preset position information library Breath；The camera location information is sent to execution terminal by the controlling terminal.The not yet detailed content of the present embodiment please refers to Embodiment one.

As shown in Fig. 2, a kind of camera calibration method provided by Embodiment 2 of the present invention, is applied to controlling terminal, including such as Lower step:

S201, the controlling terminal receive user and trigger the calibration instruction generated, and determine that the calibration instruction is corresponding Camera to be calibrated.

In the present embodiment, calibration instruction is understood that carry out camera mark for the triggering generated by user's operation controlling terminal Fixed instruction.When the camera location information of camera to be calibrated is sent to execution terminal, controlling terminal can receive use first The calibration instruction that family triggering generates.Calibration instruction can be in the automation equipment development platform of user's operation controlling terminal Interactive operation interface generates.It can there are one-to-one relationships with camera to be calibrated in calibration instruction.It is instructed based on the calibration It can determine corresponding camera to be calibrated.

S202, the controlling terminal search the corresponding camera position letter of the camera to be calibrated in preset position information library Breath.

In the present embodiment, preset position information library can be understood as preset camera to be calibrated and its camera position The corresponding relationship of information.Store the camera location information of each camera to be calibrated in preset position information library, this step can be The corresponding camera location information of camera to be calibrated is searched in preset position information library, in order to the camera location information that will be found out It is sent to execution terminal.

The camera location information is sent to execution terminal by S203, the controlling terminal.

After finding out camera location information, camera location information can be sent to execution terminal by this step, in order to control System executes terminal and is moved at camera position to be calibrated.

S204, the controlling terminal receive the location information of the execution terminal feedback, and the location information is to execute end The world coordinates information of entrained scaling board is held, the world coordinates information is believed by the execution terminal based on the camera position Breath is mobile to be determined.

S205, the controlling terminal send photographing instruction to the camera to be calibrated.

In the present embodiment, photographing instruction can be understood as the control phase to be calibrated that controlling terminal is sent to camera to be calibrated The instruction that machine is taken pictures.Wherein, photographing instruction can be used for controlling camera to be calibrated and take pictures, thus wherein can wrap containing The identification information of camera to be calibrated, so that camera to be calibrated judges whether it is the instruction that control itself is taken pictures.

When controlling terminal receives the location information for executing terminal feedback, it is believed that execute terminal at this time and have moved to At camera position to be calibrated, and entrained scaling board is moved to predetermined position, this step then can be to camera to be calibrated Photographing instruction is sent, is taken pictures with controlling camera to be calibrated to scaling board to obtain the image information of scaling board.

S206, the controlling terminal receive the camera to be calibrated and are based on the photographing instruction captured image frame.

In the present embodiment, picture frame can be understood as the figure that camera to be calibrated is taken pictures based on photographing instruction Picture.It may include the image information of scaling board and the background information in addition to the image information of scaling board in picture frame.

S207, the controlling terminal determine image information of the scaling board in described image frame.

After receiving picture frame, this step can extract the image information of scaling board in picture frame.Wherein, scaling board can be with For the plate for presetting pattern, this step can the feature based on the pattern image recognition is carried out to picture frame, to realize The extraction of the image information of scaling board in picture frame.

S208, judge whether the controlling terminal receives the location information and image information of preset quantity, if so, holding Row S209；If it is not, then executing S210.

After receiving location information and image information, this step can further judge the location information received and image The quantity of information.Three groups and the above location information and image information are theoretically received, camera parameter can be calculated, group number is more The error for the camera parameter determined is smaller, and the specific number of preset quantity may be set according to actual conditions in those skilled in the art Value.Preset quantity can be set to 9 groups in the present embodiment, it can be using minimum two during carrying out camera parameter calculating Multiplication is calculated, and geometric mean is then asked to determine final camera parameter.

When receiving the location information and image information of preset quantity, the determination of camera parameter can be carried out, it can Execute S209；Otherwise, S210 can be executed, until receiving the location information and image information of preset quantity.

S209, pixel coordinate and corresponding location information substitution camera parameter by scaling board in each described image information It determines and determines camera parameter, end operation in formula.

After the location information and image information for receiving preset quantity, this step can be determined first in each image information Pixel coordinate, each pixel coordinate and corresponding location information are then substituted into camera parameter and determined in formula, determines that camera is joined Number.

It is understood that corresponding location information can be understood as the location information corresponding to image information.The image Information can carry out acquisition of taking pictures to the scaling board at the location information for camera to be calibrated.Location information can identify scaling board World coordinates, image information is determined for the pixel coordinate of scaling board.

Camera parameter determines that formula indicates are as follows:

Wherein z-axis remains unchanged, and is not involved in calibration, during determining camera parameter, can be arranged and be disappeared by equation Remove z.The present embodiment can read the pixel coordinate (u v) of scaling board from image information, and the world is read from location information and is sat Mark (X_w Y_w Z_w), then determine that formula acquires the affine transformation matrix relationship of pixel coordinate and world coordinates using camera parameter In mapping function parameter, that is, f_x、f_y、u₀、v₀, R and T.

S210, move is sent to the execution terminal, executes S204.

In the present embodiment, it is mobile to the carry out scaling board that terminal is sent is executed to can be understood as controlling terminal for move Order.When the location information and image information for being not received by preset quantity, this step can send movement to terminal is executed Instruction is executed terminal with control and is moved based on the move.Controlling terminal can receive again executes terminal feedback Location information, it can execute S204, until receive the location information and image information of preset quantity, which can be with For the world coordinates information for executing the scaling board after the mobile scaling board of terminal.

A kind of camera calibration method provided by Embodiment 2 of the present invention embodies the operation of determining camera parameter, receives The operation of image information and the transmission operation of camera location information.The calibration generated can be triggered based on user using this method to refer to It enables and determines that calibration instructs corresponding camera to be calibrated, the camera location information of camera to be calibrated is then sent to execution terminal, Double camera automatic Calibration is completed so as to trigger the calibration generated instruction according to user.When the position for receiving execution terminal feedback After the picture frame that confidence breath and camera to be calibrated are fed back based on photographing instruction, the image information of the scaling board in picture frame is determined. If having received the location information and image information of preset quantity, carries out camera parameter and determine；Otherwise, Xiang Zhihang terminal is sent Move continues to obtain location information and image information, until the location information and image information of preset quantity are received, from And the precision of double camera calibration is improved, so that the meaning of double camera automatic Calibration is more and more important.Carrying out camera calibration In the process, to becoming very low with the requirement of commissioning staff after sale, the very deep understanding that is located to machine vision is not needed, is grasped Work facilitates succinct, it is only necessary to which user, which triggers to generate to demarcate to instruct, realizes key calibration.The entire nominal time is shorter, it is only necessary to 3 to 5 Minute, the long-time of subsequent station will not be caused to shut down because of the calibration of some station in board volume production, to subtract The problem of producing line stops production for a long time caused by having lacked because of board maintenance.

Embodiment three

Fig. 3 is a kind of flow diagram for camera calibration method that the embodiment of the present invention three provides, and this method is applicable to The case where carrying out automatic Calibration to camera, specifically, is applicable to demarcate double camera, determines double camera and executes terminal Between affine transformation relationship the case where.This method can be executed by being configured at the camera calibration device of execution terminal, wherein the dress Setting can be implemented by software and/or hardware, and is typically integrated in and executes in terminal, executes terminal in the present embodiment and includes but unlimited In: robot.The camera calibration method can be applied to the positioning of automation industry product and assembled with high precision field.The present embodiment Not yet detailed content please refers to above-described embodiment.

As shown in figure 3, a kind of camera calibration method that the embodiment of the present invention three provides, is applied to execute terminal, including such as Lower step:

S301, the camera location information that terminal receives the camera to be calibrated that controlling terminal is sent is executed.

In the present embodiment, controlling terminal can be understood as carrying out the control equipment that camera parameter determines, the controlling terminal It can control to execute terminal movement and control camera to be calibrated and take pictures, to complete the determination of camera parameter.Camera to be calibrated can To be interpreted as the camera for needing to carry out camera calibration, such as need to carry out the double camera that camera parameter determines.

Execution terminal can receive the camera to be calibrated of controlling terminal transmission first during carrying out camera calibration Camera location information, to be moved based on the camera location information.

S302, the execution terminal are based on the camera location information and are moved to the camera to be calibrated.

Execute after terminal receives camera location information, can be moved based on pre-stored path be moved to Calibration for cameras.Execution terminal, which is moved to camera to be calibrated, can make camera shooting to be calibrated execute scaling board entrained by terminal, To obtain the determination that the pixel coordinate of scaling board is used for camera parameter.

Scaling board entrained by S303, the execution terminal control is moved at preset first position, and to described Controlling terminal feeds back first location information.

In the present embodiment, scaling board is understood that solid for carrying out having for camera calibration to be carried by execution terminal The plate of fixed spacing pattern array.First position can be understood as executing scaling board after terminal is moved at camera position to be calibrated The first locating setting position.The first position is not construed as limiting, and can be any position under preset camera to be calibrated Place.First location information can be understood as the corresponding world coordinates information in first position.

After execution terminal is moved at camera position to be calibrated, this step, which can control, executes scaling board entrained by terminal It is moved at preset first position, then first location information is fed back to controlling terminal, to notify controlling terminal to execute Terminal is ready for finishing.

If executing the location information that terminal needs to receive preset quantity, terminal is executed in the present embodiment can continue to control institute The scaling board of carrying is moved at next preset position, and the location information of the position is fed back to controlling terminal, until Execute the location information that terminal receives preset quantity.Wherein the location information may include first location information.

The camera to be calibrated that a kind of camera calibration method that the embodiment of the present invention three provides, first reception controlling terminal are sent Camera location information；It is then based on the camera location information and is moved to the camera to be calibrated；The final entrained mark of control Fixed board is moved at preset first position, and feeds back first location information to the controlling terminal.Utilize the above method The camera location information that executing terminal can be sent based on controlling terminal is automatically moved into camera to be calibrated, and is based on presetting Position analysis entrained by scaling board carry out the mobile acquisition for realizing first location information, determined to reduce camera parameter Time improves the speed of double camera calibration, promotes the experience that user carries out double camera calibration.

Example IV

Fig. 4 a is a kind of flow diagram for camera calibration method that the embodiment of the present invention four provides, and the present embodiment four is in reality It applies and optimizes on the basis of example three.In the present embodiment, advanced optimize and include: the execution terminal receives move Afterwards, scaling board is moved to the preset second place, and feeds back second location information to the controlling terminal.This implementation The not yet detailed content of example please refers to embodiment three.

As shown in fig. 4 a, a kind of camera calibration method that the embodiment of the present invention four provides is applied to execute terminal, including such as Lower step:

S401, the camera location information that terminal receives the camera to be calibrated that controlling terminal is sent is executed.

S402, the execution terminal are based on the camera location information and are moved to the camera to be calibrated.

Scaling board entrained by S403, the execution terminal control is moved at preset first position, and to described Controlling terminal feeds back first location information.

After S404, the execution terminal receive move, scaling board is moved to the preset second place, and Second location information is fed back to the controlling terminal.

In the present embodiment, it is mobile to the carry out scaling board that terminal is sent is executed to can be understood as controlling terminal for move Order.The second position can be understood as the placement location of preset scaling board.It the second position can be for compared to reception Before to move at the next position of scaling board present position.The placement location of scaling board is not construed as limiting, each placement location Execution sequence is also not construed as limiting.After scaling board is moved to the second place, the can be fed back to controlling terminal by executing terminal Two location informations, the second location information can be world coordinates information of the scaling board at the second place.Controlling terminal connects The location information of receipts may include first location information and second location information.

Executing the mobile scaling board of terminal can be with to complete process that camera parameter determines to controlling terminal feedback position information Are as follows: terminal is executed by 9 points of calibration, so that controlling terminal is determined the affine transformation relationship for executing terminal and a camera, then pass through The manipulator translation same scaling board for executing terminal is taken pictures between camera 1 and camera 2, so that controlling terminal calculates camera 1 With the affine transformation relationship of camera 2.Specifically, scaling board can be placed in double camera by execution terminal takes pictures once under camera 1, Then scaling board is moved under camera 2 by manipulator, translates 9 times and takes pictures 9 times.Translation is taken pictures, and number to be calculated Camera parameter is smaller.Wherein, 9 times are preset quantity.Those skilled in the art can carry out the setting of number according to actual needs.

Fig. 4 b is the mobile schematic diagram of scaling board that the embodiment of the present invention four provides.As shown in Figure 4 b, executing terminal can be first At the lower first position P0 of the camera 1 that scaling board is first placed on double camera, be then subsequently placed under the camera 2 of double camera the At two position P1, P2, P3, P4, P5, P6, P7, P8 and P9.Fig. 4 b bend can indicate the range that double camera can acquire, The each position that middle scaling board is placed is within the scope of this.

A kind of camera calibration method that the embodiment of the present invention four provides, optimization includes moving operation, is held using this method The camera location information that row terminal can be sent based on controlling terminal is automatically moved into camera to be calibrated, and based on preset Position analysis scaling board carries out the mobile acquisition for realizing first location information.After receiving move, by scaling board It is moved to the preset second place, second location information is then fed back into controlling terminal, to realize controlling terminal The acquisition of the location information of preset quantity more quickly finishes the determination of camera parameter, improves the speed of double camera calibration, Improve the experience that user carries out double camera calibration.

Embodiment five

Fig. 5 a is a kind of flow diagram for camera calibration method that the embodiment of the present invention five provides, and the present embodiment is applicable In controlling terminal and execute the case where terminal interaction completes camera calibration.The camera calibration method can be applied to automation industry Product orientation and assembled with high precision field.Not yet detailed content may refer to above-described embodiment in the present embodiment.

As shown in Figure 5 a, this method comprises the following steps:

The camera location information of camera to be calibrated is sent to execution terminal by S501, controlling terminal.

In the present embodiment, controlling terminal can be to be controlled execution terminal and camera to be calibrated to complete camera ginseng The determining equipment of number.The camera location information of camera to be calibrated can be sent to execution terminal first by controlling terminal, with control Terminal is executed to be moved.

S502, the camera location information for executing terminal and receiving the camera to be calibrated, and it is based on the camera position Information is moved to the camera to be calibrated.

After executing the camera location information that terminal receives the camera to be calibrated that controlling terminal is sent, the phase seat in the plane can be based on Confidence breath is moved.Different camera location informations can correspond to different mobile routes, and camera can be based on by executing terminal Location information is chosen corresponding route and is moved at camera position to be calibrated.Wherein, it can be pre- for executing the mobile route of terminal First set.Execution terminal can directly transfer corresponding mobile route when being moved and be moved.

Scaling board entrained by S503, the execution terminal control is moved at preset position, and to the control Terminal feedback position information.

After execution terminal is moved at camera position to be calibrated, the scaling board that execution terminal can control carrying is moved to pre- At the position first set, the location information at the position is then fed back into controlling terminal.Preset position is understood that For the placement location of preset scaling board.Location information can be understood as the world coordinates information at the position.

S504, the controlling terminal receive the location information of the execution terminal feedback, and the location information is to execute end The world coordinates information of entrained scaling board is held, the world coordinates information is believed by the execution terminal based on the camera position Breath is mobile to be determined.

Controlling terminal receives the location information that execution terminal is fed back to be used to determine camera parameter.

S505, the controlling terminal receive the image information of the scaling board of the camera capture to be calibrated.

After receiving the location information for executing terminal feedback, it may indicate that scaling board is moved to by the current terminal that executes Setting position, controlling terminal can receive the image information of the scaling board of camera capture to be calibrated for carrying out camera at this time The determination of parameter.

S506, the controlling terminal determine formula according to described image information, the location information and camera parameter, determine Camera parameter.

After receiving image information and location information, controlling terminal can be based on image information, location information and camera Parameter determines that formula determines camera parameter.

Specifically, the pixel coordinate that scaling board is read from image information reads the world from manipulator (i.e. execution terminal) Coordinate asks the parameter of mapping function in the affine transformation matrix relationship of pixel coordinate and world coordinates, i.e. camera parameter.

It is understood that the present embodiment can continue to receive location information and image information, until receiving present count The image information and location information of amount.Then formula is determined according to the image information of preset quantity, location information and camera parameter Determine camera parameter；Can with it is every reception one group image information and location information after carry out a camera parameter determination, until Determine whole camera parameters.

Illustratively, executing terminal can be demarcated by 9 points, determining with a wherein camera in double camera for controlling terminal Affine transformation relationship, then translated by executing terminal and camera 1 of the same scaling board in double camera and taken pictures between camera 2, The affine transformation relationship between camera 1 and camera 2 is acquired, to complete the calibration of double camera.It is respective compared to by camera 1 and camera 2 The completion calibration that separately calibration can be more coherent, reduces manual operation part, reduces calibration working hour, improve stated accuracy.

In the present embodiment, controlling terminal can be the terminal of operation automation equipment development platform, by robot (i.e. execution terminal) programming Control, control camera is taken pictures after robot reaches designated position when operation, in conjunction with image and current machine The coordinate of device people calculates the affine transformation relationship between camera and robot automatically, i.e., the pixel coordinate of image reading scaling board and The transformation relation of the world coordinates of robot.Such as, machine is artificially moveable, and automation equipment development platform is by the needs of selection The information of the camera of calibration is sent to robot, and robot, which is carried scaling board and is moved to based on preset route, to be needed to demarcate Camera position at, feed back to its current coordinate of PC controlling terminal.Controlling terminal control camera is taken pictures, and visual processes are used Operator obtains the pixel coordinate of target in the picture.It moves 9 times in this way, by the array of the 2*9 received.PC calculates it by array Affine relation to get camera and robot affine transformation relationship.

In the camera applications stage, robot receives the precision target positioning provided after camera is taken pictures, machine as execution part Device people will take product to target position.

Figure 5b shows that one of controlling terminal in the embodiment of the present invention five interactive operation interface schematic diagrams.Such as Fig. 5 institute Show, which can be the first interface of automation equipment development platform, and user can choose user's operation button 51 To enter user interface, to realize automatic camera calibration.It should be noted that the function that interactive operation interface can be realized Can be very much, camera calibration is only one of them function, which is triggered by clicking user's operation button 51.

Fig. 5 c shows one of controlling terminal user interface schematic diagram in the embodiment of the present invention five.Such as Fig. 5 c institute Show, which can complete automatic camera calibration for user.User can choose automatic Calibration button 52 first, should The automatic Calibration mode of the corresponding double camera of automatic Calibration button 52；Then camera to be calibrated is chosen under the automatic Calibration mode, Strobe assembling camera calibration button 53 is such as chosen, confirming button 54 is finally clicked.At this point, controlling terminal can receive user The calibration instruction that triggering generates.It is understood that may include needing calibration for cameras in calibration instruction, as strobe group is pretended Machine also may include calibration mode, such as automatic Calibration.It is corresponded in addition, calibration instruction can also exist with camera to be calibrated Relationship, the calibration instruction based on generation can uniquely determine camera to be calibrated.It should be noted that different projects have it is different Camera definition, the camera to be calibrated chosen herein are only for example.

Fig. 5 d shows controlling terminal automatic Calibration interactive interface schematic diagram in the embodiment of the present invention five.As fig 5d, After user interface clicks the generation calibration instruction of confirming button 54, controlling terminal can enter automatic Calibration and hand over controlling terminal Mutual interface.User can click the automatic Calibration that the calibration triggering of button 55 enters double camera in the automatic Calibration interactive interface.? After automatic Calibration, demarcating file is can be generated in controlling terminal, can preserve double camera in calibration process in demarcating file Take pictures identification scaling board pixel coordinate and execute terminal (such as manipulator) calibration when world coordinates.

The present embodiment five provides a kind of camera calibration method, and the automatic Calibration of double camera is realized using the above method, Double camera calibration speed is improved, reduces the operating mistake and workload of engineer, reduces the nominal time, improve user Carry out the experience of double camera calibration.

Embodiment six

Fig. 6 is a kind of structural schematic diagram for camera calibration device that the embodiment of the present invention six provides.The device is applicable to The case where carrying out automatic Calibration to camera, specifically, is applicable to demarcate double camera, determines double camera and executes terminal The case where affine transformation relationship between (such as robot).Wherein the device can be implemented by software and/or hardware, and be typically integrated in In controlling terminal.

As shown in fig. 6, the device includes: position sending module 61, position receiving module 62, image receiver module 63 and ginseng Number determining module 64；

Wherein, position sending module 61, for the camera location information of camera to be calibrated to be sent to execution terminal；

Position receiving module 62, for receiving the location information of the execution terminal feedback, the location information is to execute The world coordinates information of scaling board entrained by terminal, the world coordinates information are based on the camera position by the execution terminal Information is mobile to be determined；

Image receiver module 63, the image information of the scaling board for receiving the camera capture to be calibrated；

Parameter determination module 64, for determining formula according to described image information, the location information and camera parameter, really Determine camera parameter.

In the present embodiment, which passes through position sending module 61 first and sends out the camera location information of camera to be calibrated It send to execution terminal；The location information of the execution terminal feedback, the position letter are received secondly by position receiving module 62 Breath is the world coordinates information for executing scaling board entrained by terminal, and the world coordinates information is based on described by the execution terminal Camera location information is mobile to be determined；Then the scaling board of the camera capture to be calibrated is received by image receiver module 63 Image information；It is determined finally by parameter determination module 64 according to described image information, the location information and camera parameter Formula determines camera parameter.

A kind of camera calibration device is present embodiments provided, controlling terminal is configured at, it can be based on camera location information certainly Dynamic control executes terminal to carry out the feedback of location information, and the world which can carry scaling board to execute terminal is sat Information is marked, which combines the image information of the scaling board of camera to be calibrated capture to can determine camera parameter, thus The automatic Calibration for realizing double camera improves double camera calibration speed, reduces the operating mistake and workload of engineer, simultaneously The nominal time is reduced, the experience that user carries out double camera calibration is improved.

Further, parameter determination module 64 are specifically used for: if receiving the location information and image letter of preset quantity Breath, then the pixel coordinate by scaling board in each described image information and corresponding location information substitute into camera parameter and determine formula Middle determining camera parameter；Otherwise, move is sent to the execution terminal and return to the reception behaviour of execution world coordinates information Make, the camera parameter determines that formula indicates are as follows:

On the basis of above-mentioned optimization, image receiver module 63 is specifically used for: sending finger of taking pictures to the camera to be calibrated It enables；It receives the camera to be calibrated and is based on the photographing instruction captured image frame；Determine the scaling board in described image frame In image information.

Based on the above-mentioned technical proposal, position sending module 61, is specifically used for: it receives user and triggers the calibration instruction generated, And determine that the calibration instructs corresponding camera to be calibrated；It is corresponding that the camera to be calibrated is searched in preset position information library Camera location information；The camera location information is sent to execution terminal.

The above-mentioned camera calibration device for being configured at controlling terminal, which can be performed any embodiment of that present invention and provide, is applied to control The camera calibration method of terminal processed has the corresponding functional module of execution method and beneficial effect.

Embodiment seven

Fig. 7 is a kind of structural schematic diagram for camera calibration device that the embodiment of the present invention seven provides.The device is applicable to The case where carrying out automatic Calibration to camera, specifically, is applicable to demarcate double camera, determines double camera and executes terminal Between affine transformation relationship the case where.Wherein the device can be implemented by software and/or hardware, and is typically integrated in and executes in terminal.

As shown in fig. 7, the device is configured at execution terminal, comprising: camera position receiving module 71, mobile module 72 and One position feedback module 73；

Wherein, camera position receiving module 71, the camera position letter of the camera to be calibrated for receiving controlling terminal transmission Breath；

Mobile module 72, for being moved to the camera to be calibrated based on the camera location information；

First position feedback module 73 is moved at preset first position for controlling entrained scaling board, and First location information is fed back to the controlling terminal.

In the present embodiment, which passes through the to be calibrated of the reception controlling terminal transmission of camera position receiving module 71 first The camera location information of camera；The camera location information, which is based on, secondly by mobile module 72 is moved to the phase to be calibrated Machine；Entrained scaling board is controlled finally by first position feedback module 73 to be moved at preset first position, and to The controlling terminal feeds back first location information.

A kind of camera calibration device is present embodiments provided, execution terminal is configured at, can be sent based on controlling terminal Camera location information is automatically moved into camera to be calibrated, and is carried out based on scaling board entrained by preset position analysis The mobile acquisition for realizing first location information improves the speed of double camera calibration so that reducing camera parameter determines the time, is promoted The experience of user's progress double camera calibration.

Further, the camera calibration installation optimization of the present embodiment includes: second position feedback module, moves for receiving After dynamic instruction, scaling board is moved to the preset second place, and feed back second location information to the controlling terminal.

The above-mentioned camera calibration device for being configured at execution terminal, which can be performed any embodiment of that present invention and provide, to be applied to hold The camera calibration method of row terminal has the corresponding functional module of execution method and beneficial effect.

Embodiment eight

Fig. 8 is a kind of structural schematic diagram for controlling terminal that the embodiment of the present invention eight provides.As shown in figure 8, the present invention is real The controlling terminal for applying the offer of example eight includes: one or more processors 81 and storage device 82；Processor in the controlling terminal 81 can be one or more, in Fig. 8 by taking a processor 81 as an example；Storage device 82 is for storing one or more programs； One or more of programs are executed by one or more of processors 81, so that one or more of processors 81 are realized As any one of embodiment of the present invention is applied to the camera calibration method of controlling terminal.

The controlling terminal can also include: input unit 83 and output device 84.

Processor 81, storage device 82, input unit 83 and output device 84 in controlling terminal can by bus or Other modes connect, in Fig. 8 for being connected by bus.

Storage device 82 in the controlling terminal is used as a kind of computer readable storage medium, can be used for storing one or more A program, described program can be software program, computer executable program and module, such as the embodiment of the present invention one or two institutes Corresponding program instruction/the module of camera calibration method is provided (for example, the module in attached camera calibration device shown in fig. 6, packet It includes: position sending module 61, position receiving module 62, image receiver module 63 and parameter determination module 64).Processor 81 passes through Software program, instruction and the module being stored in storage device 82 are run, thereby executing the various function application of controlling terminal And data processing, that is, realize the camera calibration method in above method embodiment one and embodiment two.

Storage device 82 may include storing program area and storage data area, wherein storing program area can storage program area, Application program needed at least one function；Storage data area, which can be stored, uses created data etc. according to controlling terminal. It can also include nonvolatile memory in addition, storage device 82 may include high-speed random access memory, for example, at least one A disk memory, flush memory device or other non-volatile solid state memory parts.In some instances, storage device 82 can It further comprise the memory remotely located relative to processor 81, these remote memories can be by network connection to setting It is standby.The example of above-mentioned network includes but is not limited to internet, intranet, local area network, mobile radio communication and combinations thereof.

Input unit 83 can be used for receiving the number or character information of input, and generate the user setting with controlling terminal And the related key signals input of function control.Output device 84 may include that display screen etc. shows equipment.

Also, when one or more included program of above-mentioned controlling terminal is held by one or more of processors 81 When row, program is proceeded as follows:

The camera location information of camera to be calibrated is sent to execution terminal by controlling terminal；Described in the controlling terminal receives The location information of terminal feedback is executed, the location information is the world coordinates information for executing scaling board entrained by terminal, described World coordinates information is determined by the execution terminal based on the camera location information is mobile；The controlling terminal receive it is described to The image information of the scaling board of calibration for cameras capture；The controlling terminal is according to described image information, the location information Formula is determined with camera parameter, determines camera parameter.

Embodiment nine

Fig. 9 is a kind of structural schematic diagram for execution terminal that the embodiment of the present invention nine provides.As shown in figure 9, the present invention is real The execution terminal for applying the offer of example nine includes: one or more controllers 91 and storage device 92；Controller in the execution terminal 91 can be one or more, in Fig. 9 by taking a controller 91 as an example；Storage device 92 is for storing one or more programs； One or more of programs are executed by one or more of controllers 91, so that one or more of controllers 91 are realized As any one of embodiment of the present invention is applied to execute the camera calibration method of terminal.

The execution terminal can also include: input unit 93 and output device 94.

Execute controller 91, storage device 92, input unit 93 and output device 94 in terminal can by bus or Other modes connect, in Fig. 9 for being connected by bus.

Storage device 92 in the execution terminal is used as a kind of computer readable storage medium, can be used for storing one or more A program, described program can be software program, computer executable program and module, such as the embodiment of the present invention three or four institutes Corresponding program instruction/the module of camera calibration method is provided (for example, the module in attached camera calibration device shown in Fig. 7, packet It includes: camera position receiving module 71, mobile module 72 and first position feedback module 73).Controller 91 is stored in by operation Software program, instruction and module in storage device 92, at the various function application and data for executing terminal Reason, i.e. camera calibration method in realization above method embodiment three and example IV.

Storage device 92 may include storing program area and storage data area, wherein storing program area can storage program area, Application program needed at least one function；Storage data area, which can be stored, uses created data etc. according to execution terminal. It can also include nonvolatile memory in addition, storage device 92 may include high-speed random access memory, for example, at least one A disk memory, flush memory device or other non-volatile solid state memory parts.In some instances, storage device 92 can It further comprise the memory remotely located relative to controller 91, these remote memories can be by network connection to setting It is standby.The example of above-mentioned network includes but is not limited to internet, intranet, local area network, mobile radio communication and combinations thereof.

Input unit 93 can be used for receiving the number or character information of input, and generate the user setting with execution terminal And the related key signals input of function control.Output device 94 may include that display screen etc. shows equipment.

Also, when one or more included program of above-mentioned execution terminal is held by one or more of controllers 91 When row, program is proceeded as follows:

Execute the camera location information that terminal receives the camera to be calibrated that controlling terminal is sent；The execution terminal is based on institute It states camera location information and is moved to the camera to be calibrated；Scaling board entrained by the execution terminal control, which is moved to, to be preset First position at, and to the controlling terminal feed back first location information.

Embodiment ten

The embodiment of the present invention ten provides a kind of computer readable storage medium, is stored thereon with computer program, the journey For executing the camera calibration method for being applied to controlling terminal when sequence is executed by processor, this method comprises:

Optionally, it can be also used for executing the embodiment of the present invention one when which is executed by processor and embodiment two mentioned The camera calibration method of confession.

The computer storage medium of the embodiment of the present invention, can be using any of one or more computer-readable media Combination.Computer-readable medium can be computer-readable signal media or computer readable storage medium.It is computer-readable Storage medium for example may be-but not limited to-the system of electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor, device or Device, or any above combination.The more specific example (non exhaustive list) of computer readable storage medium includes: tool There are electrical connection, the portable computer diskette, hard disk, random access memory (Random Access of one or more conducting wires Memory, RAM), read-only memory (Read Only Memory, ROM), erasable programmable read only memory (Erasable Programmable Read Only Memory, EPROM), flash memory, optical fiber, portable CD-ROM, light storage device, magnetic storage Device or above-mentioned any appropriate combination.Computer readable storage medium, which can be, any includes or storage program has Shape medium, the program can be commanded execution system, device or device use or in connection.

Computer-readable signal media may include in a base band or as carrier wave a part propagate data-signal, Wherein carry computer-readable program code.The data-signal of this propagation can take various forms, including but unlimited In: electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media can also be that computer can Any computer-readable medium other than storage medium is read, which can send, propagates or transmit and be used for By the use of instruction execution system, device or device or program in connection.

The program code for including on computer-readable medium can transmit with any suitable medium, including but not limited to: Wirelessly, electric wire, optical cable, radio frequency (Radio Frequency, RF) etc. or above-mentioned any appropriate combination.

The computer for executing operation of the present invention can be write with one or more programming languages or combinations thereof Program code, described program design language include object oriented program language-such as Java, Smalltalk, C++, It further include conventional procedural programming language-such as " C " language or similar programming language.Program code can be with It fully executes, partly execute on the user computer on the user computer, being executed as an independent software package, portion Divide and partially executes or executed on a remote computer or server completely on the remote computer on the user computer.? Be related in the situation of remote computer, remote computer can pass through the network of any kind --- including local area network (LAN) or Wide area network (WAN) --- it is connected to subscriber computer, or, it may be connected to outer computer (such as utilize Internet service Provider is connected by internet).

Embodiment 11

The embodiment of the present invention 11 provides a kind of computer readable storage medium, is stored thereon with computer program, should For executing the camera calibration method for being applied to execute terminal when program is executed by a controller, this method comprises:

Optionally, it can be also used for executing the embodiment of the present invention three when which is executed by a controller and example IV mentioned The camera calibration method of confession.

Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation, It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.

Claims

1. a kind of camera calibration method characterized by comprising

The controlling terminal receives the location information of the execution terminal feedback, and the location information is to execute the entrained mark of terminal The world coordinates information of fixed board, the world coordinates information are based on camera location information movement really by the execution terminal It is fixed；

2. the method according to claim 1, wherein the controlling terminal is according to described image information, institute's rheme Confidence breath and camera parameter determine formula, determine camera parameter, comprising:

If the controlling terminal receives the location information and image information of preset quantity, by scaling board in each described image Pixel coordinate and corresponding location information in information substitute into camera parameter and determine determining camera parameter in formula；Otherwise, to institute It states and executes terminal transmission move and return to the reception operation for executing world coordinates information, the camera parameter determines formula table It is shown as:Wherein, z is camera coordinates of the scaling board in camera coordinates system, u It is respectively pixel abscissa and pixel ordinate of the scaling board in image pixel coordinates system, X with v_w、Y_wAnd Z_wRespectively World abscissa, ordinate and ordinate of the scaling board in world coordinate system, R are spin matrix, and T is translation matrix, u₀And v₀Respectively picture centre abscissa and picture centre ordinate, f_xAnd f_yRespectively lateral equivalent focal length and longitudinal direction are equivalent Focal length.

3. the method according to claim 1, wherein the controlling terminal receives the camera capture to be calibrated The image information of the scaling board, comprising:

The controlling terminal sends photographing instruction to the camera to be calibrated；

The controlling terminal receives the camera to be calibrated and is based on the photographing instruction captured image frame；

The controlling terminal determines image information of the scaling board in described image frame；The controlling terminal is by phase to be calibrated The camera location information of machine is sent to execution terminal, comprising:

The controlling terminal receives user and triggers the calibration instruction generated, and determines that the calibration instructs corresponding phase to be calibrated Machine；

The controlling terminal searches the corresponding camera location information of the camera to be calibrated in preset position information library；

The camera location information is sent to execution terminal by the controlling terminal.

4. a kind of camera calibration method characterized by comprising

Scaling board entrained by the execution terminal control is moved at preset first position, and anti-to the controlling terminal Present first location information.

5. according to the method described in claim 4, it is characterized by further comprising:

After the execution terminal receives move, scaling board is moved to the preset second place, and to the control Terminal processed feeds back second location information.

6. a kind of camera calibration device, is configured at controlling terminal characterized by comprising

Position receiving module, for receiving the location information of the execution terminal feedback, the location information is execution terminal institute The world coordinates information of scaling board is carried, the world coordinates information is moved by the execution terminal based on the camera location information It is dynamic to determine；

Parameter determination module determines camera for determining formula according to described image information, the location information and camera parameter Parameter.

7. a kind of camera calibration device, is configured at execution terminal characterized by comprising

First position feedback module is moved at preset first position for controlling entrained scaling board, and to described Controlling terminal feeds back first location information.

8. a kind of controlling terminal characterized by comprising

One or more processors；

Storage device, for storing one or more programs；

When one or more of programs are executed by one or more of processors, so that one or more of processors are real Now such as camera calibration method as claimed in any one of claims 1-3.

9. a kind of execution terminal characterized by comprising

One or more controllers；

Storage device, for storing one or more programs；

When one or more of programs are executed by one or more of controllers, so that one or more of controllers are real The now camera calibration method as described in any in claim 4-5.

10. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is by processor Such as camera calibration method as claimed in any one of claims 1-3 is realized when execution.