CN109685800A - A kind of method of regulation mould plate and Fast Calibration camera external parameter - Google Patents
A kind of method of regulation mould plate and Fast Calibration camera external parameter Download PDFInfo
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- CN109685800A CN109685800A CN201811627096.9A CN201811627096A CN109685800A CN 109685800 A CN109685800 A CN 109685800A CN 201811627096 A CN201811627096 A CN 201811627096A CN 109685800 A CN109685800 A CN 109685800A
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- image
- sideline
- rotation angle
- calibration
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/97—Determining parameters from multiple pictures
Abstract
The present invention provides a kind of regulation mould plates, the regulation mould plate includes three alignment surfaces that are identical and intersecting vertically two-by-two, the alignment pattern being made of in the alignment surface the identical square of several sizes, the present invention also provides a kind of methods of Fast Calibration camera external parameter based on the regulation mould plate, the method is according to the rotation angle of sideline and/or reference line on calibration picture on regulation mould plate, it can fast and effeciently detect the camera rotation angle axially different in x-y-z, method provided by the present invention need to only take a correction photo, algorithm is simple；Further, the present invention improves the speed of straightening speed and algorithm；Further, the present invention improves the precision of subsequent algorithm.
Description
Technical field
The present invention relates to image taking technology field more particularly to a kind of methods of Fast Calibration camera external parameter.
Background technique
Image picture is increasingly becoming people and records information and propagate friendship because it is intuitive true and propagates the advantages that facilitating
The most important tool and means of stream.With comprehensive fast development of photography technology, the application of camera is also more and more extensive, such as mobile phone
Camera shooting, digital camera camera shooting and traffic monitoring camera shooting etc., have promoted the popular of camera, and camera is almost comprehensive to be applied to people
The every aspect that works with daily life, at the same time, requirement of the people to the shooting image quality of camera is also higher and higher.
It is well known that the photo shot can be deformed or be rotated, greatly if biggish rotation occurs for the camera lens of camera
The quality of photo is influenced, therefore the precision of camera parameter calibration result directly affects the image quality of camera.And in actual life,
People using camera when shooting, generally by hand-held or tripod come fixed camera, due to may in shooting process
The reasons such as shake, tripod places injustice or the generation of camera installation site changes occur causes to send out between camera and subject
Raw rotation.
In the prior art, several calibrating dies are usually shot in a different direction using the template of gridiron pattern one kind
Plate, then calculates the camera rotation angle axially different in x-y-z using complicated algorithm, and this method not only needs shooting more
Regulation mould plate is opened, and subsequent algorithm is not only complicated but also inefficient.Therefore, how fast and effeciently to detect camera x-y-z not
The coaxial size for whether being rotated and being rotated angle increasingly becomes those skilled in the art's technical problem urgently to be resolved.
Summary of the invention
It is an object of the invention to overcome in the prior art using the template of gridiron pattern etc, against the different angle of camera
Degree shooting ten or twenty picture, the complicated inefficient problem of subsequent algorithm, provides a kind of regulation mould plate.
To achieve the above object, the present invention is achieved by the following technical programs: a kind of regulation mould plate, for demarcating phase
Machine external parameter, the regulation mould plate include three alignment surfaces；Three alignment surfaces are vertically intersected on an intersection point, shape two-by-two
At three intersections；It is both provided with a calibration original image in each alignment surface, the calibration original image and the corresponding calibration
The line segment that two intersections intersection on face is overlapped is two sidelines of the calibration original image；In each described calibration original image,
Several reference lines for being mutually perpendicular to intersection are provided with, the reference line is parallel to described two in the corresponding alignment surface
One in sideline.
Preferably, each calibration original image is square, it is described calibration original image the sideline and several described in
Reference line forms several grids, and each grid is square.
Preferably, the calibration original image in each alignment surface is identical；Described in every in each alignment surface
Reference line is formed by identical several points are spaced.
The present invention also provides a kind of method of Fast Calibration camera external parameter, the method uses any of the above-described institute
The regulation mould plate stated is demarcated, comprising the following steps:
S1: selecting the regulation mould plate, and the first calibration original image of regulation mould plate described in camera face is shot a school
Quasi- image；
S2: according to it is described calibration image on the sideline image rotation angle, to the camera first axis,
The rotation angle of second axial direction and/or third axial direction is demarcated；
Wherein, where the first axis, the described second axial and described third axial direction respectively three intersections
Direction；
The first calibration original image is located at the first axis and the described second alignment surface for being axially formed.
Preferably, in step S2, the camera is α along the rotation angle of the third axial direction, along the second axial direction side
To rotation angle α is equal to the angle in the first image sideline and the first axis；
The camera is β along the described second axial rotation angle, and along the third axial direction, rotation angle β is equal to institute
State the angle in the first image sideline and the first axis；
The camera is θ along the rotation angle of first axis, and rotation angle θ is equal to the second image sideline and described second axially
Angle；
Wherein, the first image sideline is the image in the first sideline；First sideline is in the first axial direction
The sideline；
Second image sideline is the image in the second sideline；Second sideline is on the second axial direction described
Sideline；
Third image sideline is the image in third sideline；The third sideline is the side on third axial direction
Line.
Preferably, the rotation angle α are as follows:
Wherein, using the intersection point in the first image sideline and second image sideline as starting point, h is the first image
In the described second axial length, w is length of the first image sideline in the first axis in sideline.
Preferably, along second axial direction, the rotation angle α is equal to the first image reference line and the first vanishing line
Angle, the rotation angle α are as follows:
Wherein, the first graphic reference line is the image of the first reference line, and first reference line is described to be parallel to
First sideline, and close to the midpoint in second sideline；
Using the first image reference line and the intersection point in second image sideline as starting point, the h is first figure
As reference line is in the described second axial length, the w is length of the first image reference line in first axis.
Preferably, the rotation angle β are as follows:
Wherein, using the intersection point in the first image sideline and third image sideline as starting point, h is the first image
In the length of the third axial direction, w is length of the first image sideline in the first axis in sideline.
Preferably, along third image sideline direction, the rotation angle β is equal to the first image sideline and the second parallel lines
Angle, the rotation angle β are as follows:
Wherein, using the intersection point in the first image sideline and third image sideline as starting point, the h is described first
For image reference line in the length of the third axial direction, the w is the first image sideline on second parallel lines direction
Length；
Second parallel lines are the parallel lines of the second vanishing line, and the parallel lines intersect with the first image sideline,
Along the first axial direction, second vanishing line is the vanishing line that third calibrates original image；The third calibration original image is located at
The alignment surface that the first axis and the third are axially formed.
Preferably, the rotation angle θ are as follows:
Wherein, using the intersection point in second image sideline and third image sideline as starting point, h is second image
In the length in third image sideline direction, w is second image sideline in the second axial length in sideline.
Preferably, along the third axial direction, the rotation angle θ is equal to second image sideline and third parallel lines
Angle, the rotation angle θ are as follows:
Wherein, using the intersection point in second image sideline and third image sideline as starting point, the h is described second
In the length of the third axial direction, the w is second image sideline in third parallel lines direction in image sideline
On length；
The third parallel lines are the parallel lines of third vanishing line, the third parallel lines and second image sideline phase
It hands over；
Along second axial direction, the third vanishing line is the vanishing line of the second calibration original image, second calibration
Original image is located at the described second axial alignment surface being axially formed with the third.
Compared with the existing technology, the present invention has the following advantages that and technical effect: need to only shoot a correction photo, algorithm
Simply；Further, the present invention improves the speed of straightening speed and algorithm；Further, the present invention improves subsequent algorithm
Precision.
Detailed description of the invention
Fig. 1 is a kind of regulation mould plate schematic diagram of the embodiment of the present invention；
Fig. 2 is a kind of schematic diagram of the first calibration original image of regulation mould plate of the embodiment of the present invention；
Fig. 3 is a kind of method flow diagram of Fast Calibration camera external parameter of the embodiment of the present invention；
Fig. 4 is a kind of schematic diagram at the angle calculating α of the embodiment of the present invention；
Fig. 5 is the schematic diagram that a kind of consideration of the embodiment of the present invention reduces the influence calculating angle α at the angle θ；
Fig. 6 is the schematic diagram that a kind of consideration of the embodiment of the present invention reduces the influence calculating angle α at the angle β；
Fig. 7 is a kind of schematic diagram at the angle calculating β of the embodiment of the present invention；
Fig. 8 is the schematic diagram that a kind of consideration of the embodiment of the present invention reduces the influence calculating angle β at the angle α；
Fig. 9 is the schematic diagram that a kind of consideration of the embodiment of the present invention reduces the influence calculating angle β at the angle θ；
Figure 10 is a kind of schematic diagram at the angle calculating θ of the embodiment of the present invention；
Figure 11 is the schematic diagram that a kind of consideration of the embodiment of the present invention reduces the influence calculating angle θ at the angle α；
Figure 12 be the embodiment of the present invention a kind of consideration reduce the angle β influence calculate the angle θ schematic diagram wherein, attached drawing 1-12
The reference numerals are as follows:
11- first calibrates original image, and 12- second calibrates original image, and 13- third calibrates original image, the first sideline 21-, the second side 22-
Line, 23- third sideline, 24- reference line, 25- grid, the first image of 31- sideline, the second image of 32- sideline, 33- third image
Sideline, 34- the first image reference line, the first vanishing line of 41-, the second vanishing line of 42-, the second parallel lines of 43-, 44- third are parallel
Line.
Specific embodiment
Core of the invention thought is to solve in the prior art, and calibration camera is in axially different outer of x-axis, y-axis and z-axis
Portion's parameter needs the problem of shooting plurality of pictures, provides a solution, and program algorithm is simple, and promotes subsequent algorithm
Speed and precision.
To realize above-mentioned thought, the present invention provides a kind of regulation mould plate, a kind of regulation mould plate, for outside calibration for cameras
Parameter, which is characterized in that the regulation mould plate includes three alignment surfaces；Three alignment surfaces are vertically intersected on a friendship two-by-two
Point forms three intersections；Be both provided with a calibration original image in each alignment surface, the calibration original image with it is corresponding described
The line segment that two intersections intersection in alignment surface is overlapped is two sidelines of the calibration original image；Each described calibration original image
On, several reference lines for being mutually perpendicular to intersection are provided with, the reference line is parallel to the institute in the corresponding alignment surface
State one in two sidelines.
To keep the purpose of the present invention, advantages and features clearer, below in conjunction with attached drawing 1-12 to proposed by the present invention one
The method of kind Fast Calibration camera external parameter is described in further detail.It should be noted that attached drawing is all made of very simplification
Form and use non-accurate ratio, only for the purpose of facilitating and clarifying the purpose of the embodiments of the invention.
As shown in Fig. 1, the regulation mould plate schematic diagram provided for one of embodiment of the invention, the school of the present embodiment
Quasi-mode plate includes three alignment surfaces, and three alignment surfaces are vertically intersected on three intersections two-by-two, and it is straight that three intersections form the right hand
Angular coordinate system, three intersections are located at x-axis, y-axis and z-axis；One calibration original image is set in each alignment surface, often
Calibration original image in a alignment surface can be identical, can not also be identical, in the coordinate surface that the x-axis and the y-axis are formed
On calibration original image be first calibration original image 11, first calibration original image 11 two sidelines be located at the x-axis and the y
Axis, wherein positioned at the x-axis be the first sideline 21, be the second sideline 22 positioned at the y-axis；Positioned at the y-axis and described
Z-axis is the second calibration original image 12, wherein positioned at the z-axis is third sideline 23；It is positioned at the x-axis and the z-axis
Third calibrates original image 13.
In the present embodiment, it is introduced so that the calibration original image in each alignment surface is identical as an example, such as 2 institute of attached drawing
Show, the first calibration original image 11 can be a square, several reference lines 24 for being respectively parallel to the first sideline 21 and several
The reference line for being parallel to the second sideline 22 intersects vertically, and forms several grids 25, and the grid can be square, every institute
It states reference line and is formed by equal several points are spaced.
It is apparent that the present invention does not limit the material of the regulation mould plate, in the particular embodiment, can use highly dense
Cloth material；Similarly, to the color of the calibration original image, there is no restriction, as long as the background colour and the point of the calibration original image
The contrast of color can identify by subsequent algorithm, in one embodiment of the invention, in order to increase contrast,
The background for calibrating original image can be arranged to white, the point of the reference line is arranged to black；Similarly, the point is big
Small and number can be configured according to actual needs, and the point is more, be obtained using the calibration algorithm of the regulation mould plate
It is more accurate to rotate angle, it is thus evident that the image of the point should be able to be identified by subsequent algorithm.
The present invention also provides a kind of method of Fast Calibration camera external parameter, the method is based on the calibrating die
Plate, as shown in Fig. 3, a kind of method flow diagram of Fast Calibration camera external parameter of the embodiment of the present invention, the present invention
A kind of method of Fast Calibration camera external parameter of embodiment, comprises the following steps that
S1: selecting the regulation mould plate, and the first calibration original image of regulation mould plate described in camera face is shot a school
Quasi- image；
First calibration original image of regulation mould plate described in the face, for the regulation mould plate is placed on the camera
Front certain distance so that the camera is directed at the center of the first calibration original image of the regulation mould plate, and enables to
The first calibration of display simultaneously original image, the second calibration original image and the third calibrate original image on the calibration image.
It can also include correcting the camera manually before executing step S1 in another embodiment of the present invention,
It can recognize the rotation of the camera to calibrate human eye.
S2: according to it is described calibration image on the sideline image rotation angle, to the camera first axis,
The rotation angle of second axial direction and/or third axial direction is demarcated；
Wherein, where the first axis, the described second axial and described third axial direction respectively three intersections
Direction；
The first calibration original image is located at the first axis and the described second alignment surface for being axially formed.
Specifically, the camera is α along the rotation angle of the third axial direction, along second axial direction, rotation angle α
Equal to the angle in the first image sideline and the first axis；
The camera is β along the described second axial rotation angle, and along the third axial direction, rotation angle β is equal to institute
State the angle in the first image sideline and the first axis；
The camera is θ along the rotation angle of first axis, and rotation angle θ is equal to second image sideline and described second
Axial angle；
Wherein, the first image sideline is the image in the first sideline；First sideline is in the first axial direction
The sideline；
Second image sideline is the image in the second sideline；Second sideline is on the second axial direction described
Sideline；
Third image sideline is the image in third sideline；The third sideline be on third axial direction described in
Sideline.
First axis is x-axis in one embodiment of the invention, second it is axial be y-axis, third is axially z-axis.
The rotation angle α, rotation angle β and rotation angle θ are just obtained below, are described as follows respectively:
One, the rotation angle α is calculated
The camera along third axial direction the rotation angle α, it is as shown in Fig. 4, described along second axial direction
Rotation angle α is equal to the angle in the first image sideline 31 and the first axis；The first axis be the x-axis, described second
Axial is the y-axis, and the first image sideline 31 is the line of the first sideline 21 corresponding display in the calibration image.
Further, the rotation angle α are as follows:
Wherein, using the intersection point in the first image sideline 31 and the second image sideline 32 as starting point, h is the first image sideline 31
Length in the y-axis direction, w are length of the first image sideline 31 in the x-axis direction；Particularly, for convenience,
It will be understood by those skilled in the art that: the h indicates institute for the length in the y-axis direction in the first image sideline 31
The other similar description and so in the projected length in the y-axis direction, text of the first image sideline 31 is stated, is no longer said one by one
It is bright.
Further, as shown in Fig. 5, it is contemplated that the deformation in the y-axis direction, in order to reduce the shadow of the θ rotation angle
It rings, calculates the length of the x-axis and the y-axis direction, that is, with the quantity of the grid with the first image sideline 31 and second
The intersection point in image sideline 32 is starting point, and the h is number of squares of the first image sideline 31 in the y-axis direction, and the w is first
Number of squares of the image sideline 31 in the x-axis direction.
Further, as shown in Fig. 6, in order to reduce the influence of the rotation angle β, along the y-axis direction, the α
Angle is equal to the angle of the first image reference line 34 and the first vanishing line 41, the rotation angle α are as follows:
Wherein, the first image reference line 34 is parallel to the first image sideline 31, and close to the second image sideline 32
Midpoint；Along the x-axis direction, first vanishing line 41 is the vanishing line of the first calibration original image 11；With the first image reference line
34 and second image sideline 32 intersection point be starting point, the h be length of the first image reference line 34 in the y-axis axial direction, institute
Stating w is length of the first image reference line 34 in the x-axis axial direction.
Two, the rotation angle β is calculated
The camera is as shown in Fig. 7, described along the third axial direction along the second axial rotation angle β
Rotation angle β is equal to the angle in the first image sideline 31 and the first axis；Third image sideline 33 is third sideline 23
Image；The first axis is the x-axis direction, and the third is axially the z-axis.
Further, the rotation angle β are as follows:
Wherein, using the intersection point in the first image sideline 31 and third image sideline 33 as starting point, h is that the first image sideline 31 exists
The length of the z-axis axial direction, w are length of the first image sideline 31 in the x-axis direction.
Further, as shown in Fig. 8, it is contemplated that the deformation in the z-axis direction, in order to reduce the shadow of the rotation angle θ
It rings, the length of the x-axis and the z-axis direction is calculated with the quantity of the grid；That is, with the first image sideline 31 and third
The intersection point in image sideline 33 is starting point, and along 33 direction of third image sideline, the h is the first image sideline 31 in the z-axis axis
To number of squares, the w be the first image sideline 31 the x-axis direction number of squares.
Further, as shown in Fig. 9, the influence for considering reduction rotation angle α, along the z-axis axial direction, the β
Angle is equal to the angle in the first image sideline 31 and the second parallel lines 43, the angle β are as follows:
Wherein, using the intersection point in the first image sideline 31 and third image sideline 33 as starting point, the h is the first image sideline
31 the z-axis axial direction length, the w be length of the first image sideline 31 on 43 direction of the second parallel lines；
Wherein, the second parallel lines 43 are the parallel lines of the second vanishing line 42, the second parallel lines 43 and the first image sideline 31
Intersection；Along the x-axis direction, second vanishing line 42 is the vanishing line that third calibrates original image 13.
Three, the rotation angle θ is calculated
The camera is along the rotation angle θ of first axis, and as shown in Fig. 10, the rotation angle θ is equal to the second image side
Line 32 and the second axial angle；The image in 32 second sideline 22 of the second image sideline, described second is axial for the y
Axis.
Further, the angle θ are as follows:
Wherein, using the intersection point in the second image sideline 32 and third image sideline 33 as starting point, h is that the second image sideline 32 exists
The length in the z-axis direction, w are length of the second image sideline 32 in the y-axis axial direction.
Further, as shown in Fig. 11, it in order to reduce the influence of the rotation angle α, is counted with the quantity of the grid
Calculate the length of the y-axis and the z-axis, that is, described using the intersection point in the second image sideline 32 and third image sideline 33 as starting point
H is number of squares of the second image sideline 32 in the z-axis direction, and the w is the second image sideline 32 in the side of the y-axis axial direction
Lattice number.
Still further, as shown in Fig. 12, in order to reduce the influence of the rotation angle β, along the z-axis direction, the θ
Angle is equal to the angle in the second image sideline 32 and third parallel lines 44, the angle θ are as follows:
Wherein, using the intersection point in the second image sideline 32 and third image sideline 33 as starting point, the h is the second image sideline
32 the z-axis axial direction length, the w be length of the second image sideline 32 on 44 direction of third parallel lines；
Third parallel lines 44 are the parallel lines of third vanishing line, and third parallel lines 44 intersect with third image sideline 33, edge
The y-axis direction, the third vanishing line are the vanishing line of the second calibration original image 12.
In the description of the present invention, it is to be understood that, the orientation or position of the instructions such as " axial direction ", " radial direction ", " circumferential direction "
Relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description of the present invention and simplification of the description, without referring to
Show or imply that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore cannot manage
Solution is limitation of the present invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
In conclusion above-described embodiment to a kind of regulation mould plate and a kind of method of Fast Calibration camera external parameter not
Isomorphism type is described in detail, and certainly, foregoing description is only the description to present pre-ferred embodiments, not to model of the present invention
Any restriction enclosed, the present invention include but is not limited to configuration cited in above-mentioned implementation, and those skilled in the art can root
Draw inferences about other cases from one instance according to the content of above-described embodiment, any change that the those of ordinary skill in field of the present invention does according to the disclosure above content
More, it modifies, belongs to the protection scope of claims.
Claims (11)
1. a kind of regulation mould plate is used for calibration for cameras external parameter, which is characterized in that the regulation mould plate includes three calibrations
Face；
Three alignment surfaces are vertically intersected on an intersection point two-by-two, form three intersections；
It is both provided with a calibration original image in each alignment surface, the calibration original image and two in the corresponding alignment surface
The line segment that the intersection of intersection is overlapped is two sidelines of the calibration original image；
In each described calibration original image, several reference lines for being mutually perpendicular to intersection are provided with, the reference line is parallel to
One in two sidelines in the corresponding alignment surface.
2. regulation mould plate according to claim 1, which is characterized in that each calibration original image is square, described
The sideline and several reference lines for calibrating original image form several grids, and each grid is square.
3. regulation mould plate according to claim 2, which is characterized in that the calibration original image phase in each alignment surface
Together；Every reference line in each alignment surface is formed by identical several points are spaced.
4. a kind of method of Fast Calibration camera external parameter, which is characterized in that use the described in any item schools claim 1-3
Quasi-mode plate is demarcated, comprising the following steps:
S1: selecting the regulation mould plate, and the first calibration original image of regulation mould plate described in camera face is shot a calibration figure
Picture；
S2: according to the rotation angle of the sideline image on the calibration image, to the camera in first axis, second
The rotation angle of axial direction and/or third axial direction is demarcated；
Wherein, the first axis, the described second axial and described third are axially respectively the direction where three intersections；
The first calibration original image is located at the first axis and the described second alignment surface for being axially formed.
5. the method for Fast Calibration camera external parameter according to claim 4, which is characterized in that in step S2,
The camera is α along the rotation angle of the third axial direction, and along second axial direction, rotation angle α is equal to the first figure
As the angle in sideline and the first axis；
The camera is β along the described second axial rotation angle, and along the third axial direction, rotation angle β is equal to described the
The angle in one image sideline and the first axis；
The camera is θ along the rotation angle of first axis, and rotation angle θ is equal to the second image sideline and the second axial folder
Angle；
Wherein, the first image sideline is the image in the first sideline；First sideline is in the first axial direction
The sideline；
Second image sideline is the image in the second sideline；Second sideline be on second axial direction described in
Sideline；
Third image sideline is the image in third sideline；The third sideline is the side on the third axial direction
Line.
6. the method for Fast Calibration camera external parameter according to claim 5, which is characterized in that the rotation angle α are as follows:
Wherein, using the intersection point in the first image sideline and second image sideline as starting point, h is the first image sideline
In the described second axial length, w is length of the first image sideline in the first axis.
7. the method for Fast Calibration camera external parameter according to claim 6, which is characterized in that axial along described second
Direction, the rotation angle α are equal to the angle of the first image reference line and the first vanishing line, the rotation angle α are as follows:
Wherein, the first image reference line is the image of the first reference line, and first reference line is to be parallel to described first
Sideline, and close to the midpoint in second sideline；
Using the first image reference line and the intersection point in second image sideline as starting point, the h is the first image ginseng
Line is examined in the described second axial length, the w is length of the first image reference line in the first axis.
8. the method for Fast Calibration camera external parameter according to claim 5, which is characterized in that the rotation angle β are as follows:
Wherein, using the intersection point in the first image sideline and third image sideline as starting point, h is the first image sideline
In the length of the third axial direction, w is length of the first image sideline in the first axis.
9. the method for Fast Calibration camera external parameter according to claim 8, which is characterized in that along the third image
Sideline direction, the rotation angle β are equal to the angle in the first image sideline and the second parallel lines, the rotation angle β are as follows:
Wherein, using the intersection point in the first image sideline and third image sideline as starting point, the h is the first image
For reference line in the length of the third axial direction, the w is length of the first image sideline on second parallel lines direction
Degree；
Second parallel lines are the parallel lines of the second vanishing line, and the parallel lines intersect with the first image sideline, along institute
First axial direction is stated, second vanishing line is the vanishing line that third calibrates original image；The third calibration original image is located at described
The alignment surface that first axis and the third are axially formed.
10. the method for Fast Calibration camera external parameter according to claim 5, which is characterized in that
The rotation angle θ are as follows:
Wherein, using the intersection point in second image sideline and third image sideline as starting point, h is second image sideline
Length in third image sideline direction, w are second image sideline in the second axial length.
11. the method for Fast Calibration camera external parameter according to claim 10, which is characterized in that along the third axis
To direction, the rotation angle θ is equal to the angle in second image sideline and third parallel lines, the rotation angle θ are as follows:
Wherein, using the intersection point in second image sideline and third image sideline as starting point, the h is second image
In the length of the third axial direction, the w is second image sideline on third parallel lines direction in sideline
Length；
The third parallel lines are the parallel lines of third vanishing line, and the third parallel lines intersect with second image sideline；
Along second axial direction, the third vanishing line is the vanishing line of the second calibration original image, the second calibration original image
Positioned at the described second axial alignment surface being axially formed with the third.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811627096.9A CN109685800B (en) | 2018-12-28 | 2018-12-28 | Calibration template and method for quickly calibrating external parameters of camera |
Applications Claiming Priority (1)
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