CN109801341B - Calibration target position calibration method and device - Google Patents
Calibration target position calibration method and device Download PDFInfo
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- CN109801341B CN109801341B CN201910091815.8A CN201910091815A CN109801341B CN 109801341 B CN109801341 B CN 109801341B CN 201910091815 A CN201910091815 A CN 201910091815A CN 109801341 B CN109801341 B CN 109801341B
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Abstract
The embodiment of the invention provides a calibration target position checking method and a calibration target position checking device. Namely, the embodiment of the invention can realize the accurate verification of the position of the target virtual calibration target.
Description
Technical Field
The embodiment of the invention relates to the field of image processing, in particular to a calibration target position verification method and device.
Background
Cameras are generally arranged around the vehicle, and when the vehicle leaves a factory, the cameras around the vehicle need to be calibrated.
When the image calibration is performed, a virtual calibration target equivalent to an actual calibration target is used as calibration reference equipment, the actual calibration target is a calibration target used in an actual test environment, and the virtual calibration target is a calibration target used in a simulation test environment.
In the prior art, after the position of the virtual calibration target is determined in the calibration image, there is no mechanism for checking the position of the virtual calibration target, and it is not known whether the set position of the virtual calibration target is accurate.
Disclosure of Invention
In view of this, embodiments of the present invention provide a method and an apparatus for verifying a position of a calibration target, so as to solve a problem that it is unclear whether a set position of a virtual calibration target is accurate.
In order to solve the technical problem, the embodiment of the invention adopts the following technical scheme:
a calibration target position verification method comprises the following steps:
determining the position of a characteristic point on an actual calibration target on an imaging plane of a preset camera;
generating a calibration target reference model according to the position of the characteristic point on the imaging plane;
and according to the calibration target reference model, carrying out accuracy verification on the position of the target virtual calibration target corresponding to the actual calibration target.
Optionally, determining the position of the feature point on the actual calibration target on the imaging plane of the preset camera includes:
acquiring a feature point selected on an actual calibration target, a relative position of the actual calibration target and the preset camera and an imaging parameter of the preset camera;
and determining the position of the feature point on the imaging plane according to the relative position and the imaging parameter of the preset camera and according to a camera imaging principle.
Optionally, generating a calibration target reference model according to the positions of the feature points on the imaging plane, including:
acquiring a reference image model; the reference image model has equal resolution and equal aspect ratio with the imaging plane;
and marking the position of the characteristic point on the imaging plane in the reference image model to obtain the calibration target reference model.
Optionally, the performing, according to the calibration target reference model, accuracy verification on the position of the target virtual calibration target corresponding to the actual calibration target includes:
comparing the position of the calibration target reference model with the position of the target virtual calibration target;
if the target position is consistent with the target position, the position of the target virtual calibration target is accurate;
and if the target position is inconsistent with the target position, the position of the target virtual calibration target is inaccurate.
Optionally, the performing, according to the calibration target reference model, accuracy verification on the position of the target virtual calibration target corresponding to the actual calibration target includes:
setting the target virtual calibration target as a background of the calibration target reference model;
if the calibration target reference model is superposed with the target virtual calibration target, the position of the target virtual calibration target is accurate;
and if the calibration target reference model is not coincident with the target virtual calibration target, the position of the target virtual calibration target is inaccurate.
Optionally, after the accuracy of the position of the target virtual calibration target corresponding to the actual calibration target is checked according to the calibration target reference model, the method further includes:
and if the position of the target virtual calibration target is inaccurate, correcting the position of the target virtual calibration target according to the position difference between the calibration target reference model and the target virtual calibration target.
A position verification apparatus for a calibration target, comprising:
the position determining module is used for determining the position of the characteristic point on the actual calibration target on the imaging plane of the preset camera;
the model generation module is used for generating a calibration target reference model according to the position of the characteristic point on the imaging plane;
and the checking module is used for carrying out accuracy checking on the position of the target virtual calibration target corresponding to the actual calibration target according to the calibration target reference model.
Optionally, the position determination module comprises:
the data acquisition submodule is used for acquiring the selected characteristic points on the actual calibration target, the relative position of the actual calibration target and the preset camera and the imaging parameters of the preset camera;
and the position determining submodule is used for determining the position of the characteristic point on the imaging plane according to the relative position and the imaging parameter of the preset camera and according to a camera imaging principle.
Optionally, the model generation module comprises:
the model obtaining submodule is used for obtaining a reference image model; the reference image model has equal resolution and equal aspect ratio with the imaging plane;
and the model generation submodule is used for marking the position of the characteristic point on the imaging plane in the reference image model to obtain the calibration target reference model.
Optionally, the verification module includes:
the comparison sub-module is used for comparing the position of the calibration target reference model with the position of the target virtual calibration target;
the accuracy determination submodule is used for determining that the position of the target virtual calibration target is accurate if the target virtual calibration target is consistent with the target virtual calibration target; and if the target position is inconsistent with the target position, the position of the target virtual calibration target is inaccurate.
Optionally, the verification module includes:
the setting sub-module is used for setting the target virtual calibration target as the background of the calibration target reference model;
the judgment sub-module is used for judging whether the position of the target virtual calibration target is accurate if the calibration target reference model is superposed with the target virtual calibration target; and if the calibration target reference model is not coincident with the target virtual calibration target, the position of the target virtual calibration target is inaccurate.
Optionally, the method further comprises:
and the correcting module is used for correcting the position of the target virtual calibration target according to the position difference between the calibration target reference model and the target virtual calibration target if the position of the target virtual calibration target is inaccurate.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
the embodiment of the invention provides a calibration target position checking method and a calibration target position checking device. Namely, the embodiment of the invention can realize the accurate verification of the position of the target virtual calibration target.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a flowchart of a method for calibrating a target position calibration method according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of an actual calibration target according to an embodiment of the present invention;
FIG. 3 is a flowchart of another method for calibrating a target position according to an embodiment of the present invention;
FIG. 4 is a flowchart of a method for calibrating a target position according to another embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a calibration target reference model according to an embodiment of the present invention;
FIG. 6 is a graph illustrating a deviation comparison between a calibration target reference model and a target virtual calibration target according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a calibration target position verification apparatus according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without any creative effort belong to the protection scope of the embodiments of the present invention.
The embodiment of the invention provides a position calibration method of a calibration target, and with reference to fig. 1, the method may include:
and S11, determining the position of the characteristic point on the actual calibration target on the imaging plane of the preset camera.
Specifically, the actual calibration target and the target virtual calibration target are corresponding and have the same size, and the difference is that the actual calibration target is an entity calibration target and the target virtual calibration target is an image.
If the actual calibration target is rectangular, as shown in fig. 2, the feature points on the actual calibration target may be four corners, a frame, and boundary points of a black-and-white frame in the figure.
The actual calibration target is parallel to the imaging plane of the preset camera.
Optionally, in a specific implementation process of this embodiment, referring to fig. 3, step S11 may include:
s21, obtaining the selected characteristic points on the actual calibration target, the relative position of the actual calibration target and the preset camera and the imaging parameters of the preset camera.
Specifically, the feature points may be selected manually, for example, by selecting a frame of the actual calibration target. The relative position of the actual calibration target and the preset camera comprises the following steps: actually calibrating the relative positions of the characteristic point Ppixel on the target and a lens pinhole of a preset camera; the vertical relative distance HPreal, the horizontal relative distance YPreal and the vertical relative distance Dtarget of the actual calibration target and the preset camera.
The preset imaging parameters of the camera comprise:
the effective focal length EFL and the pixel point diameter Lpixel of the camera are preset.
And S22, determining the position of the feature point on the imaging plane according to the relative position and the imaging parameters of the preset camera and according to the camera imaging principle.
Specifically, with the lens axis as an origin [0,0], the projection position of the feature point Ppixel on the imaging plane (i.e., the plane of the sensor in the preset camera) is:
Ppixel＝[(YPreal/Dtarget*(EFL/Lpixel)),HPreal/Dtarget*(EFL/Lpixel))]。
through the formula, the position of the characteristic point on the imaging plane of the preset camera can be determined.
It should be noted that the embodiment shown in fig. 3 is only a specific implementation manner of step S11. In the specific implementation process of the embodiment of the present invention, other parallel implementation manners may also be provided, for example, a corresponding relationship between the feature point on the actual calibration target and the imaging plane of the preset camera may be prestored, and the position of each feature point on the imaging plane of the preset camera is obtained according to the corresponding relationship, which is not limited in the embodiment of the present invention.
And S12, generating a calibration target reference model according to the position of the characteristic point on the imaging plane.
The calibration target reference model is a model used for determining whether the position of the target virtual calibration target is accurate or not.
And S13, according to the calibration target reference model, carrying out accuracy verification on the position of the target virtual calibration target corresponding to the actual calibration target.
The calibration target reference model is used for determining whether the position of the target virtual calibration target is accurate, so that whether the position of the target virtual calibration target is accurate can be determined according to the calibration target reference model.
In the embodiment of the invention, the position of a characteristic point on an actual calibration target on an imaging plane of a preset camera is determined, a calibration target reference model is generated according to the position of the characteristic point on the imaging plane, and the accuracy of the position of a target virtual calibration target corresponding to the actual calibration target is checked according to the calibration target reference model. Namely, the embodiment of the invention can realize the accurate verification of the position of the target virtual calibration target.
Alternatively, on the basis of the above embodiment of the position checking method, referring to fig. 4, step S12 may include:
and S31, acquiring a reference image model.
The reference image model has equal resolution and equal aspect ratio with the imaging plane.
The reference image model may be a blank picture. The image and the imaging plane of the preset camera are equal in resolution and equal in aspect ratio.
And S32, marking the position of the characteristic point on the imaging plane in the reference image model to obtain the calibration target reference model.
Specifically, the position of the feature point may be projected to the reference image model to label the reference image model, so as to obtain the calibration target reference model. Referring to fig. 5 specifically, the dashed line frame in fig. 5 is the marked feature point, and in this embodiment, the feature point is the frame of the actual calibration target.
It should be noted that, in this embodiment, the number of actual calibration targets is not limited, and an appropriate number of actual calibration targets may be selected according to actual requirements.
In this embodiment, the position of the feature point in the reference image model is determined by a projection mode, so that a calibration target reference model can be obtained.
It should be noted that the embodiment shown in fig. 4 is only a specific implementation manner of step S12. In the specific implementation process of the embodiment of the present invention, other parallel implementation manners may also be provided, for example, the resolution of the reference image model may also be 0.8 times of the resolution of the imaging plane, and then the position of the feature point on the imaging plane is also marked in the reference image model to obtain the calibration target reference model, which is not limited in the embodiment of the present invention.
Optionally, on the basis of any one of the above embodiments of the position verification method, the step S13 may have two implementation manners, which are specifically as follows:
1. the first implementation mode comprises the following steps:
comparing the position of the calibration target reference model with the position of the target virtual calibration target; if the target position is consistent with the target position, the position of the target virtual calibration target is accurate; and if the target position is inconsistent with the target position, the position of the target virtual calibration target is inaccurate.
Specifically, since the calibration target reference model and the target virtual calibration target are known, the position of the calibration target reference model is compared with the position of the target virtual calibration target, and if the positions of the calibration target reference model and the target virtual calibration target are consistent, the position of the target virtual calibration target is accurate; and if the positions of the target and the virtual calibration target are not consistent, the position of the target virtual calibration target is not accurate.
2. The second implementation mode comprises the following steps:
setting the target virtual calibration target as a background of the calibration target reference model; if the calibration target reference model is superposed with the target virtual calibration target, the position of the target virtual calibration target is accurate; and if the calibration target reference model is not coincident with the target virtual calibration target, the position of the target virtual calibration target is inaccurate.
Specifically, a target virtual calibration target picture to be checked is scaled according to a view during calibration, and is loaded as a background of a calibration target reference model by taking a pixel as a unit. At this time, the relative deviation between the position of the feature point on the actual calibration target in the calibration target reference model and the position of the feature point on the target virtual calibration target is observed or measured, so that the target virtual calibration target can be checked. If the characteristic points are matched, the target virtual calibration target has no deviation, namely the position is accurate; if the target virtual calibration targets do not coincide with the target virtual calibration targets, the target virtual calibration targets are deviated, and the positions are inaccurate. Specifically, referring to fig. 6, a frame on the actual calibration target is taken as a plurality of selected feature points, a dashed frame in fig. 6 is a calibration target reference model, rectangles between black and white are target virtual calibration targets, and if the frame of the target virtual calibration target is overlapped with the frame of the calibration target reference model, it is indicated that the target virtual calibration target has no deviation, i.e., is accurate in position. However, in fig. 6, the frame of the target virtual calibration target is not overlapped with the frame of the calibration target reference model, which indicates that the target virtual calibration target has deviation, i.e. inaccurate position.
Optionally, on the basis of this embodiment, after step S13, the method may further include:
and if the position of the target virtual calibration target is inaccurate, correcting the position of the target virtual calibration target according to the position difference between the calibration target reference model and the target virtual calibration target.
Specifically, if the position of the target virtual calibration target is inaccurate, the position of the target virtual calibration target can be adjusted to be the same as the position of the calibration target reference model, so that the position of the target virtual calibration target is corrected.
In addition, the position of the target virtual calibration target can be not corrected, a new virtual calibration target is directly generated according to the calibration target reference model, and the image of the preset camera is corrected according to the new virtual calibration target.
In the embodiment, the accuracy of the target virtual calibration target is reversely checked, so that the investment on fields and equipment in the checking process is saved; and because the calibration effect is accurate due to strict conversion according to the resolution and the scaling of the sensor, the problem of universality deviation caused by the deviation of a target virtual calibration target in image calibration is avoided.
Optionally, on the basis of the above embodiment of the method for verifying the position of the calibration target, another embodiment of the present invention provides a device for verifying the position of the calibration target, and referring to fig. 7, the method may include:
the position determining module 101 is configured to determine a position of a feature point on an actual calibration target on an imaging plane of a preset camera;
the model generation module 102 is configured to generate a calibration target reference model according to the position of the feature point on the imaging plane;
and the checking module 103 is configured to perform accuracy checking on the position of the target virtual calibration target corresponding to the actual calibration target according to the calibration target reference model.
Further, the location determination module comprises:
the data acquisition submodule is used for acquiring the selected characteristic points on the actual calibration target, the relative position of the actual calibration target and the preset camera and the imaging parameters of the preset camera;
and the position determining submodule is used for determining the position of the characteristic point on the imaging plane according to the relative position and the imaging parameter of the preset camera and according to a camera imaging principle.
In the embodiment of the invention, the position of a characteristic point on an actual calibration target on an imaging plane of a preset camera is determined, a calibration target reference model is generated according to the position of the characteristic point on the imaging plane, and the accuracy of the position of a target virtual calibration target corresponding to the actual calibration target is checked according to the calibration target reference model. Namely, the embodiment of the invention can realize the accurate verification of the position of the target virtual calibration target.
It should be noted that, for the working processes of each module and sub-module in this embodiment, please refer to the corresponding description in the above embodiments, which is not described herein again.
Optionally, on the basis of any one of the above embodiments of the position verification apparatus, the model generation module includes:
the model obtaining submodule is used for obtaining a reference image model; the reference image model has equal resolution and equal aspect ratio with the imaging plane;
and the model generation submodule is used for marking the position of the characteristic point on the imaging plane in the reference image model to obtain the calibration target reference model.
In this embodiment, the position of the feature point in the reference image model is determined by a projection mode, so that a calibration target reference model can be obtained.
It should be noted that, for the working processes of each module and sub-module in this embodiment, please refer to the corresponding description in the above embodiments, which is not described herein again.
Optionally, on the basis of any one of the above embodiments of the position verification apparatus, the verification module includes:
the comparison sub-module is used for comparing the position of the calibration target reference model with the position of the target virtual calibration target;
the accuracy determination submodule is used for determining that the position of the target virtual calibration target is accurate if the target virtual calibration target is consistent with the target virtual calibration target; and if the target position is inconsistent with the target position, the position of the target virtual calibration target is inaccurate.
Optionally, the verification module includes:
the setting sub-module is used for setting the target virtual calibration target as the background of the calibration target reference model;
the judgment sub-module is used for judging whether the position of the target virtual calibration target is accurate if the calibration target reference model is superposed with the target virtual calibration target; and if the calibration target reference model is not coincident with the target virtual calibration target, the position of the target virtual calibration target is inaccurate.
Further, still include:
and the correcting module is used for correcting the position of the target virtual calibration target according to the position difference between the calibration target reference model and the target virtual calibration target if the position of the target virtual calibration target is inaccurate.
In the embodiment, the virtual calibration target reference is checked reversely, so that the investment on fields and equipment in the checking process is saved; and because the calibration effect is accurate due to strict conversion according to the resolution and the scaling of the sensor, the problem of universality deviation caused by the deviation of the calibration target in image calibration is avoided.
It should be noted that, for the working processes of each module and sub-module in this embodiment, please refer to the corresponding description in the above embodiments, which is not described herein again.
Optionally, an embodiment of the present invention further provides a device for calibrating a position of a target, where the device for calibrating a position of a target includes a processor and a memory, the position determining module, the model generating module, the verifying module, and the like are all stored in the memory as program units, and the processor executes the program units stored in the memory to implement corresponding functions.
The processor comprises a kernel, and the kernel calls the corresponding program unit from the memory. The kernel can be set to be one or more, and the position correction of the target virtual calibration target is realized by adjusting kernel parameters.
The memory may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.
An embodiment of the present invention provides a storage medium, on which a program is stored, which when executed by a processor implements a position verification method for the calibration target
The embodiment of the invention provides a processor, which is used for running a program, wherein the program executes the position verification method of the calibration target during running
The embodiment of the invention provides equipment, which comprises a processor, a memory and a program which is stored on the memory and can run on the processor, wherein the processor executes the program and realizes the following steps:
a calibration target position verification method comprises the following steps:
determining the position of a characteristic point on an actual calibration target on an imaging plane of a preset camera;
generating a calibration target reference model according to the position of the characteristic point on the imaging plane;
and according to the calibration target reference model, carrying out accuracy verification on the position of the target virtual calibration target corresponding to the actual calibration target.
Optionally, determining the position of the feature point on the actual calibration target on the imaging plane of the preset camera includes:
acquiring a feature point selected on an actual calibration target, a relative position of the actual calibration target and the preset camera and an imaging parameter of the preset camera;
and determining the position of the feature point on the imaging plane according to the relative position and the imaging parameter of the preset camera and according to a camera imaging principle.
Optionally, generating a calibration target reference model according to the positions of the feature points on the imaging plane, including:
acquiring a reference image model; the reference image model has equal resolution and equal aspect ratio with the imaging plane;
and marking the position of the characteristic point on the imaging plane in the reference image model to obtain the calibration target reference model.
Optionally, the performing, according to the calibration target reference model, accuracy verification on the position of the target virtual calibration target corresponding to the actual calibration target includes:
comparing the position of the calibration target reference model with the position of the target virtual calibration target;
if the target position is consistent with the target position, the position of the target virtual calibration target is accurate;
and if the target position is inconsistent with the target position, the position of the target virtual calibration target is inaccurate.
Optionally, the performing, according to the calibration target reference model, accuracy verification on the position of the target virtual calibration target corresponding to the actual calibration target includes:
setting the target virtual calibration target as a background of the calibration target reference model;
if the calibration target reference model is superposed with the target virtual calibration target, the position of the target virtual calibration target is accurate;
and if the calibration target reference model is not coincident with the target virtual calibration target, the position of the target virtual calibration target is inaccurate.
Optionally, after the accuracy of the position of the target virtual calibration target corresponding to the actual calibration target is checked according to the calibration target reference model, the method further includes:
and if the position of the target virtual calibration target is inaccurate, correcting the position of the target virtual calibration target according to the position difference between the calibration target reference model and the target virtual calibration target.
The device herein may be a server, a PC, a PAD, a mobile phone, etc.
An embodiment of the present invention further provides a computer program product, which, when executed on a data processing apparatus, is adapted to execute a program that initializes the following method steps:
a calibration target position verification method comprises the following steps:
determining the position of a characteristic point on an actual calibration target on an imaging plane of a preset camera;
generating a calibration target reference model according to the position of the characteristic point on the imaging plane;
and according to the calibration target reference model, carrying out accuracy verification on the position of the target virtual calibration target corresponding to the actual calibration target.
Optionally, determining the position of the feature point on the actual calibration target on the imaging plane of the preset camera includes:
acquiring a feature point selected on an actual calibration target, a relative position of the actual calibration target and the preset camera and an imaging parameter of the preset camera;
and determining the position of the feature point on the imaging plane according to the relative position and the imaging parameter of the preset camera and according to a camera imaging principle.
Optionally, generating a calibration target reference model according to the positions of the feature points on the imaging plane, including:
acquiring a reference image model; the reference image model has equal resolution and equal aspect ratio with the imaging plane;
and marking the position of the characteristic point on the imaging plane in the reference image model to obtain the calibration target reference model.
Optionally, the performing, according to the calibration target reference model, accuracy verification on the position of the target virtual calibration target corresponding to the actual calibration target includes:
comparing the position of the calibration target reference model with the position of the target virtual calibration target;
if the target position is consistent with the target position, the position of the target virtual calibration target is accurate;
and if the target position is inconsistent with the target position, the position of the target virtual calibration target is inaccurate.
Optionally, the performing, according to the calibration target reference model, accuracy verification on the position of the target virtual calibration target corresponding to the actual calibration target includes:
setting the target virtual calibration target as a background of the calibration target reference model;
if the calibration target reference model is superposed with the target virtual calibration target, the position of the target virtual calibration target is accurate;
and if the calibration target reference model is not coincident with the target virtual calibration target, the position of the target virtual calibration target is inaccurate.
Optionally, after the accuracy of the position of the target virtual calibration target corresponding to the actual calibration target is checked according to the calibration target reference model, the method further includes:
and if the position of the target virtual calibration target is inaccurate, correcting the position of the target virtual calibration target according to the position difference between the calibration target reference model and the target virtual calibration target.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include transitory computer readable media (trans-entity media) such as modulated data signals and carrier waves.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present embodiments. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the embodiments. Thus, the present embodiments are not intended to be limited to the embodiments shown herein but are to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A calibration target position verification method is characterized by comprising the following steps:
determining the position of a characteristic point on an actual calibration target on an imaging plane of a preset camera;
generating a calibration target reference model according to the position of the characteristic point on the imaging plane, wherein the method comprises the following steps: acquiring a reference image model; the reference image model is proportional to the resolution and aspect ratio of the imaging plane; marking the position of the characteristic point on the imaging plane in the reference image model to obtain the calibration target reference model;
and according to the calibration target reference model, carrying out accuracy verification on the position of the target virtual calibration target corresponding to the actual calibration target.
2. The position verification method according to claim 1, wherein determining the position of the feature point on the actual calibration target on the imaging plane of the preset camera comprises:
acquiring a feature point selected on an actual calibration target, a relative position of the actual calibration target and the preset camera and an imaging parameter of the preset camera;
and determining the position of the feature point on the imaging plane according to the relative position and the imaging parameter of the preset camera and according to a camera imaging principle.
3. The position verification method according to claim 1, wherein the reference image model is proportional to the resolution and aspect ratio of the imaging plane, in particular: the reference image model has equal resolution and equal aspect ratio with the imaging plane.
4. The position verification method according to claim 1, wherein the performing accuracy verification on the position of the target virtual calibration target corresponding to the actual calibration target according to the calibration target reference model includes:
comparing the position of the calibration target reference model with the position of the target virtual calibration target;
if the target position is consistent with the target position, the position of the target virtual calibration target is accurate;
and if the target position is inconsistent with the target position, the position of the target virtual calibration target is inaccurate.
5. The position verification method according to claim 1, wherein the performing accuracy verification on the position of the target virtual calibration target corresponding to the actual calibration target according to the calibration target reference model includes:
setting the target virtual calibration target as a background of the calibration target reference model;
if the calibration target reference model is superposed with the target virtual calibration target, the position of the target virtual calibration target is accurate;
and if the calibration target reference model is not coincident with the target virtual calibration target, the position of the target virtual calibration target is inaccurate.
6. The position verification method according to any one of claims 1 to 5, wherein after the accuracy verification of the position of the target virtual calibration target corresponding to the actual calibration target is performed according to the calibration target reference model, the method further includes:
and if the position of the target virtual calibration target is inaccurate, correcting the position of the target virtual calibration target according to the position difference between the calibration target reference model and the target virtual calibration target.
7. A position verification apparatus for a calibration target, comprising:
the position determining module is used for determining the position of the characteristic point on the actual calibration target on the imaging plane of the preset camera;
the model generation module is used for generating a calibration target reference model according to the position of the characteristic point on the imaging plane, and comprises a model acquisition sub-module used for acquiring a reference image model; the reference image model is proportional to the resolution and aspect ratio of the imaging plane; the model generation submodule is used for marking the position of the characteristic point on the imaging plane in the reference image model to obtain the calibration target reference model;
and the checking module is used for carrying out accuracy checking on the position of the target virtual calibration target corresponding to the actual calibration target according to the calibration target reference model.
8. The position verification apparatus of claim 7, wherein the position determination module comprises:
the data acquisition submodule is used for acquiring the selected characteristic points on the actual calibration target, the relative position of the actual calibration target and the preset camera and the imaging parameters of the preset camera;
and the position determining submodule is used for determining the position of the characteristic point on the imaging plane according to the relative position and the imaging parameter of the preset camera and according to a camera imaging principle.
9. The position verification apparatus of claim 7, wherein the reference image model is proportional to the resolution and aspect ratio of the imaging plane, in particular: the reference image model has equal resolution and equal aspect ratio with the imaging plane.
10. The position verification apparatus of claim 7, wherein the verification module comprises:
the comparison sub-module is used for comparing the position of the calibration target reference model with the position of the target virtual calibration target;
the accuracy determination submodule is used for determining that the position of the target virtual calibration target is accurate if the target virtual calibration target is consistent with the target virtual calibration target; and if the target position is inconsistent with the target position, the position of the target virtual calibration target is inaccurate.
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