CN109916304B - Mirror surface/mirror surface-like object three-dimensional measurement system calibration method - Google Patents
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Abstract
The invention discloses a calibration method of a mirror surface/mirror surface-like object three-dimensional measurement system, which comprises the steps of firstly respectively determining the circle center of a calibration pattern in a screen coordinate system OxyzLCDLower three-dimensional coordinate, calibration board upper drawingThree-dimensional coordinates of the case in a camera coordinate system; then, the photogrammetric system is used for obtaining the circle center of the pattern displayed on the screen and the circle center of the pattern on the calibration plate in the coordinate system Oxyz of the photogrammetric systemphgA lower three-dimensional coordinate; determining a transformation matrix from a screen coordinate system to a photogrammetric coordinate systemphg[RT]LCDTransformation matrix from photogrammetric coordinate system to calibration plate coordinate systemcal[RT]phgTransformation matrix from calibration plate coordinate system to camera coordinate systemcam[RT]cal(ii) a And finally, calculating a conversion matrix from the screen coordinate system to the camera coordinate system: the method overcomes the problems that the flatness of the plane mirror is not considered and the acquired calibration image is seriously deformed in the traditional calibration method, and realizes the high-precision screen-camera pose calibration.
Description
Technical Field
The invention relates to the field of calibration, in particular to a calibration method of a mirror surface/mirror-like object three-dimensional measurement system.
Background
The phase measurement deflection technology (stripe deflection measurement system) is mainly applied to surface defect detection of mirror/mirror-like objects, and is widely researched and applied due to the characteristics of high precision, non-contact and low cost, the stripe deflection measurement system comprises a screen and a camera, and the high-precision calibration of the pose of the screen and the camera influences the precision of the final system. At present, the calibration of the pose of a screen-camera is mainly divided into a plane mirror method and an auxiliary camera method, wherein the plane mirror method uses plane mirrors to obtain the pose of the screen, and is divided into two methods according to whether calibration plates are needed or not, the calibration plates need to be adjusted during calibration so as to be overlapped with the plane mirrors, and the pose of the plane mirrors is replaced by the pose of the calibration plates under a camera coordinate system; the calibration method of a calibration plate is not needed, or a marking point is needed to be pasted on the surface of the plane mirror, or the pose of the plane mirror is needed to be moved in the calibration process, the plane precision of the plane mirror is not considered in the two methods, particularly for the calibration of a large view field, the precision of the plane mirror is difficult to guarantee, errors are introduced to the calibration, the calibration operation is inconvenient, and the automation is difficult to realize; the other auxiliary camera method needs to introduce an additional auxiliary camera and a calibration plate, place the calibration plate in the working range of the system camera, shoot the pattern of the calibration plate by using the camera to be tested, meanwhile, the auxiliary camera is used for shooting the calibration pattern and the calibration plate pattern displayed by the display at the same time, and the position and attitude relationship calibration of the screen and the camera to be tested is realized through the coordinate system conversion of the auxiliary camera and the calibration plate, the method has simple principle and high theoretical precision, but in the actual operation process, because the position relationship between the screen to be tested and the camera is fixed and the camera to be tested can not shoot the screen to be tested, when the calibration plate and the auxiliary camera are arranged according to the requirements, included angles between an optical axis of the auxiliary camera and a normal vector of the calibration plate and an included angle between an optical axis of the auxiliary camera and a normal vector of the display are too large, so that collected calibration patterns are not ideal, the extraction error of the mark points is large, and the accuracy of the substation is difficult to guarantee.
Disclosure of Invention
In order to solve the technical problems, the invention provides a calibration method of a mirror surface/mirror surface-like object three-dimensional measurement system, which is suitable for industrial field calibration of a phase measurement polarization technique (PMD) measurement system.
The technical scheme is as follows:
a mirror surface/mirror surface-like object three-dimensional measurement system calibration method, the mirror surface/mirror surface-like object three-dimensional measurement system includes screen, processor, display device and camera; the camera is used for acquiring a mirror surface/mirror-like object surface image; the screen is controlled by a processor and is used for projecting a preset image to the surface of the mirror surface/mirror-like object; the processor is used for calculating a result; the display device is connected with the processor and used for displaying the calculation result; the relative position of the screen and the camera is fixed, and a screen coordinate system Oxyz is definedLCDCamera coordinate system OxyzcamThe method comprises the following steps:
1) the screen displays a plurality of circular or annular calibration patterns, and the center of the calibration pattern is determined to be in the screen coordinate system OxyzLCDA lower three-dimensional coordinate; when the calibration pattern is displayed on the screen, the calibration pattern can be regarded as a calibration plate;
2) shooting a calibration plate by using a camera, wherein the pattern on the calibration plate is a circular ring or a circle;
3) respectively placing a reference scale and a coding point of a photogrammetric system around a screen and a calibration plate, and acquiring the circle center of a pattern displayed on the screen and the circle center of the pattern on the calibration plate in a coordinate system Oxyz of the photogrammetric system by using the photogrammetric systemphgThree dimensional coordinates of；
4) According to the three-dimensional coordinate of the circle center of the calibration pattern displayed on the screen under the photogrammetric system and the coordinate thereof under the screen coordinate system, the transformation matrix from the screen coordinate system to the photogrammetric coordinate system is solvedphg[RT]LCD；
According to the three-dimensional coordinates of the circle center of the pattern on the calibration plate in the photogrammetric coordinate system and the calibration plate coordinate system, respectively, the transformation matrix from the photogrammetric coordinate system to the calibration plate coordinate system is solvedcal[RT]phg；
According to the three-dimensional coordinates of the circle center of the pattern on the calibration plate under the coordinate system of the calibration plate and the coordinate system of the camera or by using the homography relation (at least 4 points on the calibration plate are required) of the image and the calibration plate, the transformation matrix from the coordinate system of the calibration plate to the coordinate system of the camera is solvedcam[RT]cal；
5) Calculating a conversion matrix from a screen coordinate system to a camera coordinate system:
cam[RT]LCD＝cam[RT]cal×cal[RT]phg×phg[RT]LCD。
furthermore, the pattern on the calibration plate, the calibration pattern displayed on the screen and the coding points in the photogrammetric system at least exist in two pictures acquired by the photogrammetric system.
Further, the pattern on the calibration board is the same as the pattern displayed on the screen.
Further, the calibration plate in step 2) is arranged right in front of the camera lens.
Further, the photogrammetric system comprises: the system comprises an intelligent and high-precision professional camera for collecting images, a set of system software for measurement and calculation, a set of reference scale and a set of coding points; when the system is used, the camera shoots the reference scale and the scattered encoding points from two or more positions to acquire images under different visual angles, and system software calculates the position deviation (namely parallax) among image pixels through a triangulation principle to acquire the three-dimensional coordinates of the detected mark points so as to realize position/coordinate system conversion.
Calibration method for mirror surface/mirror-like object three-dimensional measurement systemThe mirror surface/mirror-like object three-dimensional measuring system comprises a screen, a processor, a display device and a camera; the camera is used for acquiring a mirror surface/mirror-like object surface image; the screen is controlled by a processor and is used for projecting a preset image to the surface of the mirror surface/mirror-like object; the processor is used for calculating a result; the display device is connected with the processor and used for displaying the calculation result; the relative position of the screen and the camera is fixed, and a screen coordinate system Oxyz is definedLCDCamera coordinate system OxyzcamThe method comprises the following steps:
1) the screen displays a plurality of circular or annular calibration patterns, and the center of the calibration pattern is determined to be in the screen coordinate system OxyzLCDA lower three-dimensional coordinate;
2) arranging at least 3 circular or annular light-reflecting mark points in an effective view field of a binocular camera, and shooting the light-reflecting mark points by the binocular camera to obtain three-dimensional coordinates of the light-reflecting mark points in a camera coordinate system;
3) respectively placing a reference scale and a coding point of a photogrammetric system around the screen and the reflective mark point, and acquiring the circle center of a screen display pattern and the circle center of the reflective mark point in a coordinate system Oxyz of the photogrammetric system by using the photogrammetric systemphgA lower three-dimensional coordinate;
4) according to the three-dimensional coordinate of the circle center of the calibration pattern displayed on the screen under the photogrammetric system and the coordinate thereof under the screen coordinate system, the transformation matrix from the screen coordinate system to the photogrammetric coordinate system is solvedphg[RT]LCD；
According to the coordinates of the circle centers of the reflective mark points under the photogrammetry coordinate system and the camera coordinate system respectively, the transformation matrix from the photogrammetry coordinate system to the camera coordinate system is obtainedcam[RT]phg；
5) Calculating a conversion matrix from a screen coordinate system to a camera coordinate system:
cam[RT]LCD＝cam[RT]phg×phg[RT]LCD。
the invention provides a practical high-precision screen-camera pose calibration method suitable for industrial fields, which overcomes the following defects of the traditional calibration method:
1. the plane mirror is used for calibration, the flatness of the plane mirror is not considered, particularly for large plane mirrors, the precision is difficult to guarantee, calibration errors are introduced, meanwhile, the plane mirror or a calibration plate needs to be adjusted in the calibration process, and the adjustment precision is not easy to control.
2. The auxiliary camera has a limited shooting angle, and the acquired calibration image has serious deformation, so that high-precision calibration is difficult to realize on an industrial site.
Detailed Description
The technical solution of the present invention will be described in detail with reference to the specific embodiments.
A mirror surface/mirror surface-like object three-dimensional measurement system calibration method, the mirror surface/mirror surface-like object three-dimensional measurement system includes screen, processor, display device and camera; the camera is used for acquiring a mirror surface/mirror-like object surface image; the screen is controlled by a processor and is used for projecting a preset image to the surface of the mirror surface/mirror-like object; the processor is used for calculating a result; the display device is connected with the processor and used for displaying the calculation result; the relative position of the screen and the camera is fixed, and a screen coordinate system Oxyz is definedLCDCamera coordinate system OxyzcamThe method comprises the following steps:
1) the screen displays a plurality of circular calibration patterns, and the center of the circle of the calibration pattern is determined to be in the screen coordinate system OxyzLCDA lower three-dimensional coordinate;
2) shooting a calibration plate by using a camera, wherein the calibration plate is arranged right in front of a camera lens, and the pattern on the calibration plate is a circle; as an alternative, the pattern on the calibration plate may be a circular ring;
3) respectively placing a reference scale and a coding point of a photogrammetric system around a screen and a calibration plate, and acquiring the circle center of a pattern displayed on the screen and the circle center of the pattern on the calibration plate in a coordinate system Oxyz of the photogrammetric system by using the photogrammetric systemphgA lower three-dimensional coordinate;
in the calibration process, the pattern on the calibration plate, the calibration pattern displayed on the screen and the coding points in the photogrammetric system at least exist in two pictures acquired by the photogrammetric system. Here, the pattern on the calibration board and the calibration pattern displayed on the screen refer to the corresponding position single point
4) According to the three-dimensional coordinate of the circle center of the calibration pattern displayed on the screen under the photogrammetric system and the coordinate thereof under the screen coordinate system, the transformation matrix from the screen coordinate system to the photogrammetric coordinate system is solvedphg[RT]LCD；
According to the three-dimensional coordinates of the circle center of the pattern on the calibration plate in the photogrammetric coordinate system and the calibration plate coordinate system, respectively, the transformation matrix from the photogrammetric coordinate system to the calibration plate coordinate system is solvedcal[RT]phg；
According to the three-dimensional coordinates of the circle center of the pattern on the calibration plate under the coordinate system of the calibration plate and the coordinate system of the camera or by using the homography relation between the image and the calibration plate (at least 4 points on the calibration plate are required), the conversion matrix from the coordinate system of the calibration plate to the coordinate system of the camera is solvedcam[RT]cal(ii) a 5) Calculating a conversion matrix from a screen coordinate system to a camera coordinate system:
cam[RT]LCD＝cam[RT]cal×cal[RT]phg×phg[RT]LCD。
the calibration method has the following advantages:
1) compared with the traditional plane mirror calibration method, the precision error of an auxiliary tool (plane mirror flatness) is not introduced.
2) The calibration process is simple and effective, automatic calibration can be realized, and the method is easy to popularize to an industrial field.
3) The pattern is calibrated by adopting a circle or a circular ring, and the feature point extraction precision is higher than that of the traditional checkerboard.
4) Phase deviation (PMD) measurement system is for realizing that the sensor is miniaturized, often links firmly together screen and camera compactness, if want to gather screen display pattern and calibration board pattern simultaneously with the auxiliary camera method, the auxiliary camera need with become very big contained angle between the two and shoot, the measurement camera also needs to become certain angle and shoots the calibration board, the image distortion of gathering is serious, will seriously influence the extraction precision of characteristic point, further influences the calibration precision. The method can ensure that the measuring camera is just over against the calibration plate to acquire the images by means of the photogrammetric system, ensure the image quality and the extraction precision and improve the calibration precision.
As another embodiment of the present invention: a mirror surface/mirror surface-like object three-dimensional measurement system calibration method, the mirror surface/mirror surface-like object three-dimensional measurement system includes screen, processor, display device and camera; the camera is used for acquiring a mirror surface/mirror-like object surface image; the screen is controlled by the processor and is used for projecting a preset image to the surface of the mirror surface/mirror-like object; the processor is used for calculating results; the display device is connected with the processor and used for displaying the calculation result; the relative position of the screen and the camera is fixed, and a screen coordinate system Oxyz is definedLCDCamera coordinate system OxyzcamThe method comprises the following steps:
1) the screen displays a plurality of circular or annular calibration patterns, and the center of the calibration pattern is determined to be in the screen coordinate system OxyzLCDA lower three-dimensional coordinate;
2) arranging at least 3 circular or annular light-reflecting mark points in an effective view field of a binocular camera, and shooting the light-reflecting mark points by the binocular camera to obtain three-dimensional coordinates of the light-reflecting mark points in a camera coordinate system;
3) respectively placing a reference scale and a coding point of a photogrammetric system around the screen and the reflective mark point, and acquiring the circle center of a screen display pattern and the circle center of the reflective mark point in a coordinate system Oxyz of the photogrammetric system by using the photogrammetric systemphgA lower three-dimensional coordinate;
4) according to the three-dimensional coordinate of the circle center of the calibration pattern displayed on the screen under the photogrammetric system and the coordinate thereof under the screen coordinate system, the transformation matrix from the screen coordinate system to the photogrammetric coordinate system is solvedphg[RT]LCD；
According to the coordinates of the circle centers of the reflective mark points under the photogrammetry coordinate system and the camera coordinate system respectively, the transformation matrix from the photogrammetry coordinate system to the camera coordinate system is obtainedcam[RT]phg；
5) Calculating a conversion matrix from a screen coordinate system to a camera coordinate system:
cam[RT]LCD＝cam[RT]phg×phg[RT]LCD。
the foregoing descriptions of specific exemplary embodiments of the present invention have been presented for purposes of illustration and description. The foregoing description is not intended to be exhaustive or to limit the invention to the precise form disclosed, and obviously many modifications and variations are possible in light of the above teaching. The exemplary embodiments were chosen and described in order to explain certain principles of the invention and its practical application to enable others skilled in the art to make and use various exemplary embodiments of the invention and various alternatives and modifications thereof. It is intended that the scope of the invention be defined by the following claims and their equivalents.
Claims (5)
1. A mirror surface/mirror surface-like object three-dimensional measurement system calibration method, the mirror surface/mirror surface-like object three-dimensional measurement system includes screen, processor, display device and camera; the camera is used for acquiring a mirror surface/mirror-like object surface image; the screen is controlled by a processor and is used for projecting a preset image to the surface of the mirror surface/mirror-like object; the processor is used for calculating a result; the display device is connected with the processor and used for displaying the calculation result; the relative position of the screen and the camera is fixed, and a screen coordinate system Oxyz is definedLCDCamera coordinate system OxyzcamThe method is characterized by comprising the following steps:
1) the screen displays a plurality of circular or annular calibration patterns, and the center of the calibration pattern is determined to be in the screen coordinate system OxyzLCDA lower three-dimensional coordinate;
2) shooting a calibration plate by using a camera, wherein the pattern on the calibration plate is a circular ring or a circle;
3) respectively placing a reference scale and a coding point of a photogrammetric system around a screen and a calibration plate, and acquiring the circle center of a pattern displayed on the screen and the circle center of the pattern on the calibration plate in a coordinate system Oxyz of the photogrammetric system by using the photogrammetric systemphgA lower three-dimensional coordinate;
4) according to the three-dimensional coordinate of the circle center of the calibration pattern displayed on the screen under the photogrammetric system and the coordinate thereof under the screen coordinate system, the transformation matrix from the screen coordinate system to the photogrammetric coordinate system is solvedphg[RT]LCD；
According to the three-dimensional coordinates of the circle center of the pattern on the calibration plate in the photogrammetric coordinate system and the calibration plate coordinate system, respectively, the transformation matrix from the photogrammetric coordinate system to the calibration plate coordinate system is solvedcal[RT]phg；
According to the three-dimensional coordinates of the circle center of the pattern on the calibration plate under the calibration plate coordinate system and the camera coordinate system or by using the homography relation between the image and the calibration plate, the transformation matrix from the calibration plate coordinate system to the camera coordinate system is solvedcam[RT]cal；
5) Calculating a conversion matrix from a screen coordinate system to a camera coordinate system:
cam[RT]LCD＝cam[RT]cal×cal[RT]phg×phg[RT]LCD。
2. the calibration method for the mirror/mirror-like object three-dimensional measurement system according to claim 1, wherein: the pattern on the calibration plate, the calibration pattern displayed on the screen and the coding points in the photogrammetric system at least exist in two pictures acquired by the photogrammetric system.
3. The calibration method for the mirror/mirror-like object three-dimensional measurement system according to claim 1, wherein: the pattern on the calibration plate is the same as the pattern displayed on the screen.
4. The calibration method for the mirror/mirror-like object three-dimensional measurement system according to claim 1, wherein: and 2) placing the calibration plate right in front of the camera lens.
5. A calibration method for three-dimensional measurement system of mirror surface/mirror-like object comprises a screen, a processor and a display devicePlacing a camera; the camera is used for acquiring a mirror surface/mirror-like object surface image; the screen is controlled by a processor and is used for projecting a preset image to the surface of the mirror surface/mirror-like object; the processor is used for calculating a result; the display device is connected with the processor and used for displaying the calculation result; the relative position of the screen and the camera is fixed, and a screen coordinate system Oxyz is definedLCDCamera coordinate system OxyzcamThe method is characterized by comprising the following steps:
1) the screen displays a plurality of circular or annular calibration patterns, and the center of the calibration pattern is determined to be in the screen coordinate system OxyzLCDA lower three-dimensional coordinate;
2) arranging at least 3 circular or annular light-reflecting mark points in an effective view field of a binocular camera, and shooting the light-reflecting mark points by the binocular camera to obtain three-dimensional coordinates of the light-reflecting mark points in a camera coordinate system;
3) respectively placing a reference scale and a coding point of a photogrammetric system around the screen and the reflective mark point, and acquiring the circle center of a screen display pattern and the circle center of the reflective mark point in a coordinate system Oxyz of the photogrammetric system by using the photogrammetric systemphgA lower three-dimensional coordinate;
4) according to the three-dimensional coordinate of the circle center of the calibration pattern displayed on the screen under the photogrammetric system and the coordinate thereof under the screen coordinate system, the transformation matrix from the screen coordinate system to the photogrammetric coordinate system is solvedphg[RT]LCD；
According to the coordinates of the circle centers of the reflective mark points under the photogrammetry coordinate system and the camera coordinate system respectively, the transformation matrix from the photogrammetry coordinate system to the camera coordinate system is obtainedcam[RT]phg；
5) Calculating a conversion matrix from a screen coordinate system to a camera coordinate system:
cam[RT]LCD＝cam[RT]phg×phg[RT]LCD。
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| CN111257338B (en) * | 2020-02-14 | 2022-09-02 | 易思维（杭州）科技有限公司 | Surface defect detection method for mirror surface and mirror-like object |
| CN113390336B (en) * | 2021-05-24 | 2024-03-12 | 武汉海微科技股份有限公司 | Adjustable screen laminating and aligning device and calibration method based on machine vision |
| CN116051647B (en) * | 2022-08-08 | 2024-06-25 | 荣耀终端有限公司 | Camera calibration method and electronic equipment |
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| CN117450955B (en) * | 2023-12-21 | 2024-03-19 | 成都信息工程大学 | Three-dimensional measurement method for thin object based on space annular feature |
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Address after: Room 495, building 3, 1197 Bin'an Road, Binjiang District, Hangzhou City, Zhejiang Province 310051 Patentee after: Yi Si Si (Hangzhou) Technology Co.,Ltd. Address before: Room 495, building 3, 1197 Bin'an Road, Binjiang District, Hangzhou City, Zhejiang Province 310051 Patentee before: ISVISION (HANGZHOU) TECHNOLOGY Co.,Ltd. |