CN110060301B - Calibration system and method for projection grating modeling - Google Patents
Calibration system and method for projection grating modeling Download PDFInfo
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- CN110060301B CN110060301B CN201910201632.7A CN201910201632A CN110060301B CN 110060301 B CN110060301 B CN 110060301B CN 201910201632 A CN201910201632 A CN 201910201632A CN 110060301 B CN110060301 B CN 110060301B
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
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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
- G06T7/85—Stereo 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
- G06T7/90—Determination of colour characteristics
Abstract
The invention discloses a calibration system and a method for projection grating modeling, wherein the calibration system comprises a camera, a projector, a screen for projection and a processor; the processor is respectively connected with the camera and the projector, and respectively sends trigger signals to the camera and the projector; a calibration pattern is arranged on the screen; the camera shoots a screen with only a calibration pattern as a calibration image; the processor acquires camera calibration data; the projector is used for projecting a calibration picture; the camera is used for shooting a calibration picture of each brightness on the screen as a picture image; the processor performs calibration between the projector and the camera. The calibration system for projection grating modeling can acquire the calibration relation between the camera and the projector of the projection grating modeling system, so that the precision of projection grating modeling is higher, and the established model is more fidelity.
Description
Technical Field
The invention relates to a calibration system and method for projection grating modeling.
Background
Three-dimensional reconstruction refers to the establishment of a mathematical model suitable for computer representation and processing of a three-dimensional object, is the basis for processing, operating and analyzing the properties of the three-dimensional object in a computer environment, and is also a key technology for establishing virtual reality expressing an objective world in a computer.
The three-dimensional reconstruction of the grating projection is a three-dimensional reconstruction mode, the grating is respectively projected to a reference plane and the surface of a measured object, and the reference grating projected to the reference plane is not deformed because the reference plane is a horizontal plane; when the grating is projected on the surface of the measured object, the grating can generate deformation of different degrees because the projected grating is modulated by the height of the surface of the measured object. The heights of the placed measured objects are different, the phase change degrees of the gratings are different, and the phase change of the two-dimensional plane deformation stripes carries three-dimensional shape information of the surfaces of the objects. Therefore, by obtaining the phase change value, the height of the object at the corresponding point can be obtained, and the contour shape of the three-dimensional object can be obtained.
The defects that the calibration of a camera and a projector is inconvenient, the image distortion is serious and the accuracy of establishing a model is low exist in the three-dimensional reconstruction of the conventional grating projection.
Disclosure of Invention
The invention aims to overcome the defects of inconvenient calibration, serious image distortion and low model building precision in three-dimensional reconstruction of grating projection in the prior art, and provides a calibration system and a calibration method for projection grating modeling, which can more accurately acquire the calibration relation between a camera and a projector of a projection grating modeling system, ensure higher precision of projection grating modeling and ensure more fidelity of the built model.
The invention solves the technical problems through the following technical scheme:
a calibration system for projection grating modeling is characterized by comprising a camera, a projector, a screen for projection and a processor;
the processor is respectively connected with the camera and the projector, and respectively sends trigger signals to the camera and the projector;
the camera comprises a camera lens, the projector comprises a projection lens, and the shooting direction of the camera lens and the projection direction of the projection lens are both aligned with the screen;
a calibration pattern is arranged on the screen;
the camera is used for shooting a screen only with calibration patterns as a calibration image;
the processor is used for calibrating the camera by utilizing the calibration image and acquiring camera calibration data;
the projector is used for projecting at least 2 calibration pictures with brightness to the screen;
the camera is used for shooting a calibration picture of each brightness on the screen as a picture image;
the processor is used for calibrating the projector and the camera by using the camera calibration data and the picture image.
Preferably, the projector is configured to project at least 2 calibration pictures with brightness to the screen, and includes:
the projector is used for projecting at least 2 gray scale calibration pictures to the screen; or the like, or a combination thereof,
the projector is used for projecting a calibration picture to the screen and projecting gray level images with at least 2 gray levels on the calibration picture.
Preferably, the screen is used for displaying a calibration pattern, and the color of the calibration pattern is variable;
the camera is used for transmitting a calibration image of a calibration pattern of at least 2 colors to the processor;
the processor is used for calibrating the camera through all calibration images.
Preferably, the screen includes a power supply module and a display panel, the display panel is provided with an electrochromic dye, and the power supply module is connected with the electrochromic dye.
Preferably, the screen comprises a translucent white board and a control chip, the calibration pattern is printed on the front surface of the translucent white board, a plurality of LED lamps are arranged on the back surface of the translucent white board, and the illumination direction of the LED lamps is aligned with the translucent white board;
the control chip is used for controlling the brightness of the LED lamp;
the processor is further configured to send a trigger signal to the camera after sending the brightness adjustment signal to the control chip.
Preferably, the screen is a liquid crystal screen, the liquid crystal screen displays a preset pattern, the shape of the preset pattern is the same as that of the calibration pattern, and the color of the preset pattern is changeable.
Preferably, the processor comprises a model DLP lightcraft 4500 development board, texas instruments, usa.
Preferably, the calibration system for projection grating modeling includes a support frame, the support frame includes two support rods, a pan-tilt is disposed at the top of each support rod, and the camera and the projector are disposed on the pan-tilt respectively.
Preferably, the support frame further comprises a transverse fixing rod connected with the projection screen, the transverse fixing rod is perpendicular to the two support rods, and the length of the transverse fixing rod is adjustable.
The application also provides a calibration method for projection grating modeling, which is characterized in that the calibration method is realized by the calibration system.
On the basis of the common knowledge in the field, the above preferred conditions can be combined randomly to obtain the preferred embodiments of the invention.
The positive progress effects of the invention are as follows:
the calibration system for projection grating modeling can acquire the image relation between the camera and the projector of the projection grating modeling system, and is convenient to acquire overexposed and overlooked areas, so that the precision of projection grating modeling is higher, and the established model is more fidelity.
Drawings
Fig. 1 is a schematic structural diagram of a calibration system for projection grating modeling according to embodiment 1 of the present invention.
Fig. 2 is a flowchart of a calibration method according to embodiment 1 of the present invention.
Detailed Description
The invention is further illustrated by the following examples, which are not intended to limit the scope of the invention.
Example 1
Referring to fig. 1, the present embodiment provides a calibration system for projection grating modeling, which includes a camera 11, a projector 12, a screen 13 for projection, and a processor.
The processor is respectively connected with the camera and the projector, and respectively sends trigger signals to the camera and the projector;
the camera comprises a camera lens, the projector comprises a projection lens, and the shooting direction of the camera lens and the projection direction of the projection lens are both aligned with the screen;
a calibration pattern is arranged on the screen;
the camera is used for shooting a screen only with calibration patterns as a calibration image;
the processor is used for calibrating the camera by utilizing the calibration image and acquiring camera calibration data;
the projector is used for projecting at least 2 calibration pictures with brightness to the screen;
the camera is used for shooting a calibration picture of each brightness on the screen as a picture image;
the processor is used for calibrating the projector and the camera by using the camera calibration data and the picture image.
Specifically, the projector is used for projecting at least 2 calibration pictures with brightness to the screen in the following way.
The projector is used for projecting a calibration picture to the screen and projecting gray level images with at least 2 gray levels on the calibration picture. In this embodiment, the gray images with two gray levels are gray images with 127 gray levels and 255 gray levels, which are respectively brightened on the calibration picture and with two different brightnesses.
Alternatively, in other embodiments, the projector is configured to project a calibration picture of at least 2 gray levels onto the screen.
The screen is used for displaying a calibration pattern, and the color of the calibration pattern is variable;
the camera is used for transmitting a calibration image of a calibration pattern of at least 2 colors to the processor;
the processor is used for calibrating the camera through all calibration images.
The screen comprises a power supply module and a display panel, wherein the display panel is provided with electrochromic dye, and the power supply module is connected with the electrochromic dye.
The processor includes a development board model DLP lightcraft 4500, texas instruments, usa.
The calibration system for projection grating modeling comprises a support frame 14, the support frame comprises two support rods 15, a holder 16 is arranged at the top of each support rod, and the camera and the projector are respectively arranged on the holders.
The support frame further comprises a transverse fixing rod connected with the projection screen, the transverse fixing rod is perpendicular to the two support rods, and the length of the transverse fixing rod 17 is adjustable.
Referring to fig. 2, with the above calibration system, the present embodiment further provides a calibration method, including:
and step 100, outputting a calibration pattern on the screen.
103, projecting at least 2 calibration pictures with brightness to the screen by the projector;
104, the camera is used for shooting a calibration picture of each brightness on the screen as a picture image;
and 105, calibrating the projector and the camera by the processor by utilizing the camera calibration data and the picture image.
Wherein, step 103 specifically comprises:
the projector projects at least 2 gray scale calibration pictures to the screen; or the like, or, alternatively,
the projector projects a calibration picture to the screen, and projects gray level images with at least 2 gray levels on the calibration picture.
Further, in step 100, a calibration pattern is displayed on the screen, and the color of the calibration pattern is variable;
thus, in step 101, the camera transmits to the processor a calibration image of a calibration pattern of at least 2 colors;
step 102 is: the processor calibrates the camera through all calibration images.
The calibration system for projection grating modeling of the embodiment can acquire the image relationship between the camera and the projector of the projection grating modeling system, and conveniently acquire overexposed and overlooked areas, so that the precision of projection grating modeling is higher, and the established model is more fidelity.
Example 2
This embodiment is substantially the same as embodiment 1 except that:
the screen comprises a semitransparent white board and a control chip, the calibration pattern is printed on the front surface of the semitransparent white board, a plurality of LED lamps are arranged on the back surface of the semitransparent white board, and the illumination directions of the LED lamps are aligned to the semitransparent white board;
the control chip is used for controlling the brightness of the LED lamp;
the processor is further configured to send a trigger signal to the camera after sending the brightness adjustment signal to the control chip.
Example 3
This embodiment is substantially the same as embodiment 1 except that:
the screen is a liquid crystal screen, the liquid crystal screen displays a preset pattern, the shape of the preset pattern is the same as that of the calibration pattern, and the color of the preset pattern is variable.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that these are by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.
Claims (10)
1. A calibration system for projection grating modeling, the calibration system comprising a camera, a projector, a screen for projection, and a processor;
the processor is respectively connected with the camera and the projector, and respectively sends trigger signals to the camera and the projector;
the camera comprises a camera lens, the projector comprises a projection lens, and the shooting direction of the camera lens and the projection direction of the projection lens are both aligned with the screen;
a calibration pattern is arranged on the screen;
the camera is used for shooting a screen only with calibration patterns as a calibration image;
the processor is used for calibrating the camera by utilizing the calibration image and acquiring camera calibration data;
the projector is used for projecting at least 2 calibration pictures with brightness to the screen;
the camera is used for shooting a calibration picture of each brightness on the screen as a picture image;
the processor is used for calibrating the projector and the camera by using the camera calibration data and the picture image.
2. The calibration system as defined in claim 1, wherein the projector is configured to project at least 2 calibration pictures of brightness to the screen, comprising:
the projector is used for projecting at least 2 gray scale calibration pictures to the screen; or the like, or, alternatively,
the projector is used for projecting a calibration picture to the screen and projecting gray level images with at least 2 gray levels on the calibration picture.
3. The calibration system as defined in claim 1,
the screen is used for displaying a calibration pattern, and the color of the calibration pattern is variable;
the camera is used for transmitting a calibration image of a calibration pattern of at least 2 colors to the processor;
the processor is used for calibrating the camera through all calibration images.
4. The calibration system as recited in claim 3, wherein the screen comprises a power supply module and a display panel, the display panel having an electrochromic dye disposed thereon, the power supply module being connected to the electrochromic dye.
5. The calibration system according to claim 3, wherein the screen comprises a translucent white board, a control chip, the front surface of the translucent white board is printed with the calibration pattern, the back surface of the translucent white board is provided with a plurality of LED lamps, and the illumination directions of the LED lamps are aligned with the translucent white board;
the control chip is used for controlling the brightness of the LED lamp;
the processor is further configured to send a trigger signal to the camera after sending the brightness adjustment signal to the control chip.
6. The calibration system according to claim 3, wherein the screen is a liquid crystal screen, the liquid crystal screen displays a predetermined pattern, the predetermined pattern has the same shape as the calibration pattern, and the color of the predetermined pattern is changeable.
7. The calibration system of claim 1, wherein the processor comprises a model DLP lightcraft 4500 development board, texas instruments, usa.
8. The calibration system according to claim 1, wherein the calibration system for projection grating modeling comprises a support frame, the support frame comprises two support rods, a pan-tilt is disposed on a top of each support rod, and the camera and the projector are respectively disposed on the pan-tilt.
9. The calibration system of claim 8, wherein the support frame further comprises a transverse fixing rod connected to the projection screen, the transverse fixing rod being perpendicular to the two support rods, the transverse fixing rod being adjustable in length.
10. Calibration method for projection grating modeling, characterized in that it is implemented by a calibration system according to any of claims 1 to 9.
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| CN201910201632.7A CN110060301B (en) | 2019-03-18 | 2019-03-18 | Calibration system and method for projection grating modeling |
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| CN201910201632.7A CN110060301B (en) | 2019-03-18 | 2019-03-18 | Calibration system and method for projection grating modeling |
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| CN110060301B true CN110060301B (en) | 2023-02-10 |
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