CN110246187A - A kind of camera internal reference scaling method, device, equipment and readable storage medium storing program for executing - Google Patents
A kind of camera internal reference scaling method, device, equipment and readable storage medium storing program for executing Download PDFInfo
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- CN110246187A CN110246187A CN201910382602.0A CN201910382602A CN110246187A CN 110246187 A CN110246187 A CN 110246187A CN 201910382602 A CN201910382602 A CN 201910382602A CN 110246187 A CN110246187 A CN 110246187A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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Abstract
The invention discloses a kind of camera internal reference scaling method, device, equipment and readable storage medium storing program for executing.Wherein, camera internal reference scaling method is the following steps are included: obtain the image of scaling board；Angle point is calculated according to the image of the scaling board；Extract the sub-pix of each angle point；Camera internal reference is demarcated using calibration algorithm.Camera internal reference caliberating device includes obtaining module, for obtaining the image of scaling board；Computing module: for calculating the angle point of scaling board according to the image of the scaling board；Extraction module: for extracting the sub-pix of each angle point；Demarcating module: for being demarcated using calibration algorithm to camera internal reference.The present invention extracts the sub-pix of each angle point according to the image of scaling board calculating angle point by obtaining the image of scaling board, camera internal reference is demarcated using calibration algorithm, it, being capable of independent calibration for cameras internal reference to provide a kind of camera internal reference scaling method and device, it is ensured that stated accuracy.
Description
Technical field
The present invention relates to camera calibration field, more particularly, to a kind of camera internal reference scaling method, device, equipment and readable
Storage medium.
Background technique
Angle point: consider the grey scale change of pixel neighborhoods point, i.e. the variation of brightness of image will be sufficiently large with adjoint point brightness contrast
Point be defined as angle point.
The purpose of camera calibration is to find out the inside and outside parameter of camera and distortion factor, and the internal reference of camera and distortion factor are
The key of correcting image distortion, internal reference stated accuracy is higher, and pattern distortion rectification effect is better.Have in the prior art very much
Scaling method, such as Zhang Zhengyou calibration algorithm, but most of scaling methods are all while the inside and outside parameter of calibration for cameras and distortion system
Number.It is low so as to cause calibration success rate since different outer scenes can seriously affect the internal reference and distortion factor of camera calibration,
It needs to demarcate repeatedly, can be only achieved the precision of needs.Therefore, it needs to improve this technology.
Summary of the invention
The present invention is directed to solve at least some of the technical problems in related technologies.For this purpose, of the invention
One purpose is to provide a kind of camera internal reference scaling method, device, equipment and readable storage medium storing program for executing, can be individually in calibration for cameras
Ginseng, it is ensured that stated accuracy.
The technical scheme adopted by the invention is that: a kind of camera internal reference scaling method, comprising the following steps:
Obtain the image of scaling board；
Angle point is calculated according to the image of the scaling board；
Extract the sub-pix of each angle point；
Camera internal reference is demarcated using calibration algorithm.
Further, the scaling board is standard gridiron pattern made of glass material.
Further, the camera internal reference scaling method further include:
Judge whether to demarcate successfully, the camera internal reference is saved as into two dimensional code if demarcating successfully.
Further, the two dimensional code further includes the date of manufacture of camera mould group, the date of production.
Further, the step is specifically included according to the angle point that the image of the scaling board calculates scaling board:
The image of the scaling board is pre-processed；
Threshold value is set, and the threshold value is average image brightness；
Pretreated image is converted into binary map according to the threshold value；
Angle point is calculated using Harris angular-point detection method.
Further, the sub-pix that the step extracts each angle point specifically includes:
Indicate that sub-pix point coordinate position to be asked, Gi matrix indicate all gradient values in window with q,Matrix indicates window
The transposed matrix of interior all gradients, piIndicate the image coordinate point that window is chosen, wiIndicate Gauss weight factor, N indicates selection
Pixel sum in window, constructs least square equations:
A kind of camera internal reference caliberating device, comprising:
Module is obtained, for obtaining the image of scaling board；
Computing module: for calculating the angle point of scaling board according to the image of the scaling board；
Extraction module: for extracting the sub-pix of each angle point；
Demarcating module: for being demarcated using calibration algorithm to camera internal reference.
A kind of camera internal reference calibration facility, comprising:
At least one processor；And
The memory being connect at least one described processor communication；Wherein,
The memory is stored with the instruction that can be executed by least one described processor, and described instruction is by described at least one
A processor executes, so that at least one described processor is able to carry out a kind of above-mentioned camera internal reference scaling method.
A kind of computer readable storage medium, the computer-readable recording medium storage have computer executable instructions,
The computer executable instructions are for making computer execute a kind of above-mentioned camera internal reference scaling method.
The beneficial effects of the present invention are:
The present invention extracts the sub- picture of each angle point according to the image of scaling board calculating angle point by obtaining the image of scaling board
Element demarcates camera internal reference using calibration algorithm, to provide a kind of camera internal reference scaling method and device, Neng Goudan
Only calibration for cameras internal reference, it is ensured that stated accuracy.
In addition, this ring of user's calibration for cameras internal reference is omitted also by the way that camera internal reference is saved as two dimensional code in the present invention
Section, it is only necessary to which camera internal reference can be directly acquired by reading the two dimensional code using software.
Detailed description of the invention
Fig. 1 is a kind of flow diagram of an embodiment of camera internal reference scaling method in the present invention.
Specific embodiment
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.
It is constantly progressive with the rapid development of social economy with auto industry, automobile has become human production life not
The part that can or lack.Automobile also brings a large amount of problems while bringing great convenience for the mankind, such as traffic safety, traffic
Blocking and environmental pollution etc..In recent years, motor-vehicle accident is in high-incidence situation, and traffic safety has become global problem.Automobile is first
Important component and key technology into auxiliary driving technology as Intelligent Vehicle System are the important of raising traffic safety
Means.It using advanced vehicle-mounted sensor-based system, information processing system and execution system etc., in real time to driver status, vehicle outside
Other vehicles are monitored in portion's environment, vehicle oneself state and nearby sphere.When vehicle encounters potential danger, ADAS
(Advanced Driving Assistant System, advanced driving assistance system) will send information warning to driver, or
Vehicle control system is intervened, driver is taken over and completes part operation, achievees the purpose that improve vehicle safety.Realize vehicle
External environment perception needs to carry out monitoring outside vehicle environment on a large scale, and due to the distortion of image, same object is not
Can also it change with its feature when position, this significantly increases the operand of software, is difficult in real time to identify complex environment.
So uncalibrated image becomes key a part that the advanced auxiliary of automobile drives premise.Scaling method in the prior art is mostly
The inside and outside ginseng of camera is demarcated together, and actual effect is often not achieved in the precision of calibration.And compared to Camera extrinsic, camera internal reference is to essence
Degree requires higher.It, being capable of independent calibration for cameras internal reference and with two the present invention provides a kind of camera internal reference scaling method based on this
The form for tieing up code saves, and camera internal reference can be obtained by reading two dimensional code using software, saves this ring of user's calibration for cameras internal reference
Section, not only ensures stated accuracy, and improve user experience.
Embodiment 1
A kind of camera internal reference scaling method is present embodiments provided, is camera internal reference mark in the present embodiment with reference to Fig. 1, Fig. 1
Determine the flow diagram of method, comprising the following steps:
The image of step S1. acquisition scaling board；
Step S2. calculates angle point according to the image of scaling board；
Step S3. extracts the sub-pix of each angle point；
Step S4. demarcates camera internal reference using calibration algorithm；
Step S5. judges whether to demarcate successfully, and camera internal reference is saved as two dimensional code if demarcating successfully.
Camera internal reference scaling method in the present embodiment carries out Corner Detection simultaneously to image by the image of acquisition scaling board
The sub-pix of each angle point is extracted, camera internal reference is then calculated, camera internal reference is demarcated.
The step of camera internal reference scaling method, is specifically described below:
The image of step S1. acquisition scaling board: the calibration software on computer is acquired the image of scaling board, acquires ring
Border is desirable to provide the fixed scene of pure color illumination and illumination invariant, is conducive to improve stated accuracy.Calibration software will acquire
Scaling board image (i.e. chessboard table images) be sent to processor, processor pre-processes image, it is main include filtering and
Noise reduction process.Wherein, scaling board is standard gridiron pattern made of glass material, joined anodised aluminium in glass material, side
Just tessellated dyeing.
Step S2. calculates angle point according to the image of scaling board.Step S2 specifically includes following sub-step:
Threshold value is arranged in sub-step S21., which is mean picture brightness.Specially obtained according to pretreated RGB image
The brightness value for taking corresponding HSL image pixel, averages to obtain mean picture brightness to the brightness value of all pixels.
Pretreated image is converted to binary map according to threshold value by sub-step S22..That is: if pretreated image
Brightness is less than threshold value, then gray value is 0；If the brightness of pretreated image is greater than threshold value, gray value 255.Utilize two
Value figure removes detection angle point, it is possible to reduce the noise jamming of image, and detection speed can be greatly improved.
Sub-step S23. calculates angle point using Harris angular-point detection method.The calculation formula of Harris angular-point detection method
For
Wherein, [u, v] is the offset of window, and (x, y) is pixel coordinate position corresponding in window, and window has more
Greatly, with regard to how many position, w (x, y) is window function, and I (x, y) is gray value of image, and I (x+u, y+v) is the figure after translation
As gray value, above-mentioned formula can be obtained by Taylor expansion:
Here, Harris matrix
Here using Ix and Iy as reference axis, therefore the gradient coordinate of each pixel can be expressed as (Ix, Iy).
Step S3. extracts the sub-pix of each angle point: indicating sub-pix point coordinate position to be asked with q, is detected with step S2
Angle point centered on, choose a window, Gi matrix indicates all gradient values in window, Gi=[Gx, Gy],Matrix indicates window
The transposed matrix of all gradients in mouthful,piIndicate the image coordinate point that window is chosen, wiIndicate Gauss weight because
Son, N indicate pixel sum in the window chosen, construct least square equations:
Wherein, the gradient value in calculation window uses sobel operator:
K is pixel value in the window chosen.
Step S4. demarcates camera internal reference using calibration algorithm: the scaling board figure of at least two different angles of acquisition
Homography matrix between the scaling board image of picture, practical scaling board and acquisition is H, generally with the upper left corner on plane reference plate
Point is the origin of world coordinate system, and XOY plane is overlapped with scaling board plane, therefore its Z=0 of point on scaling board, then lens mould
Type is variable are as follows:
Sm '=HM '
H=A [r1r2t]
A is the intrinsic parameter of camera.
Due to the property of spin matrix: r1 Tr2=0, r1 Tr1=r2 Tr2=1
It enables
H=[h1h2h3]
Then
[h1h2h3]=λ A [r1r2t]
Two constraint conditions can be obtained:
By solving intrinsic parameter A, camera internal reference is demarcated.
Step S5. judges whether to demarcate successfully, and camera internal reference is saved as two dimensional code if demarcating successfully: calibration is completed
Afterwards, judged whether to demarcate successfully using calibration evaluation algorithms, calibration evaluation algorithms include two evaluation coefficients: every width figure is put down
The summation of equal error and the mean error of all images, two evaluation coefficients are respectively less than 1 and demarcate success.It is reported if demarcating failure
Alert prompt；Camera internal reference is successfully converted into two dimensional code automatically and is printed as adhesive sticker if demarcating, by pressure sensitive adhesive to corresponding
In camera mould group.It since current camera factory is not preceding all calibrated, only just demarcates when needed, user needs to build mark
Determine environment to demarcate camera parameter.Camera internal reference is saved as two dimensional code by the present embodiment, can omit user's calibration for cameras
This link of internal reference, it is only necessary to which camera internal reference can be directly acquired by reading the two dimensional code using software.Further, this reality
It applies example and camera internal reference is saved as into two dimensional code, and the camera demarcated is sticked two dimensional code before factory by operator, this movement
Be it is online it is one-to-one label, internal reference data and camera mould group are bound, are obscured so parameter will not occur.Together
When, two dimensional code is at low cost, easy to manufacture, can reduce production cost.
Preferably due to the internal reference data volume very little of camera, two dimensional code has the characteristics that highly dense property, memory capacity are big again,
Two dimensional code can add the other parameters of camera internal reference at this time, for example, camera mould group date of manufacture, the date of production, repeat to be marked
Whether it is non-defective unit etc. before determining number, have passed through how many processing station, factory, the retrospect of camera mould group can be played the role of.In addition,
These information can be made to be not easy to be obtained by other people by introducing encryption measures.
The present invention also provides a kind of camera internal reference caliberating devices, comprising:
Module is obtained, for obtaining the image of scaling board；
Computing module: for calculating the angle point of scaling board according to the image of scaling board；
Extraction module: for extracting the sub-pix of each angle point；
Demarcating module: for being demarcated using calibration algorithm to camera internal reference.
The present invention also provides a kind of camera internal reference calibration facilities, comprising:
At least one processor；And
The memory being connect at least one described processor communication；Wherein,
The memory is stored with the instruction that can be executed by least one described processor, and described instruction is by described at least one
A processor executes, so that at least one described processor is able to carry out a kind of above-mentioned camera internal reference scaling method.
The present invention also provides a kind of computer readable storage medium, the computer-readable recording medium storage has calculating
Machine executable instruction, the computer executable instructions are for making computer execute a kind of above-mentioned camera internal reference scaling method.
It is to be illustrated to preferable implementation of the invention, but the invention is not limited to the implementation above
Example, those skilled in the art can also make various equivalent variations on the premise of without prejudice to spirit of the invention or replace
It changes, these equivalent deformations or replacement are all included in the scope defined by the claims of the present application.
Claims (9)
1. a kind of camera internal reference scaling method, which comprises the following steps:
Obtain the image of scaling board；
Angle point is calculated according to the image of the scaling board；
Extract the sub-pix of each angle point；
Camera internal reference is demarcated using calibration algorithm.
2. a kind of camera internal reference scaling method according to claim 1, which is characterized in that the scaling board is glass material
Manufactured standard gridiron pattern.
3. a kind of camera internal reference scaling method according to claim 1, which is characterized in that the camera internal reference scaling method
Further include:
Judge whether to demarcate successfully, the camera internal reference is saved as into two dimensional code if demarcating successfully.
4. a kind of camera internal reference scaling method according to claim 3, which is characterized in that the two dimensional code further includes camera
Date of manufacture, the date of production of mould group.
5. a kind of camera internal reference scaling method according to claim 1, which is characterized in that the step is according to the calibration
The angle point that the image of plate calculates scaling board specifically includes:
The image of the scaling board is pre-processed；
Threshold value is set, and the threshold value is average image brightness；
Pretreated image is converted into binary map according to the threshold value；
Angle point is calculated using Harris angular-point detection method.
6. a kind of camera internal reference scaling method according to claim 5, which is characterized in that the step extracts each angle point
Sub-pix specifically includes:
Indicate that sub-pix point coordinate position to be asked, Gi matrix indicate all gradient values in window with q,Matrix indicates institute in window
There are the transposed matrix of gradient, piIndicate the image coordinate point that window is chosen, wiIndicate Gauss weight factor, N indicates the window chosen
Interior pixel sum, constructs least square equations:
7. a kind of camera internal reference caliberating device characterized by comprising
Module is obtained, for obtaining the image of scaling board；
Computing module: for calculating the angle point of scaling board according to the image of the scaling board；
Extraction module: for extracting the sub-pix of each angle point；
Demarcating module: for being demarcated using calibration algorithm to camera internal reference.
8. a kind of camera internal reference calibration facility characterized by comprising
At least one processor；And
The memory being connect at least one described processor communication；Wherein,
The memory is stored with the instruction that can be executed by least one described processor, and described instruction is by described at least one
It manages device to execute, so that at least one described processor is able to carry out such as method as claimed in any one of claims 1 to 6.
9. a kind of computer readable storage medium, which is characterized in that the computer-readable recording medium storage has computer can
It executes instruction, the computer executable instructions are for making computer execute such as method as claimed in any one of claims 1 to 6.
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| CN115830133A (en) * | 2022-08-03 | 2023-03-21 | 宁德时代新能源科技股份有限公司 | Camera calibration method, camera calibration device, computer equipment, storage medium and program product |
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