CN110246191A - Camera nonparametric model scaling method and stated accuracy appraisal procedure - Google Patents
Camera nonparametric model scaling method and stated accuracy appraisal procedure Download PDFInfo
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Abstract
The invention discloses a kind of camera nonparametric model scaling method and stated accuracy appraisal procedures, it is carried out using camera, dot laser and turntable, or, it is carried out using camera, dot laser, turntable and reflective mirror, include the following steps: to carry out level angle adjusting to camera and/or laser and/or reflective mirror, changes the coordinate position of laser projection point in the picture, each corner △ α, rotation m times, obtains m group coordinate data (ui,vi), then vertical angles adjusting is carried out to camera and/or laser and/or reflective mirror, change the coordinate position of laser projection point in the picture, each corner △ β rotates n times, obtains n group coordinate data (uj,vj)；It is fitted (ui,vi)、(uj,vj), obtain straight line l1、l2, establish the expression formula of level angle, the corresponding interpolating function of vertical corner；Obtain straight line l1、l2Arbitrary coordinate point in the coordinate system of building and the corresponding relationship between level angle, vertical corner, this method are demarcated suitable for focal length small field of view camera nonparametric model, and acquisition data volume is small, high-efficient.
Description
Technical field
The present invention relates to camera calibration technical field, especially a kind of camera nonparametric model scaling method and calibration essence
Spend appraisal procedure.
Background technique
In vision measurement system, calibration is an important link, stability, precision level to entire measuring system
It plays a crucial role.During the calibration process, common camera model is national forest park in Xiaokeng, image point and picture point
It is obtained by perspective projection transformation relationship, also referred to as parameterizes calibration using the method that the imaging model carries out camera calibration, it is this
Method passes through bundle adjustment and combines the intrinsic parameter of optimization algorithm resolving camera, including focal length, principal point, and outer parameter RT
Matrix, while there are also distortion parameters；Parametrization scaling method generally has the calibration sides such as Zhang Shi calibration, self-calibration, active vision
Method, but these scaling methods exist: it is interrelated between parameter；Most of optimization algorithm needs good initial value, but initial value
Acquisition it is more difficult；The parameter of each optimization has small difference, meanwhile, parameter calibration needs to make accurate target, at
This is higher.
Another camera calibration method is nonparametric model scaling method: passing through external precision angle-measuring equipment --- it is accurate
The auxiliary of turntable can directly establish corresponding relationship between the orientation angles information of space incident light and real image point, thus
So that camera is become a Precision Angle-Measuring Equipment, gets rid of influence of the calibration of camera error to measurement accuracy；Common camera is non-
Parameter calibration is to acquire a series of angle-pixel coordinate points pair using turntable, usually to acquire thousands of points and establish interpolation
Then database carries out the new angle value of interpolation according to two-dimensional interpolation principle, whole process is more complicated, and data volume is larger, consumption
When the longer, " photogrammetric survey method based on nonparametric measurement model delivered such as University Of Tianjin, Tsinghua University's Longchang space et al.
Research " using laser aligner, sextuple micromatic setting and accurate subdivision turntable and near-infrared LED dot matrix, acquire big angulation
Degree-image line composition tables of data obtains angle-data using two-dimensional surface interpolating function in angle measurement again, meanwhile, it needs
Principal point for camera to be overlapped with the intersection point of laser beam by laser collimator and accurate subdivision turntable, the nonparametric scaling method
Although the drawbacks of being able to solve parameter calibration method, operation is very time-consuming, not can guarantee the degree of coincidence, entire to demarcate
Device is complicated, and demarcation flow is cumbersome.
Summary of the invention
To solve the above-mentioned problems, the present invention proposes a kind of camera nonparametric model scaling method and stated accuracy assessment
Method, the camera nonparametric model calibration small suitable for small field of view, distortion, this method acquisition data volume is small, easy to operate, effect
Rate is high.
A kind of camera nonparametric model scaling method, is demarcated using camera, dot laser and turntable, the camera
The laser projection point of the dot laser can be acquired；Coordinate of the turntable for changing laser projection point in camera image
Position；
Alternatively, being demarcated using camera, dot laser, turntable and reflective mirror, the subpoint projection of the dot laser
In visual field onto reflective mirror, then by mirror reflection to camera；The camera is used to acquire the image of laser projection point；Institute
Turntable is stated for adjusting coordinate position of the laser projection point of mirror reflection in camera image；
Include the following steps:
S1. level angle adjusting is carried out to camera and/or laser and/or reflective mirror, changes laser projection point in image
In coordinate position, each corner △ α obtains one group of level angle, image coordinate data；It is a pair of to obtain m group one for rotation m times
Level angle, the image coordinate data (u answeredi,vi), i=1,2,3 ... m；
Vertical angles adjusting is carried out to camera and/or laser and/or reflective mirror again, changes laser projection point in image
In coordinate position, each corner △ β obtains one group of vertical corner, image coordinate data；N times are rotated, it is a pair of to obtain n group one
Vertical corner, the image coordinate data (u answeredj,vj), j=1,2,3 ... n；
S2. described image coordinate data (u is fitted using least square method respectivelyi,vi)、(uj,vj), obtain straight line l1、
l2, calculate straight line l1、l2Angle theta between the x-axis of image coordinate system1、θ2；
Straight line l1、l2Coordinate points (u' in the coordinate system of buildingi,v'i)、(u'j,v'j) with image coordinate system in point
(ui,vi)、(uj,vj) between relationship it is as follows:
Utilize point (u'i,v'i) in u'iCoordinate and u'iIt is corresponding to establish level angle for the corresponding level angle of coordinate
Interpolating function expression formula；Utilize point (u'j,v'j) in v'jCoordinate and v'jThe corresponding vertical corner of coordinate is established
The expression formula of the corresponding interpolating function of vertical corner；
Using the expression formula of level angle and the interpolating function of vertical corner, straight line l is obtained1、l2In the coordinate system of building
Arbitrary coordinate point and level angle, vertical corner between corresponding relationship.
Further, step S1 is in the following way:
Camera is fixed on turntable, camera is fixed on turntable, the turntable includes lateral shaft, longitudinal shaft,
It is able to drive camera rotation；
The front fixed placement dot laser of camera, the laser that dot laser issues are acquired by the camera；
The lateral shaft of the initial position, longitudinal shaft are denoted as initial lateral turn by the initial position for marking turntable
Axis, initial longitudinal shaft；Plane where the initial lateral shaft, vertical with initial longitudinal shaft is denoted as initial water
Plane；Plane where initial longitudinal shaft, vertical with initial lateral shaft is denoted as initial vertical plane；
S1. keep initial water plane constant, turntable is around initial longitudinal shaft rotation, each corner △ α, dot laser hair
Laser is penetrated, camera acquires laser point, and processor calculates the image coordinate in the laser point center of circle, obtains one group of level angle, image is sat
Mark data；
Rotation m times, obtains the one-to-one level angle of m group, image coordinate data (ui,vi), i=1,2,3 ... m；
Keep initial vertical plane constant, turntable is around initial lateral shaft rotation, each corner △ β, dot laser transmitting
Laser, camera acquire laser point, and processor calculates the image coordinate in the laser point center of circle, obtains one group of vertical corner, image coordinate
Data；
N times are rotated, n group one-to-one vertical corner, image coordinate data (u are obtainedj,vj), j=1,2,3 ... n.
Further, step S1 can also be in the following way:
Dot laser, camera are each attached on turntable, the turntable includes lateral shaft, longitudinal shaft, is able to achieve phase
The independent rotation of machine and dot laser rotates synchronously；
The front fixed placement plane mirror of the camera, dot laser, the plane mirror can receiving point swash
The visible laser issued at light device, then reflect the laser light to camera；
Or:
By dot laser, camera fixed placement, the front holding plane reflective mirror of the camera, dot laser, and will put down
Face reflective mirror is mounted on turntable, and the plane mirror is used to receive the visible laser issued at dot laser, then by laser
It is reflected into camera；
The turntable includes lateral shaft, longitudinal shaft, is able to drive plane mirror rotation；
The lateral shaft of the initial position, longitudinal shaft are denoted as initial lateral turn by the initial position for marking turntable
Axis, initial longitudinal shaft；Plane where the initial lateral shaft, vertical with initial longitudinal shaft is denoted as initial water
Plane；Plane where initial longitudinal shaft, vertical with initial lateral shaft is denoted as initial vertical plane；
S1. keep initial water plane constant, turntable around initial longitudinal shaft rotation, each corner △ α, dot laser to
Plane mirror emits laser, and camera acquires the laser point on the plane mirror, and processor calculates the figure in the laser point center of circle
As coordinate, one group of level angle, image coordinate data are obtained；
Rotation m times, obtains the one-to-one level angle of m group, image coordinate data (ui,vi),
I=1,2,3 ... m；
Keep initial vertical plane constant, turntable is around initial lateral shaft rotation, each corner △ β, and dot laser is to flat
Face reflective mirror emits laser, and camera acquires the laser point on the plane mirror, and processor calculates the image in the laser point center of circle
Coordinate obtains one group of vertical corner, image coordinate data；
N times are rotated, n group one-to-one vertical corner, image coordinate data (u are obtainedj,vj), j=1,2,3 ... n.
It is preferred that the laser of dot laser transmitting is vertical with the plane mirror, and flat in the initial position
The laser point formed on the reflective mirror of face is located at the geometric center position of plane mirror.
It is preferred that the turntable is rotated around initial longitudinal shaft are as follows: respectively along suitable, the counter clockwise direction of initial vertical plane
Rotation rotates α≤0.5 ° angle △ every time；
The turntable is rotated around initial lateral shaft are as follows: respectively along initial water plane it is suitable, rotate counterclockwise, often
β≤0.5 ° secondary corner △.
Further, the interpolating function include cubic spline functions, piecewise linear interpolation function, Lagrange insert
Value function.
A kind of precision assessment method to above-mentioned camera nonparametric model scaling method, includes the following steps:
(1) in the angular range of camera calibration, control turntable rotates angle [alpha] around initial longitudinal shaft, further around initial horizontal
Angle beta is rotated to shaft, dot laser emits laser, the laser point image of camera acquisition at this time, by the image in the laser point center of circle
Coordinate is denoted as (uc,vc), calculate (uc',vc')
By uc' the expression formula of the corresponding interpolating function of substitution level angle, vc' substitute into the corresponding interpolating function of vertical corner
Expression formula, carry out interpolation calculation, obtain coordinate points (uc',vc') corresponding angle [alpha] ', β ', then calculated as follows, it obtains
Angle [alpha]l、βl:
αl=α '
βl=arctan (tan (β ') cos (α '))
(2) comparison rotation angle [alpha], β and the angle [alpha] being calculatedl、βl, assess the precision for the camera corner being calculated.
Alternatively, when turntable rotates angle beta around initial level shaft1, angle [alpha] is rotated further around initial vertical shaft1When:
A kind of precision assessment method to above-mentioned camera nonparametric model scaling method, includes the following steps:
(1) in the angular range of camera calibration, control turntable rotates angle beta around initial lateral shaft1, further around initial
Longitudinal shaft rotates angle [alpha]1, dot laser transmitting laser, the laser point image of camera acquisition at this time, by the laser point center of circle
Image coordinate is denoted as (uc1,vc1), calculate (uc1',vc1')
By uc1' the expression formula of the corresponding interpolating function of substitution level angle, vc1' substitute into the corresponding interpolation letter of vertical corner
Several expression formulas carries out interpolation calculation, obtains coordinate points (uc1',vc1') corresponding angle [alpha]1'、β1', then calculated as follows,
Obtain angle [alpha]l1、βl1:
αl1=arctan (tan (α1')cos(β1'))
βl1=β1'
(2) comparison rotation angle [alpha]1、β1With the angle [alpha] being calculatedl1、βl1, assess the essence for the camera corner being calculated
Degree.
The present invention be suitable for neglect field distortion it is small camera nonparametric model calibration, the present invention using turntable drive camera,
Laser rotation, keeps mirror position constant, it is no longer necessary to which other precision measurement apparatus require caliberating device simple；It surveys
It is small to measure data volume, it is easy to operate；
Due to demarcating the angle obtained, coordinate mapping relations coordinate system, it is not an ideal orthogonal coordinate system, originally
Method is by establishing the relationship in the picture point in image coordinate system and angle, coordinate mapping relations coordinate system between coordinate points, energy
Enough relationships more accurately obtained between coordinate points and camera angle.
Detailed description of the invention
Fig. 1 is detection system structure in embodiment 2.
Specific embodiment
Technical solution of the present invention is described in detail below in conjunction with drawings and examples.
Embodiment 1
A kind of camera nonparametric model scaling method is carried out using camera, dot laser and turntable, camera is fixed on
On turntable, turntable drives camera rotation；
The front fixed placement dot laser of camera, the laser that dot laser issues are acquired by camera；
The initial position for marking turntable, by the lateral shaft of initial position, longitudinal shaft be denoted as initial lateral shaft,
Initial longitudinal direction shaft；Plane where initial lateral shaft, vertical with initial longitudinal shaft is denoted as initial water plane；It will
Plane where initial longitudinal direction shaft, vertical with initial lateral shaft is denoted as initial vertical plane；
Include the following steps:
S1. keep initial water plane constant, turntable around initial longitudinal shaft rotation, respectively along initial vertical plane it is suitable,
It rotates counterclockwise, rotates α=0.3 ° angle △ every time；Dot laser emits laser, and camera acquires laser point, processor
The image coordinate for calculating the laser point center of circle, obtains one group of level angle, image coordinate data；
Rotation m times, obtains the one-to-one level angle of m group, image coordinate data (ui,vi),
I=1,2,3 ... m；Summation m × △ α of corner is camera working range in the horizontal direction；
Keep initial vertical plane constant, turntable rotates, around initial lateral shaft respectively along the suitable, inverse of initial water plane
Clockwise rotation, β=0.3 ° each corner △, dot laser emit laser, and camera acquires laser point, and processor, which calculates, to swash
The image coordinate in the luminous point center of circle obtains one group of vertical corner, image coordinate data；
N times are rotated, n group one-to-one vertical corner, image coordinate data (u are obtainedj,vj), j=1,2,3 ... n,
Summation n × △ β of corner is working range of the camera in vertical direction；
S2. image coordinate data (u is fitted using least square method respectivelyi,vi)、(uj,vj), obtain straight line l1、l2, meter
Calculate straight line l1、l2Angle theta between the x-axis of image coordinate system1、θ2；
Straight line l1、l2Coordinate points (u' in the coordinate system of buildingi,v'i)、(u'j,v'j) with image coordinate system in point
(ui,vi)、(uj,vj) between relationship it is as follows:
Utilize point (u'i,v'i) in u'iCoordinate and u'iIt is corresponding to establish level angle for the corresponding level angle of coordinate
Cubic spline functions expression formula；Utilize point (u'j,v'j) in v'jCoordinate and v'jCoordinate is vertical turn corresponding
The expression formula of the corresponding interpolating function of vertical corner is established at angle；Obtain straight line l1、l2Arbitrary coordinate point in the coordinate system of building
With the corresponding relationship between level angle, vertical corner.
Following steps are recycled, accuracy evaluation is carried out to above-mentioned camera nonparametric model scaling method:
(1) in the angular range of camera calibration, control turntable rotates angle [alpha] around initial longitudinal shaft, further around initial horizontal
Angle beta is rotated to shaft, dot laser emits laser, the laser point image of camera acquisition at this time, by the image in the laser point center of circle
Coordinate is denoted as (uc,vc), calculate (uc',vc')
By uc' the expression formula of the corresponding interpolating function of substitution level angle, vc' substitute into the corresponding interpolating function of vertical corner
Expression formula, carry out interpolation calculation, obtain coordinate points (uc',vc') corresponding angle [alpha] ', β ', then calculated as follows, it obtains
Angle [alpha]l、βl:
αl=α '
βl=arctan (tan (β ') cos (α '))
(2) comparison rotation angle [alpha], β and the angle [alpha] being calculatedl、βl, assess the precision for the camera corner being calculated.
Embodiment 2
As shown in Figure 1, the present embodiment uses another way, change laser projection point coordinate position in the picture, one
Kind of camera nonparametric model scaling method is carried out using camera 1, dot laser 2, turntable 3 and reflective mirror 4, by dot laser,
Camera is each attached on turntable 3, and turntable 3 includes lateral shaft, longitudinal shaft, drives the synchronous rotation of camera and dot laser,
Alternatively, turntable only drives camera rotation, dot laser position constant, alternatively, turntable only drives dot laser rotation, phase seat in the plane
It sets constant；
The front fixed placement plane mirror 4 of camera, dot laser, plane mirror can receive at dot laser
The visible laser of sending, then reflect the laser light to camera；In initial position, the laser and plane of dot laser transmitting are reflective
Mirror is vertical, and the laser point formed on plane mirror is located at the geometric center position of plane mirror.
The initial position for marking turntable, by the lateral shaft of initial position, longitudinal shaft be denoted as initial lateral shaft,
Initial longitudinal direction shaft；Plane where initial lateral shaft, vertical with initial longitudinal shaft is denoted as initial water plane；It will
Plane where initial longitudinal direction shaft, vertical with initial lateral shaft is denoted as initial vertical plane；
Include the following steps:
S1. keep initial water plane constant, turntable around initial longitudinal shaft rotation, each corner △ α, dot laser to
Plane mirror emits laser, the laser point on camera acquisition plane reflective mirror, and the image that processor calculates the laser point center of circle is sat
Mark, obtains one group of level angle, image coordinate data；
Rotation m times, obtains the one-to-one level angle of m group, image coordinate data (ui,vi),
I=1,2,3 ... m；
Keep initial vertical plane constant, turntable is around initial lateral shaft rotation, each corner △ β, and dot laser is to flat
Face reflective mirror emits laser, the laser point on camera acquisition plane reflective mirror, and the image that processor calculates the laser point center of circle is sat
Mark, obtains one group of vertical corner, image coordinate data；
N times are rotated, n group one-to-one vertical corner, image coordinate data (u are obtainedj,vj), j=1,2,3 ... n.
S2. image coordinate data (u is fitted using least square method respectivelyi,vi)、(uj,vj), obtain straight line l1、l2, meter
Calculate straight line l1、l2Angle theta between the x-axis of image coordinate system1、θ2；
Straight line l1、l2Coordinate points (u' in the coordinate system of buildingi,v'i)、(u'j,v'j) with image coordinate system in point
(ui,vi)、(uj,vj) between relationship it is as follows:
Utilize point (u'i,v'i) in u'iCoordinate and u'iIt is corresponding to establish level angle for the corresponding level angle of coordinate
Cubic spline functions expression formula；Utilize point (u'j,v'j) in v'jCoordinate and v'jCoordinate is vertical turn corresponding
The expression formula of the corresponding interpolating function of vertical corner is established at angle；Obtain straight line l1、l2Arbitrary coordinate point in the coordinate system of building
With the corresponding relationship between level angle, vertical corner.
Following steps are recycled, accuracy evaluation is carried out to above-mentioned camera nonparametric model scaling method:
(1) in the angular range of camera calibration, control turntable rotates angle beta around initial lateral shaft1, further around initial
Longitudinal shaft rotates angle [alpha]1, dot laser transmitting laser, the laser point image of camera acquisition at this time, by the laser point center of circle
Image coordinate is denoted as (uc1,vc1), calculate (uc1',vc1')
By uc1' the expression formula of the corresponding interpolating function of substitution level angle, vc1' substitute into the corresponding interpolation letter of vertical corner
Several expression formulas carries out interpolation calculation, obtains coordinate points (uc1',vc1') corresponding angle [alpha]1'、β1', then calculated as follows,
Obtain angle [alpha]l1、βl1:
αl1=arctan (tan (α1')cos(β1'))
βl1=β1'
(2) comparison rotation angle [alpha]1、β1With the angle [alpha] being calculatedl1、βl1, assess the essence for the camera corner being calculated
Degree.
Embodiment 3
Compared with Example 2, the present embodiment uses another way, changes the coordinate bit of laser projection point in the picture
Set, a kind of camera nonparametric model scaling method, using camera, dot laser, turntable and reflective mirror carry out, by dot laser,
Camera fixed placement, the front holding plane reflective mirror of camera, dot laser, and plane mirror is mounted on turntable, it puts down
Face reflective mirror is used to receive the visible laser issued at dot laser, then reflects the laser light to camera；
Keep initial water plane constant, turntable drives plane mirror around initial longitudinal shaft rotation, each corner △ α,
Dot laser emits laser to plane mirror, and the laser point on camera acquisition plane reflective mirror rotates m times, obtains m group one
One corresponding level angle, image coordinate data (ui,vi),
Keep initial vertical plane constant, turntable drives plane mirror around initial lateral shaft rotation, each corner △
β, dot laser emit laser to plane mirror, and the laser point on camera acquisition plane reflective mirror rotates n times, obtains n group
One-to-one vertical corner, image coordinate data (uj,vj)；
S2. image coordinate data (u is fitted using least square method respectivelyi,vi)、(uj,vj), obtain straight line l1、l2, meter
Calculate straight line l1、l2Angle theta between the x-axis of image coordinate system1、θ2；
Straight line l1、l2Coordinate points (u' in the coordinate system of buildingi,v'i)、(u'j,v'j) with image coordinate system in point
(ui,vi)、(uj,vj) between relationship it is as follows:
Utilize point (u'i,v'i) in u'iCoordinate and u'iIt is corresponding to establish level angle for the corresponding level angle of coordinate
Cubic spline functions expression formula；Utilize point (u'j,v'j) in v'jCoordinate and v'jCoordinate is vertical turn corresponding
The expression formula of the corresponding interpolating function of vertical corner is established at angle；Obtain straight line l1、l2Arbitrary coordinate point in the coordinate system of building
With the corresponding relationship between level angle, vertical corner.
For ease of explanation and precise definition of the appended claims, term " on ", "lower", " left side " and " right side " are to feature
The description of the illustrative embodiments of position.
Claims (8)
1. a kind of camera nonparametric model scaling method, is demarcated using camera, dot laser and turntable, the phase function is adopted
Collect the laser projection point of the dot laser；Coordinate position of the turntable for changing laser projection point in camera image；
Alternatively, being demarcated using camera, dot laser, turntable and reflective mirror, the subpoint of the dot laser is projected instead
In visual field on light microscopic, then by mirror reflection to camera；The camera is used to acquire the image of laser projection point；The turntable
For adjusting coordinate position of the laser projection point of mirror reflection in camera image；
It is characterized by comprising the following steps:
S1. level angle adjusting is carried out to camera and/or laser and/or reflective mirror, changes laser projection point in the picture
Coordinate position, each corner △ α obtain one group of level angle, image coordinate data；It is one-to-one to obtain m group for rotation m times
Level angle, image coordinate data (ui,vi), i=1,2,3 ... m；
Vertical angles adjusting is carried out to camera and/or laser and/or reflective mirror again, changes the seat of laser projection point in the picture
Cursor position, each corner △ β obtain one group of vertical corner, image coordinate data；N times are rotated, it is perpendicular correspondingly to obtain n group
Straight corner, image coordinate data (uj,vj), j=1,2,3 ... n；
S2. described image coordinate data (u is fitted using least square method respectivelyi,vi)、(uj,vj), obtain straight line l1、l2, calculate
Straight line l1、l2Angle theta between the x-axis of image coordinate system1、θ2；
Straight line l1、l2Coordinate points (u' in the coordinate system of buildingi,v'i)、(u'j,v'j) with image coordinate system in point (ui,vi)、
(uj,vj) between relationship it is as follows:
Utilize point (u'i,v'i) in u'iCoordinate and u'iThe corresponding level angle of coordinate establishes the corresponding interpolation of level angle
The expression formula of function；Utilize point (u'j,v'j) in v'jCoordinate and v'jThe corresponding vertical corner of coordinate, establishes vertical corner
The expression formula of corresponding interpolating function；
Using the expression formula of level angle and the interpolating function of vertical corner, straight line l is obtained1、l2It is any in the coordinate system of building
Corresponding relationship between coordinate points and level angle, vertical corner.
2. camera nonparametric model scaling method as described in claim 1, which is characterized in that step S1 in the following way:
Camera is fixed on turntable, the turntable includes lateral shaft, longitudinal shaft, is able to drive camera rotation；
The front fixed placement dot laser of camera, the laser that dot laser issues are acquired by the camera；
The lateral shaft of the initial position, longitudinal shaft are denoted as initial lateral shaft, just by the initial position for marking turntable
Begin longitudinal shaft；Plane where the initial lateral shaft, vertical with initial longitudinal shaft is denoted as initial water plane；It will
Plane where initial longitudinal shaft, vertical with initial lateral shaft is denoted as initial vertical plane；
S1. keep initial water plane constant, turntable swashs around initial longitudinal shaft rotation, each corner △ α, dot laser transmitting
Light, camera acquire laser point, and processor calculates the image coordinate in the laser point center of circle, obtains one group of level angle, image coordinate number
According to；
Rotation m times, obtains the one-to-one level angle of m group, image coordinate data (ui,vi), i=1,2,3 ... m；
Keep initial vertical plane constant, turntable emits laser around initial lateral shaft rotation, each corner △ β, dot laser,
Camera acquires laser point, and processor calculates the image coordinate in the laser point center of circle, obtains one group of vertical corner, image coordinate data；
N times are rotated, n group one-to-one vertical corner, image coordinate data (u are obtainedj,vj), j=1,2,3 ... n.
3. camera nonparametric model scaling method as described in claim 1, which is characterized in that step S1 in the following way:
Dot laser, camera are each attached on turntable, the turntable includes lateral shaft, longitudinal shaft, be able to achieve camera and
The independent rotation of dot laser rotates synchronously；
The front fixed placement plane mirror of the camera, dot laser, the plane mirror can receive dot laser
Locate the visible laser issued, then reflects the laser light to camera；
Or:
By dot laser, camera fixed placement, the front holding plane reflective mirror of the camera, dot laser, and plane is anti-
Light microscopic is mounted on turntable, and the plane mirror is used to receive the visible laser issued at dot laser, then by laser reflection
To camera；
The turntable includes lateral shaft, longitudinal shaft, is able to drive plane mirror rotation；
The lateral shaft of the initial position, longitudinal shaft are denoted as initial lateral shaft, just by the initial position for marking turntable
Begin longitudinal shaft；Plane where the initial lateral shaft, vertical with initial longitudinal shaft is denoted as initial water plane；It will
Plane where initial longitudinal shaft, vertical with initial lateral shaft is denoted as initial vertical plane；
S1. keep initial water plane constant, for turntable around initial longitudinal shaft rotation, each corner △ α, dot laser is anti-to plane
Light microscopic emits laser, and camera acquires the laser point on the plane mirror, and processor calculates the image coordinate in the laser point center of circle,
Obtain one group of level angle, image coordinate data；
Rotation m times, obtains the one-to-one level angle of m group, image coordinate data (ui,vi),
I=1,2,3 ... m；
Keep initial vertical plane constant, for turntable around initial lateral shaft rotation, each corner △ β, dot laser is anti-to plane
Light microscopic emits laser, and camera acquires the laser point on the plane mirror, and processor calculates the image coordinate in the laser point center of circle,
Obtain one group of vertical corner, image coordinate data；
N times are rotated, n group one-to-one vertical corner, image coordinate data (u are obtainedj,vj), j=1,2,3 ... n.
4. the camera nonparametric model scaling method as described in Claims 2 or 3, which is characterized in that in the initial position, point
The laser of laser transmitting is vertical with the plane mirror, and to be located at plane reflective for the laser point formed on plane mirror
The geometric center position of mirror.
5. the camera nonparametric model scaling method as described in Claims 2 or 3, which is characterized in that the turntable is around initial longitudinal direction
Shaft rotation are as follows: respectively along initial vertical plane it is suitable, rotate counterclockwise, every time rotate α≤0.5 ° angle △；
The turntable is rotated around initial lateral shaft are as follows: respectively along initial water plane it is suitable, rotate counterclockwise, each corner
△β≤0.5°。
6. camera nonparametric model scaling method as described in claim 1, which is characterized in that the interpolating function includes sample three times
Interpolating function, piecewise linear interpolation function, Lagrange interpolation function.
7. a kind of precision assessment method to above-mentioned camera nonparametric model scaling method, which comprises the steps of:
(1) in the angular range of camera calibration, control turntable rotates angle [alpha] around initial longitudinal shaft, turns further around initial transverse direction
Axis rotates angle beta, and dot laser emits laser, the laser point image of camera acquisition at this time, by the image coordinate in the laser point center of circle
It is denoted as (uc,vc), calculate (uc',vc')
By uc' the expression formula of the corresponding interpolating function of substitution level angle, vc' substitute into the table of the corresponding interpolating function of vertical corner
Up to formula, interpolation calculation is carried out, obtains coordinate points (uc',vc') corresponding angle [alpha] ', β ', then calculated as follows, obtain angle
αl、βl:
αl=α '
βl=arctan (tan (β ') cos (α '))
(2) comparison rotation angle [alpha], β and the angle [alpha] being calculatedl、βl, assess the precision for the camera corner being calculated.
8. a kind of precision assessment method to above-mentioned camera nonparametric model scaling method, which comprises the steps of:
(1) in the angular range of camera calibration, control turntable rotates angle beta around initial lateral shaft1, turn further around initial longitudinal direction
Axis rotates angle [alpha]1, dot laser transmitting laser, the laser point image of camera acquisition at this time, by the image coordinate in the laser point center of circle
It is denoted as (uc1,vc1), calculate (uc1',vc1')
By uc1' the expression formula of the corresponding interpolating function of substitution level angle, vc1' substitute into the table of the corresponding interpolating function of vertical corner
Up to formula, interpolation calculation is carried out, obtains coordinate points (uc1',vc1') corresponding angle [alpha]1'、β1', then calculated as follows, obtain angle
Spend αl1、βl1:
αl1=arctan (tan (α1')cos(β1'))
βl1=β1'
(2) comparison rotation angle [alpha]1、β1With the angle [alpha] being calculatedl1、βl1, assess the precision for the camera corner being calculated.
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