CN110443856A - A kind of 3D structure optical mode group scaling method, storage medium, electronic equipment - Google Patents
A kind of 3D structure optical mode group scaling method, storage medium, electronic equipment Download PDFInfo
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- CN110443856A CN110443856A CN201910741198.1A CN201910741198A CN110443856A CN 110443856 A CN110443856 A CN 110443856A CN 201910741198 A CN201910741198 A CN 201910741198A CN 110443856 A CN110443856 A CN 110443856A
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- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
Abstract
The present invention provides a kind of 3D structure optical mode group scaling method, including step makes scaling board, shooting calibration photo, and shooting calibration photo group demarcates 3D structure optical mode group.The invention further relates to storage mediums, electronic equipment；The present invention is paved with scaling board plane by gridiron pattern, camera distortion error can be greatly reduced by carrying out calibration using the scaling board, because calibration photo can be good at the position in the edge that chessboard lattice point is filled into camera fields of view and corner, be conducive to repair the re-projection error at camera lens edge and corner location, referring to Zhang Zhengyou plane reference method, the distortion of camera lens is mainly reflected in the position in edge and corner, and method of the invention focuses on to have repaired the error in lens edge and corner, thus demarcated using the scaling board that chessboard lattice point is paved with, lens distortion can be effectively reduced, demarcation flow is simple and efficient, caliberating device is easy production, efficiently and accurately 3D structure optical mode group can more be demarcated.
Description
Technical field
The invention belongs to technical field of computer vision, are a kind of 3D structure optical mode group scaling methods.
Background technique
3D structured light technique is widely used to since it has many advantages, such as inexpensive, non-contact, high-precision, high efficiency
The industries such as Design and machining of products, commercial measurement, quality testing, medicine, video display amusement.3D structured light technique is by actively emitting
Dot matrix hot spot realizes 3-D scanning, has higher reliability compared with other 3-D scanning technologies.Carrying out structure light three
Dimension must first demarcate structured-light system before rebuilding, that is, know the inner parameter of camera and projection device in structured-light system,
And transformational relation between the two, also known as external parameter.The height of stated accuracy directly affects the quality of three-dimensional reconstruction.Mesh
The preceding calibration technique for camera was already mature, demarcated using gridiron pattern scaling board to it, and projection device be it is non-at
As equipment, it is difficult to the accurate corresponding relationship for obtaining three-dimensional space point and three-dimensional space point corresponding position on projection images, thus
Lead to the calibration relative difficulty of projection device.Therefore a kind of 3D structure optical mode group scaling method is needed, it can be more efficiently and smart
Quasi- demarcates 3D structure optical mode group.
Summary of the invention
For overcome the deficiencies in the prior art, a kind of 3D structure optical mode group scaling method proposed by the present invention, can be improved
Structured-light system stated accuracy and efficiency.
The present invention provides a kind of 3D structure optical mode group scaling method, comprising the following steps:
S0, production scaling board, print gridiron pattern, the gridiron pattern is paved with entire scaling board on scaling board；
S1, shooting calibration photo place 3D structure optical mode group in the front of the scaling board plane, the fixed 3D knot
The relative position of structure optical mode group and the scaling board successively shoots the infrared photograph of the scaling board, dot matrix projects the mark
The dot matrix of fixed board projects photo, using the infrared photograph of the scaling board and dot matrix projection photo as one group of calibration photo；
S2, shooting calibration photo group, replace the relative position of the 3D structure optical mode group and the scaling board, repeat step
S1 shoots multiple groups and demarcates photo；
S3, calibration 3D structure optical mode group mark infrared camera by calibration photo described in multiple groups using calibration algorithm
It is fixed, then the dot matrix projector is demarcated, obtains geometrical relationship of the dot matrix projector relative to the infrared camera.
Further, in step so), the scaling board is the scaling board of white background, and the tessellated shape is positive
Rectangular, the gray scale of black lattice is adjustable in the gridiron pattern.
Further, in step s3, the calibration algorithm is Zhang Zhengyou plane reference method.
Further, in step s 2, the group number of the calibration photo is at least three groups.
Further, in step s3 the following steps are included:
S31, pixel coordinate is extracted, extracts the chessboard lattice point pixel coordinate of the infrared photograph of the scaling board, and setting pair
The world coordinates numerical value answered；
S32, calibration infrared camera, the homography of calculating chessboard lattice point world coordinates to pixel coordinate, according to rotation
Corresponding infrared camera internal reference and outer ginseng is calculated in the constraint relationship of matrix；
S33, transformational relation is calculated, calculates the hot spot coordinate of dot matrix projection and the dot matrix geometrical relationship of the dot matrix projector
Between transformational relation, the chessboard lattice point pixel coordinate of infrared photograph is converted into the pixel coordinate of the dot matrix projector, is adopted
With Zhang Zhengyou plane reference algorithm calculate the dot matrix projector internal reference and outer ginseng.
Further, in step S31 the following steps are included:
The infrared photograph of the scaling board is converted gray level image by S311, image procossing, utilizes two kinds of gridiron pattern forms
Four angle point filters the gray level image is filtered, the filter response calculation formula of each pixel is as follows:
Wherein, s1For the filter response of one angle point filter of type, s2For the filter response of two angle point filter of type, choosing
Last score c is taken to be greater than the pixel of some threshold value as chessboard lattice point candidate point；
S312, local maxima search, screen out non-optimal lattice site using non-maxima suppression；
S313, world coordinates is calculated, by the neighborhood image gradient of candidate point, refines chessboard lattice point pixel coordinate, obtain
One world coordinate system, assignment chessboard are chosen according to the relative positional relationship of chessboard lattice point to the subpixel coordinates of chessboard lattice point
The corresponding world coordinates value of lattice point.
Further, calculation formula in step s 32 are as follows:
s0P=K [R, T] W
Wherein, s0For scale factor, P is pixel coordinate, and W is world coordinates, and K is camera internal reference, and R is corresponding spin moment
Battle array, T is translation matrix.
Further, in step S33 the following steps are included:
S331, hot spot coordinate is calculated, extracts the hot spot coordinate of the dot matrix projection photo, dot matrix projection photo is turned
Gray scale pictures are turned to, using gray scale pictures described in adaptive Gaussian filter smoothing processing, extract gray scale in a certain small field
Highest pixel coordinate obtains the hot spot coordinate of dot matrix projection photo；
S332, pixel coordinate conversion compare the hot spot coordinate of the dot matrix projection photo and the point of the dot matrix projector
The transformational relation of battle array geometrical relationship, calculates the coordinate conversion matrix of the hot spot coordinate Yu the dot matrix geometrical relationship, passes through institute
It states coordinate conversion matrix and converts the dot matrix for the chessboard lattice point pixel coordinate that the infrared photograph of the scaling board extracts
The pixel coordinate of the projector, calculation formula are as follows:
Wherein,The hot spot coordinate of photo is projected for dot matrix,For the dot matrix of the dot matrix projector
Geometrical relationship,For chessboard lattice point pixel coordinate,For the dot matrix projector
Pixel coordinate；
S333, the inside and outside ginseng of the dot matrix projector is calculated, the dot matrix projector is passed through using Zhang Zhengyou plane reference algorithm
Pixel coordinate, which is calculated outside the interior participation of the dot matrix projector, joins, and calculation formula is as follows:
Wherein, s0For scale factor,For the pixel coordinate of the dot matrix projector, W is world's seat
Mark, KprojFor the internal reference of the dot matrix projector, RprojFor corresponding spin matrix, TprojFor translation matrix；
S334, it calculates and joins outside 3D structure optical mode group, pass through the spin matrix of infrared camera, translation matrix, the dot matrix projector
Spin matrix and translation matrix, calculate the outer ginseng of structure optical mode group, calculation formula is as follows:
T=Tir-RTproj
Wherein, R indicates spin matrix of the dot matrix projector coordinate relative to infrared camera coordinate, RirFor the rotation of infrared camera
Torque battle array, TirFor translation matrix, T indicates translation matrix of the dot matrix projector coordinate relative to infrared camera coordinate.
A kind of electronic equipment, comprising: processor；
Memory；And program, wherein described program is stored in the memory, and is configured to by processor
It executes, described program includes for executing a kind of 3D structure optical mode group scaling method.
A kind of computer readable storage medium, is stored thereon with computer program, and the computer program is held by processor
A kind of 3D structure optical mode group scaling method of row.
Compared with prior art, the beneficial effects of the present invention are:
The present invention provides a kind of 3D structure optical mode group scaling method, including step makes scaling board, and shooting calibration photo is clapped
Calibration photo group is taken the photograph, 3D structure optical mode group is demarcated.The invention further relates to storage mediums, electronic equipment；The present invention passes through gridiron pattern
It is paved with scaling board plane, camera distortion error can be greatly reduced by carrying out calibration using the scaling board, because calibration photo can
Chessboard lattice point is filled into the edge of camera fields of view and the position in corner well, is conducive to repair camera lens edge and corner
The re-projection error of position, referring to Zhang Zhengyou plane reference method, the distortion of camera lens is mainly reflected in the position in edge and corner, and
Method of the invention focuses on to have repaired the error in lens edge and corner, thus is marked using the scaling board that chessboard lattice point is paved with
Determine, lens distortion can be effectively reduced, demarcation flow is simple and efficient, and caliberating device is easy production, can be more efficiently and accurate
3D structure optical mode group is demarcated.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And can be implemented in accordance with the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention and the accompanying drawings.
A specific embodiment of the invention is shown in detail by following embodiment and its attached drawing.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, this hair
Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is a kind of 3D structure optical mode group scaling method procedure Procedure figure of the invention；
Fig. 2 is scaling board schematic diagram of the invention；
Fig. 3 is 3D structure optical mode group schematic diagram of the invention；
Fig. 4 is calibration 3D structure light module step flow chart of the invention；
Fig. 5 is extraction pixel coordinate flow chart of steps of the invention；
Fig. 6 is angle point filter schematic of the invention；
Fig. 7 is calculating transformational relation flow chart of steps of the invention.
Specific embodiment
In the following, being described further in conjunction with attached drawing and specific embodiment to the present invention, it should be noted that not
Under the premise of conflicting, new implementation can be formed between various embodiments described below or between each technical characteristic in any combination
Example.
A kind of 3D structure optical mode group scaling method, as shown in Figure 1, comprising the following steps:
S0, production scaling board, print gridiron pattern on smooth hard white background scaling board, gridiron pattern is paved with entire mark
Fixed board；As shown in Fig. 2, tessellated shape is square, the gray scale of black lattice is adjustable in gridiron pattern, and gridiron pattern size is
12.5mm*12.5mm, scaling board size are 1.2m*1.0m.
As shown in figure 3,3D structure optical mode group hardware is made of the dot matrix projector, RGB camera and infrared camera, three components
It is fixed on a horizontal bracket, RGB camera is located among the dot matrix projector and infrared camera, wherein the point of the dot matrix projector
Battle array geometrical relationship is it is known that be denoted as Pattern { X, Y }.
S1, shooting calibration photo place 3D structure optical mode group in the suitable distance in the front of scaling board plane, fixed 3D
The relative position of structure optical mode group and scaling board, infrared photograph, the dot matrix for successively shooting scaling board project the dot matrix of scaling board
Photo is projected, using the infrared photograph of scaling board and dot matrix projection photo as one group of calibration photo；Due to securing 3D structure light
The position of mould group and scaling board, the different photos in one group of calibration photo are considered the object under the same world coordinates by not
With projection convert to obtain, as long as calculate it is different projection transformation matrixes, so that it may be calculated the dot matrix projector relative to
The geometric transform relation of infrared camera, to realize the calibration of structured-light system.
S2, shooting calibration photo group, replace the relative position of 3D structure optical mode group and scaling board, it is more to repeat step S1 shooting
Group calibration photo；Using infrared photograph and dot matrix the projection photo of multiple groups scaling board come calibration structure photosystem, mark can be improved
Determine precision.
S3, calibration 3D structure optical mode group, demarcate photo by multiple groups using calibration algorithm and demarcate to infrared camera, so
The dot matrix projector is demarcated afterwards, obtains geometrical relationship of the dot matrix projector relative to infrared camera.
As shown in Figure 4, it is preferred that in step s3, calibration algorithm is Zhang Zhengyou plane reference method, is needed in such cases
Camera shoots at least 3 groups of calibration photos.Preferably, in step s3 the following steps are included:
S31, pixel coordinate is extracted, extracts the chessboard lattice point pixel coordinate of the infrared photograph of scaling board, and set corresponding
World coordinates numerical value；As shown in Figure 5, it is preferred that in step S31 the following steps are included:
S311, image procossing convert gray level image for the infrared photograph of scaling board, utilize the four of two kinds of gridiron pattern forms
A angle point filter is filtered gray level image, and angle point filter is as shown in fig. 6, respectively indicate difference with A, B, C, D
Filter, the filter response calculation formula of each pixel is as follows:
Wherein, s1For the filter response of one angle point filter of type, s2For the filter response of two angle point filter of type, choosing
Last score c is taken to be greater than the pixel of some threshold value as chessboard lattice point candidate point；
S312, local maxima search, screen out most non-optimal lattice site using non-maxima suppression；
S313, world coordinates is calculated, by the neighborhood image gradient of candidate point, refines chessboard lattice point pixel coordinate, obtain
One world coordinate system, assignment chessboard are chosen according to the relative positional relationship of chessboard lattice point to the subpixel coordinates of chessboard lattice point
The corresponding world coordinates value of lattice point.Usual world coordinate system chooses the X/Y plane that Z value is 0, the X/Y plane and scaling board plane weight
It closes, obtains pixel coordinate the P { (X of chessboard lattice point at this timep, Yp) and corresponding world coordinates W { (Xw, Yw, 0) }.
S32, calibration infrared camera, the homography of calculating chessboard lattice point world coordinates to pixel coordinate, according to rotation
Corresponding infrared camera internal reference and outer ginseng is calculated in the constraint relationship of matrix；Calculation formula in step s 32 are as follows:
s0P=K [R, T] W
Wherein, s0For scale factor, P is pixel coordinate, and W is world coordinates, and K is camera internal reference, and R is corresponding spin moment
Battle array, T is translation matrix.
S33, transformational relation is calculated, for the dot matrix projector, it is believed that it is an ideal distortionless converse camera,
It is likewise supplied with the corresponding attribute of camera (for example, focal length, imaging scale etc.).The hot spot coordinate and dot matrix for calculating dot matrix projection project
The chessboard lattice point pixel coordinate of infrared photograph is converted by the transformational relation between the dot matrix geometrical relationship Pattern { X, Y } of device
The pixel coordinate of the dot matrix projector, internal reference and outer ginseng using the Zhang Zhengyou plane reference algorithm calculating dot matrix projector.Such as Fig. 7 institute
Show, it is preferred that in step S33 the following steps are included:
S331, hot spot coordinate is calculated, extracts the hot spot coordinate of dot matrix projection photo, convert gray scale for dot matrix projection photo
Photo extracts highest pixel of gray scale in a certain small field using adaptive Gaussian filter smoothing processing gray scale pictures
Coordinate obtains the hot spot coordinate Spot of dot matrix projection photoir{ X, Y }；
S332, pixel coordinate conversion, compare the hot spot coordinate Spot of dot matrix projection photoir{ X, Y } and the dot matrix projector
The transformational relation of dot matrix geometrical relationship Pattern { X, Y } calculates the coordinate conversion matrix of hot spot coordinate and dot matrix geometrical relationship,
The chessboard lattice point pixel coordinate Chessboard for being extracted the infrared photograph of scaling board by coordinate conversion matrixir{X,Y}
It is converted into the pixel coordinate Chessboard of the dot matrix projectorproj{ X, Y }, calculation formula is as follows:
Wherein,The hot spot coordinate of photo is projected for dot matrix,For the dot matrix of the dot matrix projector
Geometrical relationship,For chessboard lattice point pixel coordinate,For the dot matrix projector
Pixel coordinate；
S333, the inside and outside ginseng of the dot matrix projector is calculated, passes through the pixel of the dot matrix projector using Zhang Zhengyou plane reference algorithm
Coordinate Chessboardproj{ X, Y }, which is calculated outside the interior participation of the dot matrix projector, to join, and calculation formula is as follows:
Wherein, s0For scale factor,For the pixel coordinate of the dot matrix projector, W is world's seat
Mark, KprojFor the internal reference of the dot matrix projector, RprojFor corresponding spin matrix, TprojFor translation matrix；
S334, it calculates and joins outside 3D structure optical mode group, pass through the spin matrix R of infrared camerair, translation matrix Tir, dot matrix throw
The spin matrix R of emitterprojWith translation matrix Tproj, the outer ginseng of structure optical mode group is calculated, calculation formula is as follows:
T=Tir-RTproj
Wherein, R indicates spin matrix of the dot matrix projector coordinate relative to infrared camera coordinate, RirFor the rotation of infrared camera
Torque battle array, TirFor translation matrix, T indicates translation matrix of the dot matrix projector coordinate relative to infrared camera coordinate.
A kind of electronic equipment, comprising: processor；
Memory；And program, wherein program is stored in memory, and is configured to be executed by processor, journey
Sequence includes for executing a kind of 3D structure optical mode group scaling method.
A kind of computer readable storage medium, is stored thereon with computer program, and computer program is executed by processor one
Kind 3D structure optical mode group scaling method.
The present invention provides a kind of 3D structure optical mode group scaling method, including step makes scaling board, and shooting calibration photo is clapped
Calibration photo group is taken the photograph, 3D structure optical mode group is demarcated.The invention further relates to storage mediums, electronic equipment；The present invention passes through gridiron pattern
It is paved with scaling board plane, camera distortion error can be greatly reduced by carrying out calibration using the scaling board, because calibration photo can
Chessboard lattice point is filled into the edge of camera fields of view and the position in corner well, is conducive to repair camera lens edge and corner
The re-projection error of position, referring to Zhang Zhengyou plane reference method, the distortion of camera lens is mainly reflected in the position in edge and corner, and
Method of the invention focuses on to have repaired the error in lens edge and corner, thus is marked using the scaling board that chessboard lattice point is paved with
Determine, lens distortion can be effectively reduced, demarcation flow is simple and efficient, and caliberating device is easy production, can be more efficiently and accurate
3D structure optical mode group is demarcated.
More than, only presently preferred embodiments of the present invention is not intended to limit the present invention in any form；All current rows
The those of ordinary skill of industry can be shown in by specification attached drawing and above and swimmingly implement the present invention；But all to be familiar with sheet special
The technical staff of industry without departing from the scope of the present invention, is made a little using disclosed above technology contents
The equivalent variations of variation, modification and evolution is equivalent embodiment of the invention；Meanwhile all substantial technologicals according to the present invention
The variation, modification and evolution etc. of any equivalent variations to the above embodiments, still fall within technical solution of the present invention
Within protection scope.
Claims (10)
1. a kind of 3D structure optical mode group scaling method, which comprises the following steps:
S0, production scaling board, print gridiron pattern, the gridiron pattern is paved with entire scaling board on scaling board；
S1, shooting calibration photo place 3D structure optical mode group in the front of the scaling board plane, the fixed 3D structure light
The relative position of mould group and the scaling board successively shoots the infrared photograph of the scaling board, dot matrix projects the scaling board
Dot matrix project photo, using the infrared photograph of the scaling board and the dot matrix projection photo as one group of calibration photo；
S2, shooting calibration photo group, replace the relative position of the 3D structure optical mode group and the scaling board, repeat step S1 and clap
Take the photograph multiple groups calibration photo；
S3, calibration 3D structure optical mode group demarcate infrared camera by calibration photo described in multiple groups using calibration algorithm, so
The dot matrix projector is demarcated afterwards, obtains geometrical relationship of the dot matrix projector relative to the infrared camera.
2. a kind of 3D structure optical mode group scaling method as described in claim 1, it is characterised in that: in step so), the mark
Fixed board is the scaling board of white background, and the tessellated shape is square, and the gray scale of black lattice can in the gridiron pattern
It adjusts.
3. a kind of 3D structure optical mode group scaling method as described in claim 1, it is characterised in that: in step s3, the mark
Determining algorithm is Zhang Zhengyou plane reference method.
4. a kind of 3D structure optical mode group scaling method as claimed in claim 3, it is characterised in that: in step s 2, the mark
The group number for determining photo is at least three groups.
5. a kind of 3D structure optical mode group scaling method as claimed in claim 4, it is characterised in that: in step s3 include following
Step:
S31, pixel coordinate is extracted, extracts the chessboard lattice point pixel coordinate of the infrared photograph of the scaling board, and set corresponding
World coordinates numerical value；
S32, calibration infrared camera, the homography of calculating chessboard lattice point world coordinates to pixel coordinate, according to spin matrix
The constraint relationship corresponding infrared camera internal reference and outer ginseng is calculated；
S33, transformational relation is calculated, calculated between the hot spot coordinate of dot matrix projection and the dot matrix geometrical relationship of the dot matrix projector
Transformational relation, the chessboard lattice point pixel coordinate of infrared photograph is converted into the pixel coordinate of the dot matrix projector, using
Positive friend's plane reference algorithm calculate the dot matrix projector internal reference and outer ginseng.
6. a kind of 3D structure optical mode group scaling method as claimed in claim 5, it is characterised in that: in step S31 include with
Lower step:
S311, image procossing convert gray level image for the infrared photograph of the scaling board, utilize the four of two kinds of gridiron pattern forms
A angle point filter is filtered the gray level image, and the filter response calculation formula of each pixel is as follows:
Wherein, s1For the filter response of one angle point filter of type, s2For the filter response of two angle point filter of type, choose most
Score c is greater than the pixel of some threshold value as chessboard lattice point candidate point afterwards；
S312, local maxima search, screen out non-optimal lattice site using non-maxima suppression；
S313, world coordinates is calculated, by the neighborhood image gradient of candidate point, refines chessboard lattice point pixel coordinate, obtain chess
The subpixel coordinates of disk lattice point choose a world coordinate system, assignment chessboard lattice point according to the relative positional relationship of chessboard lattice point
Corresponding world coordinates value.
7. a kind of 3D structure optical mode group scaling method as claimed in claim 5, it is characterised in that: calculating in step s 32
Formula are as follows:
s0P=K [R, T] W
Wherein, s0For scale factor, P is pixel coordinate, and W is world coordinates, and K is camera internal reference, and R is corresponding spin matrix, T
For translation matrix.
8. a kind of 3D structure optical mode group scaling method as claimed in claim 5, it is characterised in that: in step S33 include with
Lower step:
S331, hot spot coordinate is calculated, extracts the hot spot coordinate of the dot matrix projection photo, convert dot matrix projection photo to
Gray scale pictures extract gray scale highest in a certain small field using gray scale pictures described in adaptive Gaussian filter smoothing processing
Point pixel coordinate, obtain dot matrix projection photo hot spot coordinate；
S332, pixel coordinate conversion, hot spot coordinate and the dot matrix of the dot matrix projector for comparing the dot matrix projection photo are several
The transformational relation of what relationship, calculates the coordinate conversion matrix of the hot spot coordinate Yu the dot matrix geometrical relationship, passes through the seat
Mark transition matrix converts the dot matrix for the chessboard lattice point pixel coordinate that the infrared photograph of the scaling board extracts and projects
The pixel coordinate of device, calculation formula are as follows:
Wherein,The hot spot coordinate of photo is projected for dot matrix,For the dot matrix geometry of the dot matrix projector
Relationship,For chessboard lattice point pixel coordinate,For the picture of the dot matrix projector
Plain coordinate；
S333, the inside and outside ginseng of the dot matrix projector is calculated, the pixel of the dot matrix projector is passed through using Zhang Zhengyou plane reference algorithm
Coordinate, which is calculated outside the interior participation of the dot matrix projector, joins, and calculation formula is as follows:
Wherein, s0For scale factor,For the pixel coordinate of the dot matrix projector, W is world coordinates,
KprojFor the internal reference of the dot matrix projector, RprojFor corresponding spin matrix, TprojFor translation matrix；
S334, it calculates and joins outside 3D structure optical mode group, pass through the spin matrix of infrared camera, the rotation of translation matrix, the dot matrix projector
Torque battle array and translation matrix calculate the outer ginseng of structure optical mode group, and calculation formula is as follows:
T=Tir-RTproj
Wherein, R indicates spin matrix of the dot matrix projector coordinate relative to infrared camera coordinate, RirFor the spin moment of infrared camera
Battle array, TirFor translation matrix, T indicates translation matrix of the dot matrix projector coordinate relative to infrared camera coordinate.
9. a kind of electronic equipment, characterized by comprising: processor；
Memory；And program, wherein described program is stored in the memory, and is configured to be held by processor
Row, described program includes for executing the method as described in claim 1.
10. a kind of computer readable storage medium, is stored thereon with computer program, it is characterised in that: the computer program
It is executed by processor the method as described in claim 1.
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| CN111815712A (en) * | 2020-06-24 | 2020-10-23 | 中国地质大学（武汉） | High-precision camera-single laser combined calibration method |
| WO2022027891A1 (en) * | 2020-08-07 | 2022-02-10 | 广州黑格智造信息科技有限公司 | Optical calibration method for 3d printer and optical calibration system for 3d printer |
| CN115412719A (en) * | 2021-05-26 | 2022-11-29 | 致伸科技股份有限公司 | Method for aligning camera lens and light source |
| CN117369197A (en) * | 2023-12-06 | 2024-01-09 | 深圳市安思疆科技有限公司 | 3D structure optical module, imaging system and method for obtaining depth map of target object |
| CN117369197B (en) * | 2023-12-06 | 2024-05-07 | 深圳市安思疆科技有限公司 | 3D structure optical module, imaging system and method for obtaining depth map of target object |
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Application publication date: 20191112 |