CN111710003B - Camera imaging calibration device and camera imaging calibration method - Google Patents
Camera imaging calibration device and camera imaging calibration method Download PDFInfo
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- CN111710003B CN111710003B CN202010494728.XA CN202010494728A CN111710003B CN 111710003 B CN111710003 B CN 111710003B CN 202010494728 A CN202010494728 A CN 202010494728A CN 111710003 B CN111710003 B CN 111710003B
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Classifications
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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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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/08—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a vertical axis, e.g. panoramic heads
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/42—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels
- F16M11/425—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels along guiding means
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Accessories Of Cameras (AREA)
- Studio Devices (AREA)
Abstract
The invention provides a camera imaging calibration device which comprises a base, a moving mechanism for driving the base to directionally move, a Z-axis rotating mechanism arranged on the base and rotating around a Z axis of the base, a Y-axis rotating mechanism connected with the Z-axis rotating mechanism and rotating around a Y axis perpendicular to the Z axis, an X-axis rotating mechanism connected with the Y-axis rotating mechanism and rotating around an X axis perpendicular to the Z axis and the Y axis, and a camera clamp fixed at the output end of the X-axis rotating mechanism. In addition, the invention also provides a camera imaging calibration method. By adopting the scheme provided by the invention, the equipment is small, the circuit is simple, the operation is simple, the method is economical and practical, and the problems of high implementation cost and complex operation of the current camera imaging calibration can be solved.
Description
Technical Field
The invention relates to the technical field of camera imaging, in particular to a camera imaging calibration device and a camera imaging calibration method.
Background
At present, 2D and 3D cameras are widely applied to the field of smart phones for geometric measurement machine vision and even daily life. There is an increasing demand for the camera market. The 3D camera uses an optical method of structured light to project a group of light patterns constructed by mathematical methods, objects in a visual field range are illuminated according to a certain sequence, and the distance from the camera to the objects, namely the depth data of the camera, is calculated. The geometric information of the object in the three-dimensional space can be obtained by using the technology, so that the model of the whole three-dimensional space is restored. In order to make the resulting image data more accurate before the camera is used, an accurate camera imaging geometry model must be built. The process of calculating the geometric model parameters is the calibration of the camera.
The existing camera calibration technical methods have three types: a traditional camera calibration method, a camera self-calibration method and an active vision camera calibration method. The three calibration methods all require the camera to make corresponding motions, images of a plurality of calibration objects are shot in different visual angles, and then the internal parameters and the external parameters of the camera are calculated through respective algorithms. There are two types of calibration schemes currently used most: 1. the camera is manually held, and the camera can shoot images of the calibration objects from various angles by manually moving the camera; 2. the camera is arranged at the tail end of the mechanical arm, and the shooting angle of the camera is controlled through the movement of the mechanical arm, so that the camera calibration is completed. One of the existing technical schemes of the method is that a camera is fixed on a mechanical arm, and through translational and rotational movement of the mechanical arm, the camera can shoot calibration object images used for calibration at different angles, so that internal and external parameters of the camera are calculated.
The above technical solution 1 has the disadvantage that the working efficiency is too low, which is not suitable for scenes with large workload, and the accurate information of the camera motion cannot be obtained, so that the camera calibration method based on active vision cannot be used. Although the technical scheme 2 effectively compensates the defect of the scheme 1, the mechanical arm is expensive at present, so that the overall cost is high, and the mechanical arm needs to be familiar with simple motion control used by the mechanical arm, so that the operation difficulty is high.
Disclosure of Invention
The invention aims to provide a camera imaging calibration device which is low in cost and can simply and efficiently complete imaging calibration work of a camera by adopting different calibration methods.
In order to achieve the above object, the present invention provides a camera imaging calibration apparatus, comprising: the camera comprises a base, a moving mechanism for driving the base to directionally move, a Z-axis rotating mechanism arranged on the base and rotating around a Z-axis of the base, a Y-axis rotating mechanism connected with the Z-axis rotating mechanism and rotating around a Y-axis perpendicular to the Z-axis, an X-axis rotating mechanism connected with the Y-axis rotating mechanism and rotating around an X-axis perpendicular to the Z-axis and the Y-axis, and a camera clamp fixed at the output end of the X-axis rotating mechanism.
Optionally, the Z-axis rotating mechanism comprises a first servo rotating motor and a first bracket, wherein the first servo rotating motor and the first bracket are fixed on the base, an output shaft of the first servo rotating motor is in driving connection with a driving end of the first bracket, and a connecting end of the first bracket is connected with the Y-axis rotating mechanism.
Optionally, the Y-axis rotating mechanism comprises a second servo rotating motor and a second bracket, the second servo rotating motor is fixed at the connecting end of the first bracket, an output shaft of the second servo rotating motor is in driving connection with the driving end of the second bracket, and the connecting end of the second bracket is connected with the X-axis rotating mechanism.
Optionally, the X-axis rotating mechanism includes a third servo rotating motor, the third servo rotating motor is fixed at the connecting end of the second bracket, and an output shaft of the third servo rotating motor is in driving connection with the camera fixture.
Optionally, the Z-axis rotating mechanism further includes a first adjusting member, and an output shaft of the first servo rotating motor is in driving connection with the driving end of the first bracket through the first adjusting member; the Y-axis rotating mechanism further comprises a second adjusting piece, and an output shaft of the second servo rotating motor is in driving connection with the driving end of the second bracket through the second adjusting piece; the X-axis rotating mechanism further comprises a third adjusting piece, and an output shaft of the third servo rotating motor is in driving connection with the camera clamp through the third adjusting piece.
Optionally, the second bracket is U-shaped, a middle portion of the second bracket is configured as a driving end of the second bracket, and two ends of the second bracket are configured as connection ends of the second bracket.
Optionally, the third adjusting parts are two and are respectively pivoted at two ends of the second bracket, and the third servo rotating motor is fixed at one end of the second bracket and is in driving connection with the camera clamp through the corresponding third adjusting parts.
Optionally, the device further comprises a wiring mechanism corresponding to the moving mechanism, wherein the wiring mechanism is provided with a plurality of wiring grooves.
In addition, the invention also provides a camera imaging calibration method, which adopts the camera imaging calibration device and comprises the following steps:
adjusting the position of the camera to be calibrated in the camera imaging calibration device to enable a photosensitive sensor of the camera to be calibrated to be positioned at the rotation center;
fixing the calibration object in the visual field range of the camera to be calibrated;
controlling the camera to be calibrated to move through a camera imaging calibration device so as to shoot and acquire image data of a calibration object in different directions;
and calculating the internal and external parameters of the camera to be calibrated by adopting a traditional camera calibration method or a camera self-calibration method according to the image data.
In addition, the invention also provides a camera imaging calibration method, which adopts the camera imaging calibration device and comprises the following steps:
adjusting the position of the camera to be calibrated in the camera imaging calibration device to enable a photosensitive sensor of the camera to be calibrated to be positioned at the rotation center;
fixing a calibration object in the visual field range of the camera to be calibrated and determining the motion trail of the camera to be calibrated;
controlling a camera to be calibrated to move along the movement track of the camera to be calibrated through a camera imaging calibration device so as to shoot and acquire image data of a calibration object in different directions;
and calculating the internal and external parameters of the camera to be calibrated by adopting a traditional camera calibration method or a camera self-calibration method according to the image data.
The invention has the beneficial effects that:
according to the camera imaging calibration device, the moving mechanism capable of driving the base to move directionally, the Z-axis rotating mechanism capable of rotating around the Z axis of the base, the Y-axis rotating mechanism connected with the Z-axis rotating mechanism and capable of rotating around the Y axis perpendicular to the Z axis and the X-axis rotating mechanism connected with the Y-axis rotating mechanism and capable of rotating around the X axis perpendicular to the Y axis and the Z axis are arranged on the base, so that on one hand, the camera clamp at the output end of the X-axis rotating mechanism can move integrally along with the orientation of the base, on the other hand, the camera clamp can rotate at a three-dimensional angle at a fixed position, and therefore the multi-angle shooting requirement of a camera fixed on the camera clamp can be simply and efficiently achieved. Meanwhile, the camera imaging calibration device adopts the base, the moving mechanism, the Z-axis rotating mechanism, the Y-axis rotating mechanism and the X-axis rotating mechanism, so that the device can be simplified, the cost is reduced, and the operation and the control are convenient. In addition, the camera imaging calibration device can be applied to any one of the three calibration methods of the traditional camera calibration method, the camera self-calibration method and the active vision camera calibration method in camera calibration.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a camera imaging calibration apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic structural view of a Z-axis rotation mechanism according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a Y-axis rotation mechanism according to an embodiment of the present invention;
FIG. 4 is a schematic structural view of an X-axis rotating mechanism according to an embodiment of the present invention;
FIG. 5 is a schematic view of a camera clip according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a moving mechanism according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a routing mechanism in an embodiment of the present invention.
Reference numerals illustrate:
100. the device comprises a base, 200, a moving mechanism, 210, a wiring mechanism, 211, a wiring groove, 300, a Z-axis rotating mechanism, 310, a first servo rotating motor, 320, a first bracket, 330, a first adjusting piece, 331, a first axial adjusting hole, 400, a Y-axis rotating mechanism, 410, a second servo rotating motor, 420, a second bracket, 430, a second adjusting piece, 431, a second axial adjusting hole, 500, an X-axis rotating mechanism, 510, a third servo rotating motor, 520, a third adjusting piece, 521, a third axial adjusting hole, 600, a camera clamp, 610, a U-shaped bracket body, 620 and a clamping hole.
Detailed Description
The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it should be understood that the specific embodiments described herein are only for explaining the present invention and are not limited thereto.
As shown in fig. 1, a camera imaging calibration device includes a base 100, a moving mechanism 200 for driving the base 100 to move in a directional manner, a Z-axis rotating mechanism 300 disposed on the base 100 and rotating around a Z-axis of the base 100, a Y-axis rotating mechanism 400 connected to the Z-axis rotating mechanism 300 and rotating around a Y-axis perpendicular to the Z-axis, an X-axis rotating mechanism 500 connected to the Y-axis rotating mechanism 400 and rotating around an X-axis perpendicular to the Z-axis and the Y-axis, and a camera fixture 600 fixed to an output end of the X-axis rotating mechanism 500.
When the camera imaging calibration device is used, a camera is firstly installed on the camera clamp 600, and then the moving mechanism 200 drives the base 100 to move directionally, so that the camera clamp 600 is driven to move integrally through the Z-axis rotating mechanism 300, the Y-axis rotating mechanism 400 and the X-axis rotating mechanism 500, and the camera reaches a specified shooting position; after the camera reaches the specified shooting position, the camera clamp 600 can be driven to move in the three-dimensional direction through the movements of the Z-axis rotating mechanism 300, the Y-axis rotating mechanism 400 and the X-axis rotating mechanism 500 around the corresponding Z-axis, Y-axis and X-axis respectively, so that the camera can simply and efficiently shoot at multiple angles at the specified shooting position.
In addition, the base 100, the moving mechanism 200, the Z-axis rotating mechanism 300, the Y-axis rotating mechanism 400 and the X-axis rotating mechanism 500 adopted by the camera imaging calibration device can simplify the device, reduce the cost and facilitate the operation.
In order to simplify the Z-axis rotating mechanism 300 and improve the accuracy thereof, as shown in fig. 2, for example, the Z-axis rotating mechanism 300 may be provided to include a first servo rotating motor 310 and a first supporter 320 fixed to the base 100, wherein an output shaft of the first servo rotating motor 310 is drivingly connected to a driving end of the first supporter 320, and a connection end of the first supporter 320 is connected to the Y-axis rotating mechanism 400.
The shape of the first supporter 320 may be varied, and it is preferable that the first supporter 320 shown in fig. 2 has a bent bar-shaped structure, which can improve the elasticity of the first supporter 320 on the one hand and facilitate the connection of the first supporter 320 with the Y-axis rotation mechanism 400 on the other hand. Of course, one of the two ends of the first supporter 320 in fig. 2 may be regarded as the driving end of the first supporter 320, and the other end may be regarded as the connection end of the first supporter 320.
In order to conveniently adjust the position of the camera in the Y-axis direction, for example, a first adjusting member 330 may be added to the Z-axis rotating mechanism 300, and the output shaft of the first servo rotating motor 310 may be in driving connection with the driving end of the first bracket 320 through the first adjusting member 330, so that the position of the first bracket 320 may be adjusted along the Y-axis direction by the first adjusting member 330, so that the camera clamp 600 moves correspondingly through the overall movement of the Y-axis rotating mechanism 400 and the X-axis rotating mechanism 500, and finally the camera on the camera clamp 600 moves in the corresponding Y-axis direction, so as to achieve the purpose of adjusting the position of the camera in the Y-axis direction.
To facilitate the adjustment of the first bracket 320 by the first adjusting member 330, a first axial adjusting hole 331 having a shape matching the driving end of the first bracket 320 may be added to the first adjusting member 330. The adjusting design is simple to use, convenient to control, convenient to process and low in cost. Further, the first adjusting member 330 may also be an adjusting tape with a scale, etc. to facilitate more precise adjustment of the first bracket 320.
In order to improve the accuracy of the Y-axis rotating mechanism 400 while simplifying it, for example, as shown in fig. 3, the Y-axis rotating mechanism 400 may be provided to include a second servo rotating motor 410 and a second bracket 420, wherein the second servo rotating motor 410 is fixed to a connection end of the first bracket 320, and an output shaft of the second servo rotating motor 410 is drivingly connected to a driving end of the second bracket 420, and the connection end of the second bracket 420 is connected to the X-axis rotating mechanism 500.
In order to facilitate adjusting the position of the camera in the X-axis direction thereof, for example, a second adjusting member 430 may be added to the Y-axis rotating mechanism 400, and an output shaft of the second servo rotating motor 410 may be drivingly connected to the driving end of the second bracket 420 through the second adjusting member 430. Thus, the second adjusting member 430 can adjust the position of the second bracket 420 along the X-axis direction, so that the camera holder 600 can move correspondingly by the overall movement of the X-axis rotating mechanism 500, and finally the camera on the camera holder 600 can move in the corresponding X-axis direction, thereby achieving the purpose of adjusting the position of the camera in the X-axis direction
To facilitate the adjustment of the first bracket 320 by the second adjustment member 430, a second axial adjustment hole 431 may be added to the second adjustment member 430 to match the shape of the driving end of the second bracket 420. The adjusting design is simple to use, convenient to control, convenient to process and low in cost. The second adjustment member 430 for fine adjustment may also be an adjustment blade with a scale or the like.
To improve stability of the camera jig 600 in motion, the second bracket 420 may be exemplarily provided in a U-shape, wherein a middle portion of the second bracket 420 is configured as a driving end of the second bracket 420, and both ends of the second bracket 420 are configured as connection ends of the second bracket 420.
In order to improve the accuracy of the X-axis rotation mechanism 500 while simplifying it, the X-axis rotation mechanism 500 may be provided to include a third servo rotation motor 510, as illustrated in fig. 4, the third servo rotation motor 510 being fixed to the connection end of the second bracket 420, and an output shaft of the third servo rotation motor 510 being drivingly connected to the camera jig 600.
In order to facilitate adjusting the position of the camera in the Z-axis direction thereof, for example, a third adjusting member 520 may be added to the X-axis rotation mechanism 500, and an output shaft of the third servo rotation motor 510 may be drivingly connected to the camera holder 600 through the third adjusting member 520. Thus, the position of the camera holder 600 can be adjusted along the Z-axis direction by the third adjusting member 520, so that the camera holder 600 moves correspondingly, and finally the camera on the camera holder 600 moves in the corresponding Z-axis direction, thereby achieving the purpose of adjusting the position of the camera in the Z-axis direction.
Preferably, a third axial adjustment hole 521 matching the shape of the camera jig 600 may be provided on the third adjustment member 520. The adjusting design is simple to use, convenient to control, convenient to process and low in cost. The third adjuster 520 for fine adjustment may also be an adjusting tape with a scale or the like.
In addition, in order to simplify the structure and make the product compact, the third adjusting members 520 are two and are respectively pivoted to two ends of the second bracket 420, and the third servo rotary motor 510 is fixed to one end of the second bracket 420 and is in driving connection with the camera fixture 600 through the corresponding third adjusting members 520.
Further, as shown in fig. 5, the camera fixture 600 includes a U-shaped frame 610 and a plurality of clamping holes 620 formed on the U-shaped frame 610, and two ends of the U-shaped frame 610 are respectively connected to the corresponding third adjusting members 520. Therefore, it is preferable that the third axial adjustment hole 521 of the third adjustment member 520 also matches the shape of both ends of the U-shaped frame 610. The camera is clamped by the U-shaped frame 610, so that the supporting stress is uniform and the fixing is reliable; the clamping range can be flexibly adjusted through the clamping holes 620 to adapt to cameras with different types and specifications, so that the product has higher universality and higher practicability. Other adjustment and fixation means, such as sliding adjustment, compression or locking fixation, etc., are possible in addition to the clamping holes 620.
To facilitate the arrangement of the camera power line and the data communication line, as shown in fig. 6 and 7, for example, a wiring mechanism 210 corresponding to the moving mechanism 200 may be further added to the camera imaging calibration device, where the wiring mechanism 210 has a plurality of wiring grooves 211.
Of course, the camera imaging calibration device can be applied to any one of the three calibration methods of the traditional camera calibration method, the camera self-calibration method and the active vision camera calibration method in camera calibration.
In one embodiment, the camera calibration is performed by adopting a traditional camera calibration method or a camera self-calibration method, and the two methods do not need to acquire the motion data of the camera, so the calibration work of the camera to be calibrated by combining the camera imaging calibration device is realized by the following steps:
step S100, adjusting the position of a camera to be calibrated in a camera imaging calibration device to enable a photosensitive sensor of the camera to be calibrated to be positioned at a rotation center;
in the above steps, the adjustment of the position of the camera to be calibrated may be achieved by selecting the camera fixture 600 matched with the camera to be calibrated, for example, an appropriate camera fixture 600 may be selected according to the specification of the camera to be calibrated, or the camera to be calibrated may be adjusted in a fixed mounting position on the camera fixture 600, for example, the camera may be adjusted through the clamping hole 620 on the camera fixture 600; preferably, after the camera to be calibrated is fixed on the camera fixture 600, the position of the camera to be calibrated can be further adjusted by axial adjustment of one or more of the first adjusting member 330, the second adjusting member 430 and the third adjusting member 520, so that the photosensitive sensor is located at the rotation center. And the rotation center can be determined in advance according to the calibration requirement.
Step S200, fixing the calibration object in the visual field range of the camera to be calibrated; it will be appreciated that the choice of calibration material will depend on the actual calibration situation and will vary in different embodiments.
Step S300, controlling the camera to be calibrated to move through a camera imaging calibration device so as to shoot and acquire image data of a calibration object in different directions;
specifically, the moving mechanism, the Z-axis rotating mechanism 300, the Y-axis rotating mechanism 400 and the X-axis rotating mechanism 500 are controlled to operate so as to drive the camera to be calibrated to move through the camera fixture 600, thereby shooting and acquiring image data of the calibration object under different angles (i.e. different orientations) of different positions. Wherein the movement of the camera may be a translation in three dimensions, a movement in one degree of freedom in a multi-angle rotation around its centre of rotation, or a movement in multiple degrees of freedom.
Step S400, calculating the internal and external parameters of the camera to be calibrated according to the image data by adopting a traditional camera calibration method or a camera self-calibration method.
In another embodiment, in one embodiment, an active vision camera calibration method is used to calibrate a camera, where the method needs to accurately obtain motion data of the camera, so that calibration of the camera to be calibrated by combining the camera imaging calibration device is implemented by the following steps:
step S100, adjusting the position of a camera to be calibrated in a camera imaging calibration device to enable a photosensitive sensor of the camera to be calibrated to be positioned at a rotation center;
in the above steps, the adjustment of the position of the camera to be calibrated may be achieved by selecting the camera fixture 600 matched with the camera to be calibrated, for example, an appropriate camera fixture 600 may be selected according to the specification of the camera to be calibrated, or the camera to be calibrated may be adjusted in a fixed mounting position on the camera fixture 600, for example, the camera may be adjusted through the clamping hole 620 on the camera fixture 600; preferably, after the camera to be calibrated is fixed on the camera fixture 600, the position of the camera to be calibrated can be further adjusted by axial adjustment of one or more of the first adjusting member 330, the second adjusting member 430 and the third adjusting member 520, so that the photosensitive sensor is located at the rotation center. And the rotation center can be determined in advance according to the calibration requirement.
Step S200, fixing a calibration object in the visual field range of the camera to be calibrated and determining the motion trail of the camera to be calibrated;
it will be appreciated that the choice of calibration material will depend on the actual calibration situation and will vary in different embodiments. The active vision camera calibration method also needs to determine the motion trail of the camera to be calibrated in the calibration process, wherein the motion trail refers to the translation distance of the camera to be calibrated in all directions and the rotation radian or rotation angle of the camera to be calibrated in all directions in the calibration process
Step S300, controlling a camera to be calibrated to move along a movement track of the camera to be calibrated through a camera imaging calibration device so as to shoot and acquire image data of a calibration object in different directions;
in the above steps, the Z-axis rotation mechanism 300, the Y-axis rotation mechanism 400 and the X-axis rotation mechanism 500 may be controlled to operate to drive the camera to be calibrated to move through the camera fixture 600, so as to capture and acquire the image data of the calibration object at different angles (i.e. different orientations) of different positions at the preset position. The camera to be calibrated can be translated in three dimensions, rotated in multiple angles around its center of rotation, or moved in multiple degrees of freedom.
Step S400, calculating the internal and external parameters of the camera to be calibrated by adopting an active vision camera calibration method according to the image data.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The foregoing examples represent only a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the invention. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.
Claims (4)
1. A camera imaging calibration apparatus, comprising: the camera comprises a base, a moving mechanism for driving the base to directionally move, a Z-axis rotating mechanism arranged on the base and rotating around a Z-axis of the base, a Y-axis rotating mechanism connected with the Z-axis rotating mechanism and rotating around a Y-axis perpendicular to the Z-axis, an X-axis rotating mechanism connected with the Y-axis rotating mechanism and rotating around an X-axis perpendicular to the Z-axis and the Y-axis, and a camera clamp fixed at the output end of the X-axis rotating mechanism;
the Z-axis rotating mechanism comprises a first servo rotating motor and a first bracket, wherein the first servo rotating motor and the first bracket are fixed on the base, an output shaft of the first servo rotating motor is in driving connection with a driving end of the first bracket, and a connecting end of the first bracket is connected with the Y-axis rotating mechanism;
the Y-axis rotating mechanism comprises a second servo rotating motor and a second bracket, the second servo rotating motor is fixed at the connecting end of the first bracket, an output shaft of the second servo rotating motor is in driving connection with the driving end of the second bracket, and the connecting end of the second bracket is connected with the X-axis rotating mechanism;
the X-axis rotating mechanism comprises a third servo rotating motor, the third servo rotating motor is fixed at the connecting end of the second bracket, and an output shaft of the third servo rotating motor is in driving connection with the camera clamp;
the Z-axis rotating mechanism further comprises a first adjusting piece, and an output shaft of the first servo rotating motor is in driving connection with the driving end of the first bracket through the first adjusting piece; the Y-axis rotating mechanism further comprises a second adjusting piece, and an output shaft of the second servo rotating motor is in driving connection with the driving end of the second bracket through the second adjusting piece; the X-axis rotating mechanism further comprises a third adjusting piece, and an output shaft of the third servo rotating motor is in driving connection with the camera clamp through the third adjusting piece; the second bracket is U-shaped, the middle part of the second bracket is configured as a driving end of the second bracket, and two ends of the second bracket are configured as connecting ends of the second bracket; the two third adjusting parts are respectively pivoted at two ends of the second bracket, and the third servo rotating motor is fixed at one end of the second bracket and is in driving connection with the camera clamp through the corresponding third adjusting parts.
2. The camera imaging calibration apparatus of claim 1, further comprising a routing mechanism corresponding to the movement mechanism, the routing mechanism having a plurality of routing slots.
3. A camera imaging calibration method, using the camera imaging calibration device according to any one of claims 1-2, comprising the steps of:
adjusting the position of the camera to be calibrated in the camera imaging calibration device to enable a photosensitive sensor of the camera to be calibrated to be positioned at the rotation center;
fixing the calibration object in the visual field range of the camera to be calibrated;
controlling the camera to be calibrated to move through a camera imaging calibration device so as to shoot and acquire image data of a calibration object in different directions;
and calculating the internal and external parameters of the camera to be calibrated by adopting a traditional camera calibration method or a camera self-calibration method according to the image data.
4. A camera imaging calibration method, using the camera imaging calibration device according to any one of claims 1-2, comprising the steps of:
adjusting the position of the camera to be calibrated in the camera imaging calibration device to enable a photosensitive sensor of the camera to be calibrated to be positioned at the rotation center;
fixing a calibration object in the visual field range of the camera to be calibrated and determining the motion trail of the camera to be calibrated;
controlling a camera to be calibrated to move along the movement track of the camera to be calibrated through a camera imaging calibration device so as to shoot and acquire image data of a calibration object in different directions;
and calculating the internal and external parameters of the camera to be calibrated by adopting a traditional camera calibration method or a camera self-calibration method according to the image data.
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| CN106441094A (en) * | 2016-09-10 | 2017-02-22 | 上海大学 | Adaptive calibration vision online detection device and method |
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