CN112085800B - Calibration rod data screening method and device and computer equipment - Google Patents
Calibration rod data screening method and device and computer equipment Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 47
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- 238000012545 processing Methods 0.000 claims abstract description 7
- 230000015654 memory Effects 0.000 claims description 30
- 230000003287 optical effect Effects 0.000 description 6
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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Abstract
The invention relates to a screening method, a screening device, computer equipment and a storage medium for calibration rod data, wherein the method comprises the following steps: acquiring target 2D data obtained when a camera shoots a calibration rod, wherein the target 2D data comprises a plurality of coordinate point data; determining a shape model of the calibration rod, and carrying out combination processing on the coordinate point data in the target 2D data according to the shape model to obtain a data set conforming to the shape model, wherein the data set comprises one or more data subsets, and the data subsets comprise the combined coordinate point data; acquiring the rod type proportion of the calibration rod; and screening out a target data subset meeting the bar type proportion from the data set, wherein the target data subset comprises a plurality of combined target coordinate point data. The method can carry out data screening on the 2D data shot by the camera so as to obtain the 2D data meeting the calibration requirement.
Description
Technical Field
The invention relates to the technical field of multi-camera calibration, in particular to a calibration rod data screening method, a calibration rod data screening device, computer equipment and a storage medium.
Background
The calibration of the large-space multi-camera is a basic stone of an optical motion capturing system, and whether the subsequent motion capturing can be performed or not is directly determined by the quality of a calibration result. Therefore, it is important how to enable the camera calibration to be performed smoothly. The calibration process is more demanding for fine design and processing, if higher capture accuracy and effect are desired for camera calibration. The calibration process usually comprises a number of steps, wherein the first step is to perform a sweeping field, i.e. to walk randomly and make constant waving with the calibration rod in the scene, and then to collect calibration rod data captured by each camera, which is a kind of 2D data. However, the 2D data captured by the camera collected at this time is not necessarily qualified, and if the calibration is directly performed by using the 2D data, the calibration result is low in accuracy, and even the calibration cannot be performed at all.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a method, a device, computer equipment and a storage medium for screening calibration rod data, which can screen 2D data shot by a camera to obtain 2D data meeting the calibration requirement.
In order to solve at least one of the above technical problems, an embodiment of the present invention provides a method for screening calibration rod data, including:
acquiring target 2D data obtained when a camera shoots a calibration rod, wherein the target 2D data comprises a plurality of coordinate point data;
Determining a shape model of the calibration rod, and carrying out combination processing on the coordinate point data in the target 2D data according to the shape model to obtain a data set conforming to the shape model, wherein the data set comprises one or more data subsets, and the data subsets comprise the combined coordinate point data;
Acquiring the rod type proportion of the calibration rod;
And screening out a target data subset meeting the bar type proportion from the data set, wherein the target data subset comprises a plurality of combined target coordinate point data.
In one embodiment, the combining the plurality of coordinate point data in the target 2D data according to the shape model to obtain a data set conforming to the shape model includes:
determining the shape model to be T-shaped;
Acquiring any three data of the coordinate point data in the target 2D data, combining any three data to form line segments, and determining three data corresponding to any two line segments to form a three-point set when the included angle of the any two line segments is smaller than a preset angle;
And acquiring line segments formed by a plurality of three-point sets, and taking any two three-point sets as data subsets of the data sets if the line segments corresponding to any two three-point sets form a T shape.
In one embodiment, when the included angle of any two line segments is smaller than the preset angle, determining that three data corresponding to the any two line segments form a three-point set includes:
determining the intersection point of any two line segments, and taking the data corresponding to the intersection point as intermediate point data;
Determining the shortest line segment and the longest line segment in the arbitrary two line segments;
taking a first point, which is not the intersection point, in the shortest line segment as left side point data, and taking a second point, which is not the intersection point, in the longest line segment as right side point data;
And constructing the left side point data, the middle point data and the right side point data into a three-point set.
In one embodiment, if the line segments corresponding to any two of the three-point sets form a T shape, the data subset of the data set using any two of the three-point sets includes:
forming two line segments from any two of the three-point sets;
If the two line segments have an intersection point and the two line segments are not on the same straight line, determining that the line segments corresponding to any two three-point sets form a T type, and taking the any two three-point sets as data subsets of the data set.
In one embodiment, the method further comprises:
and arranging the plurality of target coordinate point data in the target data subset according to the rod type of the calibration rod and the rod type proportion to obtain a standard data subset.
In one embodiment, the method further comprises:
determining at least two of the plurality of cameras that derive the subset of target data from the target 2D data;
and taking the target data subsets corresponding to the at least two cameras as calibration data.
In addition, the embodiment of the invention also provides a screening device for calibration rod data, which comprises:
The first acquisition module is used for acquiring target 2D data obtained when the camera shoots the calibration rod, wherein the target 2D data comprises a plurality of coordinate point data;
The determining module is used for determining a shape model of the calibration rod, combining the coordinate point data in the target 2D data according to the shape model to obtain a data set conforming to the shape model, wherein the data set comprises one or more data subsets, and the data subsets comprise the combined coordinate point data;
the second acquisition module is used for acquiring the rod type proportion of the calibration rod;
And the screening module is used for screening out a target data subset meeting the bar type proportion from the data set, wherein the target data subset comprises a plurality of combined target coordinate point data.
In addition, the embodiment of the invention also provides computer equipment, which comprises: the system comprises a memory, a processor and an application program stored on the memory and capable of running on the processor, wherein the processor realizes the steps of the method of any embodiment when executing the application program.
In addition, the embodiment of the invention also provides a computer readable storage medium, on which an application program is stored, and when the application program is executed by a processor, the steps of the method of any embodiment are realized.
In the embodiment of the invention, by implementing the method, the target 2D data obtained when the camera shoots the calibration rod is obtained, and the target 2D data comprises a plurality of coordinate point data; determining a shape model of the calibration rod, and carrying out combination processing on the coordinate point data in the target 2D data according to the shape model to obtain a data set conforming to the shape model, wherein the data set comprises one or more data subsets, and the data subsets comprise the combined coordinate point data; acquiring the rod type proportion of the calibration rod; and screening out a target data subset meeting the bar type proportion from the data set, wherein the target data subset comprises a plurality of combined target coordinate point data. Therefore, the 2D data shot by the camera can be subjected to data screening to obtain a plurality of target coordinate point data meeting the calibration requirement, so that the accuracy of the subsequent calibration by using the plurality of target coordinate point data meeting the calibration requirement is improved.
Drawings
FIG. 1 is a flow chart of a method for screening calibration rod data according to an embodiment of the present invention;
FIG. 2 is a flow diagram of S102 in one embodiment of the invention;
FIG. 3 is a flow chart of S104 in one embodiment of the invention;
FIG. 4 is a schematic view of the construction of a calibration rod in one embodiment of the invention;
FIG. 5 is a schematic view of the construction of a calibration rod in another embodiment of the invention;
FIG. 6 is a schematic structural diagram of a calibration rod data screening device according to an embodiment of the present invention;
fig. 7 is a schematic diagram of the structural composition of a computer device in an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The embodiment of the invention provides a screening method of calibration rod data, as shown in fig. 1, comprising the following steps:
S102, acquiring target 2D data obtained when a camera shoots a calibration rod, wherein the target 2D data comprises a plurality of coordinate point data.
In this embodiment, a large-space multi-camera is used for calibration in an optical motion capture system. The calibration process usually comprises a plurality of steps, and the first step is to sweep the field, namely, to walk randomly and swing continuously with the calibration rod in the scene, and then to collect the data of the calibration rod shot by each camera, namely, the target 2D data obtained when the camera shoots the calibration rod. And in the subsequent calibration process, the target 2D data is used for calibration. The target 2D data obtained when the camera shoots the calibration rod comprises a plurality of coordinate point data. The coordinate point data are used for representing marking points of the calibration rod points.
In one embodiment, as shown in fig. 2, S102 includes:
s1022, obtaining the 2D data to be selected of any frame obtained when the camera shoots the calibration rod.
S1024, determining the number of coordinate point data in the 2D data to be selected.
And S1026, if the number of the coordinate point data is greater than or equal to the number of the calibration rod points, taking the 2D data to be selected as target 2D data.
The 2D data captured by the camera is not necessarily qualified, and if the calibration is performed directly with the data, the calibration result will be poor, and even calibration is impossible at all, so that the 2D data captured by the camera needs to be preprocessed. Specifically, during the sweeping process, for any camera, there may be a situation that the calibration rod is partially blocked or the reflection effect of the calibration rod is poor at the position, or the calibration rod is too far away from the camera, so that the camera does not shoot the complete calibration rod point. At this time, the number of the 2D points shot by the camera is smaller than the number of the calibration rod points, and the number cannot be determined, so that the 2D points cannot be paired with the 2D data shot by other qualified cameras in the follow-up process, and the 2D points cannot be matched with the 3D points of the actual calibration rod to perform the re-projection mapping and the re-projection error, so that the 2D data obtained when the camera shoots the calibration rod is required to be screened.
Specifically, to-be-selected 2D data of any frame obtained when the camera shoots the calibration rod is obtained, and the number of coordinate point data in the to-be-selected 2D data is determined. And if the number of the coordinate point data is smaller than the number of the calibration rod points, 2D data acquired under the frame in the camera are emptied. Conversely, the 2D data of the frame may be regarded as target 2D data. In a specific data screening process, for example, if the number of 2D points acquired by a certain camera in a certain frame is smaller than the number of calibration rod points, the 2D points acquired by the camera in the frame are directly emptied. For example, there are 4 cameras in total in the scene, and the number of 2D points shot by the No. 1 camera, the No. 2 camera and the No. 3 camera is smaller than the number of calibration rod points, so 2D data collected by the No. 1 camera, the No. 2 camera and the No. 3 camera are filtered directly, and only 2D data of the No. 1 camera and the No. 4 camera are reserved. Therefore, the accuracy of the target 2D data can be improved.
S104, determining a shape model of the calibration rod, and combining a plurality of coordinate point data in the target 2D data according to the shape model to obtain a data set conforming to the shape model, wherein the data set comprises one or more data subsets, and the data subsets comprise the combined plurality of coordinate point data.
In this embodiment, the calibration rod belongs to a rigid object, and is usually designed according to a certain fixed shape, so as to satisfy a certain rule. Therefore, when screening of 2D data is performed, a shape model of the calibration rod is determined first. For example, the shape model of the calibration rod may be T-shaped. Further, combining the coordinate point data in the target 2D data according to the shape model of the calibration rod to obtain a data set conforming to the shape model. For example, the target 2D data includes data points A1, A2, B1, B2, C1, C2, D1, D2, E1, and E2. And the data set obtained by combining the coordinate point data in the target 2D data according to the shape model of the calibration rod comprises a data subset 1 and a data subset 2. Data subset 1= [ data point A1, data point B1, data point C1, data point D1, data point E1], data subset 2= [ data point A2, data point B2, data point C2, data point D2, data point E2]. Both data subset 1 and data subset 2 can represent a shape model of the calibration rod.
In one embodiment, as shown in fig. 3, S104 includes:
S1042, determining the shape model as T-shaped.
S1044, acquiring any three data of a plurality of coordinate point data in the target 2D data, combining any three data to form a line segment, and determining that three data corresponding to any two line segments form a three-point set when the included angle of the any two line segments is smaller than a preset angle.
S1046, acquiring line segments formed by a plurality of three-point sets, and taking any two three-point sets as data subsets of the data set if the line segments corresponding to any two three-point sets form a T shape.
Specifically, the shape model of the calibration rod is T-shaped. And combining the plurality of coordinate point data in the target 2D data according to the T type to obtain a data set conforming to the T type. First, any three data in the target 2D data are combined two by two to form a line segment. When the included angle of any two line segments is smaller than a preset angle, three data corresponding to the any two line segments are determined to form a three-point set. For example, all target 2D data is traversed, and any three data form line segments two by two to find the distance. Taking out the shortest two line segments from the three points to obtain an included angle, if the included angle is smaller than a given small angle, such as 0.1 degrees, the three points are collinear, and the three data form a three-point set. The three-point set obtained in this step is plural, and each three-point set represents one line segment.
Further, a plurality of three-point sets are formed into line segments, and if any two of the three-point sets correspond to the line segments to form a T shape, the any two of the three-point sets are used as data subsets of the data set. For example, T-type detection is performed by using two line segments, i.e. it is determined whether the two lines have an intersection point, where the intersection point is the middle point of one line and is the end point of the other line, and the end point may be a left side point or a right side point. If so, pass is detected and a two-wire set is formed. And finally, all the double-line sets are obtained to form T-shaped sets, and each T-shaped set is a double-line set. The T-set here is a subset of data. Therefore, the data set conforming to the T type can be screened from the target 2D data.
In an embodiment, when the included angle of any two line segments is smaller than the preset angle, determining that three data corresponding to the any two line segments form a three-point set includes: determining the intersection point of any two line segments, and taking the data corresponding to the intersection point as intermediate point data; determining the shortest line segment and the longest line segment in the arbitrary two line segments; taking a first point of a non-intersection point in the shortest line segment as left side point data, and taking a second point of a non-intersection point in the longest line segment as right side point data; the left side point data and the right side point data are combined into a three-point set.
Specifically, all target 2D data are traversed, distances are calculated by any three data forming line segments, the shortest two line segments in three points are taken out to calculate an included angle, and if the included angle is smaller than a given small angle, the three data are indicated to be collinear. The intersection point of the two shortest line segments is necessarily the middle point, the other point of the shortest line segment is taken as the left side point, the other point of the longest line segment is taken as the right side point, and a three-point set of < left side point, middle point and right side point > is formed. Finally, all three-point sets are obtained, wherein the three-point sets form line sets, and each line is a three-point set.
In an embodiment, if the line segments corresponding to any two three-point sets form a T-shape, the data subset of the data set using any two three-point sets includes: two line segments are formed by any two three-point sets; if the two line segments have intersection points and the two line segments are not on the same straight line, determining that the line segments corresponding to any two three-point sets form a T shape, and taking the any two three-point sets as data subsets of the data set.
Specifically, the T-type detection is performed on two line segments, that is, whether the two line segments have an intersection point is determined, and the intersection point is a middle point of one line and is an end point of the other line, such as a left side point or a right side point. If so, pass is detected and a two-wire set is formed. And finally, all the double-line sets are obtained to form T-shaped sets, and each T-shaped set is a double-line set.
S106, obtaining the rod type proportion of the calibration rod.
In this embodiment, the actual lever type ratio of the calibration lever is obtained. Specifically, if the calibration rod is T-shaped as shown in fig. 4, the rod type ratio is: one line satisfies an approximately 1:1 relationship and the other satisfies an approximately 1:2 relationship.
S108, screening out target data subsets meeting the bar type proportion from the data set, wherein the target data subsets comprise a plurality of combined target coordinate point data.
In this step, a subset of target data satisfying the bar type scale is screened out from the dataset. I.e. screening out data that characterize the actual calibration rod. Specifically, it is determined whether or not there is one T-shape in the data set satisfying the proportional relationship shown in FIG. 4, i.e., one line satisfying the approximately 1:1 relationship and the other line satisfying the approximately 1:2 relationship. If so, the target data subset characterizes the true calibration stem point. Otherwise, the data is unqualified and is directly rejected.
By implementing the method, target 2D data obtained when the camera shoots the calibration rod is obtained, and the target 2D data comprises a plurality of coordinate point data; determining a shape model of a calibration rod, and combining a plurality of coordinate point data in target 2D data according to the shape model to obtain a data set conforming to the shape model, wherein the data set comprises one or more data subsets, and the data subsets comprise the combined plurality of coordinate point data; acquiring the rod type proportion of the calibration rod; and screening out a target data subset meeting the bar type proportion from the data set, wherein the target data subset comprises a plurality of combined target coordinate point data. Therefore, the 2D data shot by the camera can be subjected to data screening to obtain a plurality of target coordinate point data meeting the calibration requirement, so that the accuracy of the subsequent calibration by using the plurality of target coordinate point data meeting the calibration requirement is improved.
In one embodiment, after S108, further comprising: and arranging the plurality of target coordinate point data in the target data subset according to the rod type and the rod type proportion of the calibration rod to obtain a standard data subset.
The data of a plurality of target coordinate points in the target data subset are arranged according to the appointed sequence, so that the data are convenient for one-to-one correspondence, and the corresponding relation is not needed to be judged any more later, so that the data are a contracted format specification. Specifically, the 2D data of the actual calibration bar points, i.e. the data of the plurality of target coordinate points in the target data subset, may be further processed. According to a certain sequence, for example, as shown in FIG. 5, the left side point of the 1:2 line is x-, the middle point is O, the right side point is x+, then the left side point of the 1:1 line is O, the middle point is y+, the right side point is y++, and calibration bar data are established in the format of < x-, O, x+, y+, y++ >.
In one embodiment, after S108, further comprising: determining at least two cameras of the plurality of cameras that obtain a subset of target data from the target 2D data; and taking the target data subsets corresponding to at least two cameras as calibration data.
Specifically, after the calibration rod matching detection, a final step is usually required to extract frames in which at least two cameras see the calibration rod. Because in optical motion capture, whether it be a calibration or a three-dimensional reconstruction, it is often necessary to have more than two cameras to see the object in a frame, such data can be used for calibration or three-dimensional reconstruction operations. Therefore, it is required to determine at least two cameras of the plurality of cameras, which obtain a target data subset according to the target 2D data, and take the target data subset corresponding to the at least two cameras as calibration data. The calibration data can be used for subsequent calibration and three-dimensional reconstruction.
In summary, when the number of 2D data of a certain frame collected by the camera exceeds the number of calibration rod points, 2D data meeting the calibration rod can be detected by the method of the embodiment, and unsatisfied 2D data is discarded; when the number of the 2D data is just equal to the number of the calibration rod points, whether the 2D points meet the calibration rod can be detected by the method of the embodiment, so that the 2D points of the pseudo calibration rod containing the impurity points are eliminated; in addition, the data of the true calibration rod 2D points detected by the method of the embodiment can be matched with the actual calibration rod 3D points one by one in sequence. The screening method of the calibration rod data is a key technology in 2D point data calibration, has the functions of detecting qualified calibration rod 2D data, removing unmatched miscellaneous points and carrying out one-to-one pairing with actual calibration rod 3D points, can carry out further detection on the basis of other filtering technologies, and ensures high reliability of the 2D data of the subsequent camera calibration.
In an embodiment, the invention further provides a screening device for calibration rod data. As shown in fig. 6, the apparatus includes:
a first obtaining module 12, configured to obtain target 2D data obtained when the camera photographs the calibration rod, where the target 2D data includes a plurality of coordinate point data;
the determining module 14 is configured to determine a shape model of the calibration rod, and perform combination processing on a plurality of coordinate point data in the target 2D data according to the shape model to obtain a data set conforming to the shape model, where the data set includes one or more data subsets, and the data subsets include the plurality of combined coordinate point data;
a second obtaining module 16, configured to obtain a rod type proportion of the calibration rod;
And a screening module 18, configured to screen out a target data subset satisfying the bar type proportion from the data set, where the target data subset includes a plurality of combined target coordinate point data.
For a specific definition of a screening device for calibration rod data, reference may be made to the definition of a screening method for calibration rod data hereinabove, and the description thereof will not be repeated. All or part of each module in the screening device for the calibration rod data can be realized by software, hardware and a combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
The embodiment of the invention provides a computer readable storage medium, wherein an application program is stored on the computer readable storage medium, and when the program is executed by a processor, the method for screening calibration rod data in any one of the embodiments is realized. The computer readable storage medium includes, but is not limited to, any type of disk including floppy disks, hard disks, optical disks, CD-ROMs, and magneto-optical disks, ROMs (Read-Only memories), RAMs (Random AcceSS Memory, random access memories), EPROMs (EraSable Programmable Read-Only memories), EEPROMs (ELECTRICALLY ERASABLE PROGRAMMABLEREAD-Only memories), flash memories, magnetic cards, or optical cards. That is, a storage device includes any medium that stores or transmits information in a form readable by a device (e.g., computer, cell phone), and may be read-only memory, magnetic or optical disk, etc.
The embodiment of the invention also provides a computer application program which runs on a computer and is used for executing the screening method of the calibration rod data in any one of the embodiments.
In addition, fig. 7 is a schematic diagram of the structural composition of the computer device in the embodiment of the present invention.
The embodiment of the invention also provides computer equipment, as shown in fig. 7. The computer device comprises a processor 702, a memory 703, an input unit 704, a display unit 705 and the like. It will be appreciated by those skilled in the art that the device architecture shown in fig. 7 does not constitute a limitation of all devices, and may include more or fewer components than shown, or may combine certain components. The memory 703 may be used to store an application program 701 and various functional modules, and the processor 702 runs the application program 701 stored in the memory 703, thereby executing various functional applications of the device and data processing. The memory may be internal memory or external memory, or include both internal memory and external memory. The internal memory may include read-only memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), flash memory, or random access memory. The external memory may include a hard disk, floppy disk, ZIP disk, U-disk, tape, etc. The disclosed memory includes, but is not limited to, these types of memory. The memory disclosed herein is by way of example only and not by way of limitation.
The input unit 704 is used for receiving input of signals and receiving keywords input by a user. The input unit 704 may include a touch panel and other input devices. The touch panel may collect touch operations on or near the user (e.g., the user's operation on or near the touch panel using any suitable object or accessory such as a finger, stylus, etc.), and drive the corresponding connection device according to a preset program; other input devices may include, but are not limited to, one or more of a physical keyboard, function keys (e.g., play control keys, switch keys, etc.), a trackball, mouse, joystick, etc. The display unit 705 may be used to display information input by a user or information provided to the user and various menus of the terminal device. The display unit 705 may take the form of a liquid crystal display, an organic light emitting diode, or the like. The processor 702 is a control center of the terminal device, connects various parts of the entire device using various interfaces and lines, performs various functions and processes data by running or executing software programs and/or modules stored in the memory 702, and invoking data stored in the memory.
As one embodiment, the computer device includes: one or more processors 702, a memory 703, one or more application programs 701, wherein the one or more application programs 701 are stored in the memory 703 and configured to be executed by the one or more processors 702, the one or more application programs 701 configured to perform a method of screening calibration bar data in any of the above embodiments.
In addition, the foregoing describes in detail the method, apparatus, computer device and storage medium for screening calibration bar data provided in the embodiments of the present invention, and specific examples should be adopted to illustrate the principles and embodiments of the present invention, where the foregoing examples are only used to help understand the method and core idea of the present invention; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present invention, the present description should not be construed as limiting the present invention in view of the above.
Claims (10)
1. A method for screening calibration rod data, the method comprising:
acquiring target 2D data obtained when a camera shoots a calibration rod, wherein the target 2D data comprises a plurality of coordinate point data;
Determining a shape model of the calibration rod, and carrying out combination processing on the coordinate point data in the target 2D data according to the shape model to obtain a data set conforming to the shape model, wherein the data set comprises one or more data subsets, and the data subsets comprise the combined coordinate point data;
Acquiring the rod type proportion of the calibration rod;
screening out a target data subset meeting the bar type proportion from the data set, wherein the target data subset comprises a plurality of combined target coordinate point data;
The data of each coordinate point is used for representing a marking point of a calibration rod point, the shape model of the calibration rod is T-shaped, the data subset comprises a data point A, a data point B, a data point C, a data point D and a data point E, and the data subset can represent the shape model of the calibration rod.
2. The method according to claim 1, wherein the acquiring target 2D data obtained when the camera photographs the calibration bar includes:
Acquiring to-be-selected 2D data of any frame obtained when a camera shoots a calibration rod;
Determining the number of coordinate point data in the 2D data to be selected;
And if the number of the coordinate point data is greater than or equal to the number of the calibration rod points, taking the 2D data to be selected as the target 2D data.
3. The method according to claim 1, wherein the combining the plurality of coordinate point data in the target 2D data according to the shape model to obtain a data set conforming to the shape model includes:
determining the shape model to be T-shaped;
Acquiring any three data of the coordinate point data in the target 2D data, combining any three data to form line segments, and determining three data corresponding to any two line segments to form a three-point set when the included angle of the any two line segments is smaller than a preset angle;
And acquiring line segments formed by a plurality of three-point sets, and taking any two three-point sets as data subsets of the data sets if the line segments corresponding to any two three-point sets form a T shape.
4. A method according to claim 3, wherein determining that three data corresponding to any two line segments form a three-point set when the included angle of the any two line segments is smaller than a preset angle comprises:
determining the intersection point of any two line segments, and taking the data corresponding to the intersection point as intermediate point data;
Determining the shortest line segment and the longest line segment in the arbitrary two line segments;
taking a first point, which is not the intersection point, in the shortest line segment as left side point data, and taking a second point, which is not the intersection point, in the longest line segment as right side point data;
And constructing the left side point data, the middle point data and the right side point data into a three-point set.
5. A method according to claim 3, wherein if the line segments corresponding to any two of the three-point sets form a T-shape, the any two of the three-point sets are used as the data subsets of the data set, and the method comprises:
forming two line segments from any two of the three-point sets;
If the two line segments have an intersection point and the two line segments are not on the same straight line, determining that the line segments corresponding to any two three-point sets form a T type, and taking the any two three-point sets as data subsets of the data set.
6. The method according to claim 1, wherein the method further comprises:
and arranging the plurality of target coordinate point data in the target data subset according to the rod type of the calibration rod and the rod type proportion to obtain a standard data subset.
7. The method according to claim 1, wherein the method further comprises:
determining at least two of the plurality of cameras that derive the subset of target data from the target 2D data;
and taking the target data subsets corresponding to the at least two cameras as calibration data.
8. A screening apparatus for calibration rod data, the apparatus comprising:
The first acquisition module is used for acquiring target 2D data obtained when the camera shoots the calibration rod, wherein the target 2D data comprises a plurality of coordinate point data;
The determining module is used for determining a shape model of the calibration rod, combining the coordinate point data in the target 2D data according to the shape model to obtain a data set conforming to the shape model, wherein the data set comprises one or more data subsets, and the data subsets comprise the combined coordinate point data;
the second acquisition module is used for acquiring the rod type proportion of the calibration rod;
the screening module is used for screening out a target data subset meeting the bar type proportion from the data set, wherein the target data subset comprises a plurality of combined target coordinate point data;
The data of each coordinate point is used for representing a marking point of a calibration rod point, the shape model of the calibration rod is T-shaped, the data subset comprises a data point A, a data point B, a data point C, a data point D and a data point E, and the data subset can represent the shape model of the calibration rod.
9. A computer device comprising a memory, a processor and an application stored on the memory and executable on the processor, wherein the processor implements the steps of the method of any one of claims 1 to 7 when the application is executed by the processor.
10. A computer readable storage medium having stored thereon an application program, wherein the application program, when executed by a processor, implements the steps of the method of any of claims 1 to 7.
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| CN202010822553.0A CN112085800B (en) | 2020-08-14 | 2020-08-14 | Calibration rod data screening method and device and computer equipment |
| PCT/CN2021/111490 WO2022033421A1 (en) | 2020-08-14 | 2021-08-09 | Method and apparatus for screening calibration rod data, and computer device |
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| CN102589461A (en) * | 2012-01-17 | 2012-07-18 | 华中科技大学 | Image-based snow depth measuring method |
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| CN105953755A (en) * | 2016-01-25 | 2016-09-21 | 上海航天设备制造总厂 | Networking large-size space positioning system on-site calibration method |
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| CN108022267A (en) * | 2016-10-31 | 2018-05-11 | 北京新长征天高智机科技有限公司 | A kind of camera calibration device and scaling method |
| WO2019199590A1 (en) * | 2018-04-09 | 2019-10-17 | Board Of Regents, The University Of Texas System | An x-ray mass flow rate sensor for high pressure processes |
| CN111127559B (en) * | 2019-12-26 | 2023-06-16 | 深圳市瑞立视多媒体科技有限公司 | Calibration rod detection method, device, equipment and storage medium in optical dynamic capture system |
| CN111145270B (en) * | 2019-12-27 | 2021-08-10 | 深圳市瑞立视多媒体科技有限公司 | Multi-camera calibration method based on optical dynamic capture in large space environment and related equipment |
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| CN102589461A (en) * | 2012-01-17 | 2012-07-18 | 华中科技大学 | Image-based snow depth measuring method |
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