CN115035198A - Method, device, equipment and medium for calculating real reference image of calibration template - Google Patents

Method, device, equipment and medium for calculating real reference image of calibration template Download PDF

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CN115035198A
CN115035198A CN202210511007.4A CN202210511007A CN115035198A CN 115035198 A CN115035198 A CN 115035198A CN 202210511007 A CN202210511007 A CN 202210511007A CN 115035198 A CN115035198 A CN 115035198A
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calibration template
matrix
camera module
target
calibration
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燕宇
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Kunshan Q Technology Co Ltd
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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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G06T7/75—Determining position or orientation of objects or cameras using feature-based methods involving models
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30244—Camera pose

Abstract

The invention discloses a method, a device, a terminal device and a medium for calculating a real reference image of a calibration template, wherein the method comprises the following steps: constructing a reference plane diagram of a calibration template according to an external parameter matrix of a camera module in a target view field, wherein the external parameter matrix is used for representing the phase position relation between the camera module and the calibration template; and converting the reference plane graph of the calibration template according to the internal reference matrix of the camera module in the target view field to obtain a real reference graph of the calibration template in the target view field. By adopting the method and the device, the technical problem that the chessboard reference image is not accurately calculated in the prior art can be solved.

Description

Method, device, equipment and medium for calculating real reference image of calibration template
Technical Field
The invention relates to the technical field of camera modules, in particular to a method, a device, equipment and a medium for calculating a real reference image of a calibration template.
Background
At present, the calibration of a Time of Flight (TOF) camera module mainly includes periodic error calibration, Fixed Phase Pattern Noise (FPPN) error calibration, and temperature drift error calibration. The calibration item with the largest error influence in the camera module is the calibration of the noise error of the fixed phase mode, and the calibration process comprises real reference image calculation of a checkerboard.
However, in practice it has been found that: in the prior art, in the calculation process of the real checkerboard reference image, theoretical data expression under the actual plane distance between a camera module and the checkerboard is generally used. Because the theoretical data can not reflect the change of the real calibration scene, the calculated checkerboard reference image is not accurate enough.
Disclosure of Invention
The embodiment of the application solves the technical problem that the chessboard pattern reference map calculation is not accurate enough in the prior art by providing the real reference map calculation method, the real reference map calculation device, the terminal device and the medium for calibrating the template.
In one aspect, the present application provides a method for calculating a true reference map of a calibration template, according to an embodiment of the present application, where the method includes:
constructing a reference plane diagram of a calibration template according to an external parameter matrix of a camera module in a target view field, wherein the external parameter matrix is used for representing the phase position relation between the camera module and the calibration template;
and converting the reference plane graph of the calibration template according to the internal reference matrix of the camera module in the target view field to obtain a real reference graph of the calibration template in the target view field.
Optionally, the external reference matrix includes a rotation matrix and a translation matrix, and the constructing a reference plan of the calibration template according to the external reference matrix of the camera module in the target view field includes:
calculating a coefficient item of a plane equation of the calibration template in a camera coordinate system according to the rotation matrix and the translation matrix of the camera module in the target view field;
and determining a reference plane graph of the calibration template in the camera coordinate system according to the calculated coefficient item of the plane equation.
Optionally, the converting the reference plan view of the calibration template according to the internal reference matrix of the camera module in the target view field to obtain the real reference view of the calibration template in the target view field includes:
and converting the reference plane diagram of the calibration template from the camera coordinate system to a Cartesian coordinate system according to the internal reference matrix of the camera module in the target view field, so as to obtain a real reference diagram of the calibration template in the target view field.
Optionally, before the reference plane map of the calibration template is constructed according to the external parameter matrix of the camera module in the target view field, the method further includes:
calculating an external reference matrix and an internal reference matrix of the camera module under different fields of view according to a preset camera calibration method; wherein the target field of view is any one or more fields of view under the different fields of view.
Optionally, the number of the target fields of view is multiple, and after obtaining the real reference images of the calibration template under multiple target fields of view, the method further includes:
and performing multi-view image display on the real reference images of the calibration template under the target view fields.
Optionally, the method further comprises:
acquiring a target board test chart generated when the camera module shoots the calibration template in a target view field;
and calculating error data between the target test chart and the real reference chart according to the target test chart and the real reference chart, wherein the error data is used for reflecting a calibration error generated by the camera module in the calibration of the fixed phase mode noise error.
In another aspect, the present application provides an actual reference map calculation apparatus for calibrating a template, which includes a construction module and a processing module, wherein:
the construction module is used for constructing a reference plane diagram of the calibration template according to an external parameter matrix of the camera module in a target view field, wherein the external parameter matrix is used for representing the phase position relation between the camera module and the calibration template;
and the processing module is used for converting the reference plane diagram of the calibration template according to the internal reference matrix of the camera module in the target view field to obtain a real reference diagram of the calibration template in the target view field.
The content that is not introduced or described in the embodiments of the present application may correspondingly refer to the related introduction in the foregoing method embodiments, and is not described herein again.
On the other hand, the present application provides a terminal device according to an embodiment of the present application, where the terminal device includes: a processor, a memory, a communication interface, and a bus; the processor, the memory and the communication interface are connected through the bus and complete mutual communication; the memory stores executable program code; the processor executes a program corresponding to the executable program code by reading the executable program code stored in the memory, for executing the real reference map calculation method of the calibration template as described above.
On the other hand, the present application provides a computer-readable storage medium storing a program that, when running on a terminal device, executes the real reference map calculation method for the calibration template as described above, through an embodiment of the present application.
One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages: the method comprises the steps of constructing a reference plane diagram of a calibration template according to an external parameter matrix of a camera module under a target view field, wherein the external parameter matrix is used for representing the phase position relation between the camera module and the calibration template; and converting the reference plane diagram of the calibration template according to the internal reference matrix of the camera module in the target view field to obtain a real reference diagram of the calibration template in the target view field. In the scheme, the real reference image of the calibration template in the target view field is accurately calculated according to the external reference matrix and the internal reference matrix of the camera module in the target view field, so that the real reference image of the calibration template is conveniently and accurately calculated, and the technical problems that the checkerboard reference image is not accurately calculated in the prior art are solved.
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In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
Fig. 1 is a schematic diagram illustrating a comparison between a theoretical plan view and a real plan view formed when a TOF camera module shoots a checkerboard in the prior art.
Fig. 2 is a schematic flowchart of a method for calculating a real reference map of a calibration template according to an embodiment of the present application.
Fig. 3 is a schematic illustration of a real reference diagram of a calibration template under different fields of view provided by an embodiment of the present application.
Fig. 4 is a schematic illustration showing a target test chart under different fields of view according to an embodiment of the present disclosure.
Fig. 5 is a schematic structural diagram of an actual reference map calculation apparatus for calibrating a template according to an embodiment of the present application.
Fig. 6 is a schematic structural diagram of a terminal device according to an embodiment of the present application.
Detailed Description
The applicant has also found in the course of the present application that: fig. 1 is a schematic diagram illustrating a comparison between a theoretical plan view and a real plan view formed when a TOF camera module shoots a checkerboard in the prior art. As shown in fig. 1, the image depth data (i.e., theoretical data) shown by the theoretical plan is significantly different from the image depth data (as shown by the arrow) shown by the real plan. Therefore, when the real checkerboard reference image is calculated, if theoretical data are adopted for expression, the accuracy of the calculated real checkerboard reference image is not enough, and further the calibration error generated by calibration is not accurate enough.
The embodiment of the application provides a real reference image calculation method for calibrating a template, and solves the technical problem that the checkerboard reference image in the prior art is not accurate enough in calculation.
In order to solve the technical problems, the general idea of the embodiment of the application is as follows: constructing a reference plane diagram of a calibration template according to an external reference matrix of a camera module in a target view field, wherein the external reference matrix is used for representing the phase position relation between the camera module and the calibration template; and converting the reference plane diagram of the calibration template according to the internal reference matrix of the camera module in the target view field to obtain a real reference diagram of the calibration template in the target view field.
In order to better understand the technical scheme, the technical scheme is described in detail in the following with reference to the attached drawings of the specification and specific embodiments.
First, it is stated that the term "and/or" appearing herein is merely one type of associative relationship that describes an associated object, meaning that three types of relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
Please refer to fig. 2, which is a flowchart illustrating a method for calculating a real reference map of a calibration template according to an embodiment of the present application. The method as shown in fig. 2 comprises the following implementation steps:
s201, constructing a reference plane diagram of a calibration template according to an external parameter matrix of the camera module in a target view field, wherein the external parameter matrix is used for representing a phase position relation between the camera module and the calibration template.
The target view field is a shooting view field defined by the camera module system, for example, the camera module rotates four times relative to the calibration template, and rotates 90 degrees at each time to form four corresponding view fields. The calibration template is a calibration plate for calibrating the camera module, and may include, but is not limited to, a checkerboard, a solid circle array diagram, or other pattern templates for calibrating the camera module. The external parameter matrix may also be referred to as an external parameter matrix of the camera module, which may include, but is not limited to, a rotation matrix and a translation matrix of the camera module, and the size of the matrix is not limited. It is understood that the external parameter matrix may also be an external parameter vector, such as a rotation vector, a translation vector, and the like, which is not limited in this application.
Before step S201, the present application may calculate the external reference matrix and the internal reference matrix of the camera module in different fields of view according to a preset camera calibration method. Specifically, the method can detect reference points of a calibration template, such as chessboard angular points and the like, and further calculate the external reference matrix and the internal reference matrix of the camera module under different fields of view by adopting a Zhang Yongyou camera calibration method. The different fields of view are fields of view set by the system in a self-defining mode, for example, four fields of view are formed by rotating the camera module four times relative to the calibration template and rotating the camera module 90 degrees at each time. The external parameter matrix is used for directly reflecting the relative position relationship between the camera module and the calibration template, such as the position, the rotation direction and other information of the camera module. The internal reference matrix is used for representing the self attribute of the camera module, and can include but is not limited to the information of focal length, pixel size and the like of the camera module in different directions.
Understandably, the external parameter matrix of the camera module comprises three rotations and three translations, and has six degrees of freedom in total. The external parameter matrix may include a rotation matrix and a translation matrix. The rotation matrix can be used for expressing the rotation change rule of the calibration template relative to three rotation axes (such as an X axis, a Y axis and a Z axis) of the camera module in a three-dimensional space. The translation matrix can be used for expressing translation distances of the calibration template relative to the camera module in three coordinate axis directions (an X axis, a Y axis and a Z axis) of a three-dimensional space.
In step S201, the present application may construct a reference plane view of the calibration template according to an external reference matrix of the camera module under a target view field, where the target view field is any one or more view fields under different view fields. For example, the reference plane diagram of the calibration template may be calculated according to a rotation matrix and a translation matrix of the camera module under the target field of view, and an expression of a plane equation corresponding to the reference plane diagram is shown in the following formula (1):
ax + by + Cz + d ═ 0 equation (1)
Specifically, the coefficient term of the plane equation of the calibration template in the camera coordinate system can be calculated according to the rotation angle and the translation matrix of the camera module in the target view field. In practical applications, the third column of data in the rotation matrix expresses the relative position relationship of the camera module with respect to the rotation of the camera module, and the third column of data in the rotation matrix is the coefficient terms (a, b, c) of the plane equation. And then, performing dot product operation on the third column data of the rotation matrix and the translation matrix (specifically, a translation vector) to obtain a coefficient term d of the plane equation, so as to obtain each coefficient term (a, b, c, d) of the plane equation.
Further, the plane equation of the calibration template in the camera coordinate system can be determined according to the calculated coefficient term of the plane equation, so that the reference plane diagram of the calibration template in the camera coordinate system is determined. Wherein coefficient terms of the plane equation are shown in the following formula (2):
Figure BDA0003637875090000081
wherein, R is a rotation matrix, T is a translation matrix, X is a pixel point of the reference plane diagram in the X direction, and Y is a pixel point of the reference plane diagram in the Y direction. X belongs to [0, Rows ], y belongs to [0, co/s ], Rows represents the number of pixel Rows of the reference plane graph, and y represents the number of pixel columns of the reference plane graph.
S202, converting the reference plane graph of the calibration template according to the internal reference matrix of the camera module in the target view field to obtain a real reference graph of the calibration template in the target view field.
According to the method and the device, the reference plane diagram (specifically, the plane equation of the calibration template) of the calibration template can be converted from the camera coordinate system to the Cartesian coordinate system according to the internal reference matrix of the camera module in the target view field, so that the real reference diagram of the calibration template in the target view field is obtained.
In a specific implementation, the reference plane diagram of the calibration template may be first converted from the camera coordinate system to the image coordinate system according to the internal reference matrix of the camera module in the target view field, and then the reference plane diagram in the image coordinate system is converted to the cartesian coordinate system, so as to obtain the final real reference diagram of the calibration template in the target view field, where a specific conversion process is as shown in the following formula (3):
Figure RE-GDA0003780497720000091
Figure RE-GDA0003780497720000092
Figure RE-GDA0003780497720000093
Figure RE-GDA0003780497720000094
wherein matrix is an internal reference matrix. f. of x And f y Focal distances of the camera module in the X direction and the Y direction, c x And c y The respective offset amounts of the optical axis of the camera module in the X direction and the Y direction in the image coordinate system (X) c ，y c ) And the coordinates of the pixel points of the reference plane graph of the calibration template in different coordinate systems are obtained. E (x) c ， y c ) Is a pixel point (x) in the reference plane of the calibration template c ，y c ) And correspondingly converting the coordinates of the pixel points obtained under the image coordinate system. REF (x) c ，y c ) Is a pixel point (x) in the reference plane of the calibration template c ，y c ) And correspondingly converting the coordinates of the pixel points obtained by conversion under a Cartesian coordinate system.
Some alternative embodiments to which the present application is directed are described below.
In some alternative embodiments, the number of the target fields of view referred to in this application may be one or more, and this application is not limited thereto. When the number of the target view fields is multiple, the present application may calculate to obtain a real reference map of the calibration template under multiple target view fields according to the principle of the above steps S201 and S202. After obtaining the real reference images of the calibration template under a plurality of target view fields, the present application may perform multi-view image display on the real reference images of the calibration template under a plurality of target view fields, and specifically, for example, the present application may perform multi-dimensional reconstruction on the real reference images of the calibration template under a plurality of target view fields to obtain the multi-dimensional reference images of the calibration template. Further, the multidimensional reference map can be visually displayed.
For example, please refer to fig. 3, which is a schematic illustration showing a real reference diagram of a calibration template under different fields of view provided by an embodiment of the present application. Assuming that the real reference images of the calibration templates under 4 fields are obtained through calculation, the real reference images of the calibration templates under 4 fields can be further subjected to unified multi-view image display, which is specifically shown in fig. 3.
In some optional embodiments, the method may further include acquiring a target test chart generated when the camera module shoots the calibration template in the target field of view. Further, in the present application, error data between the target test chart and the real reference chart can be calculated according to the target test chart and the real reference chart. Similarly, according to the principle, the method can calculate the error data between the target test chart and the corresponding real reference chart under different fields of view. The error data are used for reflecting the calibration error generated by the camera module in the process of calibrating the fixed phase mode noise error. For example, please refer to fig. 4, which shows a schematic representation of the target test chart under different possible fields of view. As shown in fig. 4, the present example takes 4 fields as an example, and the target test chart under 4 fields as shown in fig. 4 is acquired and obtained in the present application.
By implementing the embodiment of the application, a reference plane diagram of a calibration template is constructed according to an external reference matrix of a camera module in a target view field, wherein the external reference matrix is used for representing a phase position relation between the camera module and the calibration template; and converting the reference plane graph of the calibration template according to the internal reference matrix of the camera module in the target view field to obtain a real reference graph of the calibration template in the target view field. In the scheme, the real reference image of the calibration template under the target field of view is accurately calculated according to the external reference matrix and the internal reference matrix of the camera module under the target field of view, so that the real reference image of the calibration template is conveniently and accurately calculated, and the technical problems that the chessboard reference image is not accurately calculated in the prior art are solved.
Based on the same inventive concept, another embodiment of the present application provides a device and a terminal device corresponding to the method for calculating a real reference map for implementing the calibration template in the embodiment of the present application.
Please refer to fig. 5, which is a schematic structural diagram of an actual reference map calculation apparatus for calibrating a template according to an embodiment of the present application. The apparatus shown in fig. 5 comprises: a building block 501 and a processing block 502, wherein:
the constructing module 501 is configured to construct a reference plan of a calibration template according to an external parameter matrix of a camera module in a target view field, where the external parameter matrix is used to represent a phase position relationship between the camera module and the calibration template;
the processing module 502 is configured to perform conversion processing on the reference plane diagram of the calibration template according to the internal reference matrix of the camera module in the target view field to obtain a real reference diagram of the calibration template in the target view field.
Optionally, the external reference matrix comprises a rotation matrix and a translation matrix, and the building module 501 is specifically configured to:
calculating a coefficient item of a plane equation of the calibration template in a camera coordinate system according to a rotation matrix and a translation matrix of the camera module in a target view field;
and determining a reference plane graph of the calibration template in the camera coordinate system according to the calculated coefficient item of the plane equation.
Optionally, the processing module 502 is specifically configured to:
and converting the reference plane diagram of the calibration template from the camera coordinate system to a Cartesian coordinate system according to the internal reference matrix of the camera module in the target view field, so as to obtain a real reference diagram of the calibration template in the target view field.
Optionally, before the reference plane map of the calibration template is constructed according to the external parameter matrix of the camera module in the target field of view, the processing module 502 is further configured to:
calculating an external reference matrix and an internal reference matrix of the camera module under different fields of view according to a preset camera calibration method; wherein the target field of view is any one or more fields of view under the different fields of view.
Optionally, the number of the target fields of view is multiple, and after obtaining the real reference maps of the calibration template under multiple target fields of view, the processing module 502 is further configured to:
and performing multi-view image display on the real reference images of the calibration template under the target view fields.
Optionally, the processing module 502 is further configured to:
acquiring a target test chart generated when the camera module shoots the calibration template in a target view field;
and calculating error data between the target test chart and the real reference chart according to the target test chart and the real reference chart, wherein the error data is used for reflecting a calibration error generated by the camera module in the calibration of the fixed phase mode noise error.
Please refer to fig. 6, which is a schematic structural diagram of a terminal device according to an embodiment of the present application. The terminal device 60 shown in fig. 6 includes: at least one processor 601, a communication interface 602, a user interface 603, and a memory 604, wherein the processor 601, the communication interface 602, the user interface 603, and the memory 604 are connected via a bus or in other ways, and the embodiment of the present invention is exemplified by being connected via the bus 605. Wherein the content of the first and second substances,
processor 601 may be a general-purpose processor, such as a Central Processing Unit (CPU).
The communication interface 602 may be a wired interface (e.g., an ethernet interface) or a wireless interface (e.g., a cellular network interface or using a wireless local area network interface) for communicating with other terminals or websites. In the embodiment of the present invention, the communication interface 602 is specifically configured to obtain information such as an internal and external parameter matrix of the camera module.
The user interface 603 may specifically be a touch panel, including a touch screen and a touch screen, for detecting an operation instruction on the touch panel, and the user interface 603 may also be a physical button or a mouse. The user interface 603 may also be a display screen for outputting, displaying images or data.
Memory 604 may include Volatile Memory (Volatile Memory), such as Random Access Memory (RAM); the Memory may also include a Non-Volatile Memory (Non-Volatile Memory), such as a Read-Only Memory (ROM), a Flash Memory (Flash Memory), a Hard Disk Drive (HDD), or a Solid-State Drive (SSD); the memory 604 may also comprise a combination of the above types of memory. The memory 604 is used for storing a set of program codes, and the processor 601 is used for calling the program codes stored in the memory 604 and executing the following operations:
constructing a reference plane diagram of a calibration template according to an external parameter matrix of a camera module under a target view field, wherein the external parameter matrix is used for representing a phase position relation between the camera module and the calibration template;
and converting the reference plane graph of the calibration template according to the internal reference matrix of the camera module in the target view field to obtain a real reference graph of the calibration template in the target view field.
Optionally, the constructing the reference plane diagram of the calibration template according to the external parameter matrix of the camera module under the target field of view includes:
calculating a coefficient item of a plane equation of the calibration template in a camera coordinate system according to a rotation matrix and a translation matrix of the camera module in a target view field;
and determining a reference plane graph of the calibration template in the camera coordinate system according to the calculated coefficient item of the plane equation.
Optionally, the converting the reference plan view of the calibration template according to the internal reference matrix of the camera module in the target view field to obtain the real reference view of the calibration template in the target view field includes:
and converting the reference plane diagram of the calibration template from the camera coordinate system to a Cartesian coordinate system according to the internal reference matrix of the camera module in the target view field, so as to obtain a real reference diagram of the calibration template in the target view field.
Optionally, before the reference plane map of the calibration template is constructed according to the external parameter matrix of the camera module under the target field of view, the processor 601 is further configured to:
calculating an external reference matrix and an internal reference matrix of the camera module under different fields of view according to a preset camera calibration method; wherein the target field of view is any one or more fields of view under the different fields of view.
Optionally, the number of the target fields of view is multiple, and after obtaining the real reference maps of the calibration templates under multiple target fields of view, the processor 601 is further configured to:
and performing multi-view image display on the real reference images of the calibration template under the target view fields.
Optionally, the processor 601 is further configured to:
acquiring a target test chart generated when the camera module shoots the calibration template in a target view field;
and calculating error data between the target test chart and the real reference chart according to the target test chart and the real reference chart, wherein the error data is used for reflecting a calibration error generated by the camera module in the calibration of the fixed phase mode noise error.
Since the terminal device described in this embodiment is a terminal device used for implementing the method for calculating the real reference map of the calibration template in this embodiment, based on the method described in this embodiment, a person skilled in the art can understand the specific implementation of the terminal device in this embodiment and various variations thereof, and therefore, how to implement the method in this embodiment by the terminal device is not described in detail here. As long as a person skilled in the art implements the terminal device used in the method in the embodiment of the present application, the terminal device is within the scope of protection intended by the present application.
One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages: the method comprises the steps of constructing a reference plane diagram of a calibration template according to an external reference matrix of a camera module in a target view field, wherein the external reference matrix is used for representing a phase position relation between the camera module and the calibration template; and converting the reference plane graph of the calibration template according to the internal reference matrix of the camera module in the target view field to obtain a real reference graph of the calibration template in the target view field. In the scheme, the real reference image of the calibration template in the target view field is accurately calculated according to the external reference matrix and the internal reference matrix of the camera module in the target view field, so that the real reference image of the calibration template is conveniently and accurately calculated, and the technical problems that the checkerboard reference image is not accurately calculated in the prior art are solved.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention cover the modifications and variations of this invention provided they come within the scope of the appended claims and their equivalents.

Claims (10)

1. A method for calculating a true reference map of a calibration template, the method comprising:
constructing a reference plane diagram of a calibration template according to an external parameter matrix of a camera module in a target view field, wherein the external parameter matrix is used for representing the phase position relation between the camera module and the calibration template;
and converting the reference plane graph of the calibration template according to the internal reference matrix of the camera module in the target view field to obtain a real reference graph of the calibration template in the target view field.
2. The method of claim 1, wherein the external reference matrix comprises a rotation matrix and a translation matrix, and the constructing the reference plane view of the calibration template according to the external reference matrix of the camera module under the target field of view comprises:
calculating a coefficient item of a plane equation of the calibration template in a camera coordinate system according to a rotation matrix and a translation matrix of the camera module in a target view field;
and determining a reference plane graph of the calibration template in the camera coordinate system according to the calculated coefficient item of the plane equation.
3. The method according to claim 2, wherein the converting the reference plan view of the calibration template according to the internal reference matrix of the camera module in the target view field to obtain the real reference view of the calibration template in the target view field comprises:
and converting the reference plane diagram of the calibration template from the camera coordinate system to a Cartesian coordinate system according to the internal reference matrix of the camera module in the target view field, so as to obtain a real reference diagram of the calibration template in the target view field.
4. The method according to claim 1, wherein before the constructing the reference plane view of the calibration template according to the external reference matrix of the camera module under the target field of view, the method further comprises:
calculating an external reference matrix and an internal reference matrix of the camera module under different fields of view according to a preset camera calibration method; wherein the target field of view is any one or more fields of view under the different fields of view.
5. The method according to claim 4, wherein the number of the target fields of view is plural, and after obtaining the real reference map of the calibration template under plural target fields of view, the method further comprises:
and performing multi-view image display on the real reference images of the calibration template under the target view fields.
6. The method according to any one of claims 1-5, further comprising:
acquiring a target test chart generated when the camera module shoots the calibration template in a target view field;
and calculating error data between the target test chart and the real reference chart according to the target test chart and the real reference chart, wherein the error data is used for reflecting a calibration error generated by the camera module in the calibration of the fixed phase mode noise error.
7. An apparatus for calculating a true reference map of a calibration template, the apparatus comprising a construction module and a processing module, wherein:
the construction module is used for constructing a reference plane diagram of the calibration template according to an external parameter matrix of the camera module in a target view field, wherein the external parameter matrix is used for representing the phase position relation between the camera module and the calibration template;
and the processing module is used for converting the reference plane graph of the calibration template according to the internal reference matrix of the camera module in the target view field to obtain a real reference graph of the calibration template in the target view field.
8. The apparatus of claim 7, wherein the external reference matrix comprises a rotation matrix and a translation matrix, and wherein the construction module is specifically configured to:
calculating a coefficient item of a plane equation of the calibration template in a camera coordinate system according to a rotation matrix and a translation matrix of the camera module in a target view field;
and determining a reference plane graph of the calibration template in the camera coordinate system according to the calculated coefficient item of the plane equation.
9. A terminal device, characterized in that the terminal device comprises: a processor, a memory, a communication interface, and a bus; the processor, the memory and the communication interface are connected through the bus and complete mutual communication; the memory stores executable program code; the processor executes a program corresponding to the executable program code by reading the executable program code stored in the memory, for executing the real reference map calculation method of the calibration template as claimed in any one of claims 1 to 6.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a program which, when run on a terminal device, executes the actual reference map calculation method for calibration templates according to any one of claims 1 to 6.
CN202210511007.4A 2022-05-11 2022-05-11 Method, device, equipment and medium for calculating real reference image of calibration template Pending CN115035198A (en)

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