CN115546308A - Calibration method, device, equipment and storage medium of calibration system - Google Patents
Calibration method, device, equipment and storage medium of calibration system Download PDFInfo
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Abstract
The application discloses a calibration method, a calibration device, calibration equipment and a storage medium of a calibration system, and belongs to the field of computer vision. The method comprises the following steps: controlling the first calibration plate to move in the shooting direction of the camera to be calibrated; if a calibration board switching event is identified, generating a calibration board switching instruction, and switching from a first calibration board to a second calibration board; and determining calibration parameters of the camera to be calibrated according to the imaging results of the camera to be calibrated on the at least two calibration plates. According to the technical scheme, the calibration plates with different sizes are arranged, the calibration plates with different sizes are used for calibrating the optical positioning system by switching the set conditions, the problem that the positioning accuracy of the marking points of the calibration plates at a longer distance in the prior art is poor is solved, the positioning accuracy of the marking points in different view field ranges is basically consistent, and the accuracy of camera calibration parameters is improved.
Description
Technical Field
The application belongs to the field of computer vision, and particularly relates to a calibration method, a calibration device, calibration equipment and a storage medium of a calibration system.
Background
In the field of computer vision, a camera is a main carrier for transmitting three-dimensional world information, and the obtained information is stored in a computer in a matrix form through a video mode and an image mode. However, in practice the camera sensor of the hand is often not directly usable and requires calibration before use. The acquisition of internal and external parameters directly determines the measurement and positioning accuracy, and the process of determining the parameters by using a calibration device and a calibration method is called camera calibration, and how to accurately calibrate the camera is a research hotspot in the technical field.
In the prior art, camera calibration is usually performed based on a binocular vision positioning system. Specifically, the camera calibration is carried out by adopting a calibration plate with the same fixed size. However, when the field range is changed, the positioning accuracy of the mark point at a longer distance of the calibration board with a fixed size is poor. Therefore, it is an urgent problem in the art to provide a calibration system and method to make the positioning accuracy of the mark points in different view field ranges substantially consistent.
Disclosure of Invention
The embodiment of the application provides a calibration method, a calibration device, a calibration apparatus and a storage medium for a calibration system, wherein calibration plates with different sizes are arranged, and the calibration plates with different sizes are switched according to set conditions to calibrate an optical positioning system, so that the problem that the positioning accuracy of the marking points of the calibration plates at a longer distance is poor in the prior art is solved, the positioning accuracy of the marking points in different view field ranges is basically consistent, and the accuracy of camera calibration parameters is improved.
In a first aspect, an embodiment of the present application provides a calibration method for a calibration system, where the method includes:
controlling the first calibration plate to move in the shooting direction of the camera to be calibrated;
if a calibration plate switching event is identified, generating a calibration plate switching instruction, and switching from the first calibration plate to the second calibration plate;
and determining the calibration parameters of the camera to be calibrated according to the imaging results of the camera to be calibrated on the at least two calibration plates.
Further, if a calibration board switching event is identified, a calibration board switching instruction is generated, and the first calibration board is switched to the second calibration board, including:
if the fact that the distance between the first calibration plate and the camera to be calibrated reaches a preset distance is identified, determining that a calibration plate switching event occurs; generating a calibration plate switching instruction to switch from a first calibration plate to a second calibration plate;
or,
if the imaging effect of the mark point of the first calibration plate on the camera to be calibrated reaches a preset imaging effect, determining that a calibration plate switching event occurs; and generating a calibration plate switching instruction to switch from the first calibration plate to the second calibration plate.
Further, the first calibration plate moves from near to far in the shooting direction of the camera to be calibrated;
correspondingly, if the distance between the first calibration board and the camera to be calibrated reaches the preset distance, determining that a calibration board switching event occurs, including:
if the fact that the distance between the first calibration plate and the camera to be calibrated exceeds the preset distance is recognized, determining that a calibration plate switching event occurs;
correspondingly, if the imaging effect of the camera to be calibrated reaches the preset imaging effect by recognizing the mark point of the first calibration plate, determining that a calibration plate switching event occurs, including:
and if the number of the pixel points occupied by the mark points of the first calibration plate in the imaging of the camera to be calibrated is smaller than the preset number of the pixel points, determining that a calibration plate switching event occurs.
Further, the first calibration plate moves from far to near in the shooting direction of the camera to be calibrated;
correspondingly, if the distance between the first calibration board and the camera to be calibrated reaches the preset distance, determining that a calibration board switching event occurs, including:
if the fact that the distance between the first calibration plate and the camera to be calibrated is smaller than the preset distance is recognized, determining that a calibration plate switching event occurs;
correspondingly, if the imaging effect of the camera to be calibrated reaches the preset imaging effect by recognizing the mark point of the first calibration plate, determining that a calibration plate switching event occurs, including:
and if the number of the pixel points occupied by the mark points of the first calibration plate in the imaging of the camera to be calibrated exceeds the preset number of the pixel points, determining that a calibration plate switching event occurs.
Further, determining calibration parameters of the camera to be calibrated according to the imaging results of the camera to be calibrated on the at least two calibration boards includes:
determining the sequence of each marking point of a first calibration plate according to the imaging result of the camera to be calibrated on the first calibration plate, and determining the sequence of each marking point of a second calibration plate according to the imaging result of the camera to be calibrated on the second calibration plate;
identifying the pixel coordinates of each marking point according to the sequence of each marking point;
and determining calibration parameters of the camera to be calibrated according to the pixel coordinates and the space coordinates of each marking point.
Further, determining the sequence of each marking point of the first calibration board according to the imaging result of the camera to be calibrated on the first calibration board, and determining the sequence of each marking point of the second calibration board according to the imaging result of the camera to be calibrated on the second calibration board, includes:
acquiring a first calibration plate image obtained by the camera to be calibrated, and identifying a mark point in the first calibration plate image;
triangular gridding is carried out on the mark points in the first calibration plate image, and a triangular image with each mark point as a vertex is obtained;
determining the sequence of the marking points in the first calibration plate image according to the triangular image;
and the number of the first and second groups,
acquiring a second calibration plate image obtained by the camera to be calibrated, and identifying a mark point in the second calibration plate image;
triangular gridding is carried out on the mark points in the second calibration plate image, and a triangular image with each mark point as a vertex is obtained;
and determining the sequence of the marking points in the second calibration plate image according to the triangular image.
Further, determining the sequence of the marking points in the first calibration board image according to the triangular image includes:
identifying the current mark point as the angle value of the vertex;
if the sum of the angle values is in a first range, determining the current marking point as an angular point in the first calibration plate image; if the sum of the angle values is within a second range, determining the current marking point as an edge point in the first calibration board image; if the sum of the angle values is within a third range, determining the current marking point as an inner point in the first calibration plate image;
determining the sequence of the marking points in the second calibration plate image according to the triangular image, wherein the step of determining the sequence of the marking points in the second calibration plate image comprises the following steps:
identifying the current mark point as an angle value of a vertex;
if the sum of the angle values is within a first range, determining the current marking point as an angular point in the second calibration plate image; if the sum of the angle values is within a second range, determining the current marking point as an edge point in a second calibration board image; and if the sum of the angle values is within a third range, determining the current marking point as an inner point in the second calibration board image.
In a second aspect, an embodiment of the present application provides a calibration system of a calibration system, where the system includes:
the calibration device comprises a camera to be calibrated, at least two calibration plates and control equipment.
In a third aspect, an embodiment of the present application provides a calibration apparatus of a calibration system, where the apparatus includes:
the first calibration plate control module is used for controlling the first calibration plate to move in the shooting direction of the camera to be calibrated;
the switching event identification module is used for generating a calibration board switching instruction if a calibration board switching event is identified, and switching from the first calibration board to the second calibration board;
and the parameter calibration module is used for determining calibration parameters of the camera to be calibrated according to the imaging results of the camera to be calibrated on the at least two calibration plates.
In a fourth aspect, an embodiment of the present application provides a control device, which includes a processor, a memory, and a program or an instruction stored on the memory and executable on the processor, and when executed by the processor, the program or the instruction implements the steps of the calibration method of the calibration system according to the first aspect.
In a fifth aspect, the present application provides a readable storage medium, on which a program or instructions are stored, which when executed by a processor implement the steps of the calibration method of the calibration system according to the first aspect.
In the embodiment of the application, the first calibration plate is controlled to move in the shooting direction of the camera to be calibrated; if a calibration board switching event is identified, generating a calibration board switching instruction, and switching from a first calibration board to a second calibration board; and determining the calibration parameters of the camera to be calibrated according to the imaging results of the camera to be calibrated on the at least two calibration plates. According to the technical scheme, the calibration plates with different sizes are arranged, the calibration plates with different sizes are used for calibrating the optical positioning system by switching the set conditions, the problem that the positioning accuracy of the marking points of the calibration plates at a longer distance in the prior art is poor is solved, the positioning accuracy of the marking points in different view field ranges is basically consistent, and the accuracy of camera calibration parameters is improved.
Drawings
Fig. 1a is a schematic flowchart of a calibration method of a calibration system according to an embodiment of the present application;
FIG. 1b is a schematic diagram illustrating the distribution of the arrangement of the marking points in the calibration plate according to the embodiment of the present application;
fig. 2 is a schematic flowchart of a calibration method of the calibration system according to the second embodiment of the present application;
fig. 3a is a schematic flowchart of a calibration method of a calibration system provided in the third embodiment of the present application;
FIG. 3b is a schematic diagram of triangular gridding according to an embodiment of the present application;
FIG. 3c is a diagram of an embodiment of the present application including marked points as vertices, edge points and interior points;
FIG. 3D is a schematic diagram of an embodiment of the present application including start marks and top angles A, B, C, and D as marks;
FIG. 3e is a schematic view of a perspective projection model of the small hole according to the embodiment of the present application;
fig. 4 is a schematic structural diagram of a calibration device of a calibration system provided in the fourth embodiment of the present application;
fig. 5 is a schematic structural diagram of a control device according to a fifth embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, specific embodiments of the present application are described in detail below with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be further noted that, for the convenience of description, only some but not all of the relevant portions of the present application are shown in the drawings. Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently, or simultaneously. In addition, the order of the operations may be re-arranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, subprograms, and the like.
The technical solutions in the embodiments of the present application will be described clearly below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments that can be derived by one of ordinary skill in the art from the embodiments given herein are intended to be within the scope of the present disclosure.
The terms first, second and the like in the description and in the claims of the present application are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that embodiments of the application may be practiced in sequences other than those illustrated or described herein, and that the terms "first," "second," and the like are generally used herein in a generic sense and do not limit the number of terms, e.g., the first term can be one or more than one. In addition, "and/or" in the specification and claims means at least one of connected objects, a character "/" generally means that a preceding and succeeding related objects are in an "or" relationship.
The following describes in detail a calibration method, an apparatus, a device, and a storage medium of a calibration system provided in the embodiments of the present application with reference to the accompanying drawings and specific embodiments and application scenarios thereof.
Example one
Fig. 1a is a schematic flowchart of a calibration method of a calibration system according to an embodiment of the present application. The calibration system comprises a camera to be calibrated, at least two calibration plates and control equipment; the calibration plate is provided with a marker point; the method is performed by a control device. As shown in fig. 1a, the method specifically comprises the following steps:
s101, controlling the first calibration plate to move in the shooting direction of the camera to be calibrated.
First, a use scenario of the embodiment of the present application may be to perform parameter calibration on a camera by using a calibration board. Based on the use scenario, it can be understood that the execution main body of the application may be an intelligent terminal, and the intelligent terminal may be a smart phone, a tablet computer, a desktop computer, or the like.
In this embodiment, the camera to be calibrated may be understood as a target camera that needs to be calibrated, and it may be understood that the camera to be calibrated includes at least two cameras. And when shooting, the camera sets the same shooting parameters. The calibration plate may be understood as a geometric model with an array of fixed-pitch marker points. The marker points in the same calibration plate may be circular points of equal size, equal spacing for mapping world coordinates to pixel coordinates. Fig. 1b is a schematic diagram of arrangement distribution of mark points in a calibration board according to an embodiment of the present application, where the first calibration board and the second calibration board are both provided with 7 × 7+1 mark points, and a specific arrangement manner of the mark points is as shown in fig. 1b below. The control device can be understood as an execution device for executing the calibration method.
It will be appreciated that the diameter of the marker points in the two calibration plates is different. Specifically, the diameter of the mark point with a smaller diameter may be 7 mm, and if the diameter is too small, the reflection brightness is insufficient, and the mark point is difficult to identify when the mark plate is far away from the camera. The diameter of the mark point with the larger diameter can be 15 millimeters, and considering the problem of the manufacturing process, when the diameter exceeds 15 millimeters, the manufacturing cost and the requirement are higher, the calibration plate is overweight, and the calibration plate is not light enough to be placed during calibration.
The shooting direction of the camera to be calibrated can be the direction opposite to the camera of the camera to be calibrated. The first calibration plate moves linearly at a constant speed in the shooting direction of the camera to be calibrated.
In this embodiment, the mechanical arm controls the first calibration board to make a straight uniform motion in a direction opposite to the camera of the camera to be calibrated.
And S102, if a calibration board switching event is identified, generating a calibration board switching instruction, and switching from the first calibration board to the second calibration board.
In this embodiment, the calibration board switching event may be that the control device detects that the calibration board meets a preset switching condition, or that the control device receives a calibration board switching request sent by a technician. The generation of the calibration board switching instruction may be understood as a control code containing calibration board switching information. The second calibration plate is understood to be the one of the two calibration plates in which the diameter of the marking point is larger. The switching from the first calibration plate to the second calibration plate may be achieved by controlling a robotic arm, or may be accomplished manually by a technician.
In this embodiment, if the control device detects that the calibration board meets the preset switching condition, or receives a calibration board switching request sent by a technician, a control instruction for controlling the switching of the calibration board is generated, and the mechanical arm completes the switching from the first calibration board to the second calibration board based on the control instruction.
S103, determining calibration parameters of the camera to be calibrated according to the imaging result of the camera to be calibrated on the at least two calibration plates.
In this embodiment, the imaging result of the camera to be calibrated on the at least two calibration plates may be understood as an image of two or more calibration plates captured by the camera during the uniform motion. The camera parameters may include camera intrinsic parameters and camera extrinsic parameters. The internal parameters may be parameters related to the camera's own characteristics, such as the focal length of the camera, the pixel size, etc.; the extrinsic parameters may be parameters in a world coordinate system, such as the position of the camera, the direction of rotation, etc. The determining of the calibration parameters of the camera to be calibrated may be based on the imaging result of the calibration plate, and the conversion between different coordinate systems of the calibration points is completed, so as to determine the calibration parameters of the camera.
In this embodiment, the control device completes conversion between different coordinate systems of the mark points based on images of two or more than two mark plates shot by the camera during the uniform motion process, so as to determine the calibration parameters of the camera.
According to the technical scheme provided by the embodiment, the first calibration plate is controlled to move in the shooting direction of the camera to be calibrated; if a calibration board switching event is identified, generating a calibration board switching instruction, and switching from a first calibration board to a second calibration board; and determining the calibration parameters of the camera to be calibrated according to the imaging results of the camera to be calibrated on the at least two calibration plates. According to the technical scheme, the calibration plates with different sizes are arranged, the calibration plates with different sizes are used for calibrating the optical positioning system by switching the set conditions, the problem that the positioning precision of the marking points of the calibration plates at a longer distance in the prior art is poor is solved, the positioning precision of the marking points in different view field ranges is basically consistent, and the accuracy of camera calibration parameters is improved.
Example two
Fig. 2 is a schematic flowchart of a calibration method of a calibration system provided in the second embodiment of the present application. Based on which preset condition is triggered first, step 202 and step 203 are executed correspondingly. As shown in fig. 2, the method specifically includes the following steps:
s201, controlling the first calibration board to move in the shooting direction of the camera to be calibrated.
S202, if the fact that the distance between the first calibration plate and the camera to be calibrated reaches a preset distance is recognized, determining that a calibration plate switching event occurs; and generating a calibration plate switching instruction to switch from the first calibration plate to the second calibration plate.
In this embodiment, when the distance between the first calibration board and the camera to be calibrated reaches the preset distance, the distance between the first calibration board and the camera to be calibrated may be greater than the preset distance, or the distance between the first calibration board and the camera to be calibrated may be smaller than or equal to the preset distance. Wherein the preset distance is set by a technician based on rigorous calculation.
In this embodiment, if the control device detects that the distance between the first calibration board and the camera to be calibrated is greater than the preset distance, it is determined that the calibration board switching condition is satisfied, and a control instruction for controlling the calibration board switching is generated, and the mechanical arm completes the switching from the first calibration board to the second calibration board based on the control instruction. It can be understood that, in the moving process of the calibration plate, the positioning accuracy of the marking points in the calibration plate is poor, and at the moment, the accurate positioning of the marking points is realized by switching the calibration plate.
S203, if the imaging effect of the mark point of the first calibration plate on the camera to be calibrated reaches a preset imaging effect, determining that a calibration plate switching event occurs; and generating a calibration plate switching instruction so as to switch from the first calibration plate to the second calibration plate.
In this embodiment, when the imaging effect of the camera to be calibrated reaches the preset imaging effect, the number of the mark points of the first calibration plate clearly shot by the camera may be smaller than the preset number, or the definition of the mark points may be smaller than the preset definition.
In this embodiment, if the control device detects that the number of the mark points of the first calibration plate shot clearly by the camera is smaller than the preset number, or the definition of the mark points is smaller than the preset definition, it is determined that the calibration plate switching condition is satisfied, and a control instruction for controlling the calibration plate switching is generated, and the mechanical arm completes the switching from the first calibration plate to the second calibration plate based on the control instruction.
On the basis of the above S202 and S203, optionally, the first calibration plate moves from near to far in the shooting direction of the camera to be calibrated;
correspondingly, if the distance between the first calibration board and the camera to be calibrated reaches the preset distance, determining that a calibration board switching event occurs, including:
if the fact that the distance between the first calibration plate and the camera to be calibrated exceeds the preset distance is recognized, determining that a calibration plate switching event occurs;
correspondingly, if the mark point of the first calibration plate is recognized to be in the preset imaging effect reached by the imaging effect of the camera to be calibrated, the occurrence of the calibration plate switching event is determined, and the method comprises the following steps:
and if the number of the pixel points occupied by the mark points of the first calibration plate in the imaging of the camera to be calibrated is smaller than the preset number of the pixel points, determining that a calibration plate switching event occurs.
In this embodiment, when the first calibration board moves from near to far in the shooting direction of the camera to be calibrated, the first calibration board is a calibration board with a smaller diameter of the calibration point, and the second calibration board is a calibration board with a larger diameter. The fact that the number of the pixel points occupied by the mark points in the imaging of the camera to be calibrated is smaller than the number of the preset pixel points can be understood as that the imaging quality is low and the image is fuzzy.
In this embodiment, when the control device detects that the distance between the first calibration board and the camera to be calibrated is greater than the preset distance, or recognizes that the number of the pixel points occupied by the mark points of the first calibration board in the imaging of the camera to be calibrated is less than the preset number of the pixel points, it is determined that the switching condition of the calibration board is satisfied.
It can be understood that, at this time, when the distance between the first calibration plate and the camera to be calibrated is greater than or equal to the preset distance, or the number of the pixel points occupied by the mark points of the first calibration plate in the imaging of the camera to be calibrated is less than the preset number of the pixel points, the positioning accuracy of the mark points in the first calibration plate with the smaller diameter of the mark points is poor, and the calibration plate is switched to the second calibration plate with the larger diameter of the mark points.
According to the technical scheme provided by the embodiment, when the first calibration plate moves from near to far in the shooting direction of the camera to be calibrated, the first calibration plate with the smaller diameter of the calibration point is adopted firstly. When the control device detects that the distance between the first calibration plate and the camera to be calibrated is larger than or equal to the preset distance or recognizes that the number of the pixel points occupied by the mark points of the first calibration plate in the imaging of the camera to be calibrated is smaller than the preset number of the pixel points, the calibration plate is switched to the second calibration plate with a larger diameter, and the accurate positioning of the mark points in the process of moving from near to far in the shooting direction of the camera to be calibrated can be ensured.
On the basis of the above S202 and S203, optionally, the first calibration board moves from far to near in the shooting direction of the camera to be calibrated;
correspondingly, if the distance between the first calibration board and the camera to be calibrated reaches the preset distance, determining that a calibration board switching event occurs, including:
if the fact that the distance between the first calibration plate and the camera to be calibrated is smaller than the preset distance is identified, determining that a calibration plate switching event occurs;
correspondingly, if the imaging effect of the camera to be calibrated reaches the preset imaging effect by recognizing the mark point of the first calibration plate, determining that a calibration plate switching event occurs, including:
and if the mark points of the first calibration plate are identified to occupy more than the preset number of pixel points in the imaging of the camera to be calibrated, determining that a calibration plate switching event occurs.
In this embodiment, when the first calibration board moves from far to near in the shooting direction of the camera to be calibrated, the first calibration board is a calibration board with a larger diameter of the calibration point, and the second calibration board is a calibration board with a smaller diameter. The number of pixels occupied by the mark points of the first calibration plate in the imaging of the camera to be calibrated exceeds the preset number of pixels, so that the density of the pixels is possibly too high, and the imaging quality is low.
In this embodiment, when the control device detects that the distance between the first calibration board and the camera to be calibrated is smaller than the preset distance, or recognizes that the number of pixels occupied by the mark point of the first calibration board in the imaging of the camera to be calibrated is greater than or equal to the preset number of pixels, it is determined that the switching condition of the calibration board is satisfied.
It can be understood that, at this time, when the distance between the first calibration plate and the camera to be calibrated is smaller than the preset distance, or the number of the pixel points occupied by the mark points of the first calibration plate in the imaging of the camera to be calibrated is greater than or equal to the preset number of the pixel points, the positioning accuracy of the mark points in the first calibration plate with the larger diameter of the mark points is poorer, and the calibration plate is switched to the second calibration plate with the smaller diameter of the mark points.
According to the technical scheme, when the first calibration plate moves from far to near in the shooting direction of the camera to be calibrated, the first calibration plate with the larger diameter of the calibration point is adopted firstly. When the control device detects that the distance between the first calibration plate and the camera to be calibrated is smaller than the preset distance or recognizes that the number of pixel points occupied by the marker points of the first calibration plate in the imaging of the camera to be calibrated is larger than or equal to the preset number of pixel points, the calibration plate is switched to the second calibration plate with a smaller diameter, and accurate positioning of the marker points in the process of moving from far to near in the shooting direction of the camera to be calibrated can be guaranteed.
S204, determining calibration parameters of the camera to be calibrated according to the imaging result of the camera to be calibrated on the at least two calibration plates.
According to the technical scheme provided by the embodiment, different calibration plate switching conditions are respectively set based on different movement directions of the first calibration plate, so that the mark points of the calibration plate can be accurately positioned in different movement directions.
EXAMPLE III
Fig. 3a is a schematic flowchart of a calibration method of a calibration system provided in the second embodiment of the present application. As shown in fig. 3a, the method specifically includes the following steps:
and S301, controlling the first calibration plate to move in the shooting direction of the camera to be calibrated.
S302, if a calibration board switching event is identified, a calibration board switching instruction is generated, and the first calibration board is switched to the second calibration board.
S303, determining the sequence of each marking point of the first calibration plate according to the imaging result of the camera to be calibrated on the first calibration plate, and determining the sequence of each marking point of the second calibration plate according to the imaging result of the camera to be calibrated on the second calibration plate.
Wherein, determining the sequence of the marking points can be understood as determining the sequence of the marking points of 4 vertexes in the calibration plate.
In this embodiment, the control device determines the sequence of the marking points of the 4 vertexes in the first calibration board and the second calibration board according to the imaging result of the calibration-to-be-calibrated camera on the first calibration board and the imaging result of the calibration-to-be-calibrated camera on the second calibration board, respectively.
In this embodiment, optionally, determining the sequence of the mark points of the first calibration board according to the imaging result of the camera to be calibrated on the first calibration board, and determining the sequence of the mark points of the second calibration board according to the imaging result of the camera to be calibrated on the second calibration board includes:
acquiring a first calibration plate image obtained by the camera to be calibrated, and identifying mark points in the first calibration plate image;
performing triangular gridding on the mark points in the first calibration plate image to obtain a triangular image taking each mark point as a vertex;
determining the sequence of the marking points in the first calibration plate image according to the triangular image;
and (c) a second step of,
acquiring a second calibration plate image obtained by the camera to be calibrated, and identifying mark points in the second calibration plate image;
performing triangular gridding on the mark points in the second calibration plate image to obtain a triangular image taking each mark point as a vertex;
and determining the sequence of the marking points in the second calibration plate image according to the triangular image.
In this embodiment, fig. 3b is a schematic diagram of triangular gridding according to the embodiment of the present application. As shown in fig. 3b, the triangle meshing may be understood as that each mark point is connected with two adjacent mark points to form a triangle with each mark point being a vertex.
Specifically, the control device reads a first calibration board image shot by the camera to be calibrated, and identifies a mark point in the first calibration board image. Specifically, the first calibration plate image may be subjected to gray scale processing, and the marker point may be determined according to a gray scale value. And performing triangular gridding processing on the mark points in the first calibration plate image to obtain a triangular image taking each mark point as a vertex. Based on the triangular image, determining an order of 4 vertex marker points in the first calibration plate image. And determining the sequence of the 4 vertex marking points in the second calibration board image by adopting the same processing mode.
In this embodiment, optionally, determining the sequence of the marker points in the first calibration board image according to the triangle image includes:
identifying the current mark point as the angle value of the vertex;
if the sum of the angle values is within a first range, determining the current marking point as an angular point in the first calibration plate image; if the sum of the angle values is in a second range, determining the current marking point as an edge point in the first calibration plate image; if the sum of the angle values is within a third range, determining the current marking point as an inner point in the first calibration plate image;
determining the sequence of the marking points in the second calibration plate image according to the triangular image, wherein the determining comprises the following steps:
identifying the current mark point as the angle value of the vertex;
if the sum of the angle values is within a first range, determining the current marking point as an angular point in the second calibration plate image; if the sum of the angle values is in a second range, determining the current marking point as an edge point in a second calibration plate image; and if the sum of the angle values is within a third range, determining the current marking point as an inner point in the second calibration board image.
FIG. 3c is a diagram of an embodiment of the present application including the marked points as the vertex, the edge point and the inner point. As shown in fig. 3c, the vertex can be understood as a mark point arranged at 4 vertex angles of a rectangle like the mark point 1. The edge points may be understood as marked points arranged on the rectangular edge line like the marked points 2. The inner dots may be understood as marker dots arranged inside a rectangle as marker dots 3.
In this embodiment, the angle values of the vertices of the triangles corresponding to each marking point in the first calibration plate image are sequentially determined, which may be specifically obtained by adding the angle values of the triangles corresponding to the marking points, and assuming that the sum of the addition is M. Illustratively, when 85 ≦ M ≦ 95, then the current marker point is determined to be the corner point in the first calibration board image. When 175 ≦ M ≦ 185 °, then the current marker point is determined to be an edge point in the first calibration board image. When 355 DEG-M.ltoreq.365 DEG, the current marker point is determined to be an inner point in the second calibration board image. In the same manner, the corner points, edge points, and interior points in the second calibration plate image are determined.
Fig. 3D is a schematic diagram of an embodiment of the present application including start marks and top angles a, B, C, and D as marks. As shown in fig. 3D, the distances between the start mark point and the 4 vertex angle mark points a, B, C, D are calculated, respectively. According to the geometric principle, the point closest to the starting mark point is the corner point A, and the corner point A is determined as the first corner point. And the point farthest away from the starting mark point is the corner point C, and the corner point C is determined as a third corner point according to the clockwise marking sequence. And calculating the vector included angle between the first angular point and the other two angular points based on the first angular point, wherein the smaller included angle is the second angular point, and the larger included angle is the fourth angular point. And carrying out the operation on the first calibration plate image and the second calibration plate image to obtain the space coordinates which correspond to the mark points one by one.
According to the technical scheme provided by the embodiment, the marking points in the calibration plate are subjected to triangular meshing processing, and a triangular image with each marking point as a vertex is obtained. And respectively calculating the distance between the starting mark point and the 4 vertex angle mark points and the vector included angle between the first corner point and the other two corner points to determine the sequence of the 4 vertex mark points in the calibration plate image so as to quickly determine the space coordinate corresponding to each mark point and improve the efficiency of determining the space coordinate.
S304, identifying the pixel coordinates of each marking point according to the sequence of each marking point.
In this embodiment, the pixel coordinate may be understood as coordinate information of the mark point in a coordinate system formed by each pixel point. And the control equipment determines the specific position of each vertex in the image based on the sequence of the vertex marking points in the calibration plate, and determines the pixel coordinates of each vertex marking point according to the position.
S305, determining calibration parameters of the camera to be calibrated according to the pixel coordinates and the space coordinates of each marking point.
In this embodiment, the spatial coordinates may be understood as coordinate information of each mark point in a coordinate system established by using a certain mark point in the calibration plate as a coordinate origin. Specifically, the pixel coordinates and the space coordinates of each mark point are used. The method for determining the calibration parameters of the camera to be calibrated can be calculated based on a perspective projection model of a pinhole imaging principle. Fig. 3e is a schematic view of a small-hole perspective projection model according to an embodiment of the present application. The pinhole perspective projection model is shown in fig. 3 e.
Wherein, P (X) w ,Y w ,Z w ) Is a spatial three-dimensional coordinate, O c X c Y c Z c Is the camera coordinate system, o i xy is the image coordinate system. Let the coordinate of the P point in the camera coordinate system be (X) c ,Y c ,Z c ) The spatial coordinates projected onto the image by the projection model shown in fig. 3e are p (x, y), and according to the proportional relationship of pinhole imaging, there are:
converting equation (1) into a matrix representation of homogeneous coordinates:
the relationship between any one pixel coordinate (u, v) and the spatial coordinate (x, y) on the image is as follows:
converting equation (3) to a representation of homogeneous coordinates and matrices:
a rotation matrix R and a translation vector T exist between the world coordinate system and the camera coordinate system. Suppose a point P (X) in space w ,Y w ,Z w ) Its coordinates in the camera coordinate system can then be expressed as
Where R is a 3 × 3 orthogonal matrix and T is a 3 × 1 vector. Its homogeneous coordinates are expressed as:
combining equation (1) -6 yields the relationship between P and its pixel coordinates on the image as:
let f x ＝f/d x ，f y ＝f/d y They are the focal length of the camera in the x, y direction of the image pixel coordinates and are in pixels. When d is x ＝d y When there is f x ＝f y . From formulasIn can be seen f x 、f y 、u 0 、v 0 Are determined by the internal structure of the camera and are therefore said to be internal parameters of the camera. Then the internal parameter matrix of the camera
Here, the tilt factor of the s camera is the angle between two perpendicular axes of the imaging plane. When the axis offset of the coordinate axis on the imaging plane is not considered, s =0. Substituting A into:
r and T are external parameters of the camera and are related to the position of the camera relative to the world coordinate system.
Knowing the diameter of the mark point and the pixel coordinate corresponding to the diameter of the mark point, calculating the actual distance between the mark point and the camera by the formula (8) to solve the external parameter and the internal parameter of the camera to be calibrated, and calibrating the camera to be calibrated by utilizing the parameters.
According to the technical scheme provided by the embodiment, the space coordinates and the pixel coordinates of the marking points in the first calibration plate and the second calibration plate in different visual ranges are respectively determined, and the calibration parameters of the camera are determined based on the space coordinates and the pixel coordinates of the marking points. The positioning precision of the marking points in different visual ranges is basically consistent, and the accuracy of the camera parameters to be calibrated is further improved.
Example four
Fig. 4 is a schematic structural diagram of a calibration device of a calibration system provided in the third embodiment of the present application. As shown in fig. 3, the method specifically includes the following steps:
a first calibration board control module 401, configured to control the first calibration board to move in a shooting direction of the camera to be calibrated;
a switching event identification module 402, which generates a calibration board switching instruction if a calibration board switching event is identified, and switches from a first calibration board to a second calibration board;
a parameter calibration module 403, configured to determine calibration parameters of the camera to be calibrated according to imaging results of the camera to be calibrated on the at least two calibration boards.
According to the technical scheme provided by the embodiment, the first calibration plate is controlled to move in the shooting direction of the camera to be calibrated; if a calibration plate switching event is identified, generating a calibration plate switching instruction, and switching from the first calibration plate to the second calibration plate; and determining the calibration parameters of the camera to be calibrated according to the imaging results of the camera to be calibrated on the at least two calibration plates. According to the technical scheme, the calibration plates with different sizes are arranged, the calibration plates with different sizes are used for calibrating the optical positioning system by switching the set conditions, the problem that the positioning accuracy of the marking points of the calibration plates at a longer distance in the prior art is poor is solved, the positioning accuracy of the marking points in different view field ranges is basically consistent, and the accuracy of camera calibration parameters is improved.
Further, the handover event identifying module 402 includes a first identifying unit, and the first identifying unit is configured to:
if the fact that the distance between the first calibration plate and the camera to be calibrated reaches a preset distance is recognized, determining that a calibration plate switching event occurs; generating a calibration plate switching instruction to switch from a first calibration plate to a second calibration plate;
or,
if the imaging effect of the mark point of the first calibration plate on the camera to be calibrated reaches the preset imaging effect, determining that a calibration plate switching event occurs; and generating a calibration plate switching instruction to switch from the first calibration plate to the second calibration plate.
According to the technical scheme provided by the embodiment, different calibration plate switching conditions are respectively set based on different movement directions of the first calibration plate, so that the mark points of the calibration plate can be accurately positioned in different movement directions.
Further, the switching event recognition module 402 further includes a second recognition unit, and when the first calibration board moves from near to far in the shooting direction of the camera to be calibrated, the second recognition unit is configured to:
if the fact that the distance between the first calibration plate and the camera to be calibrated exceeds the preset distance is recognized, determining that a calibration plate switching event occurs;
or,
and if the number of the pixel points occupied by the mark points of the first calibration plate in the imaging of the camera to be calibrated is smaller than the preset number of the pixel points, determining that a calibration plate switching event occurs.
According to the technical scheme provided by the embodiment, when the first calibration plate moves from near to far in the shooting direction of the camera to be calibrated, the first calibration plate with the smaller diameter of the marking point is adopted. When the control device detects that the distance between the first calibration plate and the camera to be calibrated is larger than or equal to the preset distance or recognizes that the number of the pixel points occupied by the mark points of the first calibration plate in the imaging of the camera to be calibrated is smaller than the preset number of the pixel points, the calibration plate is switched to the second calibration plate with a larger diameter, and the accurate positioning of the mark points in the process of moving from near to far in the shooting direction of the camera to be calibrated can be ensured.
Further, the switching event recognition module 402 further includes a third recognition unit, when the first calibration board moves from far to near in the shooting direction of the camera to be calibrated, the third recognition unit is configured to:
if the fact that the distance between the first calibration plate and the camera to be calibrated is smaller than the preset distance is recognized, determining that a calibration plate switching event occurs;
or,
and if the mark points of the first calibration plate are identified to occupy more than the preset number of pixel points in the imaging of the camera to be calibrated, determining that a calibration plate switching event occurs.
According to the technical scheme, when the first calibration plate moves from far to near in the shooting direction of the camera to be calibrated, the first calibration plate with the larger diameter of the calibration point is adopted firstly. When the control device detects that the distance between the first calibration plate and the camera to be calibrated is smaller than the preset distance or recognizes that the number of pixel points occupied by the marker points of the first calibration plate in the imaging of the camera to be calibrated is larger than or equal to the preset number of pixel points, the calibration plate is switched to the second calibration plate with a smaller diameter, and accurate positioning of the marker points in the process of moving from far to near in the shooting direction of the camera to be calibrated can be guaranteed.
Further, the parameter calibration module 403 is specifically configured to:
determining the sequence of each marking point of a first calibration plate according to the imaging result of the camera to be calibrated on the first calibration plate, and determining the sequence of each marking point of a second calibration plate according to the imaging result of the camera to be calibrated on the second calibration plate;
identifying the pixel coordinates of each marking point according to the sequence of each marking point;
and determining calibration parameters of the camera to be calibrated according to the pixel coordinates and the space coordinates of each marking point.
According to the technical scheme provided by the embodiment, the space coordinates and the pixel coordinates of the marking points in the first calibration plate and the second calibration plate in different visual ranges are respectively determined, and the calibration parameters of the camera are determined based on the space coordinates and the pixel coordinates of the marking points. The positioning precision of the marking points in different visual ranges is basically consistent, and the accuracy of the camera parameters to be calibrated is further improved.
Further, the calibration apparatus of the calibration system further includes a marking point sequence determining module, where the marking point sequence determining module is configured to:
acquiring a first calibration plate image obtained by the camera to be calibrated, and identifying mark points in the first calibration plate image;
triangular gridding is carried out on the mark points in the first calibration plate image, and a triangular image with each mark point as a vertex is obtained;
determining the sequence of the marking points in the first calibration plate image according to the triangular image;
and the number of the first and second groups,
acquiring a second calibration plate image obtained by the camera to be calibrated, and identifying a mark point in the second calibration plate image;
performing triangular gridding on the mark points in the second calibration plate image to obtain a triangular image taking each mark point as a vertex;
and determining the sequence of the marking points in the second calibration plate image according to the triangular image.
Further, the marking point order determination module includes a first determination unit, and the first determination unit is configured to:
identifying the current mark point as the angle value of the vertex;
if the sum of the angle values is in a first range, determining the current marking point as an angular point in the first calibration plate image; if the sum of the angle values is within a second range, determining the current marking point as an edge point in the first calibration board image; if the sum of the angle values is within a third range, determining the current marking point as an inner point in the first calibration plate image;
determining the sequence of the marking points in the second calibration plate image according to the triangular image, wherein the step of determining the sequence of the marking points in the second calibration plate image comprises the following steps:
identifying the current mark point as the angle value of the vertex;
if the sum of the angle values is in a first range, determining the current marking point as an angular point in the second calibration plate image; if the sum of the angle values is within a second range, determining the current marking point as an edge point in a second calibration board image; and if the sum of the angle values is in a third range, determining the current marking point as an inner point in the second calibration plate image.
According to the technical scheme provided by the embodiment, the marking points in the calibration plate are subjected to triangular gridding processing to obtain a triangular image taking each marking point as a vertex. And respectively calculating the distance between the starting mark point and the 4 vertex angle mark points and the vector included angle between the first corner point and the other two corner points to determine the sequence of the 4 vertex mark points in the calibration plate image so as to quickly determine the space coordinate corresponding to each mark point and improve the efficiency of determining the space coordinate.
The calibration device of the calibration system in the embodiment of the present application may be a device, or may be a component, an integrated circuit, or a chip in a terminal. The device can be a mobile control device or a non-mobile control device. By way of example, the mobile control device may be a mobile phone, a tablet computer, a notebook computer, a palm top computer, a vehicle-mounted control device, a wearable device, an ultra-mobile personal computer (UMPC), a netbook or a Personal Digital Assistant (PDA), and the like, and the non-mobile control device may be a server, a Network Attached Storage (NAS), a Personal Computer (PC), a Television (TV), a teller machine or a self-service machine, and the like, and the embodiment of the present application is not particularly limited.
The calibration device of the calibration system in the embodiment of the present application may be a device having an operating system. The operating system may be an Android (Android) operating system, an ios operating system, or other possible operating systems, and embodiments of the present application are not limited specifically.
The calibration device of the calibration system provided in the embodiment of the present application can implement each process implemented by each method embodiment, and is not described herein again to avoid repetition.
EXAMPLE five
Fig. 5 is a schematic structural diagram of a control device provided in the fifth embodiment of the present application. As shown in fig. 5, an embodiment of the present application further provides a control device 500, which includes a processor 501, a memory 502, and a program or an instruction stored in the memory 502 and capable of running on the processor 501, where the program or the instruction is executed by the processor 501 to implement each process of the calibration method embodiment of the calibration system, and can achieve the same technical effect, and in order to avoid repetition, details are not repeated here.
It should be noted that the control device in the embodiment of the present application includes the mobile control device and the non-mobile control device described above.
EXAMPLE six
The embodiments of the present application further provide a readable storage medium, where a program or an instruction is stored on the readable storage medium, and when the program or the instruction is executed by a processor, the program or the instruction implements each process of the calibration method embodiment of the above calibration system, and can achieve the same technical effect, and in order to avoid repetition, details are not repeated here.
Wherein, the processor is the processor in the control device described in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and so on.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one of 8230, and" comprising 8230does not exclude the presence of additional like elements in a process, method, article, or apparatus comprising the element. Further, it should be noted that the scope of the methods and apparatus of the embodiments of the present application is not limited to performing the functions in the order illustrated or discussed, but may include performing the functions in a substantially simultaneous manner or in a reverse order based on the functions involved, e.g., the methods described may be performed in an order different than that described, and various steps may be added, omitted, or combined. In addition, features described with reference to certain examples may be combined in other examples.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present application or portions thereof that contribute to the prior art may be embodied in the form of a computer software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal (which may be a mobile phone, a computer, a server, or a network device, etc.) to execute the method according to the embodiments of the present application.
While the present embodiments have been described with reference to the accompanying drawings, it is to be understood that the present embodiments are not limited to those precise embodiments, which are intended to be illustrative rather than restrictive, and that various changes and modifications may be effected therein by one skilled in the art without departing from the scope of the appended claims.
The foregoing is considered as illustrative of the preferred embodiments of the invention and the technical principles employed. The present application is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present application has been described in more detail with reference to the above embodiments, the present application is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present application, and the scope of the present application is determined by the scope of the claims.
Claims (10)
1. The calibration method of the calibration system is characterized in that the calibration system comprises a camera to be calibrated, at least two calibration plates and control equipment; the calibration plate is provided with a marker point; the method is performed by a control device, the method comprising:
controlling the first calibration plate to move in the shooting direction of the camera to be calibrated;
if a calibration plate switching event is identified, generating a calibration plate switching instruction, and switching from the first calibration plate to the second calibration plate;
and determining the calibration parameters of the camera to be calibrated according to the imaging results of the camera to be calibrated on the at least two calibration plates.
2. The method of claim 1, wherein generating a calibration board switching command to switch from a first calibration board to a second calibration board if a calibration board switching event is identified comprises:
if the fact that the distance between the first calibration plate and the camera to be calibrated reaches a preset distance is identified, determining that a calibration plate switching event occurs; generating a calibration plate switching instruction to switch from a first calibration plate to a second calibration plate;
or,
if the imaging effect of the mark point of the first calibration plate on the camera to be calibrated reaches a preset imaging effect, determining that a calibration plate switching event occurs; and generating a calibration plate switching instruction to switch from the first calibration plate to the second calibration plate.
3. The method according to claim 2, characterized in that the first calibration plate is moved from near to far in the shooting direction of the camera to be calibrated;
correspondingly, if the distance between the first calibration board and the camera to be calibrated reaches the preset distance, determining that a calibration board switching event occurs, including:
if the fact that the distance between the first calibration plate and the camera to be calibrated exceeds a preset distance is identified, determining that a calibration plate switching event occurs;
correspondingly, if the mark point of the first calibration plate is recognized to be in the preset imaging effect reached by the imaging effect of the camera to be calibrated, the occurrence of the calibration plate switching event is determined, and the method comprises the following steps:
and if the number of the pixel points occupied by the mark points of the first calibration plate in the imaging of the camera to be calibrated is smaller than the preset number of the pixel points, determining that a calibration plate switching event occurs.
4. The method according to claim 2, characterized in that the first calibration plate is moved from far to near in the shooting direction of the camera to be calibrated;
correspondingly, if the distance between the first calibration board and the camera to be calibrated reaches the preset distance, determining that a calibration board switching event occurs, including:
if the fact that the distance between the first calibration plate and the camera to be calibrated is smaller than the preset distance is recognized, determining that a calibration plate switching event occurs;
correspondingly, if the mark point of the first calibration plate is recognized to be in the preset imaging effect reached by the imaging effect of the camera to be calibrated, the occurrence of the calibration plate switching event is determined, and the method comprises the following steps:
and if the mark points of the first calibration plate are identified to occupy more than the preset number of pixel points in the imaging of the camera to be calibrated, determining that a calibration plate switching event occurs.
5. The method according to claim 1, wherein determining calibration parameters of the camera to be calibrated according to the imaging results of the camera to be calibrated on at least two calibration plates comprises:
determining the sequence of each marking point of a first calibration plate according to the imaging result of the camera to be calibrated on the first calibration plate, and determining the sequence of each marking point of a second calibration plate according to the imaging result of the camera to be calibrated on the second calibration plate;
identifying the pixel coordinates of each marking point according to the sequence of each marking point;
and determining calibration parameters of the camera to be calibrated according to the pixel coordinates and the space coordinates of each marking point.
6. The method according to claim 5, wherein determining the sequence of the marking points of the first calibration plate according to the imaging result of the camera to be calibrated on the first calibration plate, and determining the sequence of the marking points of the second calibration plate according to the imaging result of the camera to be calibrated on the second calibration plate comprises:
acquiring a first calibration plate image obtained by the camera to be calibrated, and identifying a mark point in the first calibration plate image;
triangular gridding is carried out on the mark points in the first calibration plate image, and a triangular image with each mark point as a vertex is obtained;
determining the sequence of the marking points in the first calibration plate image according to the triangular image;
and the number of the first and second groups,
acquiring a second calibration plate image obtained by the camera to be calibrated, and identifying a mark point in the second calibration plate image;
triangular gridding is carried out on the mark points in the second calibration plate image, and a triangular image with each mark point as a vertex is obtained;
and determining the sequence of the marking points in the second calibration plate image according to the triangular image.
7. The method of claim 6, wherein determining an order of marker points in the first calibration plate image from the triangle image comprises:
identifying the current mark point as an angle value of a vertex;
if the sum of the angle values is within a first range, determining the current marking point as an angular point in the first calibration plate image; if the sum of the angle values is within a second range, determining the current marking point as an edge point in the first calibration board image; if the sum of the angle values is in a third range, determining the current marking point as an inner point in the first calibration plate image;
determining the sequence of the marking points in the second calibration plate image according to the triangular image, wherein the step of determining the sequence of the marking points in the second calibration plate image comprises the following steps:
identifying the current mark point as the angle value of the vertex;
if the sum of the angle values is in a first range, determining the current marking point as an angular point in the second calibration plate image; if the sum of the angle values is within a second range, determining the current marking point as an edge point in a second calibration board image; and if the sum of the angle values is within a third range, determining the current marking point as an inner point in the second calibration board image.
8. The calibration device of the calibration system is characterized in that the calibration system comprises a camera to be calibrated, at least two calibration plates and control equipment; the calibration plate is provided with a marker point; the apparatus is configured to control a device, the apparatus comprising:
the first calibration plate control module is used for controlling the first calibration plate to move in the shooting direction of the camera to be calibrated;
the switching event identification module is used for generating a calibration plate switching instruction if a calibration plate switching event is identified, and switching from the first calibration plate to the second calibration plate;
and the parameter calibration module is used for determining calibration parameters of the camera to be calibrated according to the imaging results of the camera to be calibrated on the at least two calibration plates.
9. Control device, characterized in that it comprises a processor, a memory and a program or instructions stored on said memory and executable on said processor, said program or instructions, when executed by said processor, implementing the steps of the calibration method of a calibration system according to any one of claims 1 to 7.
10. A readable storage medium, characterized in that the readable storage medium stores thereon a program or instructions which, when executed by a processor, implement the steps of the calibration method of a calibration system according to any one of claims 1-7.
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