CN115994949A - Automatic calibration method, equipment, system and computer readable storage medium - Google Patents
Automatic calibration method, equipment, system and computer readable storage medium Download PDFInfo
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- CN115994949A CN115994949A CN202111223174.0A CN202111223174A CN115994949A CN 115994949 A CN115994949 A CN 115994949A CN 202111223174 A CN202111223174 A CN 202111223174A CN 115994949 A CN115994949 A CN 115994949A
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- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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Abstract
The application discloses an automatic calibration method, device, system and computer readable storage medium, wherein the method is applied to calibration control equipment and comprises the following steps: sending a first control instruction to the projection equipment so that the projection equipment projects a plurality of projection pictures; sending a second control instruction to the image pickup device so that the image pickup device shoots the projection pictures to obtain a plurality of projection shooting images; and processing the plurality of projection shooting images to obtain calibration parameters of the camera equipment, wherein the calibration parameters comprise internal parameters and distortion parameters of the camera equipment. Through the mode, the automatic calibration of the camera equipment can be realized, and the calibration efficiency is improved.
Description
Technical Field
The present application relates to the field of display technologies, and in particular, to an automatic calibration method, apparatus, system, and computer readable storage medium.
Background
In the image measurement process and the machine vision application, in order to determine the interrelation between the three-dimensional geometric position of a certain point on the surface of a space object and the corresponding point in the image, a geometric model imaged by the image pickup device needs to be established, wherein the geometric model parameters are parameters (i.e. internal parameters, external parameters or distortion parameters) of the image pickup device, the parameters can be obtained through experiments and calculation, the process of solving the parameters is the calibration of the image pickup device (or the calibration of a camera), the calibration result is utilized to correct the deformity of the image pickup device and obtain the coordinates of the shot image, and the accuracy of the calibration of the image pickup device and the stability of an algorithm directly influence the accuracy of subsequent operations (such as image recognition, image reconstruction or projection). The current calibration scheme of the image pickup device is that the position of the image pickup device is fixed firstly, a standard calibration plate is placed on the front face of the image pickup device, the shape and the posture of the calibration plate in the imaging of the image pickup device are different by adjusting the relative position or the posture of the calibration plate and the image pickup device, so that a series of images for calculating parameters of the image pickup device are shot, and the shot images are used for calculating the parameters of the image pickup device; the image acquisition stage of the calibration process needs continuous manual intervention, and the efficiency is low under the condition of calibrating a large number of camera equipment.
Disclosure of Invention
The application provides an automatic calibration method, equipment, a system and a computer readable storage medium, which can realize automatic calibration of camera equipment and improve the calibration efficiency.
In order to solve the technical problems, the technical scheme adopted by the application is as follows: there is provided an automatic calibration method applied to calibration control equipment, the method comprising: sending a first control instruction to the projection equipment so that the projection equipment projects a plurality of projection pictures; sending a second control instruction to the image pickup device so that the image pickup device shoots the projection pictures to obtain a plurality of projection shooting images; and processing the plurality of projection shooting images to obtain calibration parameters of the camera equipment, wherein the calibration parameters comprise internal parameters and distortion parameters of the camera equipment.
In order to solve the technical problems, another technical scheme adopted by the application is as follows: there is provided a calibration control device comprising a memory and a processor connected to each other, wherein the memory is adapted to store a computer program which, when executed by the processor, is adapted to carry out the automatic calibration method according to the above-mentioned technical solution.
In order to solve the technical problems, another technical scheme adopted by the application is as follows: the display system comprises a projection device, an image pickup device and a calibration control device, wherein the calibration control device is used for controlling the projection device and the image pickup device, calculating the calibration parameters of the image pickup device, and the calibration control device is the calibration control device in the technical scheme.
In order to solve the technical problems, another technical scheme adopted by the application is as follows: there is provided a computer readable storage medium for storing a computer program which, when executed by a processor, is adapted to carry out the automatic calibration method of the above-mentioned technical solution.
Through above-mentioned scheme, the beneficial effect of this application is: the calibration control equipment controls the projection equipment to enable the projection equipment to emit a plurality of projection pictures required by calculating calibration parameters; the calibration control equipment controls the image pickup equipment so that the image pickup equipment shoots a projection picture to obtain a plurality of projection shooting images; the calibration control equipment obtains calibration parameters of the image pickup equipment by processing the plurality of projection shooting images, wherein the calibration parameters comprise internal parameters and distortion parameters of the image pickup equipment; according to the scheme provided by the application, the projection equipment and the camera equipment are controlled through the calibration control equipment, so that the camera equipment automatically shoots each projection picture projected by the projection equipment to obtain a plurality of projection shooting images for calculating calibration parameters, the calibration control equipment analyzes and processes the projection shooting images to obtain the calibration parameters of the camera equipment, the automatic calibration of the camera equipment is realized, the whole calibration process does not need to manually put/adjust a calibration plate, the calibration without manual intervention is realized, and the calibration efficiency is higher because the angle and/or distance between the calibration plate and the camera equipment are not required to be manually adjusted, and the labor cost can be reduced; in addition, in some display systems needing to be used for the image pickup device, if the image pickup device is not matched with the calibration parameters due to management errors, abnormal display is caused or a preset effect cannot be achieved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art. Wherein:
FIG. 1 is a flow chart of an embodiment of an automatic calibration method provided herein;
FIG. 2 is a flow chart of another embodiment of an automatic calibration method provided herein;
FIG. 3 is a schematic view of imaging effect of lens horizontal displacement control provided in the present application;
FIG. 4 is a schematic view of an imaging effect of the lens vertical displacement control provided in the present application;
FIG. 5 (a) is a schematic view of imaging effects provided herein without zooming;
fig. 5 (b) is a schematic view of an imaging effect when the focal length of the lens provided by the present application is reduced;
fig. 5 (c) is a schematic view of an imaging effect when the focal length of the lens provided in the present application is increased;
FIG. 6 (a) is a schematic view of imaging effect of the calibration plate provided in the present application without rotation;
fig. 6 (b) is a schematic view of an imaging effect when the top of the calibration plate provided in the present application is far away from the image capturing apparatus;
FIG. 6 (c) is a schematic view of the imaging effect of the calibration plate provided in the present application when the top of the calibration plate is close to the image capturing apparatus;
fig. 6 (d) is a schematic view of an imaging effect when the left side of the calibration plate provided in the present application is far away from the image capturing apparatus;
fig. 6 (e) is a schematic view of an imaging effect when the left side of the calibration plate provided in the present application is close to the image capturing apparatus;
FIG. 7 (a) is a schematic illustration of the imaging effect of the horizontal trapezoidal correction provided herein;
FIG. 7 (b) is another schematic illustration of the imaging effect of the horizontal trapezoidal correction provided herein;
FIG. 7 (c) is a schematic illustration of the imaging effect of vertical trapezoidal correction provided herein;
FIG. 7 (d) is another schematic illustration of the imaging effect of vertical trapezoidal correction provided herein;
FIG. 8 is a schematic structural view of an embodiment of a calibration control device provided herein;
FIG. 9 is a schematic diagram of an embodiment of a display system provided herein;
fig. 10 is a schematic structural diagram of an embodiment of a computer-readable storage medium provided in the present application.
Detailed Description
The following description of the technical solutions in the embodiments of the present application will be made clearly and completely with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
Each projection device has inherent parameters, and if the parameters of the projection device are not accurate enough or the projection device is not matched with the parameters in actual use, the calculated coordinate error of the display picture is larger, so that the final display effect is affected. Aiming at the condition of inaccurate or mismatching of parameters, the application provides a calibration method based on projection equipment, which can calculate the parameters of the projection equipment in real time in an application scene, improves the risk resistance of a display system and elaborates the scheme adopted by the application.
Referring to fig. 1, fig. 1 is a schematic flow chart of an embodiment of an automatic calibration method provided in the present application, where the method is applied to a calibration control device, which may be a device with control and calculation capabilities, such as a central processing unit, and the calibration control device may be a device that exists independently, may be integrally formed with a projection device, or may be integrally formed with the image capturing device. The method comprises the following steps:
step 11: and sending a first control instruction to the projection device so that the projection device projects a plurality of projection pictures.
In order to realize automatic calibration based on projection pictures, three devices (including a calibration control device, an image pickup device and a projection device) are required to be matched with each other, the calibration control device is used for controlling the image pickup device and the projection device, and the calibration control device can generate a first control instruction and then send the first control instruction to the projection device, so that the projection device sequentially projects a plurality of different projection pictures.
In a specific embodiment, the projection device is a camera with a lens control function and a trapezoidal correction function, the lens of the projection device has a zooming function and a displacement control function, the zooming function is used for adjusting the size of a projection picture, and the displacement control function is used for adjusting the position of the projection picture in the imaging range of the image pickup device; the trapezoidal correction function of the projection device can be accomplished by mechanical adjustment or by electronic adjustment, which is used to adjust the shape of the projected picture.
Further, the projection device may project a projected image onto a calibration object (e.g., a whiteboard, projection screen, display, or wall), the content of the projected image including, but not limited to, a black and white checkerboard, and the image produced by the projection (denoted as a calibration image) may be centered, displayed up, displayed down, displayed left, or displayed right within the imaging range.
It will be appreciated that projection images of different shapes, sizes or positions may be projected according to preset projection rules, such as: the projection picture can be set to be projected in the maximum size, then the size of the projection picture is gradually reduced, and the position of the projection picture and the shape of the projection picture are adjusted at each projection size, so that a plurality of projection pictures are obtained.
Step 12: and sending a second control instruction to the image pickup device so that the image pickup device shoots the projection pictures to obtain a plurality of projection shooting images.
After the calibration control device sends the first control instruction, the calibration control device can generate a second control instruction and send the second control instruction to the image pickup device; after receiving the second control instruction, the camera equipment can shoot the calibration object to obtain projection shooting images, and the projection shooting images are in one-to-one correspondence with projection pictures emitted by the projection equipment; specifically, the photographing device is configured to photograph a preset calibration area to obtain a projection photographed image, where the preset calibration area includes an area where a projection picture is located, which may be an imaging range of the photographing device.
It will be appreciated that, in other embodiments, to determine when the image capturing apparatus captures an image, the projection apparatus may send a notification to the calibration control to indicate that the projection screen has been emitted, so that the calibration control apparatus controls the image capturing apparatus to capture an image in time; or the calibration control device actively monitors the projection device to avoid the image shooting device shooting the image without the projection picture.
Step 13: and processing the plurality of projection shooting images to obtain calibration parameters of the image pickup equipment.
The calibration parameters of the camera equipment to be calibrated are unknown, and the calibration parameters comprise internal parameters, distortion coefficients or external parameters; after a plurality of projection shooting images are obtained, the calibration control equipment calculates internal parameters, distortion coefficients and external parameters of the shooting equipment according to a pre-designed program (for example, a program corresponding to a Zhang Zhengyou calibration method) to complete calibration. It is to be understood that the method for calculating the calibration parameters from the plurality of images is the same as that adopted in the related art, and this embodiment is not described.
In the related art, operations such as rotation or translation are required to be performed on the calibration plate in the calibration process, so that calibration patterns with different shapes and sizes are displayed in the imaging patterns of the camera equipment; the scheme adopted by the embodiment is realized by simulating the lens control or trapezoid correction function of the projection equipment, and the specific projection picture displayed by the projection equipment is used for replacing the calibration plate, so that the calibration parameters are automatically calculated, the form of the calibration plate is not required to be manually adjusted, the time spent in calibration is saved, and the method is suitable for application scenes of large-scale calibration.
Referring to fig. 2, fig. 2 is a flowchart of another embodiment of an automatic calibration method provided in the present application, where the method is applied to calibration control equipment, and the method includes:
step 21: transmitting a position adjustment instruction to the projection equipment so as to enable a lens of the projection equipment to displace and project a projection picture; a first photographing control instruction is transmitted to the image pickup apparatus to cause the image pickup apparatus to photograph the projection screen.
The position adjustment instruction is an instruction for controlling the lens of the projection equipment to move, and the calibration control equipment sends the position adjustment instruction to the projection equipment so that the position of a projection picture emitted by the projection equipment is changed. Specifically, in order to enable the calibration image to appear in each area within the imaging range, it is necessary in the related art to manually move the calibration plate to adjust the horizontal position and the vertical position of the calibration plate, and such a change in position can be simulated by displacement control of the lens of the projection apparatus to achieve the same imaging effect.
Further, the position adjustment instruction includes a horizontal position adjustment instruction and a vertical position adjustment instruction, the number of the horizontal position adjustment instruction and the vertical position adjustment instruction can be one or more, and the calibration control device sends the horizontal position adjustment instruction to the projection device so that the projection device moves a preset distance along the horizontal direction and projects a projection picture; and sending a vertical position adjustment instruction to the projection equipment so that the projection equipment moves a preset distance along the vertical direction and projects a projection picture.
After the projection equipment emits the projection picture, the calibration control equipment sends a first shooting control instruction to the image pickup equipment, controls the image pickup equipment to shoot the current projection picture of the projection equipment, and receives the projection shooting image returned by the image pickup equipment.
In a specific embodiment, as shown in fig. 3, a lens (not shown) of the projection device 31 is horizontally displaced, the image capturing device 32 is controlled to capture images, 33 is a projection screen, and the projection screen 34 is moved in a horizontal direction by horizontally moving the position of the lens, so as to obtain different projection captured images 34a-34b. As shown in fig. 4, the lens (not shown) of the projection apparatus 41 is vertically displaced, the image pickup apparatus 42 is controlled to take a photograph, and the projection screen 43 is moved in the vertical direction by vertically moving the position of the lens, resulting in different projection taken images 44a to 44b.
Step 22: sending a focus adjustment instruction to the projection device so that the projection device projects a projection picture with at least two preset focuses; a second photographing control instruction is transmitted to the image pickup apparatus to cause the image pickup apparatus to photograph the projection screen.
In the related art, the distance between the calibration plate and the camera equipment is manually adjusted, and when the calibration plate is close to the camera equipment, the pattern of the calibration plate in the imaging pattern becomes larger; when the calibration plate is far away from the camera equipment, the calibration plate pattern in the imaging pattern becomes smaller; the change of the pattern size of the calibration plate can be simulated by the zoom control of the lens of the projection equipment, so that the purpose of adjusting the size of a projection picture in an imaging pattern is achieved; and the calibration control equipment sends out a second shooting control instruction to control the image pickup equipment to shoot the current projection picture of the projection equipment and receive the projection shooting image returned by the image pickup equipment.
Further, the size of the projection picture changes along with the values of at least two preset focal lengths, and the number of focal length adjustment instructions can be two or more and can be set according to specific requirements; for example, taking the number of focal length adjustment instructions as two as an example, the focal length adjustment instructions include a first focal length adjustment instruction and a second focal length adjustment instruction, and the first focal length adjustment instruction can be sent to the projection device, so that the projection device projects a projection picture with a first preset focal length, and the size of a calibration image corresponding to the projection picture is smaller than the first preset size; and sending a second focal length adjustment instruction to the projection equipment so that the projection equipment projects a projection picture with a second preset focal length, wherein the size of a calibration image corresponding to the projection picture is larger than a second preset size, the first preset focal length is smaller than the second preset focal length, and the first preset size is smaller than the second preset size.
For example, as shown in fig. 5 (a) -5 (c), in the case where zooming is not performed, the projection screen 53a is made smaller and larger by performing zooming control on a lens (not shown) of the projection apparatus 51, and the projection screen 53b in fig. 5 (b) and the projection screens 53c,54a-54c in fig. 5 (c) are projection-captured images captured by the image capturing apparatus 52, respectively.
In other embodiments, it may also be determined whether all the projection images corresponding to the preset focal lengths are acquired, if all the projection images corresponding to the preset focal lengths have been acquired, step 23 is executed, otherwise, step 22 is executed continuously until all the projection images corresponding to the preset focal lengths are acquired.
Step 23: sending a pose adjustment instruction to the projection equipment to adjust the shape of a projection picture; a third photographing control instruction is transmitted to the image pickup apparatus to cause the image pickup apparatus to photograph the projection screen.
In the related art, the gesture of the calibration plate relative to the image pickup device is required to be manually adjusted, so that different included angles are formed between the plane of the image pickup device and the plane of the calibration plate, and further, the calibration plate patterns in the imaging patterns are in different quadrilateral shapes; as shown in fig. 6 (a), the plane in which the calibration plate 62 is located is ideally parallel to the plane in which the image pickup device 61 is located, and the calibration plate pattern 63 takes a regular rectangular shape; when the top of the calibration plate 62 is close to/distant from the image pickup apparatus 61, the calibration plate pattern 63 assumes a pattern shape of an upper trapezoid or a lower trapezoid, as shown in fig. 6 (b) -6 (c); when the left side of the calibration plate 62 approaches or moves away from the image pickup apparatus 61, the calibration plate pattern 63 assumes a pattern shape of a left trapezoid or a right trapezoid, as shown in fig. 6 (d) -6 (e).
According to the embodiment, the posture of the calibration plate in an imaging pattern is simulated and adjusted through the trapezoidal correction function of the projection equipment, the calibration control equipment sends out a posture adjustment instruction for carrying out trapezoidal correction on a lens of the projection equipment, namely the first control instruction also comprises the posture adjustment instruction, so that the shape of a projection picture is changed, the posture adjustment instruction comprises at least one of a horizontal trapezoidal correction instruction and a vertical trapezoidal correction instruction, and the horizontal trapezoidal correction instruction corresponds to the horizontal trapezoidal correction function of the projection equipment and is used for adjusting the projection picture in the horizontal direction, so that the upper frame and the lower frame of the adjusted projection picture are not horizontal; the vertical trapezoid correction instruction corresponds to a vertical trapezoid correction function of the projection device and is used for adjusting the projection picture in the vertical direction so that the left and right frames of the adjusted projection picture are not horizontal.
Further, in the case where both the projection apparatus and the photographing apparatus remain stationary, the various quadrangles in fig. 6 (a) -6 (e) are simulated with the horizontal trapezoidal correction function and the vertical trapezoidal correction function of the projection apparatus; as shown in fig. 7 (a) -7 (b), the imaging shape far from or near to the imaging device 72 reaching the left side of the calibration plate is simulated by the horizontal trapezoidal correction function of the projection device 71, 73a-73b are projection pictures, 74a-74b are projection shot images; as shown in fig. 7 (c) -7 (d), the vertical trapezoidal correction function of the projection apparatus 71 is used to simulate the imaging shape reaching the top of the calibration plate far or near the image pickup apparatus 72, 73c-73d are projection pictures, and 74c-74d are projection photographed images.
Step 24: and judging whether projection shooting images corresponding to all preset projection shapes are acquired or not.
The calibration control device judges whether shooting of projection pictures of all preset projection shapes is completed or not, wherein the preset projection shapes comprise rectangles or trapezoids; if the shooting of the projection pictures with all the preset projection shapes is completed, executing step 25; if the projection pictures of all the preset projection shapes are not shot completely, returning to the step of sending the pose adjustment instruction to the projection equipment, namely returning to the execution step 23 until the projection shot images corresponding to all the preset projection shapes are acquired.
Step 25: if all the projection shooting images corresponding to the preset projection shapes are obtained, judging whether the projection shooting images corresponding to the preset projection positions are obtained or not.
The method comprises the steps that at least two preset projection positions are provided, and calibration control equipment judges whether image shooting of all the preset projection positions is completed or not, wherein the preset projection positions comprise horizontal projection positions or vertical projection positions; if the image capturing of all the preset projection positions is completed, step 26 is executed; if the image capturing of all the preset projection positions is not completed, returning to the step of sending the position adjustment instruction to the projection device, that is, returning to the execution step 21 until the projection captured images corresponding to all the preset projection positions are obtained.
Step 26: and processing the plurality of projection shooting images to obtain calibration parameters of the image pickup equipment.
The embodiment provides a method for automatically calibrating an image pickup device based on a picture displayed by a projection device, which utilizes a lens zooming function, a lens displacement function and a horizontal and vertical trapezoid correction function of the projection device to simulate operations such as manually translating or rotating a calibration plate in the calibration process; based on the imaging effect of the calibration image simulated by the projection equipment, the automatic calibration of the camera equipment is completed. The projection equipment is controlled to simulate the postures of various calibration plates, so that the full automation of the calibration process can be realized, the production efficiency is improved, the calibration parameters can be fully automatically calculated under the application scene of the projection equipment and the camera equipment only, no professional calibration plates are required to be found, the use is convenient, and the operation is simplified.
Referring to fig. 8, fig. 8 is a schematic structural diagram of an embodiment of a calibration control device provided in the present application, where the calibration control device 80 includes a memory 81 and a processor 82 connected to each other, and the memory 81 is used to store a computer program, and the computer program is used to implement the automatic calibration method in the above embodiment when executed by the processor 82.
To obtain more accurate calibration parameters, the pattern of the calibration plate needs to appear in each area in the imaging range as much as possible, and the relative pose of the calibration plate and the camera equipment is rich; while the conventional calibration process achieves the above objective by various manual movements or rotations of the calibration plate, in this embodiment, the automatic calibration of the image capturing device is achieved by various controls of the projection device in a simulation manner, and the pose of the calibration plate is not required to be manually adjusted, so that the calibration efficiency is improved, and the labor cost is reduced.
Referring to fig. 9, fig. 9 is a schematic structural diagram of an embodiment of a display system provided in the present application, and the display system 90 includes a projection device 91, an image capturing device 92, and a calibration control device 93.
The calibration control device 93 is used to control the projection device 91 and the image capturing device 92, calculate calibration parameters of the image capturing device 92, and the calibration control device 93 is the calibration control device in the above embodiment. Specifically, the calibration parameters include an internal parameter of the image pickup apparatus 92 and a distortion parameter of the image pickup apparatus 92, and the projection apparatus 91 is configured to project a projection screen; the image capturing apparatus 92 is configured to capture a projection screen to obtain a projection captured image, and to perform a de-distortion process on the projection screen based on the distortion parameter to obtain a de-distorted image, and to acquire coordinates of the de-distorted image in a coordinate system of the image capturing apparatus 92 based on the internal parameter.
In a specific embodiment, as shown in fig. 9, the projection device 91 includes a first projector 911 and a second projector, the calibration control device 93 is connected to the first projector 911, the second projector 912, and the image capturing device 92, and the calibration control device 93 is configured to control the first projector 911, the second projector 912, and the image capturing device 92 so that a first projection image projected by the first projector 911 and a second projection image projected by the second projector 912 overlap; through setting up two projectors (first projector 911 and second projector promptly), and the picture coincidence that two projectors of control projected can make the luminance increase of the picture of projection for the picture of projection is clearer, makes things convenient for the user to watch.
Further, the image capturing apparatus 92 captures the first projection screen and the second projection screen, respectively, to obtain a first projection captured image and a second projection captured image, calculates the coordinates of the first projection captured image in the coordinate system of the image capturing apparatus 92 and the coordinates of the second projection captured image in the coordinate system of the image capturing apparatus 92 based on the internal parameters, and sends the two coordinates to the calibration control apparatus 93.
The calibration control device 93 controls the first projector 911 and the second projector 912 based on the coordinates of the first projection captured image in the image capturing device 92 coordinate system and the coordinates of the second projection captured image in the image capturing device 92 coordinate system so that the first projection screen and the second projection screen overlap. Specifically, the calibration control device 93 adjusts the projection parameters of the first projector 911 and the projection parameters of the second projector 912, including the projection size, the projection brightness, the projection shape, or the projection angle, the coordinates of the first projection captured image in the image capturing device 92 coordinate system, and the coordinates of the second projection captured image in the image capturing device 92 coordinate system.
It can be appreciated that in other embodiments, more than two cameras may be provided to further enhance the brightness of the projection screen; alternatively, it may be configured that different projectors display different projection pictures; the number of projectors and projection pictures may be set as desired for a particular application and are not illustrated herein.
According to the scheme adopted by the embodiment, through the cooperation of the projection equipment, the camera equipment and the calibration control equipment, the automatic calibration of the camera equipment is realized, so that projection pictures of two projectors can be overlapped, the brightness of the projection pictures is improved, and the display effect of a display system is improved.
Referring to fig. 10, fig. 10 is a schematic structural diagram of an embodiment of a computer readable storage medium provided in the present application, where the computer readable storage medium 100 is used to store a computer program 101, and the computer program 101 is used to implement the automatic calibration method in the above embodiment when executed by a processor.
The computer readable storage medium 100 may be a server, a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, etc. various media capable of storing program codes.
In the several embodiments provided in the present application, it should be understood that the disclosed methods and apparatuses may be implemented in other manners. For example, the above-described device embodiments are merely illustrative, e.g., the division of modules or units is merely a logical functional division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiment.
In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, each unit may exist alone physically, or two or more units may be integrated into one unit. The integrated units may be implemented in hardware or in software functional units.
The foregoing description is only exemplary embodiments of the present application and is not intended to limit the scope of the present application, and all equivalent structures or equivalent processes using the descriptions and the drawings of the present application, or direct or indirect application in other related technical fields are included in the scope of the present application.
Claims (15)
1. An automatic calibration method, characterized by being applied to calibration control equipment, the method comprising:
sending a first control instruction to a projection device so that the projection device projects a plurality of projection pictures;
sending a second control instruction to an image pickup device so that the image pickup device shoots the projection pictures to obtain a plurality of projection shooting images;
and processing the plurality of projection shooting images to obtain calibration parameters of the image pickup equipment, wherein the calibration parameters comprise internal parameters of the image pickup equipment and distortion parameters of the image pickup equipment.
2. The automatic calibration method of claim 1, wherein the first control instruction comprises a focus adjustment instruction, the method further comprising:
and sending the focus adjustment instruction to the projection device so that the projection device projects the projection picture with at least two preset focus distances, wherein the size of the projection picture changes along with the values of the at least two preset focus distances.
3. The automatic calibration method of claim 1, wherein the first control instruction further comprises a position adjustment instruction, the method further comprising:
and sending the position adjustment instruction to the projection equipment so as to enable the lens of the projection equipment to displace and project the projection picture.
4. An automatic calibration method according to claim 3, characterized in that the method further comprises:
judging whether projection shooting images corresponding to preset projection positions are acquired or not, wherein the number of the preset projection positions is at least two;
if not, returning to the step of sending the position adjustment instruction to the projection equipment until all projection shooting images corresponding to the preset projection positions are obtained;
the preset projection position comprises a horizontal projection position or a vertical projection position.
5. The automatic calibration method of claim 1, wherein the first control instruction further comprises a pose adjustment instruction, the method further comprising:
and sending the pose adjustment instruction to the projection equipment so as to adjust the shape of the projection picture.
6. The automatic calibration method according to claim 5, further comprising:
judging whether projection shooting images corresponding to all preset projection shapes are acquired or not;
if not, returning to the step of sending the pose adjustment instruction to the projection equipment until all projection shooting images corresponding to the preset projection shape are obtained;
wherein the preset projection shape comprises a rectangle or trapezoid.
7. The automatic calibration method according to claim 5, wherein,
the pose adjustment instruction includes at least one of a horizontal trapezoidal correction instruction and a vertical trapezoidal correction instruction.
8. The automatic calibration method according to claim 1, wherein,
the shooting equipment is used for shooting a preset calibration area to obtain the projection shooting image, wherein the preset calibration area comprises an area where the projection picture is located.
9. A calibration control device comprising a memory and a processor connected to each other, wherein the memory is adapted to store a computer program which, when executed by the processor, is adapted to carry out the automatic calibration method according to any one of claims 1-8.
10. A display system comprising a projection device, an image capturing device, and the calibration control device according to claim 9, wherein the calibration control device is configured to control the projection device and the image capturing device, and calculate calibration parameters of the image capturing device.
11. The display system of claim 10, wherein the display system is configured to display the plurality of images,
the calibration parameters comprise internal parameters of the image pickup equipment and distortion parameters of the image pickup equipment, and the projection equipment is used for projecting a projection picture; the image pickup device is used for shooting the projection picture to obtain a projection shooting image, performing de-distortion processing on the projection picture based on the distortion parameters to obtain a de-distorted image, and acquiring coordinates of the de-distorted image in an image pickup device coordinate system based on the internal parameters.
12. The display system of claim 11, wherein the display system is configured to display the plurality of images,
the projection equipment comprises a first projector and a second projector, and the calibration control equipment is connected with the first projector, the second projector and the image pickup equipment and used for controlling the first projector, the second projector and the image pickup equipment so that a first projection picture projected by the first projector and a second projection picture projected by the second projector are overlapped.
13. The display system of claim 12, wherein the display system is configured to display the plurality of images,
the image pickup device is further used for respectively shooting the first projection picture and the second projection picture to obtain a first projection shooting image and a second projection shooting image, and calculating the coordinates of the first projection shooting image in the image pickup device coordinate system and the coordinates of the second projection shooting image in the image pickup device coordinate system based on the internal parameters; the calibration control device is further configured to control the first projector and the second projector based on coordinates of the first projection captured image in the image capturing device coordinate system and coordinates of the second projection captured image in the image capturing device coordinate system, so that the first projection screen and the second projection screen overlap.
14. The display system of claim 13, wherein the display system is configured to display the plurality of images,
the calibration control device is further used for adjusting projection parameters of the first projector and projection parameters of the second projector, wherein the projection parameters comprise projection size, projection brightness, projection shape or projection angle; the coordinates of the first projection photographed image in the image capturing apparatus coordinate system and the coordinates of the second projection photographed image in the image capturing apparatus coordinate system are the same.
15. A computer readable storage medium storing a computer program, characterized in that the computer program, when being executed by a processor, is adapted to carry out the automatic calibration method according to any one of claims 1-8.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111223174.0A CN115994949A (en) | 2021-10-20 | 2021-10-20 | Automatic calibration method, equipment, system and computer readable storage medium |
| PCT/CN2022/126368 WO2023066331A1 (en) | 2021-10-20 | 2022-10-20 | Automatic calibration method, and device, system and computer-readable storage medium |
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|---|---|---|---|
| CN202111223174.0A CN115994949A (en) | 2021-10-20 | 2021-10-20 | Automatic calibration method, equipment, system and computer readable storage medium |
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| CN115994949A true CN115994949A (en) | 2023-04-21 |
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| CN202111223174.0A Pending CN115994949A (en) | 2021-10-20 | 2021-10-20 | Automatic calibration method, equipment, system and computer readable storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US8662676B1 (en) * | 2012-03-14 | 2014-03-04 | Rawles Llc | Automatic projector calibration |
| CN103559710B (en) * | 2013-11-05 | 2016-06-29 | 重庆安钻理科技股份有限公司 | A kind of scaling method for three-dimensional reconstruction system |
| CN107633537B (en) * | 2017-08-28 | 2021-08-27 | 深圳市德赛微电子技术有限公司 | Camera calibration method based on projection |
| CN109509231A (en) * | 2017-09-14 | 2019-03-22 | 宝沃汽车（中国）有限公司 | Panorama system calibration facility |
| CN112422936B (en) * | 2020-11-13 | 2022-07-05 | 中国第一汽车股份有限公司 | Vehicle panoramic image calibration system, method, server and storage medium |
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