CN116152357B - Parameter calibration system and method for infinity focusing camera - Google Patents
Parameter calibration system and method for infinity focusing camera Download PDFInfo
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Abstract
The parameter calibration system of the infinite focusing camera is applied to calibration of batch cameras on a production line, and comprises a calibration center and a plurality of calibration terminals, wherein a vision measurement pipeline carries out iterative computation on an object point array-image point array of the same camera, and a judgment unit adjusts the object point array-image point array according to a parameter calculation result of the vision measurement pipeline in the iterative computation; the judging unit sends the real-time calculated object point array change to the target posture adjusting unit, sends the real-time calculated image point array change to the two-dimensional turntable control unit, and updates the target posture list in the target posture control unit and the spot lattice in the two-dimensional turntable control unit in real time. The invention can realize the calibration of the parameters of the camera focusing at infinity in batch, and can adjust the target posture list and the spot lattice in real time in the iterative calculation process of the object point array-image point array, so that the calibration calculation of the camera is faster and the precision is more accurate.
Description
Technical Field
The invention relates to the technical field of optics, in particular to a parameter calibration system and method of an infinite focusing camera.
Background
In the development of photogrammetry technology, accurate calibration of parameters of a camera is a necessary means for ensuring photogrammetry accuracy. The existing calibration method is that a single camera is calibrated one by one, and the calibration method is aimed at limited distance imaging, two conditions are needed, one is that the camera can clearly image a target, and the target is placed at a limited distance in front of the camera; secondly, the target occupies a picture in the image which cannot be too small.
When the camera clearly images infinity, and the field of view is large, if the target distance is too close, the image is unclear, and if the target distance is too far, a large enough target is difficult to find, so that the target occupies most of the picture. On the conventional lens distortion tester, only the distortion of the lens can be calibrated, the distortion of the lens and the camera can not be corrected as a whole, the distortion can not be mapped to the image pixel coordinates, and the equivalent focal length in the internal reference can not be obtained.
In particular, for parameter calibration of mass infinity focusing cameras, no efficient technical proposal has been proposed.
Accordingly, the problems of the prior art are to be further improved and developed.
Disclosure of Invention
(one) object of the invention: in order to solve the problems in the prior art, the invention aims to provide a system and a method for calibrating batch parameters of an infinite focusing camera, which can improve a calibration system and improve calibration precision.
(II) technical scheme: in order to solve the technical problems, the technical proposal provides a parameter calibration system of an infinite focusing camera, which is applied to the calibration of batch cameras on a production line and comprises a calibration center and a plurality of calibration terminals, wherein,
the calibration terminal comprises a camera and a plane mirror which are arranged on the two-dimensional turntable, a collimator and a gesture measuring device; the collimator comprises a target attitude control unit for adjusting the attitude of the collimator; the two-dimensional turntable comprises a two-dimensional turntable control unit which is used for adjusting the gesture of the two-dimensional turntable;
the calibration center comprises a central processing unit, a graphic processor, a storage unit, a judging unit, a target posture adjusting unit, a two-dimensional turntable adjusting unit and a measurement data receiving unit;
the image processor comprises a vision measurement pipeline, the vision measurement pipeline carries out iterative computation on an object point array-image point array of the same camera, and the judging unit adjusts the object point array-image point array according to a parameter calculation result of the vision measurement pipeline in the iterative computation;
the judging unit sends the real-time calculated object point array change to the target posture adjusting unit, sends the real-time calculated image point array change to the two-dimensional turntable control unit, and updates the target posture list in the target posture control unit and the light spot lattice in the two-dimensional turntable control unit in real time.
The parameter calibration system of the infinity focusing camera, wherein the calibration terminal sends the gesture of the two-dimensional turntable to the calibration center in real time, the camera sends the pixel value of the imaging image in the mirror surface to the calibration center, and the collimator sends the emergent direction of the parallel light to the calibration center; and the measurement data of the calibration terminal received by the measurement data receiving unit is stored in the storage unit.
The parameter calibration system of the infinity focusing camera comprises a theodolite and a photoelectric code disc.
The parameter calibration system of the infinity focusing camera comprises a graphic processor and a plurality of visual measuring pipelines which are calculated in parallel, wherein the visual measuring pipelines comprise an object image point coordinate calculating pipeline and a parameter calculating pipeline, and the parameter calculating pipeline comprises an internal parameter calculating module, an external parameter calculating module and a distortion calculating module.
The parameter calibration system of the infinity focusing camera is characterized in that the number of vision measurement pipelines in the graphic processor is consistent with the number of calibration terminals calibrated by the central processor.
The parameter calibration system of the infinity focusing camera is characterized in that the camera is calibrated and started, the calibration center sends a stored target gesture list to a target gesture control unit of a calibration terminal, and the calibration center sends a stored light spot array to the two-dimensional turntable control unit.
The parameter calibration system of the infinity focusing camera comprises a judging unit, a parameter calculation unit and a parameter calibration unit, wherein the judging unit adjusts and judges the result of parameter calculation through iteration object point coordinates, and if the internal parameter change is smaller than a first threshold value, the judging unit judges that the calculation part of the internal parameter is stable, and the distribution distinction degree of a residual point array is increased; and if the internal parameter change is smaller than the second threshold value, the judging unit judges that the calculation accuracy of the internal parameter is enough, and stops the input of the object point array.
The parameter calibration system of the infinity focusing camera comprises a judging unit, a calculating unit and a calculating unit, wherein the judging unit adjusts and judges the result of parameter calculation through iteration image point coordinates, and if the change of a distortion coefficient is larger than a third threshold value, the judging unit judges that the calculation of the distortion coefficient needs to increase the data volume and adjusts the image point lattice calculated by the rest to an edge area; if the distortion coefficient change is smaller than the third threshold value, the judging unit judges that the calculation accuracy of the distortion coefficient is enough, and the dot matrix of the residual calculated image points is unchanged.
The parameter calibration system of the infinity focusing camera is characterized in that the object point coordinate calculation pipeline and the parameter calculation pipeline are distributed in different cores of the graphic processor, and the object point coordinate calculation pipeline starts the calculation of the parameter calculation pipeline after the calculation is completed.
The parameter calibration method of the infinity focusing camera is applied to the calibration of batch cameras on a production line, comprises a calibration center and a plurality of calibration terminals, and comprises the following steps:
step one, erecting a plurality of calibration terminals, including a camera and a plane mirror which are arranged on a two-dimensional turntable, a collimator and a gesture measuring device; the collimator adjusts the posture of the collimator through a target posture control unit, and the two-dimensional turntable adjusts the posture of the two-dimensional turntable through a two-dimensional turntable control unit;
the second step, the calibration center comprises a central processing unit, a graphic processor, a storage unit, a judging unit, a target posture adjusting unit, a two-dimensional turntable adjusting unit and a measurement data receiving unit;
step three, the graphic processor carries out iterative computation on an object point array-image point array of the same camera through a vision measurement pipeline, and the judging unit adjusts the object point array-image point array according to a parameter computation result of the vision measurement pipeline in the iterative computation;
and step four, the judging unit sends the real-time calculated object point array change to the target posture adjusting unit, and sends the real-time calculated image point array change to the two-dimensional turntable control unit, and updates the target posture list in the target posture control unit and the spot lattice in the two-dimensional turntable control unit in real time.
(III) beneficial effects: the calibration system and the method for the parameters of the infinity focusing camera can realize the calibration of the parameters of the infinity focusing camera in batches, can adjust the target attitude list and the facula lattice in real time in the iterative calculation process of the object point array-image point array, and ensure that the calibration calculation of the camera is faster, the precision is more accurate and the required equipment is simple.
Drawings
FIG. 1 is a schematic diagram of a parameter calibration system for an infinity focusing camera according to the present invention;
FIG. 2 is a schematic diagram of the structure of the calibration terminal of the present invention;
fig. 3 is a flow chart of a parameter calibration method of an infinity focusing camera of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the preferred embodiments, and more details are set forth in the following description in order to provide a thorough understanding of the present invention, but it will be apparent that the present invention can be embodied in many other forms than described herein, and that those skilled in the art may make similar generalizations and deductions depending on the actual application without departing from the spirit of the present invention, and therefore should not be construed to limit the scope of the present invention in the context of this particular embodiment.
The drawings are schematic representations of embodiments of the invention, it being noted that the drawings are by way of example only and are not drawn to scale and should not be taken as limiting the true scope of the invention.
The invention provides a parameter calibration system of an infinite focusing camera, which is applied to the calibration of batch cameras on a production line and comprises a calibration center and a plurality of calibration terminals, wherein the plurality of calibration terminals send measurement data to the calibration center, and the calibration center performs calibration calculation on internal parameters, external parameters and distortion coefficients of the cameras.
The calibration terminal, as shown in fig. 2, comprises a 103 camera and a plane mirror 104 which are installed on a two-dimensional turntable 102, wherein the two-dimensional turntable 102 can adjust the gesture, and the gesture comprises an azimuth value and a pitching value; the device also comprises a collimator 101 and a posture measuring device 105, wherein the posture measuring device 105 can be a theodolite or a photoelectric coded disc. As shown in fig. 1, the collimator includes a target posture control unit for adjusting the posture of the collimator; the two-dimensional turntable comprises a two-dimensional turntable control unit which is used for adjusting the gesture of the two-dimensional turntable; the theodolite comprises a theodolite control unit for adjusting the posture of the theodolite. The invention can fix the camera and the plane mirror on the two-dimensional turntable, and the theodolite measures the gesture of the two-dimensional turntable, including azimuth value and pitching value. The invention introduces the parallel light vector emitted by the collimator into the plane mirror, virtualizes a target plane, calculates the intersection point of the parallel light vector and the virtual target plane, and uses the intersection point as the object point coordinate of the target plane, as shown in fig. 1 and 2.
The calibration center comprises a central processing unit (CPU, central Processing Unit), a graphic processor (GPU, graphics Processing Unit), a storage unit, a judging unit, a target posture adjusting unit, a two-dimensional turntable adjusting unit and a measurement data receiving unit.
And the gesture measuring device of the calibration terminal and the calibration center perform data transmission, and the gesture of the collimator and the gesture of the two-dimensional turntable are transmitted to the calibration center in real time. And the camera of the calibration terminal sends the pixel value of the imaging image in the mirror surface to the calibration center. And the collimator of the calibration terminal transmits the emergent direction of the parallel light to the calibration center. And the measurement data of the calibration terminal received by the measurement data receiving unit is stored in the storage unit.
The graphic processor comprises a plurality of vision measurement pipelines which are calculated in parallel, wherein the vision measurement pipelines comprise an object image point coordinate calculation pipeline and a parameter calculation pipeline, and the parameter calculation pipeline comprises an internal parameter calculation module, an external parameter calculation module and a distortion calculation module. The number of visual measurement pipelines in the graphic processor is consistent with the number of calibration terminals which the central processing unit is calibrating.
In the calibration process of the calibration center for batch cameras, a plurality of object points are required for calibrating one camera, a large number of image point coordinates of the same object point are required to be calculated, and a large number of matrix operations are required for calibrating internal parameters, external parameters and distortion coefficients through the object points and the image point arrays, so that parallel operations are performed by adopting a graphics processor, and the calibration speed of camera parameters and distortion coefficients of the batch cameras is improved.
A preferred embodiment of the calibration terminal of the present invention will be described in detail by taking the attitude measurement device as an example of a theodolite. The calibration terminal is provided with calibration equipment of a collimator, a two-dimensional turntable and a theodolite, wherein a camera and a plane mirror are fixed on the two-dimensional turntable, parallel light vectors emitted by the collimator are introduced into the plane mirror, and a target plane is virtually formed, so that the camera images the parallel light.
Aiming the theodolite at the collimator, aligning the parallel light spots with the theodolite cross wires, and recording the pitch value Ax1 and the azimuth value Ay1 of the theodolite to obtain the posture of the collimator, namely the target posture, so as to obtain the pitch value and the azimuth value of the collimator.
And (3) rotating the theodolite to enable the theodolite to auto-collimate the plane mirror, recording the pitching value Ax2 and the azimuth value Ay2 of the theodolite, and recording the gesture of the two-dimensional turntable. And the theodolite records the target gesture and the gesture of the two-dimensional turntable and sends the recorded gesture to a measurement data receiving unit of the central processing unit.
And the imaging image of the camera, namely the image of the light spot, and the pixel coordinates corresponding to the imaging image are x and y, and the imaging image is sent to the measurement data receiving unit of the central processing unit.
The measurement data receiving unit of the central processing unit receives attitude data of the collimator tube measured by the theodolite, attitude data of the two-dimensional turntable and pixel coordinates corresponding to an imaging image of the camera, namely light spot coordinates.
The storage unit stores a spot lattice, wherein the spot lattice is a standard lattice preset by camera calibration, and comprises the number and position distribution of spots. Preferably, the spot lattice is a 7×7 lattice. The spot lattices are uniformly arranged, and the lattices cover most areas of the view field.
The storage unit stores a target gesture list, the target gesture list is a collimator gesture list preset by camera calibration, the target gesture list and the object point array are in one-to-one correspondence, and the target gesture list determines the position of the object point array.
The camera calibration is started, the calibration center sends the stored target gesture list to a target gesture control unit of the calibration terminal, and the calibration center sends the stored light spot array to the two-dimensional turntable control unit. And the plurality of calibration terminals start camera calibration according to the data preset by the calibration center.
The two-dimensional turntable control unit receives the light spot lattice, controls the posture change of the collimator according to the target posture list, and can obtain an object point-image point array formed by one object point and a plurality of image points and an object point array-image point array formed by a plurality of object points and a plurality of image points.
And the two-dimensional turntable control unit controls the gesture of the two-dimensional turntable according to the coordinates of the spot lattice of the calibration center, wherein the gesture comprises an azimuth value and a pitching value. The light spot lattice is 7×7 lattice, the two-dimensional turntable control unit controls the two-dimensional turntable to enable light spots formed by parallel light on an imaging image of the camera to be 7×7 approximately uniform lattice, and the light spot lattice covers most areas of a field of view. According to the invention, the two-dimensional turntable is rotated for a plurality of times, so that a plurality of image points on the target plane can be simulated, and the corresponding relation of the object point-image point array is formed. The two-dimensional turntable points to different target directions according to discrete corner instructions corresponding to the spot lattices in the two-dimensional turntable control unit.
In the calibration center, in the calibration of batch cameras, aiming at the posture adjustment calculation of the collimator and the posture adjustment calculation of the two-dimensional turntable, a central processing unit is used for calculating; and the object point coordinate calculation, the internal parameter, the external parameter and the distortion coefficient calculation with large calculation amount are operated in parallel by the graphic processor.
The two-dimensional turntable adjusting unit adjusts the spot lattice according to the change of the camera calibration parameters to obtain the optimized spot array corresponding to the spot lattice.
The steps of the vision measuring pipeline in the graphic processor are as follows:
the object point coordinate calculation pipeline comprises the following steps of calculating an object point-image point array:
the theodolite aims at the collimator, marks pitch as Ax1 and azimuth as Ay1, namely obtains attitude data of the collimator target, and sends the attitude data to the central processing unit. The central processor sends to a vision measurement pipeline of the graphics processor. The object point coordinate calculation pipeline specifically comprises the following steps:
calculating the parallel light emergent direction reversal of the parallel light vector:
the coordinates of the parallel light vector in the plane mirror are:
wherein:
the virtual target plane is arranged right in front of the plane mirror, the conversion angles of the plane mirror coordinate system to the target coordinate system are jx, jy and jz, and the rotation sequence is that X is firstly wound, Y is wound and Z is wound. The origin of coordinates of the plane mirror is used as T in the target coordinate system, and the target can be set to be 1m in front of the plane mirror, and then:
the invention is to understand the light vector as a coordinate point, and the coordinate point is expressed in a target coordinate system along the direction of the light vector and parallel to the origin as a unit distance:
the light vector passes through the origin of the plane mirror coordinate system, so that one point on the light vector straight line is P2, the other point is the origin of the plane mirror coordinate system, and the point in the target coordinate system is T.
Knowing two points P (x 1, y1, z 1), Q (x 2, y2, z 2) on a straight line, the straight line equation is:
obviously, the intersection point of the target plane (the plane of z=0 in the target coordinate system) and the straight line is:
the point is the coordinates of the object point. And extracting the spot center formed by the parallel light from the image formed by the camera at the moment to form a pair of object image points, and storing the calculated image points in a storage unit of a central processing unit.
The invention calculates the image point corresponding to the object point through the object point coordinate calculation pipeline of the graphic processor, and sends the calculated image point coordinate to the central processing unit to be stored in the storage unit.
And fixing a virtual target coordinate system (namely keeping jx, jy, jz, T unchanged), rotating the turntable for a plurality of times, and forming 7 multiplied by 7 according to the azimuth and pitching values of the theodolite aiming plane mirror, wherein 49 object point pairs are formed in total, namely an object point-image point array.
The invention can change the gesture of the virtual two-dimensional turntable, and still uses the azimuth and pitching values of the collimator and the sighting plane mirror of the theodolite to re-calculate the coordinates to form new 49 object image point pairs.
The invention sets the pose jx, jy and jz of a virtual target, if the pose is randomly valued within +/-20 degrees, the distance of the virtual target is fixed, and the pose can be set as follows:
for each spot point of 7 x 7, the following formula is followed:
and calculating corresponding object point coordinates to form an object point pair view, namely an object point-image point array.
The invention fixes the virtual target distance, and the target gesture list comprises more than 7 virtual target gestures, so that more than 7 object point pair views, namely an object point array-image point array, can be calculated.
The data of the object point array-image point array is sent to a parameter calculation pipeline of the graphic processor, and internal parameters, external parameters, rotation vectors, translation vectors, distortion coefficients and the like of the camera can be calculated iteratively.
And after the image point coordinates corresponding to the object point coordinates are calculated, obtaining an object point-image point array, starting a parameter calculation pipeline of the graphic processor, sequentially calculating by using an internal parameter calculation module, an external parameter calculation module and a distortion calculation module, and returning calculated calibration data to an adjusting unit of the central processing unit.
The vision measurement pipeline carries out iterative computation on the object point array-image point array of the same camera through the vision measurement pipeline, and the judging unit adjusts the object point array-image point array according to the parameter computation result of the vision measurement pipeline. And the adjusted vision measurement pipeline carries out iterative computation on the object point array-image point array of the same camera through the vision measurement pipeline, and the judging unit adjusts the object point array-image point array according to the parameter computation result of the vision measurement pipeline.
Taking more than 7 dot matrixes as an example of the object point array, the judging unit adjusts and judges the parameter calculation result through iteration object point coordinates, and if the internal parameter change is smaller than a first threshold value, the judging unit judges that the calculation part of the internal parameter is stable, and the distribution distinction degree of the residual dot array is increased; and if the internal parameter change is smaller than the second threshold value, the judging unit judges that the calculation accuracy of the internal parameter is enough, and stops the input of the object point array.
Taking a dot matrix with the image point array of 7*7 as an example for explanation, the judging unit adjusts and judges the result of parameter calculation through iteration image point coordinates, and if the distortion coefficient change is greater than a third threshold value, the judging unit judges that the calculation of the distortion coefficient needs to increase the data volume, and adjusts the dot matrix of the image points which are calculated to the edge area; if the distortion coefficient change is smaller than the third threshold value, the judging unit judges that the calculation accuracy of the distortion coefficient is enough, and the dot matrix of the residual calculated image points is unchanged.
The judging unit sends the real-time calculated object point array change to the target posture adjusting unit, sends the real-time calculated image point array change to the two-dimensional turntable control unit, and updates the target posture list in the target posture control unit and the light spot lattice in the two-dimensional turntable control unit in real time.
The parameter calculation pipeline of the graphics processor of the present invention may use the algorithm in Zhang Zhengyou calibration method, or other camera calibration algorithms, without limitation.
The object point coordinate calculating pipeline and the parameter calculating pipeline are distributed in different cores (kernel) of the graphic processor, and after the calculation meets the set condition, namely after the calculation of the image point corresponding to the object point is finished, the calculation of the parameter calculating pipeline is started.
The invention provides a parameter calibration system of an infinite focusing camera, which is applied to calibration of batch cameras on a production line, and comprises a calibration center and a plurality of calibration terminals, wherein the calibration terminals comprise cameras and plane mirrors which are arranged on a two-dimensional turntable, and further comprise a collimator and a gesture measuring device; the collimator comprises a target attitude control unit for adjusting the attitude of the collimator; the two-dimensional turntable comprises a two-dimensional turntable control unit for adjusting the posture of the two-dimensional turntable. The calibration center comprises a central processing unit, a graphic processor, a storage unit, a judging unit, a target posture adjusting unit, a two-dimensional turntable adjusting unit and a measurement data receiving unit. The image processor comprises a vision measurement pipeline, the vision measurement pipeline carries out iterative computation on an object point array-image point array of the same camera, and the judging unit adjusts the object point array-image point array according to a parameter calculation result of the vision measurement pipeline in the iterative computation. The judging unit sends the real-time calculated object point array change to the target posture adjusting unit, sends the real-time calculated image point array change to the two-dimensional turntable control unit, and updates the target posture list in the target posture control unit and the light spot lattice in the two-dimensional turntable control unit in real time.
The invention provides a parameter calibration method of an infinite focusing camera, which comprises the following steps:
step one, erecting a plurality of calibration terminals, including a camera and a plane mirror which are arranged on a two-dimensional turntable, a collimator and a gesture measuring device; the collimator adjusts the posture of the collimator through a target posture control unit, and the two-dimensional turntable adjusts the posture of the two-dimensional turntable through a two-dimensional turntable control unit;
the second step, the calibration center comprises a graphic processor, a storage unit, a judging unit, a target posture adjusting unit, a two-dimensional turntable adjusting unit and a measurement data receiving unit;
step three, the graphic processor carries out iterative computation on an object point array-image point array of the same camera through a vision measurement pipeline, and the judging unit adjusts the object point array-image point array according to a parameter computation result of the vision measurement pipeline in the iterative computation;
and step four, the judging unit sends the real-time calculated object point array change to the target posture adjusting unit, and sends the real-time calculated image point array change to the two-dimensional turntable control unit, and updates the target posture list in the target posture control unit and the spot lattice in the two-dimensional turntable control unit in real time.
The calibration system and the method for the parameters of the infinity focusing camera can realize the calibration of the parameters of the infinity focusing camera in batches, can adjust the target attitude list and the facula lattice in real time in the iterative calculation process of the object point array-image point array, and ensure that the calibration calculation of the camera is faster, the precision is more accurate and the required equipment is simple. The calibration of camera parameters, particularly external parameters, internal parameters and distortion coefficients, is very important when an infinitely focusing camera is used for measurement, and is a necessary way for improving the accuracy of photogrammetry. The invention provides a simple, effective and easy-to-implement calibration method.
The foregoing is a description of a preferred embodiment of the invention to assist those skilled in the art in more fully understanding the invention. However, these examples are merely illustrative, and the present invention is not to be construed as being limited to the descriptions of these examples. It should be understood that, to those skilled in the art to which the present invention pertains, several simple deductions and changes can be made without departing from the inventive concept, and these should be considered as falling within the scope of the present invention.
Claims (9)
1. The parameter calibration system for the infinite focusing camera is applied to the calibration of batch cameras on a production line and comprises a calibration center and a plurality of calibration terminals, and is characterized in that,
the calibration terminal comprises a camera and a plane mirror which are arranged on the two-dimensional turntable, a collimator and a gesture measuring device; the collimator comprises a target attitude control unit for adjusting the attitude of the collimator; the two-dimensional turntable comprises a two-dimensional turntable control unit which is used for adjusting the gesture of the two-dimensional turntable;
the calibration center comprises a central processing unit, a graphic processor, a storage unit, a judging unit, a target posture adjusting unit, a two-dimensional turntable adjusting unit and a measurement data receiving unit;
the graphic processor comprises a plurality of vision measurement pipelines for parallel calculation, wherein the vision measurement pipelines comprise an object image point coordinate calculation pipeline and a parameter calculation pipeline, and the parameter calculation pipeline comprises an internal parameter calculation module, an external parameter calculation module and a distortion calculation module;
the two-dimensional turntable adjusting unit is used for adjusting the spot lattice according to the change of the camera calibration parameters to obtain an optimized image point array corresponding to the spot lattice; fixing the virtual target distance, wherein the target gesture list comprises more than 7 virtual target gestures, and calculating more than 7 object point pair views, namely an object point array-image point array; sending the data of the object point array-image point array to a parameter calculation pipeline of a graphic processor, and iteratively calculating internal parameters, external parameters, rotation vectors, translation vectors and distortion coefficients of a camera;
after the image point coordinates corresponding to the object point coordinates are calculated, an object point array-image point array is obtained, then a parameter calculation pipeline of the graphic processor is started, the parameter calculation pipeline is sequentially calculated by an internal parameter calculation module, an external parameter calculation module and a distortion calculation module, and calculated calibration data are returned to an adjusting unit of the central processor;
the visual measurement pipeline carries out iterative computation on an object point array-image point array of the same camera, and the judging unit adjusts the object point array-image point array according to a parameter calculation result of the visual measurement pipeline in the iterative computation; the adjusted vision measurement pipeline is used for carrying out iterative computation on an object point array-image point array of the same camera through the vision measurement pipeline, and the judging unit is used for adjusting the object point array-image point array according to the parameter computation result of the vision measurement pipeline;
the judging unit sends the real-time calculated object point array change to the target posture adjusting unit, sends the real-time calculated image point array change to the two-dimensional turntable control unit, and updates the target posture list in the target posture control unit and the light spot lattice in the two-dimensional turntable control unit in real time.
2. The parameter calibration system of an infinity focusing camera of claim 1 wherein the calibration terminal transmits the pose of the two-dimensional turret to the calibration center in real time, the camera transmits the pixel value of the imaged image in the mirror to the calibration center, and the collimator transmits the parallel light exit direction to the calibration center; and the measurement data of the calibration terminal received by the measurement data receiving unit is stored in the storage unit.
3. The parameter calibration system of an infinity focusing camera of claim 2, wherein the attitude measurement means comprises a theodolite, an optoelectronic code wheel.
4. A parameter calibration system for an infinity focus camera according to claim 1 wherein the number of vision measurement lines in the graphics processor is consistent with the number of calibration terminals being calibrated by the central processor.
5. The parameter calibration system of an infinity focusing camera of claim 1, wherein the camera calibration is initiated, the calibration center transmits a stored list of target poses to a target pose control unit of a calibration terminal, and the calibration center transmits a stored array of light spots to the two-dimensional turret control unit.
6. The parameter calibration system of an infinity focusing camera according to claim 5, wherein the judging unit adjusts and judges the result of parameter calculation by iterating object point coordinates, and if the variation of the internal reference is smaller than a first threshold, the judging unit judges that the calculation part of the internal reference is stable, and increases the distribution discrimination of the residual point array; and if the internal parameter change is smaller than the second threshold value, the judging unit judges that the calculation accuracy of the internal parameter is enough, and stops the input of the object point array.
7. The parameter calibration system of an infinity focusing camera according to claim 6, wherein the judging unit adjusts and judges the result of parameter calculation by iterating the coordinates of the image points, if the distortion coefficient change is greater than a third threshold, the judging unit judges that the calculation of the distortion coefficient requires an increased data amount, and adjusts the remaining calculated dot matrix of the image points toward the edge area; if the distortion coefficient change is smaller than the third threshold value, the judging unit judges that the calculation accuracy of the distortion coefficient is enough, and the dot matrix of the residual calculated image points is unchanged.
8. The system of claim 7, wherein the object point coordinate calculation pipeline and the parameter calculation pipeline are distributed in different cores of the graphics processor, and the object point coordinate calculation pipeline starts calculation of the parameter calculation pipeline after calculation is completed.
9. The parameter calibration method of the infinite focusing camera is applied to the calibration of batch cameras on a production line and comprises a calibration center and a plurality of calibration terminals, and is characterized by comprising the following steps:
step one, erecting a plurality of calibration terminals, including a camera and a plane mirror which are arranged on a two-dimensional turntable, a collimator and a gesture measuring device; the collimator adjusts the posture of the collimator through a target posture control unit, and the two-dimensional turntable adjusts the posture of the two-dimensional turntable through a two-dimensional turntable control unit;
the second step, the calibration center comprises a central processing unit, a graphic processor, a storage unit, a judging unit, a target posture adjusting unit, a two-dimensional turntable adjusting unit and a measurement data receiving unit;
the graphic processor comprises a plurality of vision measurement pipelines for parallel calculation, wherein the vision measurement pipelines comprise an object image point coordinate calculation pipeline and a parameter calculation pipeline, and the parameter calculation pipeline comprises an internal parameter calculation module, an external parameter calculation module and a distortion calculation module;
the two-dimensional turntable adjusting unit is used for adjusting the spot lattice according to the change of the camera calibration parameters to obtain an optimized image point array corresponding to the spot lattice; fixing the virtual target distance, wherein the target gesture list comprises more than 7 virtual target gestures, and calculating more than 7 object point pair views, namely an object point array-image point array; sending the data of the object point array-image point array to a parameter calculation pipeline of a graphic processor, and iteratively calculating internal parameters, external parameters, rotation vectors, translation vectors and distortion coefficients of a camera;
after the image point coordinates corresponding to the object point coordinates are calculated, an object point array-image point array is obtained, then a parameter calculation pipeline of the graphic processor is started, the parameter calculation pipeline is sequentially calculated by an internal parameter calculation module, an external parameter calculation module and a distortion calculation module, and calculated calibration data are returned to an adjusting unit of the central processor;
the image processor carries out iterative computation on an object point array-image point array of the same camera through a vision measurement pipeline, and the judging unit adjusts the object point array-image point array according to a parameter calculation result of the vision measurement pipeline in the iterative computation; the adjusted vision measurement pipeline is used for carrying out iterative computation on an object point array-image point array of the same camera through the vision measurement pipeline, and the judging unit is used for adjusting the object point array-image point array according to the parameter computation result of the vision measurement pipeline;
and step four, the judging unit sends the real-time calculated object point array change to the target posture adjusting unit, and sends the real-time calculated image point array change to the two-dimensional turntable control unit, and updates the target posture list in the target posture control unit and the spot lattice in the two-dimensional turntable control unit in real time.
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