CN116797663A - Evaluation method and device for fisheye camera external parameter calibration and electronic equipment - Google Patents
Evaluation method and device for fisheye camera external parameter calibration and electronic equipment Download PDFInfo
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Abstract
The disclosure provides an evaluation method, an evaluation device and electronic equipment for external parameter calibration of a fisheye camera, relates to the field of fisheye camera operation, and solves the problem that in the related art, when external parameters of the fisheye camera are calibrated, large labor cost is required to be consumed to ensure the calibration precision of the fisheye camera. The method comprises the following steps: determining the optical center deviation value of each fish-eye camera according to the pre-configured optical psychology coordinate and optical center actual coordinate of each fish-eye camera in the world coordinate system; determining an optical axis deviation value of each fisheye camera according to a preset optical axis theoretical included angle and an optical axis actual included angle of each fisheye camera in a world coordinate system; and under the condition that the optical center deviation values are smaller than the Yu Guangxin threshold value and the optical axis deviation values are smaller than the optical axis threshold value, determining that the calibration result of at least one fisheye camera is successful.
Description
Technical Field
The disclosure relates to the field of fisheye camera surgery, in particular to an evaluation method and device for fisheye camera external parameter calibration and electronic equipment.
Background
At present, when the external parameters of the fisheye camera are calibrated, images of a plurality of fixed calibration objects are acquired through the fisheye camera to determine the position information of the fisheye camera and the position information of the reference pattern, and then the external parameters of the fisheye camera are determined according to the position information of the fisheye camera and the position information of the reference pattern. When the external parameters of the fish-eye camera are calibrated in the mode, the positions of the calibration object and the fish-eye camera are required to be manually adjusted for many times, the fish-eye camera is ensured to acquire the images of the calibration object under different visual angles, the arrangement posture greatly affects the calibration accuracy, and usually, as many calibration object postures as possible are required to ensure the calibration accuracy, so that the labor cost is high.
Disclosure of Invention
In order to solve the technical problems, the disclosure provides an evaluation method, an evaluation device and electronic equipment for calibrating the external parameters of a fisheye camera, which solve the problem that in the related art, when the external parameters of the fisheye camera are calibrated, a large labor cost is required to be consumed to ensure the calibration precision of the fisheye camera.
In order to achieve the above purpose, the present disclosure adopts the following technical scheme:
in a first aspect, the present disclosure provides a method of assessing a fisheye camera extrinsic calibration, the fisheye camera including at least one. The method comprises the following steps: acquiring the optical center coordinates of each fisheye camera in at least one fisheye camera under a camera coordinate system, and the optical axis vector of the optical axis of each fisheye camera under the camera coordinate system; according to the first RT matrix and the optical center coordinates, determining the optical center actual coordinates of each fish-eye camera under the world coordinate system; the first RT matrix comprises a first rotation matrix R and a first translation matrix t; determining the optical center deviation value of each fish-eye camera according to the pre-configured optical psychology coordinate and optical center actual coordinate of each fish-eye camera in the world coordinate system; determining the actual included angle of the optical axis of each fisheye camera under the world coordinate system according to the second RT matrix and the optical axis vector; wherein the second RT matrix comprises a second rotation matrix R and a second translation matrix t; determining an optical axis deviation value of each fisheye camera according to a preset optical axis theoretical included angle and an optical axis actual included angle of each fisheye camera in a world coordinate system; and under the condition that the optical center deviation values are smaller than the Yu Guangxin threshold value and the optical axis deviation values are smaller than the optical axis threshold value, determining that the calibration result of at least one fisheye camera is successful.
In some practical examples, before acquiring the optical center coordinates of each fisheye camera in the at least one fisheye camera under the camera coordinate system and the optical axis vector of the optical axis of each fisheye camera under the camera coordinate system, the disclosure provides an evaluation method for fisheye camera external parameter calibration, which further includes: acquiring the current ground plane; establishing a world coordinate system according to the ground plane; wherein, xoY plane of world coordinate system is parallel with the ground plane, and X axis direction level is right, and Y axis direction level is forward, and o is the origin, and the Z axis is perpendicular to XoY plane.
In some examples, determining the optical center deviation value for each fisheye camera based on the pre-configured optical psychology coordinates and optical center actual coordinates of each fisheye camera in the world coordinate system comprises: and determining the optical center deviation value of each fish-eye camera on the X axis, the Y axis and the Z axis respectively according to the pre-configured optical psychology coordinate and the optical center actual coordinate of each fish-eye camera in the world coordinate system.
In some examples, the world coordinate system includes a XoY plane, a XoZ plane, and a YoZ plane, and determining the optical axis deviation value of each fisheye camera based on the preconfigured theoretical optical axis angle and the actual optical axis angle of each fisheye camera in the world coordinate system includes: and determining the optical axis deviation value of each fisheye camera on a XoY plane, a XoZ plane and a YoZ plane respectively according to the preset optical axis theoretical included angle and the optical axis actual included angle of each fisheye camera in the world coordinate system.
In some examples, the disclosure provides an evaluation method for fisheye camera extrinsic calibration, further comprising: and determining that the calibration result of the at least one fisheye camera is a calibration failure when the optical center deviation value larger than or equal to the optical center threshold value exists and/or the optical axis deviation value larger than or equal to the optical axis threshold value exists.
In some examples, the optical center threshold is equal to 2cm and the optical axis threshold is equal to 2 °.
In a second aspect, the present disclosure provides an evaluation device for fisheye camera extrinsic calibration, applied to a vehicle, the vehicle being provided with at least one fisheye camera, comprising: an acquisition unit for acquiring the optical center coordinates of each fisheye camera in the at least one fisheye camera in the camera coordinate system and the optical axis vector of the optical axis of each fisheye camera in the camera coordinate system; the processing unit is used for determining the actual optical center coordinates of each fish-eye camera under the world coordinate system according to the first RT matrix and the optical center coordinates acquired by the acquisition unit; the first RT matrix comprises a first rotation matrix R and a first translation matrix t; the processing unit is also used for determining the optical center deviation value of each fish-eye camera according to the optical psychology coordinate and the optical center actual coordinate of each pre-configured fish-eye camera in the world coordinate system; the processing unit is also used for determining the actual included angle of the optical axis of each fisheye camera under the world coordinate system according to the second RT matrix and the included angle of the optical axis acquired by the acquisition unit; wherein the second RT matrix comprises a second rotation matrix R and a second translation matrix t; the processing unit is also used for determining an optical axis deviation value of each fisheye camera according to a preset optical axis theoretical included angle and an optical axis actual included angle of each fisheye camera in a world coordinate system; and the processing unit is also used for determining that the calibration result of at least one fisheye camera is successful under the condition that the optical center deviation values are all smaller than the Yu Guangxin threshold value and the optical axis deviation values are all smaller than the optical axis threshold value.
In some practical examples, the acquiring unit is further configured to acquire a ground plane where the current ground plane is located; the processing unit is also used for establishing a world coordinate system according to the ground plane acquired by the acquisition unit; wherein, xoY plane of world coordinate system is parallel with the ground plane, and X axis direction level is right, and Y axis direction level is forward, and o is the origin, and the Z axis is perpendicular to XoY plane.
In some practical examples, the processing unit is specifically configured to determine the optical center deviation value of each fisheye camera in the X-axis, the Y-axis and the Z-axis according to the pre-configured optical psychology coordinate and the optical center actual coordinate of each fisheye camera in the world coordinate system.
In some practical examples, the world coordinate system includes a XoY plane, a XoZ plane and a YoZ plane, and the processing unit is specifically configured to determine the optical axis deviation value of each fisheye camera on the XoY plane, the XoZ plane and the YoZ plane respectively according to a pre-configured theoretical optical axis angle and an actual optical axis angle of each fisheye camera under the world coordinate system.
In some practical examples, the processing unit is further configured to determine that the calibration result of the at least one fisheye camera is a calibration failure if there is a light center deviation value greater than or equal to a light center threshold value and/or if there is a light axis deviation value greater than or equal to a light axis threshold value.
In some examples, the optical center threshold is equal to 2cm and the optical axis threshold is equal to 2 °.
In a third aspect, the present disclosure provides an electronic device comprising: communication interface, processor, memory, bus; the memory is used for storing computer execution instructions, and the processor is connected with the memory through a bus. When the electronic device is running, the processor executes the computer-executable instructions stored in the memory to cause the electronic device to perform the method for evaluating the fisheye camera extrinsic calibration as provided in the first aspect above.
In a fourth aspect, the present disclosure provides a computer-readable storage medium comprising instructions. The instructions, when executed on a computer, cause the computer to perform the method of assessing fisheye camera extrinsic calibration as provided in the first aspect above.
In a fifth aspect, the present disclosure provides a computer program product, which when run on a computer, causes the computer to perform the method for evaluating the calibration of the external parameters of a fisheye camera according to the design style of the first aspect.
It should be noted that the above-mentioned computer instructions may be stored in whole or in part on the first computer readable storage medium. The first computer readable storage medium may be packaged together with the processor of the fisheye camera external parameter calibration evaluation device, or may be packaged separately from the processor of the fisheye camera external parameter calibration evaluation device, which is not limited in this disclosure.
The descriptions of the second, third, fourth, and fifth aspects of the present disclosure may be referred to the detailed description of the first aspect; further, the advantageous effects described in the second aspect, the third aspect, the fourth aspect, and the fifth aspect may refer to the advantageous effect analysis of the first aspect, and are not described herein.
In the present disclosure, the names of the above-mentioned evaluation devices for fisheye camera external parameter calibration do not constitute limitations on the devices or function modules themselves, which may appear under other names in actual implementations. Insofar as the function of each device or function module is similar to the present disclosure, it is within the scope of the claims of the present disclosure and the equivalents thereof.
These and other aspects of the disclosure will be more readily apparent from the following description.
Compared with the prior art, the technical scheme provided by the disclosure has the following advantages:
the optical center coordinates of each fish-eye camera in the at least one fish-eye camera in the camera coordinate system and the optical axis vector of the optical axis of each fish-eye camera in the camera coordinate system are obtained, so that the optical center actual coordinates of each fish-eye camera in the world coordinate system and the optical axis actual included angle of each fish-eye camera in the world coordinate system can be determined. And then, comparing the optical center deviation value of the optical psychology coordinate and the optical center actual coordinate of each pre-configured fish-eye camera in the world coordinate system with the optical axis deviation value of the optical axis theoretical included angle and the optical axis actual included angle of each pre-configured fish-eye camera in the world coordinate system, so that the accuracy of external parameter calibration of the fish-eye camera can be determined. Such as: and under the condition that the optical center deviation values are smaller than the Yu Guangxin threshold value and the optical axis deviation values are smaller than the optical axis threshold value, the accuracy of the external parameter calibration of each fisheye camera is proved to meet the condition, and at the moment, the calibration result of at least one fisheye camera is determined to be successful. Therefore, the manual requirement can be greatly reduced, the automobile can evaluate the external parameter calibration of at least one fisheye camera by itself, and the problem that the calibration precision of the fisheye camera needs to be ensured by consuming larger labor cost when the external parameter of the fisheye camera is calibrated in the related technology is solved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure.
In order to more clearly illustrate the embodiments of the present disclosure or the solutions in the prior art, the drawings that are required for the description of the embodiments or the prior art will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.
Fig. 1 is a schematic flow chart of an evaluation method for fisheye camera external parameter calibration according to an embodiment of the disclosure;
FIG. 2 is a second flow chart of an evaluation method for fisheye camera extrinsic calibration according to an embodiment of the disclosure;
fig. 3 is a schematic structural diagram of an evaluation device for calibrating external parameters of a fisheye camera according to an embodiment of the disclosure;
FIG. 4 is a second schematic structural diagram of an evaluation device for calibrating external parameters of a fisheye camera according to an embodiment of the disclosure;
fig. 5 is a schematic structural diagram of a computer program product of a method for evaluating fisheye camera external parameter calibration according to an embodiment of the disclosure.
Detailed Description
In order that the above objects, features and advantages of the present disclosure may be more clearly understood, a further description of aspects of the present disclosure will be provided below. It should be noted that, without conflict, the embodiments of the present disclosure and features in the embodiments may be combined with each other.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced otherwise than as described herein; it will be apparent that the embodiments in the specification are only some, but not all, embodiments of the disclosure.
It should be noted that in this document, relational terms such as "first" and "second" and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, 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 … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
In the method for evaluating the external parameter calibration of the fisheye camera provided by the embodiment of the disclosure, the external parameter of the fisheye camera is also called as a camera pose, and the external parameter calibration comprises a rotation matrix R and a translation matrix t.
In the evaluation method for the fisheye camera external parameter calibration provided by the embodiment of the disclosure, the fisheye camera external parameter calibration refers to determining a rotation matrix R and a translation matrix t, which are used for describing the conversion relationship between a camera coordinate system and other coordinate systems (such as a vehicle body coordinate system).
In the prior art, a vehicle-mounted looking-around system is a panoramic looking-around system formed by splicing image videos acquired by fish-eye cameras (or 6,8 or more) arranged in the front, back, left and right directions of a vehicle body of an automobile. The environment-friendly view spliced by the vehicle-mounted environment-friendly system depends on the external parameters of the fisheye camera, and the external parameters of the fisheye camera are calibrated by using fixed reference patterns when leaving a factory. If the labeling precision is low, the looking-around splicing dislocation displayed by the vehicle-mounted looking-around system is caused. Therefore, the embodiment of the disclosure provides an evaluation method for external parameter calibration of fish-eye cameras, by acquiring the optical center coordinates of each fish-eye camera in at least one fish-eye camera in a camera coordinate system and the optical axis vector of the optical axis of each fish-eye camera in the camera coordinate system, the optical center actual coordinates of each fish-eye camera in the world coordinate system and the optical axis actual included angle of each fish-eye camera in the world coordinate system can be determined. And then, comparing the optical center deviation value of the optical psychology coordinate and the optical center actual coordinate of each pre-configured fish-eye camera in the world coordinate system with the optical axis deviation value of the optical axis theoretical included angle and the optical axis actual included angle of each pre-configured fish-eye camera in the world coordinate system, so that the accuracy of external parameter calibration of the fish-eye camera can be determined. Such as: and under the condition that the optical center deviation values are smaller than the Yu Guangxin threshold value and the optical axis deviation values are smaller than the optical axis threshold value, the accuracy of the external parameter calibration of each fisheye camera is proved to meet the condition, and at the moment, the calibration result of at least one fisheye camera is determined to be successful.
The specific implementation process is as follows:
it should be noted that, when the vehicle executes the evaluation method for calibrating the external parameters of the fisheye camera provided by the embodiment of the disclosure, the execution subject is the processor of the vehicle. Such as: the vehicle is an automobile, and the execution main body for executing the evaluation method for the fisheye camera external parameter calibration provided by the embodiment of the disclosure is a processor of the automobile.
By taking a vehicle as an example, an evaluation method for calibrating an external parameter of a fisheye camera provided by the embodiment of the disclosure is described. As shown in fig. 1, the evaluation method of the fisheye camera external parameter calibration includes the following contents of S11-S16:
s11, acquiring the optical center coordinates of each fisheye camera in at least one fisheye camera under a camera coordinate system, and the optical axis vector of each fisheye camera under the camera coordinate system.
In some examples, the camera coordinate system is a three-dimensional rectangular coordinate system established with the focus center of the fisheye camera as the origin and the optical axis as the Z axis. The origin coordinates of the camera coordinate system are the optical center coordinates of the fisheye camera.
S12, determining the actual optical center coordinates of each fish-eye camera under the world coordinate system according to the first RT matrix and the optical center coordinates.
In some examples, the first RT matrix includes a first rotation matrix R and a first translation matrix t. Such as: after the fish-eye camera is fixed on the body of the automobile, the automobile is parked at a fixed position of a calibration field, and whether the parking position of the automobile is correct or not is detected through the limiter. Under the condition that the parking position of the automobile is determined to be correct, the automobile establishes a world coordinate system by means of a calibration object in a calibration field, a transformation relation between a camera coordinate system (a fish-eye camera and an automobile body of the automobile are kept relatively static) and the world coordinate system is fixed (for example, the relation between the automobile body and the position and the posture of the calibration object is always kept fixed during parking), and the first RT matrix of the camera coordinate system and the world coordinate system is determined by using imaging information of the calibration object on an image plane and inherent size information of the calibration object.
The first RT matrix may be, for exampleRepresenting a transformation matrix of the camera coordinate system to the world coordinate system.
In other examples, coordinates in the world coordinate system may also be converted into the camera coordinate system. Wherein the transformation matrix of the world coordinate system to the camera coordinate system is as follows
Specifically, when multiplying the coordinates in the camera coordinate system with the first RT matrix, the coordinates in the camera coordinate system need to be converted into homogeneous coordinates. Such as: the homogeneous coordinate of the optical center coordinate of the fisheye camera (namely the coordinate origin under the camera coordinate system) is (0, 1), and after the automobile multiplies the (0, 1) with the first RT matrix, the coordinate point (XC, YC, ZC) of the optical center coordinate under the world coordinate system is obtained.
Specifically, the real coordinates of the optical center of the fisheye camera in the world coordinate system are equal to the product of the first RT matrix and the coordinates of the optical center.
S13, determining the optical center deviation value of each fish-eye camera according to the pre-configured optical psychology coordinate and the optical center actual coordinate of each fish-eye camera in the world coordinate system.
In some examples, the optical center deviation value is equal to a distance between optical psychologic coordinates and optical center actual coordinates. In other examples, the distance between the optical psychological coordinate and the optical center actual coordinate cannot well reflect the actual position relationship between the optical psychological coordinate and the optical center actual coordinate, so that the distances between the optical psychological coordinate and the optical center actual coordinate in the directions of the X axis, the Y axis and the Z axis can be calculated respectively, the actual position relationship between the optical psychological coordinate and the optical center actual coordinate can be reflected better, and the accuracy of the external parameter calibration of the fisheye camera is ensured.
Specifically, in the initial design stage of the automobile, the design and installation position of the fisheye camera on the automobile body of the automobile can be determined, so that the optical psychology theory coordinate of the fisheye camera under the world coordinate system and the optical axis theory included angle of the fisheye camera under the world coordinate system can be determined according to the design and installation position. Therefore, in the actual installation process of the fisheye camera, if the fisheye camera is not installed at the designed installation position, the optical center deviation value between the optical center actual coordinate and the optical psychology coordinate is larger, and meanwhile, the optical axis deviation value between the optical axis theoretical included angle and the optical axis actual included angle is larger. Therefore, the accuracy of the external parameter calibration of the fisheye camera of the automobile is low, and the user experience is affected. Therefore, according to the evaluation method for the external parameter calibration of the fisheye camera, the actual optical center coordinates and the optical psychological coordinates of the fisheye camera, and the theoretical included angle of the optical axis and the actual included angle of the optical axis of the fisheye camera are compared, so that the accuracy of the external parameter calibration of the fisheye camera can be determined, and the user experience is ensured.
S14, determining the actual included angle of the optical axis of each fisheye camera under the world coordinate system according to the second RT matrix and the optical axis vector.
In some examples, the second RT matrix includes a second rotation matrix R and a second translation matrix t.
Specifically, the first RT matrix is identical to the second RT matrix.
Specifically, the calculation process of the second RT matrix is similar to that of the first RT matrix, and will not be described herein.
In some examples, the vehicle determines an actual included angle of the optical axis of each fisheye camera in the world coordinate system based on the second RT matrix and the optical axis vector, comprising:
and the automobile determines the actual vector of the optical axis of each fisheye camera under the world coordinate system according to the second RT matrix and the optical axis vector.
And the automobile determines the actual included angle between the actual vector of the optical axis corresponding to each fisheye camera and the optical axis of each plane in the world coordinate system according to the actual vector of the optical axis of each fisheye camera in the world coordinate system.
Specifically, the world coordinate system includes 3 planes, which are an XOY plane, an XOZ plane, and a YOZ plane, respectively. The included angle between the actual vector of the optical axis and each of the 3 planes is the actual included angle of the optical axis. Such as: the actual angle of the optical axis between the actual vector of the optical axis and the XOY plane can be denoted as FaiXY, the actual angle of the optical axis between the actual vector of the optical axis and the XOZ plane can be denoted as FaiXZ, and the actual angle of the optical axis between the actual vector of the optical axis and the YOZ plane can be denoted as FaiYZ.
The origin of the world coordinate system may be the center of gravity of the vehicle.
Specifically, when multiplying the optical axis vector in the camera coordinate system by the second RT matrix, it is necessary to convert the optical axis vector in the camera coordinate system into homogeneous coordinates. Such as: the homogeneous coordinate of the optical axis vector of the fisheye camera is (0, 1, 0), and the automobile multiplies the (0, 1, 0) with the second RT matrix to obtain the actual vector of the optical axis of the optical center coordinate under the world coordinate system.
S15, determining an optical axis deviation value of each fisheye camera according to a preset optical axis theoretical included angle and an optical axis actual included angle of each fisheye camera in a world coordinate system.
S16, determining that the calibration result of at least one fisheye camera is successful under the condition that the optical center deviation values are all smaller than the Yu Guangxin threshold value and the optical axis deviation values are all smaller than the optical axis threshold value.
According to the assessment method for the fisheye camera external parameter calibration, a large amount of manpower is not needed to guarantee the calibration precision of the fisheye camera, and the precision of the fisheye camera external parameter calibration can be determined by comparing the optical center deviation value of the optical psychology coordinate and the optical center actual coordinate of each pre-configured fisheye camera in the world coordinate system and the optical axis deviation value of the optical axis theoretical included angle and the optical axis actual included angle of each pre-configured fisheye camera in the world coordinate system. Such as: and under the condition that the optical center deviation values are smaller than the Yu Guangxin threshold value and the optical axis deviation values are smaller than the optical axis threshold value, the accuracy of the external parameter calibration of each fisheye camera is proved to meet the condition, and at the moment, the calibration result of at least one fisheye camera is determined to be successful. Therefore, when the vehicle-mounted looking-around system leaves the factory, the calibration precision of the fisheye camera is controllable, bad calibration vehicles are intercepted in advance, the user experience is ensured, and the problem that in the related art, when the external parameters of the fisheye camera are calibrated, the calibration precision of the fisheye camera is ensured by consuming larger labor cost is solved.
In some practical examples, in conjunction with fig. 1, as shown in fig. 2, the method for evaluating the external parameter calibration of the fisheye camera provided in the embodiment of the disclosure further includes, before executing S11: s17 and S18.
S17, acquiring the current ground plane.
In some examples, a level is built into the car, which uses the level determined by the level as a ground plane.
S18, establishing a world coordinate system according to the ground plane. Wherein, xoY plane of world coordinate system is parallel with the ground plane, and X axis direction level is right, and Y axis direction level is forward, and o is the origin, and the Z axis is perpendicular to XoY plane.
In some examples, the evaluation method for fisheye camera external parameter calibration provided by the embodiments of the present disclosure obtains a ground plane where an automobile is currently located, and uses the ground plane as a XoY plane of a world coordinate system. Such as: the direction of the automobile is the horizontal forward direction, the direction pointed by the head of the automobile can be determined to be the Y-axis direction, the X-axis is perpendicular to the Y-axis, the Z-axis is perpendicular to the XoY plane, and the origin of coordinates selects the center of gravity of the automobile, so that the automobile can establish a world coordinate system more conveniently.
In some practical examples, as shown in fig. 2 in conjunction with fig. 1, S13 described above may be specifically implemented by S130 described below.
S130, determining the optical center deviation value of each fish-eye camera on the X axis, the Y axis and the Z axis respectively according to the pre-configured optical psychology coordinate and the optical center actual coordinate of each fish-eye camera in the world coordinate system.
Specifically, the optical center deviation value dx of the fish-eye camera on the X-axis is the absolute value of the difference between the value of the X-axis of the optical psychological coordinate and the value of the X-axis of the optical center actual coordinate, the optical center deviation value dy of the fish-eye camera on the Y-axis is the absolute value of the difference between the value of the Y-axis of the optical psychological coordinate and the value of the Y-axis of the optical center actual coordinate, and the optical center deviation value dz of the fish-eye camera on the Z-axis is the absolute value of the difference between the value of the Z-axis of the optical psychological coordinate and the value of the Z-axis of the optical center actual coordinate.
In some examples, the world coordinate system includes XoY plane, xoZ plane and YoZ plane, and as shown in fig. 2 in conjunction with fig. 1, S15 described above may be implemented specifically by S150 described below.
And S150, determining the optical axis deviation value of each fisheye camera on a XoY plane, a XoZ plane and a YoZ plane respectively according to a preset optical axis theoretical included angle and an optical axis actual included angle of each fisheye camera in a world coordinate system.
Specifically, the deviation value dthxy of the optical axis of the fisheye camera in the XoY plane is equal to the absolute value of the difference between the actual included angle of the optical axis of the XoY plane of the world coordinate system and the theoretical included angle of the optical axis. The optical axis deviation value dthxz of the fisheye camera at the XoZ plane is equal to the absolute value of the difference value between the actual included angle of the optical axis of the XoZ plane of the world coordinate system and the theoretical included angle of the optical axis. The deviation value dtthyz of the optical axis of the fisheye camera on the YoZ plane is equal to the absolute value of the difference value between the actual included angle of the optical axis of the YoZ plane of the world coordinate system and the theoretical included angle of the optical axis.
In some practical examples, referring to fig. 1, as shown in fig. 2, the evaluation method for external parameter calibration of a fisheye camera provided by the embodiment of the disclosure further includes: s19, performing operation.
And S19, determining that the calibration result of the at least one fisheye camera is a calibration failure when the optical center deviation value larger than or equal to the optical center threshold value exists and/or the optical axis deviation value larger than or equal to the optical axis threshold value exists.
In some examples, the vehicle determines that the calibration result of the at least one fisheye camera is a calibration failure in the presence of a centroid deviation value greater than or equal to a centroid threshold value. Or determining that the calibration result of the at least one fisheye camera is calibration failure under the condition that the automobile has an optical axis deviation value which is larger than or equal to an optical axis threshold value.
For example, assuming that 4 fisheye cameras are mounted on a body of the automobile, the automobile determines that an optical center deviation value of each of the 4 fisheye cameras is smaller than a Yu Guangxin threshold value, and determines that the calibration result of the at least one fisheye camera is successful when the optical axis deviation value of each of the 4 fisheye cameras is smaller than the optical axis threshold value.
And if the automobile determines that the optical center deviation value of any one of the 4 fisheye cameras is greater than or equal to the optical center threshold value and/or the optical axis deviation value is greater than or equal to the optical axis threshold value, determining that the calibration result of the at least one fisheye camera is a calibration failure.
In some examples, the optical center threshold is equal to 2cm and the optical axis threshold is equal to 2 °.
Specifically, the optical center threshold and the optical axis threshold are constants greater than or equal to 0. The smaller the optical center threshold value and the optical axis threshold value are, the higher the accuracy of the corresponding fisheye camera external parameter calibration is, and meanwhile, the higher the requirement on the accuracy of the installation of the fisheye camera on the automobile body is.
In practical applications, the fisheye camera itself has assembly errors during assembly, and installation errors may also occur when the fisheye camera is installed on the body of an automobile. In order to ensure the accuracy of the calibration result of the fisheye camera and the installation accuracy of the fisheye camera, the optical center threshold value can be equal to 2cm, and the optical axis threshold value can be equal to 2 degrees. Therefore, the accuracy of the calibration result of the fisheye camera can be ensured, the installation accuracy of the fisheye camera can be ensured, the advanced interception of bad calibration vehicles is realized, and the user experience is ensured. The foregoing description of the embodiments of the present disclosure has been presented primarily in terms of methods. To achieve the above functions, it includes corresponding hardware structures and/or software modules that perform the respective functions. Those of skill in the art will readily appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as hardware or combinations of hardware and computer software. Whether a function is implemented as hardware or computer software driven hardware depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present disclosure.
According to the embodiment of the disclosure, the function modules of the fish-eye camera external parameter calibration evaluation device can be divided according to the method example, for example, each function module can be divided corresponding to each function, and two or more functions can be integrated in one processing module. The integrated modules may be implemented in hardware or in software functional modules. It should be noted that, in the embodiment of the present disclosure, the division of the modules is merely a logic function division, and other division manners may be implemented in actual practice.
Fig. 3 is a schematic structural diagram of an evaluation device 10 for calibrating external parameters of a fisheye camera according to an embodiment of the disclosure. The evaluation device 10 for fisheye camera external parameter calibration is used for acquiring the optical center coordinate of each fisheye camera in at least one fisheye camera under the camera coordinate system and the optical axis vector of the optical axis of each fisheye camera under the camera coordinate system; according to the first RT matrix and the optical center coordinates, determining the optical center actual coordinates of each fish-eye camera under the world coordinate system; the first RT matrix comprises a first rotation matrix R and a first translation matrix t; determining the optical center deviation value of each fish-eye camera according to the pre-configured optical psychology coordinate and optical center actual coordinate of each fish-eye camera in the world coordinate system; determining the actual included angle of the optical axis of each fisheye camera under the world coordinate system according to the second RT matrix and the included angle of the optical axis; wherein the second RT matrix comprises a second rotation matrix R and a second translation matrix t; determining an optical axis deviation value of each fisheye camera according to a preset optical axis theoretical included angle and an optical axis actual included angle of each fisheye camera in a world coordinate system; and under the condition that the optical center deviation values are smaller than Yu Guangxin threshold values and the actual included angles of the optical axes are smaller than the optical axis deviation values, determining that the calibration result of at least one fisheye camera is successful. The evaluation device 10 for fisheye camera extrinsic calibration may comprise an acquisition unit 101 and a processing unit 102.
The device comprises an acquisition unit, a camera coordinate system and a camera coordinate system, wherein the acquisition unit is used for acquiring the optical center coordinate of each fisheye camera in at least one fisheye camera under the camera coordinate system and the included angle between the optical axis of each fisheye camera and the optical axis of each plane under the camera coordinate system; the processing unit is used for determining the actual optical center coordinates of each fish-eye camera under the world coordinate system according to the first RT matrix and the optical center coordinates acquired by the acquisition unit; the processing unit is also used for determining the optical center deviation value of each fish-eye camera according to the optical psychology coordinate and the optical center actual coordinate of each pre-configured fish-eye camera in the world coordinate system; the processing unit is also used for determining the actual included angle of the optical axis of each fisheye camera under the world coordinate system according to the second RT matrix and the optical axis vector acquired by the acquisition unit; the processing unit is also used for determining an optical axis deviation value of each fisheye camera according to a preset optical axis theoretical included angle and an optical axis actual included angle of each fisheye camera in a world coordinate system; and the processing unit is also used for determining that the calibration result of at least one fisheye camera is successful under the condition that the optical center deviation values are all smaller than the Yu Guangxin threshold value and the actual included angles of the optical axes are all smaller than the optical axis threshold value.
In some practical examples, the acquiring unit is further configured to acquire a ground plane where the current ground plane is located; the processing unit is also used for establishing a world coordinate system according to the ground plane acquired by the acquisition unit; wherein, xoY plane of world coordinate system is parallel with the ground plane, and X axis direction level is right, and Y axis direction level is forward, and o is the origin, and the Z axis is perpendicular to XoY plane.
In some practical examples, the processing unit is specifically configured to determine the optical center deviation value of each fisheye camera in the X-axis, the Y-axis and the Z-axis according to the pre-configured optical psychology coordinate and the optical center actual coordinate of each fisheye camera in the world coordinate system.
In some practical examples, the processing unit is specifically configured to determine the optical axis deviation value of each fisheye camera on the XoY plane, the XoZ plane and the YoZ plane respectively according to the preconfigured theoretical optical axis angle and the actual optical axis angle of each fisheye camera in the world coordinate system.
In some practical examples, the processing unit is further configured to determine that the calibration result of the at least one fisheye camera is a calibration failure if there is a light center deviation value greater than or equal to a light center threshold value and/or if there is a light axis deviation value greater than or equal to a light axis threshold value.
In some examples, the optical center threshold is equal to 2cm and the optical axis threshold is equal to 2 °.
All relevant contents of each step related to the above method embodiment may be cited to the functional descriptions of the corresponding functional modules, and their effects are not described herein.
Of course, the evaluation device 10 for fisheye camera external parameter calibration provided in the embodiment of the disclosure includes, but is not limited to, the above module, for example, the evaluation device 10 for fisheye camera external parameter calibration may further include the storage unit 103. The memory unit 103 may be used for storing the program code of the evaluation device 10 for the calibration of the external parameters of the fisheye camera, and may also be used for storing data generated during operation of the evaluation device 10 for the calibration of the external parameters of the fisheye camera, such as data in a write request, etc.
Fig. 4 is a schematic structural diagram of an evaluation device 10 for fisheye camera external parameter calibration according to an embodiment of the disclosure, and as shown in fig. 4, the evaluation device 10 for fisheye camera external parameter calibration may include: at least one processor 51, a memory 52, a communication interface 53 and a communication bus 54.
The following describes the components of the evaluation device 10 for fish-eye camera external parameter calibration in detail with reference to fig. 4:
the processor 51 is a control center of the evaluation device 10 for calibrating the external parameters of the fisheye camera, and may be one processor or a generic name of a plurality of processing elements. For example, processor 51 is a central processing unit (Central Processing Unit, CPU), but may also be an integrated circuit (Application Specific Integrated Circuit, ASIC), or one or more integrated circuits configured to implement embodiments of the present disclosure, such as: one or more DSPs, or one or more field programmable gate arrays (Field Programmable Gate Array, FPGAs).
In a particular implementation, processor 51 may include one or more CPUs, such as CPU0 and CPU1 shown in FIG. 4, as an example. Also, as an example, the evaluation device 10 for fisheye camera extrinsic calibration may include a plurality of processors, such as the processor 51 and the processor 55 shown in fig. 4. Each of these processors may be a Single-core processor (Single-CPU) or a Multi-core processor (Multi-CPU). A processor herein may refer to one or more devices, circuits, and/or processing cores for processing data (e.g., computer program instructions).
The Memory 52 may be, but is not limited to, a Read-Only Memory (ROM) or other type of static storage device that can store static information and instructions, a random access Memory (Random Access Memory, RAM) or other type of dynamic storage device that can store information and instructions, an electrically erasable programmable Read-Only Memory (Electrically Erasable Programmable Read-Only Memory, EEPROM), a compact disc (Compact Disc Read-Only Memory, CD-ROM) or other optical disk storage, optical disk storage (including compact disc, laser disc, optical disc, digital versatile disc, blu-ray disc, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. The memory 52 may be stand alone and be coupled to the processor 51 via a communication bus 54. Memory 52 may also be integrated with processor 51.
In a specific implementation, the memory 52 is used to store data in the present disclosure and to execute software programs of the present disclosure. The processor 51 may perform various functions of the air conditioner by running or executing a software program stored in the memory 52 and calling data stored in the memory 52.
The communication interface 53 uses any transceiver-like means for communicating with other devices or communication networks, such as a radio access network (Radio Access Network, RAN), a wireless local area network (Wireless Local Area Networks, WLAN), a terminal, a cloud, etc. The communication interface 53 may include an acquisition unit to implement an acquisition function.
The communication bus 54 may be an industry standard architecture (Industry Standard Architecture, ISA) bus, an external device interconnect (Peripheral Component Interconnect, PCI) bus, or an extended industry standard architecture (Extended Industry Standard Architecture, EISA) bus, among others. The bus may be classified as an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in fig. 4, but not only one bus or one type of bus.
As an example, in connection with fig. 3, the acquisition unit 101 in the evaluation device 10 for fisheye camera external parameter calibration performs the same function as the communication interface 53 in fig. 4, the processing unit 102 performs the same function as the processor 51 in fig. 4, and the storage unit 103 performs the same function as the memory 52 in fig. 4.
Another embodiment of the present disclosure also provides a computer-readable storage medium having instructions stored therein, which when executed on a computer, cause the computer to perform the method shown in the method embodiment described above.
In some embodiments, the disclosed methods may be implemented as computer program instructions encoded on a computer-readable storage medium in a machine-readable format or encoded on other non-transitory media or articles of manufacture.
Fig. 5 schematically illustrates a conceptual partial view of a computer program product provided by embodiments of the present disclosure, the computer program product comprising a computer program for executing a computer process on a computing device.
In one embodiment, a computer program product is provided using signal bearing medium 410. The signal bearing medium 410 may include one or more program instructions that when executed by one or more processors may provide the functionality or portions of the functionality described above with respect to fig. 1. Thus, for example, referring to the embodiment shown in FIG. 1, one or more features of S11-S16 may be carried by one or more instructions associated with signal bearing medium 410. Further, the program instructions in FIG. 5 also describe example instructions.
In some examples, signal bearing medium 410 may comprise a computer readable medium 411 such as, but not limited to, a hard disk drive, compact Disk (CD), digital Video Disk (DVD), digital tape, memory, read-only memory (ROM), or random access memory (random access memory, RAM), among others.
In some implementations, the signal bearing medium 410 may include a computer recordable medium 412 such as, but not limited to, memory, read/write (R/W) CD, R/W DVD, and the like.
In some implementations, the signal bearing medium 410 may include a communication medium 413 such as, but not limited to, a digital and/or analog communication medium (e.g., fiber optic cable, waveguide, wired communications link, wireless communications link, etc.).
The signal bearing medium 410 may be conveyed by a communication medium 413 in wireless form (e.g., a wireless communication medium conforming to the IEEE 802.41 standard or other transmission protocol). The one or more program instructions may be, for example, computer-executable instructions or logic-implemented instructions.
In some examples, a data-writing apparatus such as described with respect to fig. 1 may be configured to provide various operations, functions, or actions in response to program instructions through one or more of computer-readable medium 411, computer-recordable medium 412, and/or communication medium 413.
From the foregoing description of the embodiments, it will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of functional modules is illustrated, and in practical application, the above-described functional allocation may be implemented by different functional modules according to needs, i.e. the internal structure of the apparatus is divided into different functional modules to implement all or part of the functions described above.
In the several embodiments provided in the present disclosure, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the 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 apparatus, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and the parts displayed as units may be one physical unit or a plurality of physical units, may be located in one place, or may be distributed in a plurality of different places. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present disclosure may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a readable storage medium. Based on such understanding, the technical solution of the embodiments of the present disclosure may be essentially or a part contributing to the prior art or all or part of the technical solution may be embodied in the form of a software product stored in a storage medium, including several instructions to cause a device (may be a single-chip microcomputer, a chip or the like) or a processor (processor) to perform all or part of the steps of the methods described in the embodiments of the present disclosure. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a ROM, a RAM, a magnetic disk, or an optical disk, etc.
The foregoing is merely a specific embodiment of the disclosure to enable one skilled in the art to understand or practice the disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown and described herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (12)
1. An evaluation method for external parameter calibration of a fisheye camera is characterized in that at least one fisheye camera is provided; the method comprises the following steps:
acquiring optical center coordinates of the fisheye camera under a camera coordinate system and an optical axis vector of an optical axis of the fisheye camera under the camera coordinate system;
determining the actual optical center coordinates of the fisheye camera under the world coordinate system according to the first RT matrix and the optical center coordinates; wherein the first RT matrix comprises a first rotation matrix R and a first translation matrix t;
determining an optical center deviation value of the fisheye camera according to a pre-configured optical psychology coordinate of the fisheye camera in the world coordinate system and the optical center actual coordinate;
Determining an actual included angle of an optical axis of the fisheye camera under a world coordinate system according to the second RT matrix and the optical axis vector; wherein the second RT matrix comprises a second rotation matrix R and a second translation matrix t;
determining an optical axis deviation value of the fisheye camera according to a preset optical axis theoretical included angle of the fisheye camera in the world coordinate system and an optical axis actual included angle;
and under the condition that the optical center deviation value is smaller than a Yu Guangxin threshold value and the optical axis deviation value is smaller than an optical axis threshold value, determining that the calibration result of the fisheye camera is successful.
2. The method of claim 1, wherein the acquiring the optical center coordinates of the fisheye camera in a camera coordinate system and the optical axis vector of the fisheye camera's optical axis in the camera coordinate system is preceded by the method further comprising:
acquiring the current ground plane;
establishing a world coordinate system according to the ground plane; wherein, xoY plane of the world coordinate system is parallel to the ground plane, X axis direction is horizontal to the right, Y axis direction is horizontal to the front, o is the origin, and Z axis is perpendicular to XoY plane.
3. The method of claim 2, wherein said determining the optical center deviation value of each of the fisheye cameras from the pre-configured optical psychology coordinates and the optical center actual coordinates of each of the fisheye cameras in the world coordinate system comprises:
And determining the optical center deviation value of each fisheye camera on the X axis, the Y axis and the Z axis respectively according to the pre-configured optical psychology coordinate and the optical center actual coordinate of each fisheye camera in the world coordinate system.
4. The method of claim 2, wherein the world coordinate system includes a XoY plane, a XoZ plane, and a YoZ plane;
the determining the optical axis deviation value of each fisheye camera according to the preconfigured optical axis theoretical included angle of each fisheye camera in the world coordinate system and the optical axis actual included angle comprises the following steps:
and determining the optical axis deviation value of each fisheye camera on a XoY plane, a XoZ plane and a YoZ plane respectively according to the preset optical axis theoretical included angle of each fisheye camera in the world coordinate system and the optical axis actual included angle.
5. The method according to any one of claims 1-4, wherein the optical axis threshold is equal to 2cm and the optical axis threshold is equal to 2 °.
6. An evaluation device for fish-eye camera extrinsic calibration, characterized by being applied to a vehicle provided with at least one fish-eye camera, comprising:
an acquisition unit, configured to acquire optical center coordinates of each fisheye camera in at least one fisheye camera in a camera coordinate system, and an optical axis vector of an optical axis of each fisheye camera in the camera coordinate system;
The processing unit is used for determining the actual optical center coordinates of each fisheye camera in the world coordinate system according to the first RT matrix and the optical center coordinates acquired by the acquisition unit;
the processing unit is further used for determining an optical center deviation value of each fish-eye camera according to the optical psychology coordinate and the optical center actual coordinate of each pre-configured fish-eye camera in the world coordinate system;
the processing unit is further configured to determine an actual included angle of an optical axis of each fisheye camera under a world coordinate system according to the second RT matrix and the optical axis vector acquired by the acquisition unit;
the processing unit is further used for determining an optical axis deviation value of each fisheye camera according to a preset optical axis theoretical included angle of each fisheye camera in the world coordinate system and the optical axis actual included angle;
the processing unit is further configured to determine that the calibration result of the at least one fisheye camera is successful when the optical center deviation values are both smaller than a Yu Guangxin threshold value and the optical axis deviation values are both smaller than an optical axis threshold value.
7. The fish-eye camera extrinsic parameter calibration assessment device according to claim 6, wherein said acquisition unit is further configured to acquire a ground plane where the fish-eye camera extrinsic parameter is currently located;
The processing unit is further used for establishing a world coordinate system according to the ground plane acquired by the acquisition unit; wherein, xoY plane of the world coordinate system is parallel to the ground plane, X axis direction is horizontal to the right, Y axis direction is horizontal to the front, o is the origin, and Z axis is perpendicular to XoY plane.
8. The device for evaluating the external parameter calibration of the fisheye camera according to claim 7, wherein the processing unit is specifically configured to determine the optical center deviation value of each fisheye camera in the X-axis, the Y-axis and the Z-axis according to the pre-configured optical psychology coordinates and the optical center actual coordinates of each fisheye camera in the world coordinate system.
9. The fish eye camera exogenous calibration assessment device of claim 7, wherein the world coordinate system comprises a plane XoY, a plane XoZ, and a plane YoZ;
the processing unit is specifically configured to determine an optical axis deviation value of each fisheye camera on a XoY plane, a XoZ plane and a YoZ plane according to a preset optical axis theoretical included angle of each fisheye camera in the world coordinate system and the optical axis actual included angle.
10. An evaluation device for fish-eye camera extrinsic calibration according to any of the claims 6-9, wherein said optical core threshold is equal to 2cm, and said optical axis threshold is equal to 2 °.
11. An electronic device, comprising: communication interface, processor, memory, bus;
the memory is used for storing computer execution instructions, and the processor is connected with the memory through the bus;
when the electronic device is running, the processor executes the computer-executable instructions stored in the memory to cause the electronic device to perform the method of assessing fisheye camera extrinsic calibration according to any one of the preceding claims 1-5.
12. A computer readable storage medium comprising instructions which, when run on a computer, cause the computer to perform the method of assessing fisheye camera extrinsic calibration according to any one of the preceding claims 1-5.
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