CN116977448A - Low-resolution TOF area array internal parameter calibration method, device, equipment and medium - Google Patents

Low-resolution TOF area array internal parameter calibration method, device, equipment and medium Download PDF

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CN116977448A
CN116977448A CN202311008941.5A CN202311008941A CN116977448A CN 116977448 A CN116977448 A CN 116977448A CN 202311008941 A CN202311008941 A CN 202311008941A CN 116977448 A CN116977448 A CN 116977448A
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camera module
tof camera
set pixel
depth image
coordinate system
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邱超明
郑阳浩
姚浩东
徐渊
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Optical Micro Information Technology Hefei Co ltd
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Optical Micro Information Technology Hefei Co ltd
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • G06F17/11—Complex mathematical operations for solving equations, e.g. nonlinear equations, general mathematical optimization problems
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds

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  • Software Systems (AREA)
  • General Engineering & Computer Science (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The application provides a low-resolution TOF area array internal parameter calibration method, a device, equipment and a medium, which comprise the steps of arranging a TOF camera module to be calibrated in parallel with a white wall and emitting light rays to the white wall; the TOF camera module collects a depth image at a set position and obtains a measurement distance dm of a set pixel point in the depth image; fitting a quadratic function formula by using a least square method, and calculating extreme points of the function; obtaining coordinates of the set pixel points in the Cartesian coordinate system according to the conversion relation between the polar coordinate system and the Cartesian coordinate system; and calculating the focal length of the TOF camera module. The application does not need high resolution image, has great advantage for low-resolution application occasions, does not need to shoot characteristic pictures through various postures to improve the robustness of the algorithm, and can finish high-precision calculation only by shooting at a set position.

Description

Low-resolution TOF area array internal parameter calibration method, device, equipment and medium
Technical Field
The application relates to the technical field of depth cameras, in particular to a low-resolution TOF area array internal parameter calibration method, a device, equipment and a medium.
Background
TOF (time of flight) is an abbreviation for Timeofflight, and transliteration is the meaning of time of flight. TOF imaging is performed by emitting modulated light toward the target, receiving light returned from the object with a sensor, and calculating the time difference to obtain the target distance. The depth image reflects the distance of the object to the camera sensor, which can be converted into a point cloud by means of an internal reference matrix.
In many application scenarios, point clouds need to be used, so the accuracy of solving the parameters of the TOF camera is very important. However, in practical application, the current calibration method mainly has the following problems:
(1) The current calibration method is basically based on image features, and the image features are extracted, so that high-resolution images are often needed, and the image features can be extracted better. For low resolution images, the extraction cannot be performed accurately, resulting in a relatively large error. In addition, the number of features that can be extracted from the low-resolution image is relatively small, and the number required by fitting is not satisfied.
(2) In practice, tens of calibration plate pictures with different placement positions and postures need to be shot. This method requires mechanical movement, is relatively time-consuming, and reduces mass production efficiency.
Disclosure of Invention
In view of the foregoing, embodiments of the present application are provided to provide a method, apparatus, device, and medium for face detection that overcomes or at least partially solves the foregoing problems.
In order to solve the problems, the embodiment of the application discloses a low-resolution TOF area array internal parameter calibration method, which comprises the following steps: the TOF camera module to be calibrated is arranged in parallel with the white wall, and light rays are emitted to the white wall; the TOF camera module collects a depth image at a set position and obtains a measurement distance dm of a set pixel point in the depth image; fitting a quadratic function formula by using a least square method: dm=a (i-cy) 2+b (j-cx) 2+c, calculating the extreme point of the function, namely the optical center coordinates (cx, cy) of the TOF camera module, wherein (i, j) is the coordinates of the set pixel point; according to polar coordinate system and CartesianThe conversion relation between the coordinate systems is used for obtaining the coordinates (x, y and z) of the set pixel point in the Cartesian coordinate system,wherein, (i, j) is the coordinate position of the set pixel, (cx, cy) is the optical center coordinate, and fx and fy are the focal lengths of the set pixel in the x direction and the y direction respectively; the focal length of the TOF camera module is calculated by the following formula: derr=dm/dep, ds=derr-1, beta= (i-cy) + (j-cx); obtaining a value derr, dsq, beta, wherein dm is the distance from the optical center to the set pixel point, dep is the depth of the TOF camera module under a Cartesian coordinate system, and then fitting a linear equation formula by using a least square method: beta=k×dsq+b, slope k, focal length f=sqrt (k).
Optionally, collecting a depth image at a set position in the TOF camera module, and obtaining a measured distance d of a set pixel point in the depth image m The method comprises the following steps: the TOF camera module collects a first depth image of a set number of sheets at a first set position and obtains a first measurement distance d of a set pixel point in the first depth image m1 The method comprises the steps of carrying out a first treatment on the surface of the The TOF camera module collects a second depth image with a set number of sheets at a second set position and obtains a second measurement distance d of a set pixel point in the second depth image m2 The method comprises the steps of carrying out a first treatment on the surface of the Calculating the difference between the first measured distance and the second measured distance to obtain the measured distance d of the depth image m ＝d m1 -d m2 。
The embodiment of the application also discloses a low-resolution TOF area array internal parameter calibration device, which comprises: and the emission control module is used for: the TOF camera module to be calibrated is arranged in parallel with the white wall and emits light rays to the white wall; distance measuring module: the method is used for acquiring a depth image at a set position by the TOF camera module and obtaining a measurement distance d of a set pixel point in the depth image m The method comprises the steps of carrying out a first treatment on the surface of the And the optical center coordinate calculation module is used for: the method is used for fitting a quadratic function formula by using a least square method: d, d m ＝a(i-cy) 2 +b(j-cx) 2 +c, calculating the extreme point of the function, namely the optical center coordinates (cx, cy) of the TOF camera module, wherein, (i,j) Setting coordinates of the pixel points; the coordinate conversion module is used for obtaining coordinates (x, y and z) of the set pixel point in the Cartesian coordinate system according to the conversion relation between the polar coordinate system and the Cartesian coordinate system,
wherein, (i, j) is the coordinate position of the set pixel, (cx, cy) is the optical center coordinate, and fx and fy are the focal lengths of the set pixel in the x direction and the y direction respectively; focal length calculation module: the focal length of the TOF camera module is calculated by the following formula: derr=dm/dep, ds=derr-1, beta= (i-cy) + (j-cx); obtaining a value derr, dsq, beta, wherein dm is the distance from the optical center to the set pixel point, dep is the depth of the TOF camera module under a Cartesian coordinate system, and then fitting a linear equation formula by using a least square method: beta=k×dsq+b, slope k, focal length f=sqrt (k).
The embodiment of the application also discloses an electronic device which comprises a processor, a storage device and a computer program which is stored on the storage device and can run on the processor, and the computer program realizes the method when being executed by the processor.
The embodiment of the application also discloses a non-volatile readable storage medium, on which a computer program is stored, which computer program, when being executed by a processor, implements the method according to any of claims 1 to 2.
The embodiment of the application has the following advantages:
in the embodiment of the application, a quadratic function equation is fitted according to the relation between the optical center coordinates and the set pixel coordinate points, the optical center coordinates are calculated through the extremum, and the focal length can be calculated by setting the coordinates of the pixel points in a Cartesian coordinate system and converting the coordinates into a linear equation.
Drawings
FIG. 1 is a schematic diagram of steps of an embodiment of a low resolution TOF area array internal reference calibration method of the present application;
fig. 2 is a schematic diagram of step S20 in fig. 1;
FIG. 3 is a schematic diagram of a low resolution TOF area array internal reference calibration device of the present application.
Detailed Description
In order that the above-recited objects, features and advantages of the present application will become more readily apparent, a more particular description of the application will be rendered by reference to the appended drawings and appended detailed description.
Because the existing TOF camera internal reference calibration method is based on image characteristics, for low-resolution images, accurate extraction cannot be performed, large errors are easy to cause, and a large number of pictures need to be acquired, so that time is consumed, and mass production efficiency is reduced.
Step S10: and the TOF camera module to be calibrated is arranged in parallel with the white wall, and emits light to the white wall.
In this embodiment, the white wall is selected because the white wall has a reflectivity of 90% to the light, and a depth image can be obtained more easily.
Step S20: the TOF camera module collects a depth image at a set position and obtains a measurement distance d of a set pixel point in the depth image m 。
In this embodiment, step S20 includes:
step S201: the TOF camera module collects a first depth image of a set number of sheets at a first set position and obtains a first measurement distance d of a set pixel point in the first depth image m1 ；
Step S202: the TOF camera module collects a second depth image with a set number of sheets at a second set position and obtains a second measurement distance d of a set pixel point in the second depth image m2 ；
Step S203: calculating the difference between the first measured distance and the second measured distance to obtain the measured distance d of the depth image m ＝d m1 -d m2 。
In this embodiment, the first setting position is closer to the white wall than the second setting position.
In this embodiment, since there is an error between the depth information directly obtained from the TOF camera module without the depth calibration, for example, a position of 50cm, and the depth obtained without the TOF camera module without the calibration may be 90cm or other distances, and directly taking such a TOF without the calibration is not a method to obtain the internal reference, an error can be eliminated by subtracting the values of the two positions.
Step S30: fitting a quadratic function formula by using a least square method: d, d m ＝a(i-cy) 2 +b(j-cx) 2 +c, calculating the extreme point of the function, namely the optical center coordinates (cx, cy) of the TOF camera module, wherein (i, j) is the coordinates of the set pixel point.
In this embodiment, d m The distribution rule of (2) is as follows: d, d m The value at the optical center is smallest, and the value is larger toward the edge. Therefore, the position of the optical center can be found by the extremum.
Step S40: and obtaining coordinates (x, y, z) of the set pixel point in the Cartesian coordinate system according to the conversion relation between the polar coordinate system and the Cartesian coordinate system.
In the present embodiment of the present application,y=z (i-cy)/fyx =z (j-cx)/fx, where (i, j) is the coordinate position of the set pixel in the imaging plane, (cx, cy) is the optical center coordinate, and fx, fy are the focal lengths of the set pixel in the x-direction and the y-direction, respectively.
The formula of step S50 can be obtained by obtaining z by the above formula (1) and knowing the relation among the optical center coordinates (cx, cy), fx and fy.
Step S50: and calculating the focal length of the TOF camera module. In particular, because of the majority of the coreThe pixels of the tile are square, so let fx=fy, by the following formula: d, d err ＝d m /dep；d sq ＝d err *d err -1; beta= (i-cy), (i-cy) + (j-cx), yielding d err 、d sq Values of beta. Wherein dm is the distance from the optical center to the set pixel point, dep is the depth difference of the TOF camera module in the Cartesian coordinate system of the first set position and the second set position, and then a least square method is used for fitting a linear equation formula:
beta＝k*d sq +b, slope k, and focal length f=sqrt (k).
Beta=k×d is detailed below sq Derivation of +b.
Let the distance from the optical center to the set pixel (i.e. imaging point) be d m Then the internal focal lengths f and d of the camera m The calculation formula of the included angle theta between the two is as follows:
whereas dist= (i-cy) 2 +(j-cx) 2 +f 2 Thereby push out:
the formula is transformed to obtain:
let fx=fy=f be:
reams beta= (i-cy) 2 +(j-cx) 2 ，k＝f 2 ，Beta, k, d can be obtained sq Relationship between：beta＝k*d sq +b。
It should be noted that, for simplicity of description, the method embodiments are shown as a series of acts, but it should be understood by those skilled in the art that the embodiments are not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred embodiments, and that the acts are not necessarily required by the embodiments of the application.
Referring to fig. 2, there is shown a block diagram of an embodiment of a low resolution TOF planar array internal reference calibration apparatus according to the present application, which may include the following modules:
and the emission control module is used for: the TOF camera module to be calibrated is arranged in parallel with the white wall and emits light rays to the white wall;
distance measuring module: the method is used for acquiring a depth image at a set position by the TOF camera module and obtaining a measurement distance d of a set pixel point in the depth image m ；
And the optical center coordinate calculation module is used for: the method is used for fitting a quadratic function formula by using a least square method: d, d m ＝a(i-cy) 2 +b(j-cx) 2 +c, calculating the extreme point of the function, namely the optical center coordinates (cx, cy) of the TOF camera module, wherein (i, j) is the coordinates of the set pixel point;
the coordinate conversion module is used for obtaining coordinates (x, y and z) of the set pixel point in the Cartesian coordinate system according to the conversion relation between the polar coordinate system and the Cartesian coordinate system,y=z (i-cy)/fy, x=z ((j-cx)/fx, where (i, j) is a coordinate position of a set pixel, (cx, cy) is an optical center coordinate, and fx, fy are focal lengths of the set pixel in x and y directions, respectively;
focal length calculation module: the focal length of the TOF camera module is calculated by the following formula: derr=dm/dep, ds=derr-1, beta= (i-cy) + (j-cx); obtaining a value derr, dsq, beta, wherein dm is the distance from the optical center to the set pixel point, dep is the depth of the TOF camera module under a Cartesian coordinate system, and then fitting a linear equation formula by using a least square method: beta=k×dsq+b, slope k, focal length f=sqrt (k).
For the device embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments for relevant points.
The embodiment of the application also provides electronic equipment, which can comprise a processor, a memory and a computer program stored on the memory and capable of running on the processor, wherein the computer program realizes the low-resolution TOF area array internal reference calibration method when being executed by the processor.
The embodiment of the application also provides a nonvolatile readable storage medium, wherein a computer program is stored on the nonvolatile readable storage medium, and the low-resolution TOF area array internal parameter calibration method is realized when the computer program is executed by a processor.
The embodiment of the application has the following advantages: in the embodiment of the application, a quadratic function equation is fitted according to the relation between the optical center coordinates and the set pixel coordinate points, the optical center coordinates are calculated through the extremum, and the focal length can be calculated by setting the coordinates of the pixel points in a Cartesian coordinate system and converting the coordinates into a linear equation.
In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described by differences from other embodiments, and identical and similar parts between the embodiments are all enough to be referred to each other.
It will be apparent to those skilled in the art that embodiments of the present application may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the application may take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
Embodiments of the present application are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiment and all such alterations and modifications as fall within the scope of the embodiments of the application.
Finally, it is further noted that 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 terminal 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 terminal. 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 terminal device comprising the element.
The above detailed description of the method, the device, the equipment and the medium for face detection provided by the application applies specific examples to illustrate the principle and the implementation of the application, and the above examples are only used for helping to understand the method and the core idea of the application; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present application, the present description should not be construed as limiting the present application in view of the above.

Claims (5)

1. The method for calibrating the internal parameters of the low-resolution TOF area array is characterized by comprising the following steps of:
the TOF camera module to be calibrated is arranged in parallel with the white wall, and light rays are emitted to the white wall;
the TOF camera module collects depth images at a set position and obtains the TOF phaseMeasuring distance d of set pixel point of machine module in depth image m ；
Fitting a quadratic function formula by using a least square method: d, d m ＝a(i-cy) 2 +b(j-cx) 2 +c, calculating an extreme point of the function to obtain optical center coordinates (cx, cy) of the TOF camera module, wherein (i, j) is the coordinates of the set pixel point;
obtaining coordinates (x, y, z) of the set pixel point in the Cartesian coordinate system according to the conversion relation between the polar coordinate system and the Cartesian coordinate system,y=z (i-cy)/fy, and x=z (j-cx)/fx, where (i, j) is the coordinate position of the set pixel, (cx, cy) is the optical center coordinate, and fx, fy are the focal lengths of the set pixel in the x direction and the y direction, respectively;
the focal length of the TOF camera module is calculated, specifically, by the following formula: derr=dm/dep, dsq=derr-1, beta= (i-cy) + (j-cx);
obtaining a value derr, dsq, beta, wherein dm is the distance from the optical center to the set pixel point, dep is the depth of the TOF camera module under a Cartesian coordinate system, and then fitting a linear equation formula by using a least square method: beta=k×dsq+b, slope k, focal length f=sqrt (k).
2. The method of claim 1, wherein a depth image is acquired at a set position at the TOF camera module and a measured distance d of a set pixel in the depth image is obtained m The method comprises the following steps:
the TOF camera module collects a first depth image with a set number of sheets at a first set position and obtains a first measurement distance d of a set pixel point in the first depth image m1 ；
The TOF camera module collects a second depth image with a set number of sheets at a second set position and obtains a first depth image of the set pixel point in the second depth imageTwo measuring distances d m2 ；
Calculating the difference between the first measured distance and the second measured distance to obtain the measured distance d of the depth image m ＝d m1 -d m2 。
3. A low resolution TOF planar array internal reference calibration device, the device comprising:
and the emission control module is used for: the TOF camera module to be calibrated is arranged in parallel with the white wall, and emits light to the white wall;
distance measuring module: the TOF camera module is used for acquiring a depth image at a set position and obtaining a measurement distance d of a set pixel point in the depth image m ；
And the optical center coordinate calculation module is used for: the method is used for fitting a quadratic function formula by using a least square method: d, d m ＝a(i-cy) 2 +b(j-cx) 2 +c, calculating the extreme point of the function, namely the optical center coordinates (cx, cy) of the TOF camera module, wherein (i, j) is the coordinates of the set pixel point;
a coordinate conversion module for obtaining the coordinates (x, y, z) of the set pixel point in the Cartesian coordinate system according to the conversion relation between the polar coordinate system and the Cartesian coordinate system,y=z (i-cy)/fy, and x=z (j-cx)/fx, where (i, j) is the coordinate position of the set pixel, (cx, cy) is the optical center coordinate, and fx, fy are the focal lengths of the set pixel in the x direction and the y direction, respectively;
focal length calculation module: the focal length of the TOF camera module is calculated by the following formula: derr=dm/dep, ds=derr-1, beta= (i-cy) + (j-cx); obtaining a value derr, dsq, beta, wherein dm is the distance from the optical center to the set pixel point, dep is the depth of the TOF camera module under a Cartesian coordinate system, and then fitting a linear equation formula by using a least square method: beta=k×dsq+b, slope k, focal length f=sqrt (k).
4. An electronic device comprising a processor, a storage device and a computer program stored on the storage device and capable of running on the processor, which when executed by the processor, implements the method of any one of claims 1 to 2.
5. A non-transitory readable storage medium, characterized in that it has stored thereon a computer program which, when executed by a processor, implements the method according to any of claims 1 to 2.
CN202311008941.5A 2023-08-08 2023-08-08 Low-resolution TOF area array internal parameter calibration method, device, equipment and medium Pending CN116977448A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117876502A (en) * 2024-03-08 2024-04-12 荣耀终端有限公司 Depth calibration method, depth calibration equipment and depth calibration system

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117876502A (en) * 2024-03-08 2024-04-12 荣耀终端有限公司 Depth calibration method, depth calibration equipment and depth calibration system

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