CN204303031U - Based on the camera multifunctional caliberating device of optical projector - Google Patents
Based on the camera multifunctional caliberating device of optical projector Download PDFInfo
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- CN204303031U CN204303031U CN201420686076.XU CN201420686076U CN204303031U CN 204303031 U CN204303031 U CN 204303031U CN 201420686076 U CN201420686076 U CN 201420686076U CN 204303031 U CN204303031 U CN 204303031U
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- optical projector
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- uncalibrated image
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- steel plate
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- 230000003287 optical effect Effects 0.000 title claims abstract description 39
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 12
- 229910052738 indium Inorganic materials 0.000 claims abstract description 12
- APFVFJFRJDLVQX-UHFFFAOYSA-N indium atom Chemical compound [In] APFVFJFRJDLVQX-UHFFFAOYSA-N 0.000 claims abstract description 12
- 238000000034 method Methods 0.000 claims abstract description 12
- 239000010959 steel Substances 0.000 claims abstract description 12
- 238000005094 computer simulation Methods 0.000 claims abstract description 9
- 239000011159 matrix material Substances 0.000 claims description 9
- 230000015572 biosynthetic process Effects 0.000 claims description 4
- 238000013461 design Methods 0.000 abstract description 9
- 230000009466 transformation Effects 0.000 abstract description 5
- 230000008901 benefit Effects 0.000 abstract description 4
- 238000013519 translation Methods 0.000 abstract description 4
- 238000002372 labelling Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 6
- 238000012545 processing Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
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Abstract
The utility model discloses a kind of camera multifunctional caliberating device based on optical projector, the method comprises the following steps: a, arrange one through optical calibrating and the optical projector of fixed position attitude, a computer and an indium steel plate; B, by Computer Design uncalibrated image, and utilize optical projector that uncalibrated image generated for Computer Simulation is projected to indium steel plate, taken by camera to be calibrated; C, utilize Computer Simulation to design uncalibrated image carry out rotation translation transformation, and take, the three-dimensional coordinate of each moment index point is gone out again by Computer Simulation, in conjunction with the picpointed coordinate of shooting mark, three-dimensional direct linear transformation and bundle adjustment is finally utilized to solve the Accurate Calibration parameter of camera.The utility model can design different labeling scheme, realize the demarcation task of Multiple Type camera, have versatility and flexibility, and whole calibration process is completed automatically by computer at a Calibration Field, has automation and advantage rapidly and efficiently.
Description
technical field:
The utility model relates to a kind of camera calibration device, particularly relates to a kind of camera multifunctional caliberating device based on optical projector.
background technology:
In the application of photogrammetric and computer vision, for determining three-dimensional geometry position of certain point of space object surface and its correlation in the picture between corresponding points, must set up the geometrical model of camera imaging, these geometrical model parameters are exactly camera parameter.These parameters must just can obtain with calculating by experiment in most conditions, and this process solving parameter is just referred to as camera calibration.
For carrying out camera calibration, usually to set up camera calibration field or using calibrating template, and auxiliary certain scaling method.But the Calibration Field used due to different types of camera is not quite similar, different scaling methods is also different with the requirement of specification to the shape of mark with software, is therefore difficult to the staking-out work realizing all types camera in a Calibration Field.
utility model content:
Technical problem to be solved in the utility model is: overcome the deficiencies in the prior art, provides a kind of enforcement reasonable in design, easy, versatility good and the camera multifunctional caliberating device based on optical projector rapidly and efficiently automatically.
The technical solution of the utility model is:
A kind of camera multifunctional caliberating device based on optical projector, comprise optical projector, described optical projector is through optical calibrating and be fixed on brace table, described optical projector is connected with computer, and, the camera lens of described optical projector is corresponding with uncalibrated image display screen, and the uncalibrated image that Computer Simulation generates is projected to described uncalibrated image display screen by described optical projector.
Described uncalibrated image display screen is the smooth metope of indium steel plate or process; Described indium steel plate lower end is provided with base.Described uncalibrated image adopts the round matrix formed not limiting quantity, or the matrix adopting the square not limiting quantity to form, or arranges special-shaped pattern in the matrix of circle formation.
The beneficial effects of the utility model are:
1, the labeling scheme that the utility model can be different according to the demarcation Demand Design of different cameral, the demarcation task of Multiple Type camera is realized at a Calibration Field, there is versatility and flexibility, and whole calibration process is completed automatically by computer, prosthetic operation link, has automation and advantage rapidly and efficiently.
2, the utility model only adopts optical projector, computer and one through process and the indium steel plate the be fixed smooth metope of specially treated (or through) can carry out camera calibration, and facility simply, is easily implemented, reduced costs.
3, the utility model adopts computer can generate many uncalibrated images, and can be projected on indium steel plate by optical projector by uncalibrated image at any time, and convenient and swift, efficiency is high
4, the utility model enforcement reasonable in design, easy, versatility are good and automatically rapidly and efficiently, its applied range, is easy to promotion and implementation, has good economic benefit.
accompanying drawing illustrates:
Fig. 1 is the structural representation of the camera multifunctional caliberating device based on optical projector;
Fig. 2 is one of schematic diagram of the demarcation mark that in Fig. 1, optical projector is arranged;
Fig. 3 be Fig. 2 get the bid calibration will another kind of distribution schematic diagram;
Fig. 4 is the schematic diagram two of the demarcation mark that in Fig. 1, optical projector is arranged;
Fig. 5 be Fig. 4 get the bid calibration will another kind of distribution schematic diagram;
Fig. 6 is the schematic diagram three of the demarcation mark that in Fig. 1, optical projector is arranged;
Fig. 7 be Fig. 6 get the bid calibration will another kind of distribution schematic diagram.
detailed description of the invention:
Embodiment: see Fig. 1-Fig. 7, in figure, 1-brace table, 2-camera to be calibrated, 3-optical projector, 4-uncalibrated image display screen, 5-base, 6-uncalibrated image.
Camera multifunctional caliberating device based on optical projector comprises optical projector 3, wherein: optical projector 3 is through optical calibrating and be fixed on brace table 1, optical projector 3 is connected with computer (not shown in FIG.), and, the camera lens of optical projector 3 is corresponding with uncalibrated image display screen 4, and the uncalibrated image 6 that Computer Simulation generates is projected to uncalibrated image display screen 4 by optical projector 3.
Uncalibrated image display screen 4 can adopt the indium steel plate through processing process, also can adopt the smooth metope through processing process, determine as required; When adopting indium steel plate, lower end is fixed by base 5.
Operation principle comprises the following steps:
A, arrange one through optical calibrating and the optical projector 3, of fixed position attitude connects the computer of light projector shadow instrument and one through processing and the indium steel plate be fixed, formation Calibration Field;
B, by Computer Design uncalibrated image, and utilize optical projector 3 that uncalibrated image 6 generated for Computer Simulation is projected to indium steel plate, and taken by camera 2 to be calibrated;
C, utilize Computer Simulation to design uncalibrated image 6 carry out rotation translation transformation, and take, the three-dimensional coordinate of each moment index point is gone out again by Computer Simulation, in conjunction with the picpointed coordinate of shooting mark, three-dimensional direct linear transformation and bundle adjustment is finally utilized to solve the Accurate Calibration parameter of camera.
The matrix (see Fig. 2 and Fig. 3) that uncalibrated image 6 in step b adopts the circle not limiting quantity to form, or the matrix (see Fig. 4 and Fig. 5) adopting the square not limiting quantity to form, or special-shaped pattern (see Fig. 6 and Fig. 7) is set in the matrix of circle formation, certainly, other images can also be adopted, do not describe in detail one by one.
Rotation translation transformation in step c comprises the rotation of multi-angle and the translation of different spacing, to increase the diverse location of uncalibrated image, is convenient to camera to be calibrated and measures for more than 2 time.
The utility model can be different according to the demarcation Demand Design of different cameral labeling scheme, the demarcation task of Multiple Type camera is realized at a Calibration Field, there is versatility and flexibility, and whole calibration process is completed automatically by computer, prosthetic operation link, has automation and advantage rapidly and efficiently.
The above, it is only preferred embodiment of the present utility model, not any pro forma restriction is done to the utility model, every above embodiment is done according to technical spirit of the present utility model any simple modification, equivalent variations and modification, all still belong in the scope of technical solutions of the utility model.
Claims (2)
1. the camera multifunctional caliberating device based on optical projector, comprise optical projector, it is characterized in that: described optical projector is through optical calibrating and be fixed on brace table, described optical projector is connected with computer, and, the camera lens of described optical projector is corresponding with uncalibrated image display screen, and the uncalibrated image that Computer Simulation generates is projected to described uncalibrated image display screen by described optical projector; Described uncalibrated image display screen is the smooth metope of indium steel plate or process; Described indium steel plate lower end is provided with base.
2. the camera multifunctional caliberating device based on optical projector according to claim 1, it is characterized in that: the matrix that described uncalibrated image adopts the circle not limiting quantity to form, or the matrix adopting the square not limiting quantity to form, or pattern is set in the matrix of circle formation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420686076.XU CN204303031U (en) | 2014-11-17 | 2014-11-17 | Based on the camera multifunctional caliberating device of optical projector |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420686076.XU CN204303031U (en) | 2014-11-17 | 2014-11-17 | Based on the camera multifunctional caliberating device of optical projector |
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| Publication Number | Publication Date |
|---|---|
| CN204303031U true CN204303031U (en) | 2015-04-29 |
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| CN201420686076.XU Active CN204303031U (en) | 2014-11-17 | 2014-11-17 | Based on the camera multifunctional caliberating device of optical projector |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104376560A (en) * | 2014-11-17 | 2015-02-25 | 国家电网公司 | Multifunctional camera calibration method and device based on optical projector |
| CN107464263A (en) * | 2016-06-02 | 2017-12-12 | 维森软件技术（上海）有限公司 | Automobile calibration system and its scaling method |
| CN107464218A (en) * | 2016-06-02 | 2017-12-12 | 维森软件技术（上海）有限公司 | Automobile calibration system and its scaling method |
| CN112102416A (en) * | 2020-08-28 | 2020-12-18 | 中国科学院深圳先进技术研究院 | Automatic calibration method and system for multiple cameras |
-
2014
- 2014-11-17 CN CN201420686076.XU patent/CN204303031U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104376560A (en) * | 2014-11-17 | 2015-02-25 | 国家电网公司 | Multifunctional camera calibration method and device based on optical projector |
| CN104376560B (en) * | 2014-11-17 | 2024-04-09 | 国家电网公司 | Multifunctional camera calibration method and device based on optical projector |
| CN107464263A (en) * | 2016-06-02 | 2017-12-12 | 维森软件技术（上海）有限公司 | Automobile calibration system and its scaling method |
| CN107464218A (en) * | 2016-06-02 | 2017-12-12 | 维森软件技术（上海）有限公司 | Automobile calibration system and its scaling method |
| CN112102416A (en) * | 2020-08-28 | 2020-12-18 | 中国科学院深圳先进技术研究院 | Automatic calibration method and system for multiple cameras |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information |
Inventor after: Chen Guojun Inventor after: He Ting Inventor after: Zhang Yanli Inventor after: Zhang Weizheng Inventor after: Zhong Hao Inventor after: Geng Qi Inventor after: Su Di Inventor after: Cheng Yongfei Inventor after: Dong Ming Inventor after: Jia Xuedong Inventor after: Wei Hui Inventor before: Chen Guojun Inventor before: He Ting Inventor before: Zhang Yanli Inventor before: Zhang Weizheng Inventor before: Zhong Hao Inventor before: Geng Qi Inventor before: Su Di Inventor before: Cheng Yongfei Inventor before: Dong Ming Inventor before: Jia Xuedong Inventor before: Wei Hui |
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| CB03 | Change of inventor or designer information |