WO2019041650A1 - 摄像机标定参数的校正方法、装置、设备和存储介质 - Google Patents
摄像机标定参数的校正方法、装置、设备和存储介质 Download PDFInfo
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- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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- Embodiments of the present invention relate to a camera calibration technique, and in particular, to a method, an apparatus, a device, and a storage medium for correcting camera calibration parameters.
- Camera calibration is a process of establishing a camera imaging geometric model to determine geometric model parameters (ie, camera parameters) in order to determine the relationship between the geometric position of a point on the surface of a spatial object and its corresponding point in the captured image.
- the camera calibration is not satisfactory in any situation, and its environmental impact will result in a large calibration error, which will affect the subsequent restoration of the real object image.
- the invention provides a method, a device, a device and a storage medium for correcting camera calibration parameters, so as to achieve correction of camera calibration parameters and reduce calibration errors, so that the effect of restoring real object images by camera calibration parameters is better.
- an embodiment of the present invention provides a method for correcting calibration parameters of a camera, which is characterized in that:
- the theoretical coordinates of the identifier are calculated from the coordinates of the marker in the captured image according to the internal parameter and the external parameter;
- Adjusting coordinates are calculated according to the theoretical parameters of the modified identifier according to the external parameters
- a coordinate mapping parameter between the adjustment coordinates and coordinates of the marker in the captured image is calculated to replace an internal parameter of the camera.
- the embodiment of the present invention further provides a device for correcting camera calibration parameters, including:
- a calibration module configured to determine internal parameters and external parameters of the camera according to preset coordinates of the plurality of identifiers in the standard image and coordinates of the identifier in the captured image of the standard image acquired by the camera;
- a coordinate calculation module configured to calculate, by the coordinates of the identifier in the captured image, a theoretical coordinate of the identifier according to the internal parameter and the external parameter;
- a modifying module configured to modify a theoretical coordinate of the identifier to match a coordinate in the standard image if a theoretical coordinate of the identifier does not match a coordinate of the identifier in the standard image ;
- Adjusting a calculation module configured to calculate an adjusted coordinate according to the theoretical parameter of the modified identifier according to the external parameter
- a parameter calculation module configured to calculate coordinate mapping parameters between the adjustment coordinates and coordinates of the identifier in the captured image to replace an internal parameter of the camera.
- an embodiment of the present invention further provides an apparatus, where the apparatus includes:
- One or more processors are One or more processors;
- a memory for storing one or more programs
- the one or more programs are executed by the one or more processors such that the one or more processors implement the method of correcting camera calibration parameters described above.
- an embodiment of the present invention further provides a computer readable storage medium, where a computer program is stored thereon, and the program is implemented by the processor to implement the above method for correcting camera calibration parameters.
- the theoretical coordinate of the identifier is calculated according to the calibration parameter. If the theoretical coordinate does not match the coordinate of the marker in the standard image, the coordinate is calculated according to the external parameter using the matched coordinate. The internal parameter that reduces the error is regained in accordance with the mapping relationship between the adjusted coordinates and the coordinates in the captured image. Since the environmental factors affect the degree of distortion of the camera imaging, and the calculation error of the internal parameters is caused, the embodiment of the present invention obtains the adjusted coordinates to correct the internal parameters according to the external parameters obtained by the preliminary calculation, and solves the problem that the prior art camera calibration is affected by the environment. The problem of large calibration error achieves the effect of reducing the error of the calibration, so that the effect of restoring the real object image by the camera calibration parameters is better.
- FIG. 1 is a flowchart of a method for correcting calibration parameters of a camera according to Embodiment 1 of the present invention
- FIG. 2 is an image of a board book content captured by a camera in the first embodiment of the present invention
- Figure 4 is an image displayed by a tablet in the first embodiment of the present invention.
- FIG. 5 is a flowchart of a method for correcting calibration parameters of a camera according to Embodiment 2 of the present invention.
- FIG. 6 is a schematic structural diagram of a device for correcting calibration parameters of a camera according to Embodiment 3 of the present invention.
- FIG. 7 is a schematic structural diagram of a device according to Embodiment 4 of the present invention.
- FIG. 1 is a flowchart of a method for correcting calibration parameters of a camera according to Embodiment 1 of the present invention.
- the embodiment can be applied to correcting parameters of a camera to reduce calibration errors after the camera is calibrated, and the method can be used to calibrate parameters by the camera.
- the correcting device is executed, and specifically includes the following steps:
- Step 110 Determine internal parameters and external parameters of the camera according to preset coordinates of the plurality of identifiers in the standard image and coordinates of the identifier in the captured image of the standard image acquired by the camera;
- the standard image may be carried by the target panel; during the calibration process, the standard image may be displayed on the target panel by posting a checkerboard image or other standard image with the identifier;
- Step 120 Calculate, by the coordinates of the identifier in the captured image, the theoretical coordinates of the identifier according to the internal parameter and the external parameter;
- Step 130 If the theoretical coordinate of the identifier does not match the coordinate of the identifier in the standard image, modify the theoretical coordinate of the identifier to match the coordinates in the standard image;
- the theoretical coordinate of the modified identifier is an accurate coordinate value calculated by P I according to the inner parameter ⁇ and the outer parameter M without error.
- Step 140 Calculate the adjusted coordinates according to the theoretical parameters of the modified identifier according to the external parameters
- the theoretical coordinates should match the coordinates in the standard image; if they do not match, the parameters need to be corrected, since the external parameters are the ones between the image obtained after eliminating the distortion of the internal parameters and the captured image.
- Step 150 Calculate coordinate mapping parameters between the adjustment coordinates and coordinates of the identifier in an image captured by the camera to replace an internal parameter of the camera.
- Camera calibration can be widely used in technical fields such as image measurement or machine vision applications.
- an image containing the contents of a teaching board can be taken, and then the image presented on the writing board is restored using the parameters calibrated by the camera.
- FIG. 2 it is an image including a board book content photographed by a camera.
- an image that eliminates internal parameter distortion as shown in FIG. 3 can be obtained.
- Fig. 4 it is an image displayed on a tablet, which is equivalent to a standard image.
- the checkerboard image is posted on the tablet, and the checkerboard image is taken from multiple angles; using the coordinates of the vertices of the checkerboard image in the checkerboard image and the captured image, using Zhang's calibration
- P I (u I , v I , 0) f(P B ; ⁇ , M).
- the position of some of the images in the obtained image may be inconsistent with the image shown in FIG. 4, in particular, the position of the vertex of the lattice as the marker in the checkerboard image may be offset, that is, according to the inside
- the parameters and external parameters are calculated to determine that the theoretical coordinates of the marker do not match the coordinates of the marker in the image displayed on the tablet.
- the theoretical coordinates of the marker are corrected to match the coordinates of the marker in the image displayed on the tablet; the specific correction method may be to use the coordinates of the marker in the image displayed on the tablet as the theoretical coordinate.
- the image obtained according to the internal parameter and the external parameter may be presented to the user, and the user performs manual fine adjustment. Then, using the corrected theoretical coordinates, the coordinates P C of the marker in the image shown in FIG. 3 are obtained, and then the coordinate mapping parameters between FIG. 3 and FIG. 2 are solved, and the corrected internal parameters are used to reduce the calibration error. .
- the target panel is displayed with a standard image, and a standard image provided with a plurality of markers, such as a checkerboard image, can be projected onto the target panel by the projector.
- a standard image provided with a plurality of markers, such as a checkerboard image
- the way of projecting to the target panel can be controlled due to the projection ratio, so that the size ratio of the target panel can be ensured; and the checkerboard image is not affected by the printing accuracy and the like.
- the spacing between the two increases the accuracy of the calibration.
- the target panel can be displayed with standard images at any time without manual posting.
- the calibration and calibration process can be normal.
- it can be recalibrated at any time to avoid the loss of the calibration information in the classroom. If the calibration parameters are lost, the information of the blackboard cannot be recorded in time to improve the reliability of the operation.
- the target panel is displayed with a marker, and the marker can also be printed on the target panel, so that the target panel presents a standard image with the marker.
- the marker is inherent to the target panel, and its coordinates are not easily changed, so the calibration accuracy is high.
- the identifier can be disposed on the target panel frame (the markers are arranged on the four corners of the circled board as shown in FIG. 3), so as not to cover the content of the target panel, so that the mapping relationship can be obtained in the normal use of the target panel. In case of situation, it can be recalibrated at any time to improve the reliability of saving images in time.
- the image detection algorithm is required to read the coordinates of the marker.
- the feature value corresponding to each coordinate may be read under a specific color model, and the region pattern corresponding to the set feature value range may be extracted as a marker by using a binarization method.
- An edge detection method may also be employed and the edge is fitted with the set model to obtain the marker coordinates, that is, the edge of the marker is detected in the captured image; and the specified angle in the marker is searched for according to the detected edge
- the coordinates of the point as the coordinates of the marker.
- the embodiment of the present invention obtains the adjusted coordinates to correct the internal parameters according to the external parameters obtained by the preliminary calculation, and solves the problem that the prior art camera calibration is affected by the environment.
- the problem of large calibration error achieves the effect of reducing the error of the calibration, so that the effect of restoring the real object image by the camera calibration parameters is better.
- FIG. 5 is a flowchart of a method for correcting calibration parameters of a camera according to Embodiment 2 of the present invention.
- the embodiment can be applied to correcting parameters of a camera to reduce calibration errors after the camera is calibrated.
- the method can be used to calibrate parameters by the camera.
- the correcting device is implemented.
- the present embodiment provides a method for modifying the theoretical coordinates of human-computer interaction on the basis of the first embodiment, and artificially fine-tuning the parameters, so that the effect of reducing the error is better.
- step 120 the coordinates of the identifier in the captured image are calculated according to the internal parameter and the external parameter to obtain the theoretical coordinate of the identifier, which specifically includes:
- Step 121 Acquire coordinates in a captured image corresponding to each coordinate in the target image to be constructed according to the internal parameter and the external parameter;
- Step 122 Extract coordinates of the identifier in the target image as the theoretical coordinates of the identifier.
- Step 130 If the theoretical coordinate of the identifier does not match the coordinate of the identifier in the standard image, modify the theoretical coordinate of the identifier to match the coordinate in the standard image, specifically include:
- Step 131 Read feature values of coordinates in the captured image, as feature values of corresponding coordinates in the target image, and construct a target image having feature values for each coordinate;
- Step 132 Display the target image by using a display terminal.
- Step 133 Determine, according to an operation instruction of the user, whether a theoretical coordinate of the identifier matches a coordinate of the identifier in the standard image;
- Step 134 If there is no match, modify the theoretical coordinates of the identifier according to an operation instruction of the user to match the coordinates in the standard image.
- the target image can be obtained from the captured image as shown in FIG. 2, and the target image should match the image displayed on the tablet shown in FIG. 4, and if it does not match, the parameter needs to be corrected.
- the target image is presented to the user, and the user determines whether the coordinates of the identifier on the target image are correct. If not, the user performs correction. Then the parameters can be adjusted in the direction desired by the user. After adjusting the parameters once, step 120 to step 150 can be repeatedly performed to perform the next adjustment. After repeated manual fine adjustments, accurate Figure 4 can be obtained.
- the target image while displaying the target image through the display terminal, it is also possible to simultaneously display an image of the canceled internal parameter distortion calculated from the captured image according to the internal parameter, and synchronize the change of the marker position in one of the images to another Displayed in the image. Since the relationship between FIG. 3 and the target image is determined by the external parameter M, the coordinate correspondence list in the two images can be established before the user inputs the operation instruction, and in the user adjustment process, according to the user's operation instruction, Theoretical coordinates and adjustment coordinates can be obtained in real time.
- Step 133 Determine, according to an operation instruction of the user, whether the theoretical coordinate of the identifier matches the coordinate of the identifier in the standard image, and specifically includes:
- Step 134 If there is no match, modify the theoretical coordinates of the identifier according to an operation instruction of the user to match the coordinates in the standard image, specifically, if not, the theoretical coordinate of the identifier Modified to the coordinates of the drag handle.
- the above preferred solution allows the user to drag the marker to a location that the user believes to match the coordinates of the marker on the target panel using an input device, such as a mouse or touch screen, and then correct the parameters based on the location.
- This method allows the adjustment of the coordinates to be achieved on the displayed image, improving the degree of visualization.
- the target image is obtained according to the calibration parameter, and the target image is displayed to the user. If the target image does not match the standard image, the user can drag the identifier on the image to The correct position, re-acquire the internal parameters of the reduced error according to the user's operation.
- the adjustment parameters are obtained according to the external parameters obtained by the preliminary calculation to correct the internal parameters, and the problem that the calibration of the prior art camera is affected by the environment may cause a large calibration error, and the effect of reducing the calibration error is achieved, so that the calibration parameters are determined by the camera. It is better to restore the image of a real object.
- the user is provided with a reference through visual means, and manual adjustment is performed by means of human-computer interaction, and the adjustment effect is more optimized.
- FIG. 6 is a schematic structural diagram of a device for correcting calibration parameters of a camera according to Embodiment 3 of the present invention.
- the embodiment can be applied to correcting parameters of the camera to reduce the calibration error after the camera is calibrated.
- the calibration device for the camera calibration parameters includes:
- the calibration module 610 is configured to determine internal parameters and external parameters of the camera according to preset coordinates of the plurality of identifiers in the standard image and coordinates of the identifier in the captured image of the standard image acquired by the camera ;
- the coordinate calculation module 620 is configured to calculate, by the coordinates of the identifier in the captured image, the theoretical coordinates of the identifier according to the internal parameter and the external parameter;
- a modification module 630 configured to modify a theoretical coordinate of the identifier to match a coordinate of the standard image if a theoretical coordinate of the identifier does not match a coordinate of the identifier in the standard image ;
- the adjustment calculation module 640 is configured to calculate, according to the theoretical coordinates of the modified identifier, the adjusted coordinates according to the external parameters;
- the parameter calculation module 650 is configured to calculate a coordinate mapping parameter between the adjustment coordinate and a coordinate of the identifier in the captured image to replace an internal parameter of the camera.
- the coordinate calculation module 620 includes:
- a coordinate corresponding unit configured to acquire coordinates in a captured image corresponding to each coordinate in the target image to be constructed according to the inner parameter and the outer parameter;
- An extracting unit configured to extract coordinates of the identifier in the target image as a theoretical coordinate of the identifier
- the modification module 630 includes:
- composition unit configured to read a feature value of coordinates in the captured image, as a feature value of a corresponding coordinate in the target image, and construct a target image having a feature value for each coordinate;
- a display unit configured to display the target image by using a display terminal
- a comparison unit configured to determine, according to an operation instruction of the user, whether a theoretical coordinate of the identifier matches a coordinate of the identifier in the standard image
- an execution unit configured to modify the theoretical coordinates of the identifier according to an operation instruction of the user to match the coordinates of the standard image if not matched.
- the comparison unit specifically includes:
- the handle provides a subunit for providing a drag control point at a position corresponding to the theoretical coordinate of the identifier on the displayed target image;
- a detecting subunit configured to detect whether the drag control point is dragged by a user to a position corresponding to other coordinates
- a first determining unit if yes, determining that the theoretical coordinate of the identifier does not match the coordinate of the identifier in the standard image
- a second determining unit if not, determining that a theoretical coordinate of the identifier matches a coordinate of the identifier in the standard image
- the execution unit is specifically configured to modify the theoretical coordinates of the identifier to the coordinates of the drag control point.
- the standard image is projected by a projector onto a target panel, the camera being disposed towards the target panel.
- the standard image is printed on a target panel that is disposed toward the target panel.
- the identifier is a vertex of a grid on a checkerboard image.
- the calibration module 610 is specifically configured to calibrate the camera using a Zhang calibration method.
- the apparatus for correcting camera calibration parameters provided by the embodiments of the present invention may perform a method for correcting camera calibration parameters provided by any embodiment of the present invention, and has a function module and a beneficial effect corresponding to the execution method.
- FIG. 7 is a schematic structural diagram of a device according to Embodiment 4 of the present invention.
- the device includes a processor 710, a memory 720, an input device 730, an output device 740, and a camera 750 for capturing an image;
- the number of the processors 710 may be one or more.
- One processor 710 is taken as an example in FIG. 7; the processor 710, the memory 720, the input device 730, and the output device 740 in the device may be connected by a bus or other manner. In 7, the bus connection is taken as an example.
- the memory 720 is used as a computer readable storage medium, and can be used to store a software program, a computer executable program, and a module, such as a program instruction/module corresponding to the calibration method of the camera calibration parameter in the embodiment of the present invention (for example, camera calibration parameters)
- the processor 710 executes various functional applications and data processing of the device by executing software programs, instructions, and modules stored in the memory 720, that is, implementing the above-described method of correcting camera calibration parameters.
- the memory 720 may mainly include a storage program area and an storage data area, wherein the storage program area may store an operating system, an application required for at least one function; the storage data area may store data created according to usage of the terminal, and the like.
- memory 720 can include high speed random access memory, and can also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device.
- memory 720 can further include memory remotely located relative to processor 710, which can be connected to the device over a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.
- Input device 730 can be used to receive input digital or character information and to generate key signal inputs related to user settings and function control of the device.
- the output device 740 can include a display device such as a display screen.
- the fifth embodiment of the present invention further provides a computer readable storage medium storing a computer program, where the program is executed by a processor to implement a method for correcting camera calibration parameters, the method comprising:
- Adjusting coordinates are calculated according to the theoretical parameters of the modified identifier according to the external parameters
- a coordinate mapping parameter between the adjustment coordinates and coordinates of the marker in the captured image is calculated to replace an internal parameter of the camera.
- the computer readable storage medium storing the computer program provided by the embodiment of the present invention is not limited to the method operation as described above, and may also perform correction of the camera calibration parameters provided by any embodiment of the present invention. Related operations in the method.
- the present invention can be implemented by software and necessary general hardware, and can also be implemented by hardware, but in many cases, the former is a better implementation. .
- the technical solution of the present invention which is essential or contributes to the prior art, may be embodied in the form of a software product, which may be stored in a computer readable storage medium, such as a floppy disk of a computer. , Read-Only Memory (ROM), Random Access Memory (RAM), Flash (FLASH), hard disk or optical disk, etc., including a number of instructions to make a computer device (can be a personal computer)
- the server, or network device, etc. performs the methods described in various embodiments of the present invention.
- each unit and module included is only divided according to functional logic, but is not limited to the above division, as long as the corresponding function can be implemented;
- the specific names of the respective functional units are only for convenience of distinguishing from each other, and are not intended to limit the scope of protection of the present invention.
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Abstract
本发明公开了一种摄像机标定参数的校正方法，包括：在标定摄像机后，由标识物在拍摄图像中的坐标根据内参数和外参数计算得到标识物的理论坐标；如果标识物的理论坐标与标识物在标准图像中的坐标不匹配，则修改标识物的理论坐标，使其与标准图像中的坐标匹配；由修改后的标识物的理论坐标根据外参数计算得到调整坐标；计算调整坐标和标识物在拍摄图像中的坐标之间的坐标映射参数，以替换所述摄像机的内参数。相应地，本发明还公开一种摄像机标定参数的校正装置、设备和存储介质，本发明实现对摄像机标定参数的校正，降低标定的误差，使得通过摄像机标定参数还原真实物体图像的效果更好。
Description
本发明实施例涉及摄像机标定技术，尤其涉及一种摄像机标定参数的校正方法、装置、设备和存储介质。
摄像机标定是为确定空间物体表面某点的几何位置与其在拍摄图像中对应点之间的相互关系而建立摄像机成像几何模型，求解几何模型参数(即摄像机参数)的过程。
但是，摄像机标定并非任何情况上都能获得满意的标定结果，其受环境的影响会导致标定误差较大，影响后续还原真实物体图像的效果。
发明内容
本发明提供一种摄像机标定参数的校正方法、装置、设备和存储介质，以实现对摄像机标定参数的校正，降低标定的误差，使得通过摄像机标定参数还原真实物体图像的效果更好。
第一方面，本发明实施例提供了一种摄像机标定参数的校正方法，其特征在于，包括：
根据预设的多个标识物在标准图像中的坐标及所述标识物在通过摄像机获取的包含标准图像的拍摄图像中的坐标，确定所述摄像机的内参数和外参数；
由所述标识物在拍摄图像中的坐标根据所述内参数和外参数计算得到标识 物的理论坐标；
如果所述标识物的理论坐标与所述标识物在所述标准图像中的坐标不匹配，则修改所述标识物的理论坐标，使其与所述标准图像中的坐标匹配；
由修改后的所述标识物的理论坐标根据所述外参数计算得到调整坐标；
计算所述调整坐标和所述标识物在所述拍摄图像中的坐标之间的坐标映射参数，以替换所述摄像机的内参数。
第二方面，本发明实施例还提供了一种摄像机标定参数的校正装置，包括：
标定模块，用于根据预设的多个标识物在标准图像中的坐标及所述标识物在通过摄像机获取的包含标准图像的拍摄图像中的坐标，确定所述摄像机的内参数和外参数；
坐标计算模块，用于由所述标识物在拍摄图像中的坐标根据所述内参数和外参数计算得到标识物的理论坐标；
修改模块，用于如果所述标识物的理论坐标与所述标识物在所述标准图像中的坐标不匹配，则修改所述标识物的理论坐标，使其与所述标准图像中的坐标匹配；
调整计算模块，用于由修改后的所述标识物的理论坐标根据所述外参数计算得到调整坐标；
参数计算模块，用于计算所述调整坐标和所述标识物在所述拍摄图像中的坐标之间的坐标映射参数，以替换所述摄像机的内参数。
第三方面，本发明实施例还提供了一种设备，所述设备包括：
一个或多个处理器；
存储器，用于存储一个或多个程序；
摄像机，用于拍摄图像；
当所述一个或多个程序被所述一个或多个处理器执行，使得所述一个或多个处理器实现上述的摄像机标定参数的校正方法。
第四方面，本发明实施例还提供了一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现上述的摄像机标定参数的校正方法。
本发明实施例通过在标定摄像机后，根据标定参数计算得到标识物的理论坐标，如果该理论坐标与标识物在标准图像中的坐标不匹配，则使用匹配的坐标根据外参数计算得到调整坐标，以根据调整坐标与拍摄图像中的坐标之间的映射关系重新获得降低误差的内参数。由于环境因素影响摄像机成像的畸变程度，造成对内参数的计算误差，因此本发明实施例根据初步计算获得的外参数获得调整坐标去校正内参数，解决现有技术摄像机标定受环境的影响会导致标定误差较大的问题，实现降低标定的误差的效果，使得通过摄像机标定参数还原真实物体图像的效果更好。
图1是本发明实施例一提供的摄像机标定参数的校正方法的流程图；
图2是本发明实施例一中的摄像机拍摄的包含板书内容的图像；
图3是本发明实施例一中的消除内参数畸变的图像；
图4是本发明实施例一中的书写板显示的图像；
图5是本发明实施例二提供的摄像机标定参数的校正方法的流程图；
图6是本发明实施例三提供的摄像机标定参数的校正装置的结构示意图；
图7是本发明实施例四提供的设备的结构示意图。
下面结合附图和实施例对本发明作进一步的详细说明。可以理解的是，此处所描述的具体实施例仅仅用于解释本发明，而非对本发明的限定。另外还需要说明的是，为了便于描述，附图中仅示出了与本发明相关的部分而非全部结构。
实施例一
图1为本发明实施例一提供的摄像机标定参数的校正方法的流程图，本实施例可适用于对摄像机标定后，校正摄像机的参数以减小标定误差的情况，该方法可以由摄像机标定参数的校正装置来执行，具体包括如下步骤：
步骤110、根据预设的多个标识物在标准图像中的坐标及所述标识物在通过摄像机获取的包含标准图像的拍摄图像中的坐标，确定所述摄像机的内参数和外参数；
其中，标准图像可由目标面板承载；在标定过程中，可通过张贴棋盘格图像或其它设有标识物的标准图像使目标面板上显示标准图像；
摄像机的内参数包括相机主点、焦距和畸变参数等，可用θ表示；摄像机的外参数为标准图像与由拍摄图像消除内参数引起的畸变后得到的图像之间的单应性矩阵，可用M表示；设标准图像的某一坐标为P
B(u
B，v
B，0)，则拍摄图像中对应的坐标P
I(u
I，v
I，0)＝f(P
B；θ，M)。
步骤120、由所述标识物在拍摄图像中的坐标根据所述内参数和外参数计算得到标识物的理论坐标；
其中，理论坐标即为P
I根据P
I(u
I，v
I，0)＝f(P
B；θ，M)计算得到的坐标值P
B。
步骤130、如果所述标识物的理论坐标与所述标识物在所述标准图像中的 坐标不匹配，则修改所述标识物的理论坐标，使其与所述标准图像中的坐标匹配；
其中，修改后的所述标识物的理论坐标为在无误差的情况下由P
I根据内参数θ和外参数M计算应得的准确的坐标值。
步骤140、由修改后的所述标识物的理论坐标根据所述外参数计算得到调整坐标；
其中，若内参数和外参数准确，则理论坐标应与标准图像中的坐标匹配；若不匹配则需要校正参数，由于外参数是消除内参数畸变后得到的图像与拍摄图像之间的单应性矩阵，其不受标定环境影响，因此可利用修改后的理论坐标和外参数M，求出调整坐标P
C＝MP
B。
步骤150、计算所述调整坐标和所述标识物在所述摄像机拍摄的图像中的坐标之间的坐标映射参数，以替换所述摄像机的内参数。
其中，设坐标映射参数为θ’，显然，P
I(u
I，v
I，0)＝f(P
C；θ’)；将内参数θ校正为θ’则可获得准确的标定结果。
摄像机标定可广泛应用于图像测量或机器视觉应用等技术领域。例如，应用于教学领域，可以拍摄包含教学板书内容的图像，然后利用摄像机标定的参数还原书写板上呈现的图像。如图2所示，是通过摄像机拍摄的包含板书内容的图像。在经摄像机标定得到摄像机的内参数后，可获得如图3所示的消除内参数畸变的图像。如图4所示，是书写板显示的图像，相当于标准图像。
下面结合图2至图4，以摄像机标定在拍摄板书图像中的应用来说明本实施例的工作原理：
在摄像机标定过程，将棋盘格图像张贴在书写板上，从多个角度对棋盘格 图像拍摄；利用棋盘格图像中格子的顶点在棋盘格图像和拍摄的图像中的坐标关系，使用张氏标定法或其他更复杂的标定方法，可以获得摄像机的内参数θ和外参数M。若所获参数无误差，则在拍摄了图2所示的图像后，可以根据P
I(u
I，v
I，0)＝f(P
B；θ，M)得到图2和图4之间的坐标映射关系，将图2中坐标位置的色彩特征值(如RGB值或灰度值等表征该坐标上的色彩的特征值)插值到图4中对应的坐标，可以得到图4所示的图像。但如果标定过程有误差，则得到的图像中一些图案的位置会与图4所示的图像不一致，特别地，棋盘格图像中作为标识物的格子的顶点位置会偏移，即根据所述内参数和外参数计算得到标识物的理论坐标与标识物在书写板显示的图像中的坐标不匹配。按照本实施例，会将标识物的理论坐标校正为与标识物在书写板显示的图像中的坐标相匹配；具体校正的方法可以是使用标识物在书写板显示的图像中的坐标作为理论坐标，也可以是将根据内参数和外参数得到的图像展示给用户，由用户进行人工微调。然后利用校正后的理论坐标，获得标识物在如图3所示的图像中的坐标P
C，进而求解图3和图2之间的坐标映射参数，作为校正后的内参数，降低标定的误差。
在上述技术方案的基础上，使目标面板显示标准图像，还可以通过投影仪将设有多个标识物的标准图像，如棋盘格图像，投影至目标面板来实现。相比于将棋盘格图像张贴在目标面板上，投影至目标面板的方式由于投影比例可以控制，使得可以保证与目标面板尺寸比例一致；且棋盘格图像不受打印精度等问题影响其黑白格之间的间距，使得标定准确性提高。只要事先调整好投影仪的角度和位置，就可以随时不需要人工张贴操作就可以使目标面板显示标准图像，在一些特定的场合，例如标定拍摄板书图像的摄像机，可以使标定和校正 过程在正常使用书写板的情况下进行，即随时可以重新标定，以避免在课堂上场若标定参数丢失则无法及时记录板书信息，提高操作的可靠性。
使目标面板显示标识物，还可以将标识物印制在目标面板，使目标面板呈现带有标识物的标准图像。标识物是目标面板固有的，其坐标不会轻易发生改变，因此标定精度高。且标识物可设置在目标面板边框上(如图3圈选的书写板的四个角上设有标识物)，以免遮住目标面板的内容，使得求取映射关系可以在正常使用目标面板的情况下进行，随时可以重新标定，提高及时保存图像的可靠性。
对于特制的标识物，需要用图像检测算法读取标识物的坐标。对于颜色与背景色彩反差较大的标识物，可在特定的颜色模型下，读取各坐标对应的特征值，使用二值化方法提取设定的特征值范围所对应的区域图案作为标识物。也可以采用边缘检测方法并用设定的模型拟合边缘得到标识物坐标，即在所述拍摄图像中检测所述标识物的边缘；根据检测到的所述边缘，查找所述标识物中指定角点的坐标，作为所述标识物的坐标。
本实施例的技术方案，通过在标定摄像机后，根据标定参数计算得到标识物的理论坐标，如果该理论坐标与标识物在标准图像中的坐标不匹配，则使用匹配的坐标根据外参数计算得到调整坐标，以根据调整坐标与拍摄图像中的坐标之间的映射关系重新获得降低误差的内参数。由于环境因素影响摄像机成像的畸变程度，造成对内参数的计算误差，因此本发明实施例根据初步计算获得的外参数获得调整坐标去校正内参数，解决现有技术摄像机标定受环境的影响会导致标定误差较大的问题，实现降低标定的误差的效果，使得通过摄像机标定参数还原真实物体图像的效果更好。
实施例二
图5为本发明实施例二提供的摄像机标定参数的校正方法的流程图，本实施例可适用于对摄像机标定后，校正摄像机的参数以减小标定误差的情况，该方法可以由摄像机标定参数的校正装置来执行，本实施例是在实施例一的基础上，提供一种人机交互修改理论坐标的方法，对参数进行人工微调，使得降低误差的效果更好。
其中，步骤120、由所述标识物在拍摄图像中的坐标根据所述内参数和外参数计算得到标识物的理论坐标，具体包括：
步骤121、根据所述内参数和外参数，获取待构建的目标图像中的每一坐标所对应的拍摄图像中的坐标；
步骤122、提取所述标识物在所述目标图像中的坐标，作为所述标识物的理论坐标。
步骤130、如果所述标识物的理论坐标与所述标识物在所述标准图像中的坐标不匹配，则修改所述标识物的理论坐标，使其与所述标准图像中的坐标匹配，具体包括：
步骤131、读取所述拍摄图像中的坐标的特征值，作为所述目标图像中对应坐标的特征值，构建每一坐标都有特征值的目标图像；
步骤132、通过显示终端显示所述目标图像；
步骤133、根据用户的操作指令判断所述标识物的理论坐标与所述标识物在所述标准图像中的坐标是否匹配；
步骤134、如果不匹配，则根据用户的操作指令修改所述标识物的理论坐标，使其与所述标准图像中的坐标匹配。
结合上述步骤121和步骤131，可由如图2所示的拍摄的图像得到目标图像，目标图像应与图4所示的书写板显示的图像匹配，如不匹配则需要校正参数。本实施例步骤132将该目标图像呈现给用户，由用户判断目标图像上标识物的坐标是否正确，如不正确，由用户进行校正。则参数可以往用户期望的方向调整。在调整一次参数后，还可以重复执行步骤120至步骤150，执行下一次调整，经过多次人工微调，可以得到准确的图4。
进一步地，在通过显示终端显示所述目标图像的同时，还可以同时显示由拍摄图像根据内参数计算得到的消除内参数畸变的图像，并将其中一个图像中标识物位置的变化同步在另一个图像中显示。由于图3和目标图像之间的关系是由外参数M确定的，因此可在用户输入操作指令前，建立好两个图像中的坐标对应列表，在用户调整过程中，根据用户的操作指令，可实时获得理论坐标和调整坐标。
优选地，可通过提供拖拽控点的方式来接收用户的操作指令。步骤133、根据用户的操作指令判断所述标识物的理论坐标与所述标识物在所述标准图像中的坐标是否匹配，具体包括：
在显示的目标图像上所述标识物的理论坐标所对应的位置提供拖拽控点；
检测所述拖拽控点是否被用户拖拽至其他坐标所对应的位置；
若是，则判定所述标识物的理论坐标与所述标识物在所述标准图像中的坐标不匹配；
若否，则判定所述标识物的理论坐标与所述标识物在所述标准图像中的坐标匹配。
步骤134、如果不匹配，则根据用户的操作指令修改所述标识物的理论坐 标，使其与所述标准图像中的坐标匹配，具体为，如果不匹配，则将所述标识物的理论坐标修改为所述拖拽控点的坐标。
上述优选方案允许用户使用输入设备，例如鼠标或触摸屏，将标识物拖拽到用户认为与标识物在目标面板上的坐标匹配的位置，然后根据该位置校正参数。这种方法使得对坐标的调整在显示的图像上实现，提高可视化程度。
本实施例的技术方案，通过在标定摄像机后，根据标定参数获得目标图像，并向用户显示该目标图像，如果该目标图像与标准图像不匹配，则用户可以拖拽图像上的标识物，到正确的位置，根据用户的操作重新获得降低误差的内参数。本实施例根据初步计算获得的外参数获得调整坐标去校正内参数，解决现有技术摄像机标定受环境的影响会导致标定误差较大的问题，实现降低标定的误差的效果，使得通过摄像机标定参数还原真实物体图像的效果更好。同时通过可视化的方式为用户提供参考，使用人机交互的方式进行人工微调，调整效果更优化。
实施例三
图6为本发明实施例三提供的摄像机标定参数的校正装置的结构示意图，本实施例可适用于对摄像机标定后，校正摄像机的参数以减小标定误差的情况。该摄像机标定参数的校正装置包括：
标定模块610，用于根据预设的多个标识物在标准图像中的坐标及所述标识物在通过摄像机获取的包含标准图像的拍摄图像中的坐标，确定所述摄像机的内参数和外参数；
坐标计算模块620，用于由所述标识物在拍摄图像中的坐标根据所述内参 数和外参数计算得到标识物的理论坐标；
修改模块630，用于如果所述标识物的理论坐标与所述标识物在所述标准图像中的坐标不匹配，则修改所述标识物的理论坐标，使其与所述标准图像的坐标匹配；
调整计算模块640，用于由修改后的所述标识物的理论坐标根据所述外参数计算得到调整坐标；
参数计算模块650，用于计算所述调整坐标和所述标识物在所述拍摄图像中的坐标之间的坐标映射参数，以替换所述摄像机的内参数。
进一步地，所述坐标计算模块620包括：
坐标对应单元，用于根据所述内参数和外参数，获取待构建的目标图像中的每一坐标所对应的拍摄图像中的坐标；
提取单元，用于提取所述标识物在所述目标图像中的坐标，作为所述标识物的理论坐标；
则所述修改模块630包括：
构图单元，用于读取所述拍摄图像中的坐标的特征值，作为所述目标图像中对应坐标的特征值，构建每一坐标都有特征值的目标图像；
显示单元，用于通过显示终端显示所述目标图像；
比对单元，用于根据用户的操作指令判断所述标识物的理论坐标与所述标识物在所述标准图像中的坐标是否匹配；
执行单元，用于如果不匹配，则根据用户的操作指令修改所述标识物的理论坐标，使其与所述标准图像的坐标匹配。
优选地，所述比对单元具体包括：
控点提供子单元，用于在显示的目标图像上所述标识物的理论坐标所对应的位置提供拖拽控点；
检测子单元，用于检测所述拖拽控点是否被用户拖拽至其他坐标所对应的位置；
第一判定单元，用于若是，则判定所述标识物的理论坐标与所述标识物在所述标准图像中的坐标不匹配；
第二判定单元，用于若否，则判定所述标识物的理论坐标与所述标识物在所述标准图像中的坐标匹配；
所述执行单元具体用于将所述标识物的理论坐标修改为所述拖拽控点的坐标。
作为其中一种实施方式，所述标准图像由投影仪投影至目标面板上，所述摄像机朝向所述目标面板设置。
作为另一种实施方式，所述标准图像印制在目标面板上，所述摄像机朝向所述目标面板设置。
作为另一种实施方式，所述标识物为棋盘格图像上格子的顶点。
优选地，所述标定模块610具体用于使用张氏标定法标定所述摄像机。
本发明实施例所提供的摄像机标定参数的校正装置可执行本发明任意实施例所提供的摄像机标定参数的校正方法，具备执行方法相应的功能模块和有益效果。
实施例四
图7为本发明实施例四提供的一种设备的结构示意图，如图7所示，该设 备包括处理器710、存储器720、输入装置730、输出装置740和用于拍摄图像的摄像机750；设备中处理器710的数量可以是一个或多个，图7中以一个处理器710为例；设备中的处理器710、存储器720、输入装置730和输出装置740可以通过总线或其他方式连接，图7中以通过总线连接为例。
存储器720作为一种计算机可读存储介质，可用于存储软件程序、计算机可执行程序以及模块，如本发明实施例中的摄像机标定参数的校正方法对应的程序指令/模块(例如，摄像机标定参数的校正装置中的标定模块610、坐标计算模块620、修改模块630、调整计算模块640和参数计算模块650)。处理器710通过运行存储在存储器720中的软件程序、指令以及模块，从而执行设备的各种功能应用以及数据处理，即实现上述的摄像机标定参数的校正方法。
存储器720可主要包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需的应用程序；存储数据区可存储根据终端的使用所创建的数据等。此外，存储器720可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他非易失性固态存储器件。在一些实例中，存储器720可进一步包括相对于处理器710远程设置的存储器，这些远程存储器可以通过网络连接至设备。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。
输入装置730可用于接收输入的数字或字符信息，以及产生与设备的用户设置以及功能控制有关的键信号输入。输出装置740可包括显示屏等显示设备。
实施例五
本发明实施例五还提供一种存储有计算机程序的计算机可读存储介质，所 述程序被处理器执行时实现一种摄像机标定参数的校正方法，该方法包括：
根据预设的多个标识物在标准图像中的坐标及所述标识物在通过摄像机获取的包含标准图像的拍摄图像中的坐标，确定所述摄像机的内参数和外参数；
由所述标识物在拍摄图像中的坐标根据所述内参数和外参数计算得到标识物的理论坐标；
如果所述标识物的理论坐标与所述标识物在所述标准图像中的坐标不匹配，则修改所述标识物的理论坐标，使其与所述标准图像中的坐标匹配；
由修改后的所述标识物的理论坐标根据所述外参数计算得到调整坐标；
计算所述调整坐标和所述标识物在所述拍摄图像中的坐标之间的坐标映射参数，以替换所述摄像机的内参数。
当然，本发明实施例所提供的一种存储有计算机程序的计算机可读存储介质，其计算机程序不限于如上所述的方法操作，还可以执行本发明任意实施例所提供的摄像机标定参数的校正方法中的相关操作。
通过以上关于实施方式的描述，所属领域的技术人员可以清楚地了解到，本发明可借助软件及必需的通用硬件来实现，当然也可以通过硬件实现，但很多情况下前者是更佳的实施方式。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品可以存储在计算机可读存储介质中，如计算机的软盘、只读存储器(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、闪存(FLASH)、硬盘或光盘等，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本发明各个实施例所述的方法。
值得注意的是，上述摄像机标定参数的校正装置的实施例中，所包括的各 个单元和模块只是按照功能逻辑进行划分的，但并不局限于上述的划分，只要能够实现相应的功能即可；另外，各功能单元的具体名称也只是为了便于相互区分，并不用于限制本发明的保护范围。
注意，上述仅为本发明的较佳实施例及所运用技术原理。本领域技术人员会理解，本发明不限于这里所述的特定实施例，对本领域技术人员来说能够进行各种明显的变化、重新调整和替代而不会脱离本发明的保护范围。因此，虽然通过以上实施例对本发明进行了较为详细的说明，但是本发明不仅仅限于以上实施例，在不脱离本发明构思的情况下，还可以包括更多其他等效实施例，而本发明的范围由所附的权利要求范围决定。
Claims (10)
- 一种摄像机标定参数的校正方法，其特征在于，包括：根据预设的多个标识物在标准图像中的坐标及所述标识物在通过摄像机获取的包含标准图像的拍摄图像中的坐标，确定所述摄像机的内参数和外参数；由所述标识物在拍摄图像中的坐标根据所述内参数和外参数计算得到标识物的理论坐标；如果所述标识物的理论坐标与所述标识物在所述标准图像中的坐标不匹配，则修改所述标识物的理论坐标，使其与所述标准图像中的坐标匹配；由修改后的所述标识物的理论坐标根据所述外参数计算得到调整坐标；计算所述调整坐标和所述标识物在所述拍摄图像中的坐标之间的坐标映射参数，以替换所述摄像机的内参数。
- 如权利要求1所述的摄像机标定参数的校正方法，其特征在于，所述由所述标识物在拍摄图像中的坐标根据所述内参数和外参数计算得到标识物的理论坐标，具体包括：根据所述内参数和外参数，获取待构建的目标图像中的每一坐标所对应的拍摄图像中的坐标；提取所述标识物在所述目标图像中的坐标，作为所述标识物的理论坐标；所述如果所述标识物的理论坐标与所述标识物在所述标准图像中的坐标不匹配，则修改所述标识物的理论坐标，使其与所述标准图像中的坐标匹配，具体包括：读取所述拍摄图像中的坐标的特征值，作为所述目标图像中对应坐标的特征值，构建每一坐标都有特征值的目标图像；通过显示终端显示所述目标图像；根据用户的操作指令判断所述标识物的理论坐标与所述标识物在所述标准图像中的坐标是否匹配；如果不匹配，则根据用户的操作指令修改所述标识物的理论坐标，使其与所述标准图像中的坐标匹配。
- 如权利要求2所述的摄像机标定参数的校正方法，其特征在于，所述根据用户的操作指令判断所述标识物的理论坐标与所述标识物在所述标准图像中的坐标是否匹配，具体包括：在显示的目标图像上所述标识物的理论坐标所对应的位置提供拖拽控点；检测所述拖拽控点是否被用户拖拽至其他坐标所对应的位置；若是，则判定所述标识物的理论坐标与所述标识物在标准图像中的坐标不匹配；若否，则判定所述标识物的理论坐标与所述标识物在标准图像中的坐标匹配；则所述根据用户的操作指令修改所述标识物的理论坐标，使其与所述标准图像中的坐标匹配，具体为：将所述标识物的理论坐标修改为所述拖拽控点的坐标。
- 如权利要求1至3任一项所述的摄像机标定参数的校正方法，其特征在于，所述标准图像由投影仪投影至目标面板上，所述摄像机朝向所述目标面板设置。
- 如权利要求1至3任一项所述的摄像机标定参数的校正方法，其特征在于，所述标准图像印制在目标面板上，所述摄像机朝向所述目标面板设置。
- 如权利要求1至3任一项所述的摄像机标定参数的校正方法，其特征 在于，所述标识物为棋盘格图像上格子的顶点。
- 如权利要求1至3任一项所述的摄像机标定参数的校正方法，其特征在于，所述确定所述摄像机的内参数和外参数，具体为：使用张氏标定法标定所述摄像机，获得所述摄像机的内参数和外参数。
- 一种摄像机标定参数的校正装置，其特征在于，包括：标定模块，用于根据预设的多个标识物在标准图像中的坐标及所述标识物在通过摄像机获取的包含标准图像的拍摄图像中的坐标，确定所述摄像机的内参数和外参数；坐标计算模块，用于由所述标识物在拍摄图像中的坐标根据所述内参数和外参数计算得到标识物的理论坐标；修改模块，用于如果所述标识物的理论坐标与所述标识物在所述标准图像中的坐标不匹配，则修改所述标识物的理论坐标，使其与所述标准图像中的坐标匹配；调整计算模块，用于由修改后的所述标识物的理论坐标根据所述外参数计算得到调整坐标；参数计算模块，用于计算所述调整坐标和所述标识物在所述拍摄图像中的坐标之间的坐标映射参数，以替换所述摄像机的内参数。
- 一种设备，其特征在于，所述设备包括：一个或多个处理器；存储器，用于存储一个或多个程序；摄像机，用于拍摄图像；当所述一个或多个程序被所述一个或多个处理器执行，使得所述一个或多 个处理器实现如权利要求1-7中任一所述的摄像机标定参数的校正方法。
- 一种计算机可读存储介质，其上存储有计算机程序，其特征在于，该程序被处理器执行时实现如权利要求1-7中任一所述的摄像机标定参数的校正方法。
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