CN204303031U - Based on the camera multifunctional caliberating device of optical projector - Google Patents

Abstract

The utility model discloses a camera multifunctional calibration device based on an optical projector. The method comprises the following steps: a. setting an optical projector with an optical calibration and a fixed position and attitude, a computer and an indium steel plate; b. Design the calibration image by computer, and use an optical projector to project the calibration image generated by computer simulation onto the indium steel plate, and take it by the camera to be calibrated; c. Use computer simulation to perform rotation and translation transformation on the design calibration image, and shoot, and then The three-dimensional coordinates of the marker points at each moment are calculated by computer simulation, combined with the image point coordinates of the photographed markers, and finally the precise calibration parameters of the camera are solved by using three-dimensional direct linear transformation and beam adjustment. The utility model can design different marking schemes, realize calibration tasks of various types of cameras in one calibration field, has versatility and flexibility, and the whole calibration process is automatically completed by a computer, which has the advantages of automation, speed and efficiency.

Description

Camera multifunctional calibration device based on optical projector

Technical field:

The utility model relates to a camera calibration device, in particular to a camera multifunctional calibration device based on an optical projector.

Background technique:

In photogrammetry and computer vision applications, in order to determine the relationship between the three-dimensional geometric position of a point on the surface of a space object and its corresponding point in the image, it is necessary to establish a geometric model of camera imaging, and these geometric model parameters are camera parameters. Under most conditions, these parameters must be obtained through experiments and calculations. This process of solving parameters is called camera calibration.

For camera calibration, it is usually necessary to establish a camera calibration field or use a calibration template, and assist certain calibration methods. However, since the calibration fields used by different types of cameras are not the same, and different calibration methods and software have different requirements for the shape and specifications of the logo, it is difficult to achieve the calibration of all types of cameras in one calibration field.

Utility model content:

The technical problem to be solved by the utility model is: to overcome the deficiencies of the prior art, and provide a camera multifunctional calibration device based on an optical projector, which is reasonable in design, easy to implement, good in versatility, automatic, fast and efficient.

The technical scheme of the utility model is:

A camera multifunctional calibration device based on an optical projector, comprising an optical projector, the optical projector is optically calibrated and fixed on a support platform, the optical projector is connected to a computer, and the optical projector The lens corresponds to the calibration image display screen, and the optical projector projects the calibration image generated by computer simulation onto the calibration image display screen.

The calibration image display screen is an indium steel plate or a treated flat wall; the lower end of the indium steel plate is provided with a base. The calibration image adopts a matrix composed of an unlimited number of circles, or a matrix composed of an unlimited number of squares, or sets special-shaped patterns in a matrix composed of circles.

The beneficial effects of the utility model are:

1. The utility model can design different marking schemes according to the calibration requirements of different cameras, and realize the calibration tasks of various types of cameras in one calibration field, which has versatility and flexibility, and the entire calibration process is automatically completed by the computer without manual operation link, which has the advantages of automation, speed and efficiency.

2. The utility model only uses an optical projector, a computer, and a processed and fixed indium steel plate (or a specially treated flat wall) to perform camera calibration. The facilities are simple, easy to implement, and reduce costs.

3. The utility model uses a computer to generate many calibration images, and can project the calibration images onto the indium steel plate through an optical projector at any time, which is convenient, fast and efficient

4. The utility model is reasonable in design, easy to implement, good in versatility, automatic, fast and efficient, has a wide range of applications, is easy to popularize and implement, and has good economic benefits.

Description of drawings:

Fig. 1 is the structural representation of the camera multifunctional calibration device based on optical projector;

Fig. 2 is one of the schematic diagrams of the calibration marks provided by the optical projector in Fig. 1;

Fig. 3 is another kind of distribution schematic diagram of calibration marks in Fig. 2;

Fig. 4 is the second schematic diagram of the calibration mark set by the optical projector in Fig. 1;

Fig. 5 is another kind of distribution schematic diagram of calibration marks in Fig. 4;

Fig. 6 is the third schematic diagram of the calibration mark set by the optical projector in Fig. 1;

FIG. 7 is another schematic diagram of distribution of calibration marks in FIG. 6 .

Detailed ways:

Embodiment: see Fig. 1-Fig. 7, in the figure, 1-support platform, 2-camera to be calibrated, 3-optical projector, 4-calibrated image display screen, 5-base, 6-calibrated image.

The camera multifunctional calibration device based on an optical projector includes an optical projector 3, wherein: the optical projector 3 is optically calibrated and fixed on the support table 1, the optical projector 3 is connected to a computer (not shown in the figure), and, The lens of the optical projector 3 corresponds to the calibration image display screen 4 , and the optical projector 3 projects the calibration image 6 generated by computer simulation onto the calibration image display screen 4 .

Calibration image display screen 4 can adopt processed indium steel plate, or can adopt processed flat wall surface, which is determined according to needs; when indium steel plate is used, the lower end is fixed by base 5 . the

The working principle consists of the following steps:

a. Set up an optical projector that has been optically calibrated and fixed in position and attitude 3. A computer connected to the optical projector and a processed and fixed indium steel plate to form a calibration field;

b. Design the calibration image by computer, and use the optical projector 3 to project the calibration image 6 generated by computer simulation onto the indium steel plate, and take it by the camera 2 to be calibrated;

c. Use computer simulation to perform rotation and translation transformation on the design calibration image 6, and take pictures, and then calculate the three-dimensional coordinates of the mark points at each time through computer simulation, combine the image point coordinates of the shooting marks, and finally use three-dimensional direct linear transformation and beam method to level The difference solves the precise calibration parameters of the camera.

The calibration image 6 in step b uses a matrix composed of an unlimited number of circles (see Figures 2 and 3), or a matrix composed of an unlimited number of squares (see Figures 4 and 5), or a matrix composed of circles Set special-shaped patterns in (see Figure 6 and Figure 7), of course, other images can also be used, not detailed one by one.

The rotation-translation transformation in step c includes multi-angle rotation and translation at different intervals, so as to increase different positions of the calibration image and facilitate multiple measurements by the camera 2 to be calibrated.

The utility model can design different marking schemes according to the calibration requirements of different cameras, and realize the calibration tasks of various types of cameras in one calibration field, which has versatility and flexibility, and the whole calibration process is automatically completed by the computer without manual operation. It has the advantages of automation, speed and efficiency.

The above is only a preferred embodiment of the utility model, and does not limit the utility model in any form. Any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the utility model, All still belong to within the scope of the technical solution of the utility model.

Claims (2)

1. A camera multifunctional calibration device based on an optical projector, comprising an optical projector, characterized in that: the optical projector is optically calibrated and fixed on a support platform, the optical projector is connected with a computer, and, The lens of the optical projector corresponds to the calibration image display screen, and the optical projector projects the calibration image generated by computer simulation onto the calibration image display screen; the calibration image display screen is an indium steel plate or a processed flat wall surface; the lower end of the indium steel plate is provided with a base. 2. The multifunctional camera calibration device based on an optical projector according to claim 1, wherein the calibration image is a matrix composed of an unlimited number of circles, or a matrix composed of an unlimited number of squares, or Sets the pattern in a matrix of circles.