CN109544643A - A kind of camera review bearing calibration and device - Google Patents
A kind of camera review bearing calibration and device Download PDFInfo
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Abstract
The embodiment of the present application provides a kind of camera review bearing calibration and device, wherein, this method comprises: shooting the straight slope in the grid image that scaling board obtains by video camera, determines the rotation amount and translational movement of the video camera, be provided with grid on the scaling board；The world coordinates for obtaining the set point on the grid determines respective coordinates of the set point in camera coordinate system according to the rotation amount of the video camera and translational movement；Based on respective coordinates of the set point in camera coordinate system, lens focus, camera coordinate system and the image coordinate system transformational relation of the video camera, image coordinate system and pixel coordinate system transformational relation and distortion of camera formula, the distortion parameter of the video camera imaging is determined；The camera review is corrected based on the distortion parameter.The embodiment of the present application simplifies the correction course of camera review.
Description
Technical field
This application involves technical field of image processing, in particular to a kind of camera review bearing calibration and device.
Background technique
Calibration essence of extensive use of the image procossing in intelligent video monitoring and precision machine vision field to video camera
More stringent requirements are proposed for degree.But the image geometry as caused by optical lens group, imaging sensor and image acquisition circuit etc.
The presence of distortion limits the raising of precision.Therefore, the geometric distortion of video camera is solved as the critical issue in vision application.
Presently mainly camera review is corrected by camera marking method, traditional scaling method is generally adopted
With the camera model of parametrization, whole internal and external parameters of video camera will be solved by parameterizing scaling method.Such as according to mark
Whether fixed board is coplanar, most of external parameter of video camera is first solved with Method of Direct Liner Transformation or perspective transform method, and obtain
To the initial value of nonlinear optimization parameter, then considers the influence of radial distortion, obtain objective function most by Optimizing Search
Small parameter value.
As it can be seen that current scaling method is in the presence of calibration Board position is put, requirement is high, complicated for operation, parameterizes calculating complexity
The problems such as.
Summary of the invention
In view of this, the application's is designed to provide a kind of camera review bearing calibration and device, to simplify camera shooting
The correction course of machine image.
First party is bright, and the embodiment of the present application provides a kind of camera review bearing calibration, comprising:
The straight slope in the grid image that scaling board obtains is shot by video camera, determines the rotation amount of the video camera
And translational movement, grid is provided on the scaling board；
The world coordinates for obtaining the set point on the grid determines institute according to the rotation amount of the video camera and translational movement
State respective coordinates of the set point in camera coordinate system；
Lens focus, video camera based on respective coordinates of the set point in camera coordinate system, the video camera
Coordinate system and image coordinate system transformational relation, image coordinate system and pixel coordinate system transformational relation and distortion of camera formula,
Determine the distortion parameter of the video camera imaging；
The camera review is corrected based on the distortion parameter.
With reference to first aspect, the embodiment of the present application provides the first possible embodiment of first aspect, described logical
The straight slope in the grid image that video camera shooting scaling board obtains is crossed, determines the translational movement of the video camera, comprising:
The picture point coordinate in the X-direction in the central area of the scaling board grid image on different straight lines is obtained,
And the image coordinate in Y direction on different straight lines；
The slope of two straight lines in X-direction is determined according to the picture point coordinate on straight lines different in the X-direction, with
And the slope of two straight lines in Y direction is determined according to the image coordinate on straight lines different in the Y direction；
The horizontal translation component of the video camera along the x axis is determined according to the slope of two straight lines in the X-direction,
The vertical translation component of the video camera along the y axis is determined according to the slope of two straight lines in Y direction.
With reference to first aspect, the embodiment of the present application provides second of possible embodiment of first aspect, described logical
The straight slope in the grid image that video camera shooting scaling board obtains is crossed, determines the rotation amount of the video camera, comprising:
Obtain the picture point coordinate in the X-direction in the central area of the scaling board grid image on different straight lines；
The slope of two straight lines in X-direction is determined according to the picture point coordinate on straight lines different in the X-direction；
The camera angle of rotation is determined according to the slope of two straight lines in the X-direction；
The rotation amount of the video camera is determined according to the rotation angle.
With reference to first aspect, the embodiment of the present application provides the third possible embodiment of first aspect, the base
In respective coordinates of the set point in camera coordinate system, lens focus, camera coordinate system and the figure of the video camera
As coordinate system transformational relation, image coordinate system and pixel coordinate system transformational relation and distortion of camera formula, taken the photograph described in determination
The distortion parameter of camera imaging, comprising:
According to respective coordinates of the set point in camera coordinate system, the video camera lens focus and described take the photograph
Camera coordinate system and image coordinate system transformational relation, determine first respective coordinates of the set point in image coordinate system；
It is converted according to respective coordinates of the set point in pixel coordinate system and image coordinate system and pixel coordinate system
Relationship determines second respective coordinates of the set point in described image coordinate system；
According to the first respective coordinates, the second respective coordinates, camera coordinate system and image coordinate system transformational relation and take the photograph
Camera distortion formula determines the distortion parameter of video camera imaging.
The third possible embodiment with reference to first aspect, the embodiment of the present application provide the 4th kind of first aspect
Possible embodiment, it is described that the camera review is corrected based on the distortion parameter, comprising:
When getting the positive image to be repaired of the video camera shooting, image on schedule to be repaired in the positive image to be repaired is obtained
Coordinate；
It is public according to the image coordinate on schedule to be repaired, the distortion parameter of the video camera imaging and the distortion of camera
Formula obtains the corresponding orthoscopic image coordinate of the image coordinate on schedule to be repaired；
According to the orthoscopic image coordinate and described image coordinate system and pixel coordinate system transformational relation, obtain undistorted
The corresponding pixel coordinate of image；
The camera review is corrected based on the orthoscopic image corresponding pixel coordinate.
Second aspect, the embodiment of the present application provide a kind of camera review means for correcting, comprising:
Camera parameters determining module, it is oblique for shooting the straight line in the grid image that scaling board obtains by video camera
Rate determines the rotation amount and translational movement of the video camera, is provided with grid on the scaling board；
Coordinate transferring, for obtaining the world coordinates of the set point on the grid, according to the rotation of the video camera
Turn amount and translational movement determines respective coordinates of the set point in camera coordinate system；
Distortion parameter determining module, for based on respective coordinates of the set point in camera coordinate system, described take the photograph
Lens focus, camera coordinate system and the image coordinate system transformational relation of camera, image coordinate system and pixel coordinate system conversion are closed
System and distortion of camera formula, determine the distortion parameter of the video camera imaging；
Image correction module, for being corrected based on the distortion parameter to the camera review.
In conjunction with second aspect, the embodiment of the present application provides the first possible embodiment of second aspect, described to take the photograph
Camera parameter determination module, is specifically used for:
The picture point coordinate in the X-direction in the central area of the scaling board grid image on different straight lines is obtained,
And the image coordinate in Y direction on different straight lines；
The slope of two straight lines in X-direction is determined according to the picture point coordinate on straight lines different in the X-direction, with
And the slope of two straight lines in Y direction is determined according to the image coordinate on straight lines different in the Y direction；
The horizontal translation component of the video camera along the x axis is determined according to the slope of two straight lines in the X-direction,
The vertical translation component of the video camera along the y axis is determined according to the slope of two straight lines in Y direction.
In conjunction with second aspect, the embodiment of the present application provides second of possible embodiment of second aspect, described to take the photograph
Camera parameter determination module, is specifically used for:
Obtain the picture point coordinate in the X-direction in the central area of the scaling board grid image on different straight lines；
The slope of two straight lines in X-direction is determined according to the picture point coordinate on straight lines different in the X-direction；
The camera angle of rotation is determined according to the slope of two straight lines in the X-direction；
The rotation amount of the video camera is determined according to the rotation angle.
In conjunction with second aspect, the embodiment of the present application provides the third possible embodiment of second aspect, described abnormal
Variable element determining module, is specifically used for:
According to respective coordinates of the set point in camera coordinate system, the video camera lens focus and described take the photograph
Camera coordinate system and image coordinate system transformational relation, determine first respective coordinates of the set point in image coordinate system；
It is converted according to respective coordinates of the set point in pixel coordinate system and image coordinate system and pixel coordinate system
Relationship determines second respective coordinates of the set point in described image coordinate system；
It is converted and is closed according to first respective coordinates, second respective coordinates, camera coordinate system and image coordinate system
System and distortion of camera formula, determine the distortion parameter of the video camera imaging.
In conjunction with the third possible embodiment of second aspect, the embodiment of the present application provides the 4th kind of second aspect
Possible embodiment, described image correction module, is specifically used for:
When getting the positive image to be repaired of the video camera shooting, image on schedule to be repaired in the positive image to be repaired is obtained
Coordinate；
It is public according to the image coordinate on schedule to be repaired, the distortion parameter of the video camera imaging and the distortion of camera
Formula obtains the corresponding orthoscopic image coordinate of the image coordinate on schedule to be repaired；
According to the orthoscopic image coordinate and described image coordinate system and pixel coordinate system transformational relation, obtain undistorted
The corresponding pixel coordinate of image；
The camera review is corrected based on the orthoscopic image corresponding pixel coordinate.
Compared in the prior art, the bearing calibration of camera review provided by the embodiments of the present application is shot by video camera
The straight slope in grid image that scaling board obtains determines the rotation amount and translational movement of video camera, is provided with net on scaling board
Lattice；The world coordinates for obtaining the set point on grid, determines set point in video camera according to the rotation amount of video camera and translational movement
Respective coordinates in coordinate system；Based on respective coordinates of the set point in camera coordinate system, the lens focus of video camera, camera shooting
Machine coordinate system and image coordinate system transformational relation, image coordinate system and pixel coordinate system transformational relation and distortion of camera are public
Formula determines the distortion parameter of video camera imaging；Camera review is corrected based on distortion parameter.
As it can be seen that the method for correcting image that the embodiment of the present application provides, first passes through the grid image obtained in scaling board, because
Grid can be in advance according to certain specification setting, and the straight line in grid image can be very easily obtained using grid image
Slope, so that it is determined that the rotation amount and translational movement of video camera, in addition the point in grid image is easier to determine, thus takes the photograph in determination
The distortion parameter of camera imaging is also more convenient, therefore camera review bearing calibration provided by the present application simplifies camera review
Correction course.
To enable the above objects, features, and advantages of the application to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
Technical solution in ord to more clearly illustrate embodiments of the present application, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only some embodiments of the application, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 shows a kind of camera review bearing calibration flow chart provided by the embodiment of the present application；
Fig. 2 shows the method flow schematic diagrams that camera translation amount is determined provided by the embodiment of the present application；
Fig. 3 shows the method flow schematic diagram that camera rotation amount is determined provided by the embodiment of the present application；
Fig. 4 shows the distortion parameter flow diagram that video camera imaging is determined provided by the embodiment of the present application；
Fig. 5 shows the bearing calibration flow chart that positive image to be repaired is directed to provided by the embodiment of the present application；
Fig. 6 shows a kind of camera review means for correcting structural schematic diagram provided by the embodiment of the present application；
Fig. 7 shows another kind camera review means for correcting structural schematic diagram provided by the embodiment of the present application.
Specific embodiment
To keep the purposes, technical schemes and advantages of the embodiment of the present application clearer, below in conjunction with the embodiment of the present application
Middle attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only
It is some embodiments of the present application, instead of all the embodiments.The application being usually described and illustrated herein in the accompanying drawings is real
The component for applying example can be arranged and be designed with a variety of different configurations.Therefore, below to the application's provided in the accompanying drawings
The detailed description of embodiment is not intended to limit claimed scope of the present application, but is merely representative of the selected reality of the application
Apply example.Based on embodiments herein, those skilled in the art institute obtained without making creative work
There are other embodiments, shall fall in the protection scope of this application.
Pixel coordinate system, image coordinate system, camera coordinate system and world coordinate system have been used in the embodiment of the present application, with
And camera coordinate system is sat with world coordinate system transformational relation, camera coordinate system and image coordinate system transformational relation and image
Mark system and pixel coordinate system transformational relation.
Pixel coordinate system: the picture signal stored in computer is discrete digital signal, as unit of pixel.To image
When sampling, if M pixel of every behavior, is often classified as N number of pixel, then image is made of the matrix of a M × N, each member in matrix
The value of element is exactly the gray scale of the pixel.In pixel coordinate system, the position of each pixel is indicated with (u, v).
Image coordinate system: (u, v) in pixel coordinate system only indicates the pixel in computer picture in two-dimensional matrix
Position.It can establish the image coordinate indicated with physical unit by horizontal and vertical distance parameter of pixel on image
System.
Camera coordinate system: the origin of camera coordinate system is optical center, x-axis and y-axis respectively with the transverse and longitudinal of image coordinate system
Axis is parallel, and z-axis is camera optical axis, vertical with the plane of delineation.Camera coordinate system can by the rotation of world coordinate system and
Translation transformation obtains.
World coordinate system: an arbitrary coordinate system is selected in the environment to indicate the position of video camera, the referred to as world is sat
Mark system.
Here is that the formula converted for several coordinate systems illustrates:
(1) it is directed to the explanation of world coordinate system and camera coordinate system transformational relation:
For world coordinate system and the coordinate that certain in world coordinate system is put is located at as (xw,yw,zw), which passes through rotary flat
Moving the coordinate after transformation in camera coordinate system is (xc,yc,zc).The origin of camera coordinate system is in the optics of video camera
The heart, zcAxis and camera light overlapping of axles.The origin of image coordinate system is the intersection point of camera optical axis and the plane of delineation, and coordinate is flat
Face is parallel to camera coordinate system plane.
(2) the movement transformational relation of camera coordinate system and world coordinate system:
Wherein, the R in formula (1) is the rotation amount of video camera, is 3 × 3 line-column matrix, specifically:
Indicate postrotational each component of new coordinate X-axis, Y-axis and Z axis in former coordinate system
On rectangular projection amount.
T in formula (1) is the translational movement of video camera, specifically:
Tx,Ty,TzRespectively indicate the translational movement along X-axis, Y-axis and Z axis.
(3) for camera coordinate system and image coordinate system transformational relation, O'X is defineduYuPlane is in image coordinate system
Imaging plane, then the spatial point in camera coordinate system and perspective between imaging plane are corresponding proportional, if spatial point is flat in imaging
Coordinate on face is (Xu,Yu), then have:
Wherein, f is the lens focus of video camera.
(4) for image coordinate system and pixel coordinate system conversion specification, as shown in following formula (3):
In above formula: Nx、NyThe pixel number for respectively indicating lateral, longitudinal per unit length on the plane of delineation, is produced by video camera
Manufacturer provides.It is generally believed that the unit length pixel number of the transverse and longitudinal of imaging sensor is equal.(u0,v0) it is pixel coordinate system
Center, it is considered that be the corresponding pixel coordinate of subpoint of the origin of image coordinate system in pixel coordinate system.(Xd,Yd) be
Actual image coordinate in pixel coordinate system.
The mathematical model of video camera imaging distortion, including radial distortion, tangential distortion and thin lens distortion, usual situation
Under, compared with radial distortion and tangential distortion, thin prism distortion is smaller, and therefore, the distortion model in the embodiment of the present application is not examined
Consider thin prism distortion.
Radial distortion formula:
Tangential distortion formula:
Wherein, (x', y') is the image coordinate of distortion point, and (x, y) is the image coordinate of corresponding non-distortion point, and r is image
Point arrives the distance of center of distortion, r2=x2+y2。
Embodiment 1
The embodiment of the present application 1 provides a kind of camera review bearing calibration, as shown in Figure 1, specific steps include following
S100~S103:
S100 is shot the straight slope in the grid image that scaling board obtains by video camera, determines the rotation of video camera
Amount and translational movement are provided with grid on the scaling board.
Traditional calibration process think video camera and scaling board be it is coaxial coplanar satisfactory, in such practical operation by
Image slanting error caused by video camera and scaling board relative position can be added in distortion caused by tangential distortion, to below
It calculates tangential distortion coefficient and brings adverse effect, and then influence final stated accuracy.
Scaling board image in the embodiment of the present application uses the equidistant grid lines of white background black.Scaling board is two-dimensional surface, z
With a thickness of 0, central area image is substantially undistorted in direction.If y=kx+b is linear equation, k is slope, and b is y intercept.It takes the photograph
Camera translation shows as two horizontal parallel lines or the slope of vertical parallel lines difference, camera rotation above image and shows as figure
As the slope of upper horizontal linear is not 0.Can by calculate horizontal parallel line and vertical parallel lines the direction x, y slope variation come
Determine the translational movement and rotation amount in the direction image x, y.
Optionally, in step S100, the straight slope in the grid image that scaling board obtains is shot by video camera, is determined
The translational movement of video camera, as shown in Fig. 2, including step S200~S202 in detail below:
S200 obtains the picture point coordinate in the X-direction in the central area of scaling board grid image on different straight lines,
And the image coordinate in Y direction on different straight lines.
The distortion at the center of scaling board grid image is little, it can be assumed that picture centre region image meets the constraint of imaging
Condition, if selecting doing for the central area of punctuate expanded metals table images here.
S201 determines the slope of two straight lines in X-direction according to the picture point coordinate on straight lines different in X-direction,
And the slope of two straight lines in Y direction is determined according to the image coordinate on straight lines different in Y direction.
By formula y=kx+b, different straight lines on the picture point coordinate and Y direction in X-direction on different straight lines
On image coordinate, can determine the slope K of two straight lines in X-direction respectivelyx1And Kx2, determine two straight lines in Y direction
Slope Ky1And Ky2。
S202 determines the horizontal translation component of video camera along the x axis, root according to the slope of two straight lines in X-direction
The vertical translation component of video camera along the y axis is determined according to the slope of two straight lines in Y direction.
According to translation matrix parameter equation: Tx=(Kx1-Kx2)/2 and Ty=(Ky1-Ky2)/2 determine video camera along X respectively
The horizontal translation component of axis direction and vertical translation component along the y axis.
Because of Z=0, then Tz=0, therefore the translational movement of video camera
Optionally, in step S100, the straight slope in the grid image that scaling board obtains is shot by video camera, is determined
The rotation amount of video camera, as shown in figure 3, including step S300~S303 in detail below:
S300 obtains the picture point coordinate in the X-direction in the central area of scaling board grid image on different straight lines.
S301 determines the slope of two straight lines in X-direction according to the picture point coordinate on straight lines different in X-direction.
Similarly, by formula y=kx+b, picture point coordinate in X-direction on different straight lines can determine X respectively
The slope K of two straight lines in axis directionx1And Kx2。
S302 determines camera angle of rotation according to the slope of two straight lines in X-direction.
Enable Kx=(Kx1+Kx2)/2 can calculate rotation angle θ=tan by trigonometric function relationship-1Kx。
S303 determines the rotation amount of video camera according to rotation angle.
Since z=0, and spin matrix R is orthogonal matrix in formula (1), can be counted by coordinate system rotating orthogonal projection relation
Calculate spin matrix are as follows:
S101 obtains the world coordinates of the set point on grid, determines setting according to the rotation amount of video camera and translational movement
Respective coordinates of the point in camera coordinate system.
Here the world coordinates of the set point on grid, then according to the flat of formula (1) and the video camera of above-mentioned determination
Shifting amount and rotation amount can determine set point (xw,yw,zw) respective coordinates (x in camera coordinate systemc,yc,zc)。
S102, based on respective coordinates of the set point in camera coordinate system, the lens focus of video camera, camera coordinates
System and image coordinate system transformational relation, image coordinate system and pixel coordinate system transformational relation and distortion of camera formula, determine
The distortion parameter of video camera imaging.
Optionally, in step S102, the camera lens based on respective coordinates of the set point in camera coordinate system, video camera is burnt
Away from, camera coordinate system and image coordinate system transformational relation, image coordinate system and pixel coordinate system transformational relation and video camera
Distortion formula, determines the distortion parameter of video camera imaging, as shown in figure 4, specifically including following steps S400~S402:
S400 is sat according to respective coordinates of the set point in camera coordinate system, the lens focus of video camera and video camera
Mark system and image coordinate system transformational relation, determine first respective coordinates of the set point in image coordinate system.
According to formula (2)It can determine set point (xw,yw,zw) in image coordinate system
First respective coordinates (Xu,Yu)。
S401 is converted according to respective coordinates of the set point in pixel coordinate system and image coordinate system and pixel coordinate system
Relationship determines second respective coordinates of the set point in image coordinate system.
It determines respective coordinates (u, v) and formula (3) of the set point in pixel coordinate system, can be reversed determining setting
Point (xw,yw,zw) the second respective coordinates (X in image coordinate systemd,Yd)
S402, according to the first respective coordinates, the second respective coordinates, camera coordinate system and image coordinate system transformational relation with
And distortion of camera formula, determine the distortion parameter of video camera imaging.
The equation for solving formula (2), formula (4) and formula (5) composition, can obtain following distortion of camera formula:
Here r is distance of the picture point to center of distortion, r2=x2+y2。
Then,It is known that with Xd,YdIt can determine instead of x and y by least four groups of set points
Distortion parameter k out1,k2,p1,p2。
S103 is corrected camera review based on distortion parameter.
Optionally, in step S103, the camera review is corrected based on distortion parameter, as shown in figure 5, including
Step S500~S503 in detail below:
S500 when getting the positive image to be repaired of video camera shooting, obtains image seat on schedule to be repaired in positive image to be repaired
Mark.
S501 is obtained according to image coordinate on schedule to be repaired, the distortion parameter and distortion of camera formula of video camera imaging
The corresponding orthoscopic image coordinate of image coordinate on schedule to be repaired.
S502 obtains undistorted figure according to orthoscopic image coordinate and image coordinate system and pixel coordinate system transformational relation
As corresponding pixel coordinate.
S503 is corrected camera review based on the corresponding pixel coordinate of orthoscopic image.
When taking new positive image to be repaired, image coordinate on schedule to be repaired in available positive image to be repaired, then
Pass through formula (6), retrospectively calculate orthoscopic image coordinate.Then it by image coordinate system and pixel coordinate system transformational relation, obtains
The corresponding pixel coordinate of orthoscopic image.Image pixel generally requires interpolation processing, and linear interpolation can be used in the embodiment of the present application
Method.
Embodiment 2
The embodiment of the present application provides a kind of camera review means for correcting 600, as shown in Figure 6, comprising:
Camera parameters determining module 601, for shooting the straight line in the grid image that scaling board obtains by video camera
Slope determines the rotation amount and translational movement of the video camera, is provided with grid on the scaling board；
Coordinate transferring 602, for obtaining the world coordinates of the set point on the grid, according to the video camera
Rotation amount and translational movement determine respective coordinates of the set point in camera coordinate system；
Distortion parameter determining module 603, for based on respective coordinates of the set point in camera coordinate system, described
Lens focus, camera coordinate system and the image coordinate system transformational relation of video camera, image coordinate system and pixel coordinate system are converted
Relationship and distortion of camera formula, determine the distortion parameter of the video camera imaging；
Image correction module 604, for being corrected based on the distortion parameter to the camera review.
Optionally, the camera parameters determining module 601, is specifically used for:
The picture point coordinate in the X-direction in the central area of the scaling board grid image on different straight lines is obtained,
And the image coordinate in Y direction on different straight lines；
The slope of two straight lines in X-direction is determined according to the picture point coordinate on straight lines different in the X-direction, with
And the slope of two straight lines in Y direction is determined according to the image coordinate on straight lines different in the Y direction；
The horizontal translation component of the video camera along the x axis is determined according to the slope of two straight lines in the X-direction,
The vertical translation component of the video camera along the y axis is determined according to the slope of two straight lines in Y direction.
Optionally, the camera parameters determining module 601, is specifically used for:
Obtain the picture point coordinate in the X-direction in the central area of the scaling board grid image on different straight lines；
The slope of two straight lines in X-direction is determined according to the picture point coordinate on straight lines different in the X-direction；
The camera angle of rotation is determined according to the slope of two straight lines in the X-direction；
The rotation amount of the video camera is determined according to the rotation angle.
Optionally, the distortion parameter determining module 603, is specifically used for:
According to respective coordinates of the set point in camera coordinate system, the video camera lens focus and described take the photograph
Camera coordinate system and image coordinate system transformational relation, determine first respective coordinates of the set point in image coordinate system；
It is converted according to respective coordinates of the set point in pixel coordinate system and image coordinate system and pixel coordinate system
Relationship determines second respective coordinates of the set point in described image coordinate system；
It is converted and is closed according to first respective coordinates, second respective coordinates, camera coordinate system and image coordinate system
System and distortion of camera formula, determine the distortion parameter of the video camera imaging.
Optionally, described image correction module 604, is specifically used for:
When getting the positive image to be repaired of the video camera shooting, image on schedule to be repaired in the positive image to be repaired is obtained
Coordinate；
It is public according to the image coordinate on schedule to be repaired, the distortion parameter of the video camera imaging and the distortion of camera
Formula obtains the corresponding orthoscopic image coordinate of the image coordinate on schedule to be repaired；
According to the orthoscopic image coordinate and described image coordinate system and pixel coordinate system transformational relation, obtain undistorted
The corresponding pixel coordinate of image；
The camera review is corrected based on the orthoscopic image corresponding pixel coordinate.
Embodiment 3
The embodiment of the present application 3 additionally provides a kind of camera review means for correcting 700, as shown in fig. 7, the camera review
Means for correcting 700 includes: processor 701, memory 702 and bus 703, and the storage of memory 702 executes instruction, when device is run
When, it is communicated, is stored in the execution memory 702 of processor 701 as follows by bus 703 between processor 701 and memory 702
It executes instruction:
The straight slope in the grid image that scaling board obtains is shot by video camera, determines the rotation amount peace of video camera
Shifting amount is provided with grid on scaling board.
The world coordinates for obtaining the set point on grid, determines the set point according to the rotation amount of video camera and translational movement
Respective coordinates in camera coordinate system.
Based on respective coordinates of the set point in camera coordinate system, the lens focus of video camera, camera coordinate system with
Image coordinate system transformational relation, image coordinate system and pixel coordinate system transformational relation and distortion of camera formula determine camera shooting
The distortion parameter of machine imaging.
The camera review is corrected based on distortion parameter.
Optionally, executing instruction for the execution of processor 701 specifically includes:
Obtain the picture point coordinate and Y in the X-direction in the central area of scaling board grid image on different straight lines
Image coordinate in axis direction on different straight lines.
The slope of two straight lines in X-direction, Yi Jigen are determined according to the picture point coordinate on straight lines different in X-direction
The slope of two straight lines in Y direction is determined according to the image coordinate on straight lines different in Y direction.
The horizontal translation component of video camera along the x axis is determined according to the slope of two straight lines in X-direction, according to Y-axis
The slope of two straight lines determines the vertical translation component of video camera along the y axis on direction.
Optionally, executing instruction for the execution of processor 701 specifically includes:
Obtain the picture point coordinate in the X-direction in the central area of scaling board grid image on different straight lines.
The slope of two straight lines in X-direction is determined according to the picture point coordinate on straight lines different in X-direction.
The camera angle of rotation is determined according to the slope of two straight lines in X-direction.
The rotation amount of the video camera is determined according to rotation angle.
Optionally, executing instruction for the execution of processor 701 specifically includes:
According to respective coordinates of the set point in camera coordinate system, the lens focus of video camera and camera coordinate system with
Image coordinate system transformational relation determines first respective coordinates of the set point in image coordinate system.
According to respective coordinates of the set point in pixel coordinate system and image coordinate system and pixel coordinate system transformational relation,
Determine second respective coordinates of the set point in described image coordinate system.
According to the first respective coordinates, the second respective coordinates, camera coordinate system and image coordinate system transformational relation and take the photograph
Camera distortion formula determines the distortion parameter of video camera imaging.
Optionally, executing instruction for the execution of processor 701 specifically includes:
When getting the positive image to be repaired of video camera shooting, image seat on schedule to be repaired in the positive image to be repaired is obtained
Mark.
According to image coordinate on schedule to be repaired, the distortion parameter and the distortion of camera formula of video camera imaging, obtain
The corresponding orthoscopic image coordinate of image coordinate on schedule to be repaired.
According to orthoscopic image coordinate and described image coordinate system and pixel coordinate system transformational relation, orthoscopic image is obtained
Corresponding pixel coordinate.
Camera review is corrected based on orthoscopic image corresponding pixel coordinate.
Corresponding to camera review bearing calibration of the Fig. 1 into Fig. 5, the embodiment of the present application also provides a kind of computers can
Storage medium is read, computer program is stored on the computer readable storage medium, when which is run by processor
The step of executing above-mentioned camera review bearing calibration.
Specifically, which can be general storage medium, such as mobile disk, hard disk, on the storage medium
Computer program when being run, above-mentioned camera review bearing calibration is able to carry out, to solve calibration in the prior art
Method, which exists to put calibration Board position, requires high, complicated for operation, parametrization to calculate the problems such as complicated.
Compared in the prior art, the bearing calibration of camera review provided by the embodiments of the present application is shot by video camera
The straight slope in grid image that scaling board obtains determines the rotation amount and translational movement of video camera, is provided with net on scaling board
Lattice；The world coordinates for obtaining the set point on grid, determines set point in video camera according to the rotation amount of video camera and translational movement
Respective coordinates in coordinate system；Based on respective coordinates of the set point in camera coordinate system, the lens focus of video camera, camera shooting
Machine coordinate system and image coordinate system transformational relation, image coordinate system and pixel coordinate system transformational relation and distortion of camera are public
Formula determines the distortion parameter of video camera imaging；Camera review is corrected based on distortion parameter.
As it can be seen that the method for correcting image that the embodiment of the present application provides, first passes through the grid image obtained in scaling board, because
Grid can be in advance according to certain specification setting, and the straight line in grid image can be very easily obtained using grid image
Slope, so that it is determined that the rotation amount and translational movement of video camera, in addition the point in grid image is easier to determine, thus takes the photograph in determination
The distortion parameter of camera imaging is also more convenient, therefore camera review bearing calibration provided by the present application simplifies camera review
Correction course.
The computer program product of camera review bearing calibration is carried out provided by the embodiment of the present application, including is stored
The computer readable storage medium of program code, the instruction that said program code includes can be used for executing in previous methods embodiment
The method, specific implementation can be found in embodiment of the method, and details are not described herein.
Camera review means for correcting provided by the embodiment of the present application can be the specific hardware or installation in equipment
In software or firmware etc. in equipment.The technical effect of device provided by the embodiment of the present application, realization principle and generation and
Preceding method embodiment is identical, and to briefly describe, Installation practice part does not refer to place, can refer in preceding method embodiment
Corresponding contents.It is apparent to those skilled in the art that for convenience and simplicity of description, foregoing description is
The specific work process of system, device and unit, the corresponding process during reference can be made to the above method embodiment, it is no longer superfluous herein
It states.
In embodiment provided herein, it should be understood that disclosed device and method, it can be by others side
Formula is realized.The apparatus embodiments described above are merely exemplary, for example, the division of the unit, only one kind are patrolled
Function division is collected, there may be another division manner in actual implementation, in another example, multiple units or components can combine or can
To be integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Coupling, direct-coupling or communication connection can be INDIRECT COUPLING or communication link by some communication interfaces, device or unit
It connects, can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
In addition, each functional unit in embodiment provided by the present application can integrate in one processing unit, it can also
To be that each unit physically exists alone, can also be integrated in one unit with two or more units.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in a computer readable storage medium.Based on this understanding, the technical solution of the application is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a
People's computer, server or network equipment etc.) execute each embodiment the method for the application all or part of the steps.
And storage medium above-mentioned includes: that USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic or disk.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing, in addition, term " the
One ", " second ", " third " etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.
Finally, it should be noted that embodiment described above, the only specific embodiment of the application, to illustrate the application
Technical solution, rather than its limitations, the protection scope of the application is not limited thereto, although with reference to the foregoing embodiments to this Shen
It please be described in detail, those skilled in the art should understand that: anyone skilled in the art
Within the technical scope of the present application, it can still modify to technical solution documented by previous embodiment or can be light
It is readily conceivable that variation or equivalent replacement of some of the technical features；And these modifications, variation or replacement, do not make
The essence of corresponding technical solution is detached from the spirit and scope of the embodiment of the present application technical solution.The protection in the application should all be covered
Within the scope of.Therefore, the protection scope of the application shall be subject to the protection scope of the claim.
Claims (10)
1. a kind of camera review bearing calibration characterized by comprising
The straight slope in the grid image that scaling board obtains is shot by video camera, determines the rotation amount peace of the video camera
Shifting amount is provided with grid on the scaling board；
The world coordinates for obtaining the set point on the grid is set according to the rotation amount of the video camera and translational movement determination
Pinpoint the respective coordinates in camera coordinate system；
Based on respective coordinates of the set point in camera coordinate system, the lens focus of the video camera, camera coordinates
System and image coordinate system transformational relation, image coordinate system and pixel coordinate system transformational relation and distortion of camera formula, determine
The distortion parameter of the video camera imaging；
The camera review is corrected based on the distortion parameter.
2. the method according to claim 1, wherein described shoot the grid chart that scaling board obtains by video camera
Straight slope as in, determines the translational movement of the video camera, comprising:
Obtain the picture point coordinate and Y in the X-direction in the central area of the scaling board grid image on different straight lines
Image coordinate in axis direction on different straight lines；
The slope of two straight lines in X-direction, Yi Jigen are determined according to the picture point coordinate on straight lines different in the X-direction
The slope of two straight lines in Y direction is determined according to the image coordinate on straight lines different in the Y direction；
The horizontal translation component of the video camera along the x axis is determined according to the slope of two straight lines in the X-direction, according to
The slope of two straight lines determines the vertical translation component of the video camera along the y axis in Y direction.
3. the method according to claim 1, wherein described shoot the grid chart that scaling board obtains by video camera
Straight slope as in, determines the rotation amount of the video camera, comprising:
Obtain the picture point coordinate in the X-direction in the central area of the scaling board grid image on different straight lines；
The slope of two straight lines in X-direction is determined according to the picture point coordinate on straight lines different in the X-direction；
The camera angle of rotation is determined according to the slope of two straight lines in the X-direction；
The rotation amount of the video camera is determined according to the rotation angle.
4. the method according to claim 1, wherein it is described based on the set point in camera coordinate system
Respective coordinates, the lens focus of the video camera, camera coordinate system and image coordinate system transformational relation, image coordinate system and picture
Plain coordinate system transformational relation and distortion of camera formula, determine the distortion parameter of the video camera imaging, comprising:
According to respective coordinates of the set point in camera coordinate system, the lens focus and the video camera of the video camera
Coordinate system and image coordinate system transformational relation, determine first respective coordinates of the set point in image coordinate system；
According to respective coordinates of the set point in pixel coordinate system and image coordinate system and pixel coordinate system transformational relation,
Determine second respective coordinates of the set point in described image coordinate system；
According to first respective coordinates, second respective coordinates, camera coordinate system and image coordinate system transformational relation with
And distortion of camera formula, determine the distortion parameter of the video camera imaging.
5. according to the method described in claim 4, it is characterized in that, described be based on the distortion parameter to the camera review
It is corrected, comprising:
When getting the positive image to be repaired of the video camera shooting, image seat on schedule to be repaired in the positive image to be repaired is obtained
Mark；
According to the image coordinate on schedule to be repaired, the distortion parameter and the distortion of camera formula of the video camera imaging,
Obtain the corresponding orthoscopic image coordinate of the image coordinate on schedule to be repaired；
According to the orthoscopic image coordinate and described image coordinate system and pixel coordinate system transformational relation, orthoscopic image is obtained
Corresponding pixel coordinate；
The camera review is corrected based on the orthoscopic image corresponding pixel coordinate.
6. a kind of camera review means for correcting characterized by comprising
Camera parameters determining module, for shooting the straight slope in the grid image that scaling board obtains by video camera, really
Determine the rotation amount and translational movement of the video camera, is provided with grid on the scaling board；
Coordinate transferring, for obtaining the world coordinates of the set point on the grid, according to the rotation amount of the video camera
Respective coordinates of the set point in camera coordinate system are determined with translational movement；
Distortion parameter determining module, for based on respective coordinates of the set point in camera coordinate system, the video camera
Lens focus, camera coordinate system and image coordinate system transformational relation, image coordinate system and pixel coordinate system transformational relation with
And distortion of camera formula, determine the distortion parameter of the video camera imaging；
Image correction module, for being corrected based on the distortion parameter to the camera review.
7. device according to claim 6, which is characterized in that the camera parameters determining module is specifically used for:
Obtain the picture point coordinate and Y in the X-direction in the central area of the scaling board grid image on different straight lines
Image coordinate in axis direction on different straight lines；
The slope of two straight lines in X-direction, Yi Jigen are determined according to the picture point coordinate on straight lines different in the X-direction
The slope of two straight lines in Y direction is determined according to the image coordinate on straight lines different in the Y direction；
The horizontal translation component of the video camera along the x axis is determined according to the slope of two straight lines in the X-direction, according to
The slope of two straight lines determines the vertical translation component of the video camera along the y axis in Y direction.
8. device according to claim 6, which is characterized in that the camera parameters determining module is specifically used for:
Obtain the picture point coordinate in the X-direction in the central area of the scaling board grid image on different straight lines；
The slope of two straight lines in X-direction is determined according to the picture point coordinate on straight lines different in the X-direction；
The camera angle of rotation is determined according to the slope of two straight lines in the X-direction；
The rotation amount of the video camera is determined according to the rotation angle.
9. device according to claim 6, which is characterized in that the distortion parameter determining module is specifically used for:
According to respective coordinates of the set point in camera coordinate system, the lens focus and the video camera of the video camera
Coordinate system and image coordinate system transformational relation, determine first respective coordinates of the set point in image coordinate system；
According to respective coordinates of the set point in pixel coordinate system and image coordinate system and pixel coordinate system transformational relation,
Determine second respective coordinates of the set point in described image coordinate system；
According to first respective coordinates, second respective coordinates, camera coordinate system and image coordinate system transformational relation with
And distortion of camera formula, determine the distortion parameter of the video camera imaging.
10. device according to claim 9, which is characterized in that described image correction module is specifically used for:
When getting the positive image to be repaired of the video camera shooting, image seat on schedule to be repaired in the positive image to be repaired is obtained
Mark；
According to the image coordinate on schedule to be repaired, the distortion parameter and the distortion of camera formula of the video camera imaging,
Obtain the corresponding orthoscopic image coordinate of the image coordinate on schedule to be repaired；
According to the orthoscopic image coordinate and described image coordinate system and pixel coordinate system transformational relation, orthoscopic image is obtained
Corresponding pixel coordinate；
The camera review is corrected based on the orthoscopic image corresponding pixel coordinate.
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