CN106815870B - Method and system for internally calibrating panoramic camera - Google Patents
Method and system for internally calibrating panoramic camera Download PDFInfo
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Abstract
The invention comprises a method and a system for calibrating a panoramic camera device in a machine, which are used for realizing the following steps: identifying the starting state and carrying out a corresponding mode according to the starting state; the panoramic camera device shoots a calibration picture according to the current camera configuration mode; confirming a center origin parameter through a visual angle FOV and a picture coefficient of a camera, and enabling the panoramic camera device to enter a calibration parameter calculation mode; obtaining a calibrated polynomial coefficient through a calibration parameter calculation mode and a center dot parameter, storing the parameter by using a script file, and obtaining a reference value; and calling the script file to obtain calibration parameters, and converting the multimedia data recorded by the panoramic camera device according to the use mode required by the user. The invention has the beneficial effects that: in the production process, the production efficiency of the product is improved; in the operation of the product, the problems of lens shielding and serious lens black edge in the use process of the product are avoided.
Description
Technical Field
The invention relates to a method and a system for internally calibrating a panoramic camera, belonging to the field of computers.
Background
With the development of the consumer electronics industry, people hope to better share their own fun and hope that consumer electronics can bring their own better experience, and therefore panoramic 360-degree motion DV and panoramic 360-degree automobile data recorders are born. But the present full view 360 degree motion DV and full view 360 degree automobile data recorder still have the shortcoming. As shown in the following (1) to (2):
(1) in the using process of the product, due to the fact that external factors cause deviation of a lens, the product experience of the DV and the 360-degree panoramic automobile data recorder is poor, and even the goods return phenomenon occurs;
(2) in the production process of products, because the lens calibration is carried out according to a specific camera, and because of the individual difference of the panoramic 360-degree lens, the production yield of the panoramic 360-degree related products is not high, the product delivery time is prolonged, and the rapid production of the products is not facilitated.
The prior art has the following disadvantages:
in the prior art, in the production process of a product related to panoramic 360-degree camera shooting, calibration photos are shot according to a plurality of specific camera shooting devices, and calibration is performed according to the calibration photos before production to form calibrated calibration parameters. Then, in the production process, the products of the same batch are produced according to the calibration parameters, and the problems of lens deviation in the use process and low production yield of the products in the production process cannot be effectively solved.
View angle FOV: refers to the range covered by the lens (beyond which the object will not be captured in the lens), and a camera lens can cover a large range of scenes, usually expressed in terms of an angle, which is called the FOV of the lens.
Disclosure of Invention
Aiming at the defects in the prior art, a built-in calibration mode is adopted, so that the defects existing in the prior art can be effectively overcome.
The technical scheme of the invention comprises a method for internally calibrating a panoramic camera, which is characterized by comprising the following steps: A. starting the panoramic camera device, identifying the starting state of the panoramic camera device, and carrying out a corresponding mode according to the starting state; B. starting a camera shooting mode of the panoramic camera shooting device, shooting a calibration picture by the panoramic camera shooting device according to the current camera configuration mode, and entering a camera calibration parameter mode; C. b, confirming a center origin parameter through the view angle FOV and the picture coefficient of the camera based on the camera parameter calibration mode entered in the step B, and enabling the panoramic camera device to enter a calibration parameter calculation mode; D. c, acquiring a calibrated polynomial coefficient based on the calibration parameter calculation mode and the center dot parameter, storing the polynomial coefficient, the center origin parameter and the visual angle FOV by using a script file, and entering a system normal use mode; E. and D, calling the script file to obtain calibration parameters based on the normal use mode entered in the step D, and converting the multimedia data recorded by the panoramic camera device according to the use mode required by the user.
According to the method for calibrating the panoramic camera device in the machine, the method also comprises the following steps: and if the parameters of the panoramic shooting device change in the using process, providing a forced reset mode for recalibrating the lens parameters.
According to the method for calibrating the panoramic camera device in the machine, the step A further comprises the following steps:
the method comprises the steps of identifying the starting state of the panoramic camera device, acquiring a starting log file, confirming whether the panoramic camera device is in a first starting mode or a system forced reset mode, and directly entering a normal operation mode if the system is not in the first starting mode and is not reset.
According to the method for calibrating the panoramic camera device in the machine, the step B further comprises the following steps: and sequentially scanning according to the visual angle FOV of the camera, the length of the picture and the width of the picture to obtain edge pixels of the picture, extracting a boundary outline, further obtaining a center dot parameter according to a trigonometric function, and entering a calibration parameter calculation mode.
According to the method for calibrating the panoramic camera device in the machine, the step C further comprises the following steps: after the calibration mode acquires the parameters of the central dots, acquiring calibrated polynomial coefficients according to Taylor polynomial transformation of a trigonometric function, storing the calculated coefficients, the central dots and the lens view angle FOV as calibrated script files, and entering a system normal use mode
According to the method for calibrating the panoramic camera device in the machine, the step D further comprises the following steps: in a normal use mode of the system, calibration parameters are obtained according to the calibrated script file, and a user-defined selection mode is provided for correspondingly converting the multimedia data recorded by the corresponding panoramic camera device.
The technical scheme of the invention also comprises a system for internally calibrating the panoramic camera device, which is characterized by comprising the following components:
the starting identification module is used for starting the panoramic camera device, identifying the starting state of the panoramic camera device and carrying out a corresponding mode according to the starting state; the camera parameter calibration module is used for starting a camera shooting mode of the panoramic camera shooting device, and the panoramic camera shooting device shoots a calibration picture according to the current camera configuration mode and enters the camera calibration parameter mode; the calibration parameter calculation module is used for confirming the center dot parameter through the visual angle FOV and the picture coefficient of the camera based on the camera parameter calibration mode entered by the camera parameter calibration module and enabling the panoramic camera device to enter the calibration parameter calculation mode; the calibration parameter storage module is used for acquiring a calibrated polynomial coefficient based on a calibration parameter calculation mode entered by the calibration parameter calculation module and a center dot parameter, storing the polynomial coefficient, the center dot parameter and a view angle FOV (field of view) by using a script file, and entering a system normal use mode; and the user-defined conversion module is used for calling the script file to obtain the calibration parameters based on the normal use mode entered by the calibration parameter storage module, and converting the multimedia data recorded by the panoramic camera device according to the use mode required by the user.
The invention has the beneficial effects that:
(1) in the production process, parameter calibration is not carried out according to a specific panoramic 360-degree camera, but a lens parameter calibration process is added into the equipment according to the difference of different lenses, and each lens is calibrated respectively, so that the problem that the product yield is low due to different calibration parameters caused by the difference of the lenses in the production process is solved, and the production efficiency of the product is improved.
(2) In the operation of the product, due to the interference of external factors, such as the offset of a camera caused by collision, a recalibration mode can be started, the lens parameters of 360 degrees of the panorama are calibrated, and the problems of lens shielding and serious lens black edges of the 360-degree panorama product in the use process are solved.
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FIG. 1 shows a general flow diagram according to an embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments. The method and the system for calibrating the panoramic camera device in the machine are suitable for the internal calibration of the panoramic camera device.
FIG. 1 shows a general flow diagram according to an embodiment of the invention. The concrete examples are shown in the following (1) to (5)
(1) And starting the panoramic 360-degree automobile data recorder, and judging whether the equipment is started for the first time. If the system is in a first starting or system forced reset mode, entering a camera calibration process; if the system is not reset and is not started for the first time, entering a normal operation mode;
(2) entering a camera shooting calibration photo mode, shooting a calibration photo by the equipment according to the current camera configuration mode, and entering a camera calibration parameter mode;
(3) in a camera calibration mode, sequentially scanning according to the visual angle fov of the camera and the pixels with the length (width) and the width (height) of a picture, acquiring edge pixels of the picture, extracting a boundary outline, obtaining a center dot parameter according to a trigonometric function, and entering a calibration parameter calculation mode;
(4) after the central dot parameters are obtained in the calibration mode, calibrated polynomial coefficients are obtained according to Taylor polynomial transformation of a trigonometric function, and the calculated coefficients, the central dot and the lens view angle fov are saved as calibrated script files to enter a system normal use mode;
(5) in a normal use mode of the system, calibration parameters are obtained according to the calibrated script file, and each video and each picture are converted according to a use mode required by a user, such as selection of a fisheye mode, a panorama mode and a VR mode, so that the product experience of the user is met.
The technical method of the invention further comprises the following steps:
if the lens deviates due to external factors in the using process, the user can start the forced reset mode to recalibrate the lens parameters under the condition that the lens is not damaged.
The technical scheme of the invention can also be applied to the built-in calibration of a monocular camera and a binocular camera.
The above description is only a preferred embodiment of the present invention, and the present invention is not limited to the above embodiment, and the present invention shall fall within the protection scope of the present invention as long as the technical effects of the present invention are achieved by the same means. The invention is capable of other modifications and variations in its technical solution and/or its implementation, within the scope of protection of the invention.
Claims (5)
1. A method for calibrating a panoramic camera device in a machine is characterized by comprising the following steps:
A. the method comprises the following steps of starting the panoramic camera device, identifying the starting state of the panoramic camera device, and carrying out a corresponding mode according to the starting state, wherein the step of identifying the starting state of the panoramic camera device comprises the steps of acquiring a starting log file, confirming whether the system is started for the first time or a forced reset mode of the system, and directly entering a normal operation mode if the system is not started for the first time and is not reset;
B. starting a camera shooting mode of the panoramic camera shooting device, shooting a calibration picture by the panoramic camera shooting device according to the current camera configuration mode, and entering a camera calibration parameter mode;
C. b, confirming a center origin parameter through a view angle FOV and a picture coefficient of the camera based on the camera parameter calibration mode entered in the step B, and enabling the panoramic camera device to enter a calibration parameter calculation mode;
D. c, acquiring a calibrated polynomial coefficient based on the calibration parameter calculation mode and the center dot parameter entered in the step C, storing the polynomial coefficient, the center dot parameter and the visual angle FOV by using a script file, and entering a system normal use mode;
E. and D, calling the script file to obtain calibration parameters based on the normal use mode entered in the step D, and converting the multimedia data recorded by the panoramic camera device according to the use mode required by the user.
2. The method for calibrating a panoramic camera inside a machine according to claim 1, further comprising:
and if the parameters of the panoramic shooting device change in the using process, providing a forced reset mode for recalibrating the lens parameters.
3. The method for calibrating a panoramic camera device in a machine according to claim 1, wherein the step D further comprises:
and after the calibration mode acquires the parameters of the central dots, acquiring calibrated polynomial coefficients according to Taylor polynomial transformation of a trigonometric function, storing the calculated coefficients, the central dots and the FOV (field of view) of the lens as calibrated script files, and entering a normal use mode of the system.
4. The method for calibrating a panoramic camera device in a machine according to claim 1, wherein the step E further comprises:
in a normal use mode of the system, calibration parameters are obtained according to the calibrated script file, and a user-defined selection mode is provided for correspondingly converting the multimedia data recorded by the corresponding panoramic camera device.
5. A system for mechanically calibrating a panoramic camera, the system comprising:
the starting identification module is used for starting the panoramic camera device, identifying the starting state of the panoramic camera device and carrying out a corresponding mode according to the starting state, and the module comprises a starting log file acquisition module, a system forced reset mode confirmation module and a normal operation mode entering module, wherein the starting state identification module is used for identifying the starting state of the panoramic camera device, confirming whether the system is in a first starting or system forced reset mode or not, and directly entering the normal operation mode if the system is not in the first starting and is not reset;
the camera parameter calibration module is used for starting a camera shooting mode of the panoramic camera shooting device, and the panoramic camera shooting device shoots a calibration picture according to the current camera configuration mode and enters the camera calibration parameter mode;
the calibration parameter calculation module is used for confirming the center dot parameter through the visual angle FOV and the picture coefficient of the camera based on the camera parameter calibration mode entered by the camera parameter calibration module and enabling the panoramic camera device to enter the calibration parameter calculation mode, and the module also comprises the steps of scanning according to the visual angle FOV, the picture length and the picture width of the camera in sequence, acquiring the edge pixel of the picture, extracting the boundary outline, further obtaining the center dot parameter according to a trigonometric function and entering the calibration parameter calculation mode;
the calibration parameter storage module is used for acquiring a calibrated polynomial coefficient based on a calibration parameter calculation mode entered by the calibration parameter calculation module and a center dot parameter, storing the polynomial coefficient, a center origin parameter and a view angle FOV (field of view) by using a script file, and entering a system normal use mode;
and the user-defined conversion module is used for calling the script file to obtain the calibration parameters based on the normal use mode entered by the calibration parameter storage module, and converting the multimedia data recorded by the panoramic camera device according to the use mode required by the user.
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| TWI555378B (en) * | 2015-10-28 | 2016-10-21 | 輿圖行動股份有限公司 | An image calibration, composing and depth rebuilding method of a panoramic fish-eye camera and a system thereof |
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