CN109068121B - 3-D imaging system, 3-D imaging system calibration method and device - Google Patents
3-D imaging system, 3-D imaging system calibration method and device Download PDFInfo
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Abstract
The invention discloses a kind of 3-D imaging system, 3-D imaging system calibration method and device, the calibration method of the 3-D imaging system includes: the calibration image for obtaining two width that 3-D imaging system takes and having parallax；It adjusts field of view, and two width is calibrated into the calibrating pattern in image to be adjusted to shape size consistent, calculate and obtain size adjusting parameter；On the basis of the calibrating pattern in wherein width calibration image, the calibrating pattern in another width calibration image is rotated, so that the pattern direction of the calibrating pattern in two width calibration image is consistent；Calculate and obtain the rotation angle parameter of the calibrating pattern rotated；Size adjusting parameter and rotation angle parameter are saved, is calibrated for subsequent image.The present invention so as to reduce the production cost of 3-D imaging system, and can be improved the reliability of the three-dimensional imaging of 3-D imaging system without adding excessive fine tuning structure to the three-dimensional modeling system.
Description
Technical field
The present invention relates to 3 dimension imaging technology field more particularly to a kind of 3-D imaging systems, 3-D imaging system calibration
Method and device.
Background technique
Three-dimensional imaging need to obtain two width have parallax image, but the enlargement ratio of two images, image size, rotation
Gyration requires unanimously, and two images picture centre in display must be overlapped.This assembly to 3-D imaging system
Very high requirement is proposed, in order to reach ideal effect, existing 3-D imaging system must increase the fine tuning of many precisions
Structure finely tunes the enlargement ratios of two sets of optical systems, image size, rotation angle and imaging position.It not only greatly increases in this way
The production cost of equipment, while also reducing the reliability of 3-D imaging system.In addition, working as the optical system of 3-D imaging system
(such as three-dimensional endoscope and camera are detachable, and camera can allow in a plurality of three-dimensionals when system and camera are using split-type design
Sight glass use), since the optical system of 3-D imaging system is replaceable, the assembly of every set optical system is difficult to accomplish height one
It causes, so being difficult by way of improving installation accuracy to obtain come the same set of camera so that every suit optical system is arranged in pairs or groups
Ideal 3-D image.
Summary of the invention
The embodiment of the present invention is designed to provide a kind of 3-D imaging system, 3-D imaging system calibration method, device
And storage medium, it can reduce the production cost of 3-D imaging system, and can be improved the three-dimensional imaging of 3-D imaging system
Reliability, especially for using split-type design 3-D imaging system.
To achieve the goals above, one embodiment of the invention provides a kind of calibration method of 3-D imaging system, packet
Include following steps:
Obtain two with parallax that 3-D imaging system on a predetermined position takes the target with calibrating pattern
Width calibrates image；
It identifies the shooting visual field of the two width calibration image, and the shooting visual field of the mobile two width calibration image, makes
Its central point is overlapped with the image center of the calibration image at respective place；
The image center weight of the calibration image at the central point in the shooting visual field of the two width calibration image and respectively place
After conjunction, it is consistent that the shooting visual field of two width calibration image is adjusted to shape size；
It identifies the calibrating pattern in the two width calibration image adjusted, and two width is calibrated into the school in image
It is consistent that quasi- pattern is adjusted to shape size；
It calculates and joins after obtaining the calibrating pattern adjustment in the two width calibration image relative to the size adjustment before adjustment
Number；Wherein, the size adjusting parameter includes scaling at least one of multiplying power parameter and extensograph parameter；
On the basis of the calibrating pattern in wherein width calibration image, the calibrating pattern in another width calibration image is carried out
Rotation, so that the pattern direction of the calibrating pattern in two width calibration image is consistent；
Calculate and obtain the rotation angle parameter of the calibrating pattern rotated；
The size adjusting parameter that will acquire and the rotation angle parameter are saved as calibration parameter, so that
The 3-D imaging system calibrates the image taken according to the calibration parameter when carrying out three-dimensional imaging.
As an improvement of the above scheme, the calibrating pattern is a line segment, has in cross configuration, triangle, circle
In the circle pattern or circle of one line segment with by two lines item it is orthogonal at cross configuration circle pattern.
As an improvement of the above scheme, the target is the calibration card with the calibrating pattern.
Another embodiment of the present invention correspondence provides a kind of calibrating installation of 3-D imaging system, comprising:
Image collection module on a predetermined position shoots the target with calibrating pattern for obtaining 3-D imaging system
The two width calibration image with parallax arrived；
The first adjustment module, two width calibrates the shooting visual field of image out for identification, and moves the two width calibration
The shooting visual field of image is overlapped its central point and the image center of the calibration image at respective place；
Second adjustment module, the central point in the shooting visual field for two width calibration image and respectively the calibration figure at place
After the image center of picture is overlapped, it is consistent that the shooting visual field of two width calibration image is adjusted to shape size；
Third adjusts module, and two width adjusted calibrates the calibrating pattern in image out for identification, and will be described
It is consistent that calibrating pattern in two width calibration image is adjusted to shape size；
First computing module, for calculating and obtaining after the calibrating pattern in the two width calibration image adjusts relative to tune
Size adjusting parameter before whole；Wherein, the size adjusting parameter includes at least one scaled in multiplying power parameter and extensograph parameter
Kind；
4th adjustment module, for calibrating and scheming to another width on the basis of the calibrating pattern in wherein width calibration image
Calibrating pattern as in is rotated, so that the pattern direction of the calibrating pattern in two width calibration image is consistent；
Second computing module, for calculating and obtaining the rotation angle parameter of the calibrating pattern rotated；
Calibration module, for the size adjusting parameter that will acquire and the rotation angle parameter as calibration parameter
Saved so that the 3-D imaging system when carrying out three-dimensional imaging according to the calibration parameter to the image taken into
Row calibration.
Another embodiment of the present invention provides a kind of 3-D imaging systems, including have view for going out two width to target imaging
The image-forming assembly of image, processor, memory and the storage of difference in the memory and are configured as by the processor
Realized when the computer program of execution, the processor execute the computer program three-dimensional described in foregoing invention embodiment at
As the calibration method of system.
As an improvement of the above scheme, the image-forming assembly include the first camera lens, the second camera lens, the first imaging sensor and
Second imaging sensor；
First camera lens is arranged side by side with second camera lens；The target surface of the first image sensor has the first sense
The target surface in light area, second imaging sensor has the second photosensitive area；
First camera lens and second camera lens are for carving at the same time to Same Scene progress capture；First camera lens
Capture to the scene is projected to first photosensitive area and is imaged as the first image；Second camera lens is to the scene
Capture, be projected to second photosensitive area and be imaged as the second image；Wherein, the first image and second image have
There is parallax, and both there is photosensitive shooting area of visual field and not photosensitive inactive area.
As an improvement of the above scheme, the image-forming assembly includes the first camera lens, the second camera lens and third imaging sensor；
First camera lens is arranged side by side with second camera lens；The target surface of the third imaging sensor includes third sense
Tetra- photosensitive area of light Qu Yu, the third photosensitive area are separated from each other with the 4th photosensitive area；
First camera lens and second camera lens are for carving at the same time to Same Scene progress capture；First camera lens
Capture to the scene is projected to the third photosensitive area and is imaged as third image；Second camera lens is to the scene
Capture, be projected to the 4th photosensitive area and be imaged as the 4th image；Wherein, the third image and the 4th image have
There is parallax, and both there is photosensitive shooting area of visual field and not photosensitive inactive area.
Compared with the prior art, the 3-D imaging system provided in an embodiment of the present invention, 3-D imaging system calibration side
Method and device have by obtaining two width that 3-D imaging system on a predetermined position takes the target with calibrating pattern
The calibration image of parallax；Identify the shooting visual field of the two width calibration image, and the shooting of the mobile two width calibration image
The visual field is overlapped its central point and the image center of the calibration image at respective place, and two width is calibrated to the bat of image
Taking the photograph the visual field, to be adjusted to shape size consistent；It identifies the calibrating pattern in the two width calibration image, and two width is calibrated and is schemed
It is consistent that calibrating pattern as in is adjusted to shape size；It calculates and obtains phase after the calibrating pattern adjustment in the two width calibration image
For the size adjusting parameter before adjustment；On the basis of the calibrating pattern in wherein width calibration image, another width is calibrated and is schemed
Calibrating pattern as in is rotated, so that the pattern direction of the calibrating pattern in two width calibration image is consistent；It calculates simultaneously
Obtain the rotation angle parameter of the calibrating pattern rotated；The size adjusting parameter that will acquire and rotation angle ginseng
Number is saved as calibration parameter, so that the 3-D imaging system is when carrying out three-dimensional imaging according to the calibration parameter pair
The image taken is calibrated.By upper analysis it is found that the embodiment of the present invention is only needed by obtaining the 3-D imaging system
The size adjusting parameter and the rotation angle parameter as the 3-D imaging system calibration parameter, it will be able to make
The 3-D imaging system is obtained to calibrate the image taken according to the calibration parameter when carrying out three-dimensional imaging, thus
Enable to 3-D imaging system that ideal image can be imaged out.So the embodiment of the present invention, without to described three-dimensionally shaped
System adds excessive fine tuning structure, so as to reduce the production cost of 3-D imaging system, and can be improved three-dimensional imaging
The reliability of the three-dimensional imaging of system, for using the 3-D imaging system of split-type design.
Detailed description of the invention
Fig. 1 is a kind of flow diagram of the calibration method for 3-D imaging system that one embodiment of the invention provides；
Fig. 2 is a kind of structural schematic diagram for 3-D imaging system that one embodiment of the invention provides；
Fig. 3 be Fig. 2 shows image-forming assembly the first structural schematic diagram；
Fig. 4 be Fig. 2 shows image-forming assembly second of structural schematic diagram；
Fig. 5 is the schematic diagram for initial the first image and the second image that 3-D imaging system is imaged out；
Fig. 6 is that the shooting visual field of the first initial image and the shooting visual field of the second image are moved among respective image
Schematic diagram；
Fig. 7 is that the shooting visual field of both the first image and the second image is adjusted to the consistent status diagram of shape size；
Fig. 8 is that the calibrating pattern of both the first image and the second image is adjusted to the consistent status diagram of shape size；
Fig. 9 is status diagram of both the first image and the second image rotation to pattern direction after consistent；
Figure 10 is a kind of structural schematic diagram of the calibrating installation for 3-D imaging system that one embodiment of the invention provides；
Figure 11 is the schematic diagram of the calibrating pattern illustrated in the present invention.
Description of symbols:
3. image-forming assembly；4. target；5. the first image；6. the second image；30. the first camera lens；31. the second camera lens；32. the
One imaging sensor；320. first photosensitive areas；33. the second imaging sensor；330. second photosensitive areas；34. third image sensing
Device；340. third photosensitive areas；341. the 4th photosensitive areas；35. shell.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
It is a kind of flow diagram of the calibration method for 3-D imaging system that one embodiment of the invention provides referring to Fig. 1,
Including step S10 to step S16:
S10, obtaining two width that 3-D imaging system on a predetermined position takes the target 4 with calibrating pattern has
The calibration image of parallax.
Specifically, it after assembling the various components of 3-D imaging system, needs to carry out the 3-D imaging system
Calibration.When calibrating to the 3-D imaging system, it is right on scheduled position that the 3-D imaging system is controlled first
Target 4 with calibrating pattern carries out shooting imaging, referring to Fig. 5, to be imaged out the calibration image that two width have parallax, i.e., and first
Image 5 and the second image 6.
It is understood that when the various components to the 3-D imaging system are assembled, it can be to the three-dimensional
The assembly precision of two sets of optical systems (every set optical system includes a camera lens and focus pack etc.) of imaging system carries out
Preliminary control, so that two width that this two sets of optical systems project formation on the image sensor respectively have the image of parallax
Enlargement ratio, image size, rotation angle and the difference of imaging position control in reasonable range as far as possible.
Fig. 5 to Fig. 9 is referred to, the figures illustrate two width to calibrate image, i.e. first including black rectangle region
Image 5 and the second image 6 are calibration image, and calibrating the white area in image is shooting area of visual field, and black region is not feel
The inactive area of light.
S11 refers to Fig. 6, identifies the shooting visual field of the two width calibration image, and mobile two width calibrates image
The shooting visual field, make its central point and respectively where the image center of calibration image be overlapped.
S12 refers to Fig. 7, the central point in the shooting visual field of the two width calibration image and respectively the calibration image at place
Image center be overlapped after, by the shooting visual field of two width calibration image, to be adjusted to shape size consistent.
S13 identifies the calibrating pattern in the two width calibration image, and two width is calibrated the calibration figure in image
It is consistent that case is adjusted to shape size.
Specifically, identify that two width calibrates the calibrating pattern in image by image recognition algorithms such as Hough transformations,
And two width is calibrated into the calibrating pattern in image to be adjusted to shape size consistent.The calibrating pattern is available selected from such as the school Figure 11
Other suitable shapes that one of schematic diagram of quasi- pattern or those skilled in the art can be readily apparent that.Wherein, it adjusts
Pattern form method of the same size can be that relevant calibrating pattern is amplified and reduced.Certainly, if since camera lens is abnormal
Become etc. reasons and cause the 3-D imaging system to be imaged out two width calibration image calibrating pattern shape it is inconsistent
When, it can also be by being stretched to the calibrating pattern for occurring deforming.Alternatively, being also possible to merely to the two width calibration figure
Calibrating pattern as in is stretched and makes the shape size of the calibrating pattern of the two consistent.
In addition, that is, 3-D imaging system is imaged out when the 3-D imaging system is applied to the fields such as three-dimensional endoscope
The two images with parallax all have photosensitive shooting area of visual field and not photosensitive inactive area, for example, referring to Fig. 5
To Fig. 9, calibrate image the figures illustrate two width, i.e., the first image 5 and the second image 6 including black rectangle region,
Calibrating the white area in image is shooting area of visual field, and black region is not photosensitive inactive area.
It identifies the calibrating pattern in the two width calibration image adjusted, two width is calibrated into the calibration in image
It is consistent that pattern is adjusted to shape size.Specifically, Fig. 8 is referred to, identifies the calibration in the two width calibration image adjusted
Pattern, and the size of the calibrating pattern in the two width calibration image is analyzed, then two width is calibrated in image
Calibrating pattern to be adjusted to shape size consistent.For example, the size of the calibrating pattern in the first width calibration image is 10cm2, second
The size that width calibrates the calibrating pattern in image is 9cm2, then can be using the calibrating pattern in the first width calibration image as base
The size that second width calibrates the calibrating pattern in image is also adjusted to 10cm by standard2, the second width is then calculated in the next steps
Calibrate amplification factor and/or extensograph parameter of the calibrating pattern of image relative to original image.Alternatively, can be calibrated with the second width
On the basis of calibrating pattern in image, the size that the first width calibrates the calibrating pattern in image is adjusted to 9cm2, then subsequent
Minification and/or extensograph parameter of the calibrating pattern of the first width calibration image relative to original image are calculated in step.When
So, it can also be that the size that two width is calibrated the calibrating pattern in image is adjusted to as 11cm2Or 8cm2, then calculate this
The scaling multiple and/or extensograph parameter of the calibrating pattern of the two.
S14 is calculated and is obtained after the calibrating pattern in the two width calibration image adjusts relative to the big ditty before adjustment
Whole parameter；Wherein, the size adjusting parameter includes scaling at least one of multiplying power parameter and extensograph parameter.
S15 refers to Fig. 9, on the basis of the calibrating pattern in wherein width calibration image, in another width calibration image
Calibrating pattern rotated so that (pattern direction refers to the pattern direction of calibrating pattern in two width calibration image
Orientation where each position of pattern) it is consistent.
S16 calculates and obtains the rotation angle parameter of the calibrating pattern rotated.
S17, the size adjusting parameter that will acquire and the rotation angle parameter are saved as calibration parameter,
So that the 3-D imaging system calibrates the image taken according to the calibration parameter when carrying out three-dimensional imaging.
Specifically, the size adjusting parameter that will acquire and the rotation angle parameter are protected as calibration parameter
It deposits, the 3-D imaging system described in this way is when carrying out three-dimensional imaging, so that it may according to the calibration parameter of preservation come to shooting
To image calibrated, so as to obtain ideal two width have parallax image, can finally be had according to this two width
There is the image of parallax to synthesize ideal 3-D image.For example, it is assumed that two sets of optical systems of the 3-D imaging system are distinguished
For the first optical system and the second optical system, the image that the first optical system takes is the first image 5, the second optical system
The image taken is the second image 6, wherein when by above-mentioned calibration process, obtained calibration parameter is the first optical system
The size of the image of system imaging needs to amplify 1.1 times, and the image of the second optical system imaging needs to rotate clockwise 5 degree, then
The first image 5 is just amplified 1.1 times, and second image 6 is rotated clockwise 5 degree.
In embodiments of the present invention, it is preferable that the calibrating pattern be circle in by two lines item it is orthogonal at ten
The circle pattern of word configuration.Certainly, the calibrating pattern can also be other shapes, for example, a line segment, cross configuration, three
Angular, the interior circle pattern for having a line segment of circle waits, and is not specifically limited herein.Additionally it is preferred that the target 4
For the calibration card with the calibrating pattern.Certainly, the target 4 can also be plank or glass blocks with calibrating pattern
Deng being also not specifically limited herein.
In conclusion in embodiments of the present invention, by obtaining 3-D imaging system on a predetermined position to calibration
Two width that the target 4 of pattern takes have the calibration image of parallax；Identify the calibrating pattern in the two width calibration image,
And two width is calibrated into the calibrating pattern in image to be adjusted to shape size consistent；It calculates and obtains in the two width calibration image
Calibrating pattern adjustment after relative to the size adjusting parameter before adjustment；Using the calibrating pattern in wherein width calibration image as base
Standard rotates the calibrating pattern in another width calibration image, so that the figure of the calibrating pattern in two width calibration image
Case direction is consistent；Calculate and obtain the rotation angle parameter of the calibrating pattern rotated；The size adjustment ginseng that will acquire
The several and described rotation angle parameter is saved as calibration parameter, so that the 3-D imaging system is when carrying out three-dimensional imaging
The image taken is calibrated according to the calibration parameter.By upper analysis it is found that the embodiment of the present invention is only needed by obtaining
The size adjusting parameter for taking the 3-D imaging system and the rotation angle parameter are as the 3-D imaging system
Calibration parameter, it will be able to so that the 3-D imaging system when carrying out three-dimensional imaging according to the calibration parameter to taking
Image calibrated so that ideal image can be imaged out in 3-D imaging system.So the embodiment of the present invention,
Without adding excessive fine tuning structure to the three-dimensional modeling system, so as to reduce the production cost of 3-D imaging system,
And can be improved the reliability of the three-dimensional imaging of 3-D imaging system, especially for the three-dimensional imaging system using split-type design
For system.
Referring to Figure 10, be another embodiment of the present invention provides a kind of 3-D imaging system calibrating installation structural representation
Figure, comprising:
Image collection module 10 on a predetermined position claps the target with calibrating pattern for obtaining 3-D imaging system
The two width calibration image with parallax taken the photograph；
The first adjustment module 11, two width calibrates the shooting visual field of image out for identification, and moves two width school
The shooting visual field of quasi- image is overlapped its central point and the image center of the calibration image at respective place；
Second adjustment module 12, the central point in the shooting visual field for two width calibration image and the respectively calibration at place
After the image center of image is overlapped, it is consistent that the shooting visual field of two width calibration image is adjusted to shape size；
Third adjusts module 13, for identification the calibrating pattern in two width calibration image adjusted out, and by institute
To be adjusted to shape size consistent for the calibrating pattern for stating in two width calibration image；
First computing module 14, for calculate and obtain after the calibrating pattern adjustment in two width calibration image relative to
Size adjusting parameter before adjustment；Wherein, the size adjusting parameter includes scaling in multiplying power parameter and extensograph parameter at least
It is a kind of；
4th adjustment module 15, for being calibrated to another width on the basis of the calibrating pattern in wherein width calibration image
Calibrating pattern in image is rotated, so that the pattern direction of the calibrating pattern in two width calibration image is consistent；
Second computing module 16, for calculating and obtaining the rotation angle parameter of the calibrating pattern rotated；
Calibration module 17, for the size adjusting parameter that will acquire and the rotation angle parameter as calibration ginseng
Number saved so that the 3-D imaging system when carrying out three-dimensional imaging according to the calibration parameter to the image taken
It is calibrated.
Compared with the prior art, the embodiment of the present invention only needs the big ditty by obtaining the 3-D imaging system
Whole parameter and the rotation angle parameter as the 3-D imaging system calibration parameter, it will be able to so that it is described it is three-dimensional at
As system calibrates the image taken according to the calibration parameter when carrying out three-dimensional imaging, so that three-dimensional
Ideal image can be imaged out in imaging system.So the embodiment of the present invention, excessive without adding to the three-dimensional modeling system
Fine tuning structure, so as to reduce the production cost of 3-D imaging system, and can be improved 3-D imaging system it is three-dimensional at
The reliability of picture, for using the 3-D imaging system of split-type design.
Referring to fig. 2, it invents another embodiment and provides a kind of 3-D imaging system, including for being imaged out two to target 4
Width has image-forming assembly 3, processor, memory and the storage of the image of parallax in the memory and is configured as by institute
The computer program of processor execution is stated, the processor is realized described in foregoing invention embodiment when executing the computer program
3-D imaging system calibration method.
Specifically, when the 3-D imaging system is applied to the fields such as three-dimensional endoscope, the image-forming assembly 3 can be
Following two structure:
The first: referring to Fig. 3, the image-forming assembly 3 includes the first camera lens 30, the second camera lens 31, the first imaging sensor
32 and second imaging sensor 33；First camera lens 30 is arranged side by side with second camera lens 31；The first image sensing
The target surface of device 32 has the first photosensitive area 320, and the target surface of second imaging sensor 33 has the second photosensitive area 330, this two
A imaging sensor is installed in a shell 5；First camera lens 30 is with second camera lens 31 for carving at the same time to same
Scene carries out capture；Capture of first camera lens 30 to the scene is projected to first photosensitive area 320 and is imaged as
One image 5；Capture of second camera lens 31 to the scene, is projected to second photosensitive area 330 and is imaged as the second figure
As 6；Wherein, the first image 5 and second image 6 have parallax, and both have photosensitive shooting area of visual field
And not photosensitive inactive area.
Second: referring to fig. 4, the image-forming assembly 3 includes the first camera lens 30, the second camera lens 31 and third imaging sensor
34；First camera lens 30 is arranged side by side with second camera lens 31, and the third imaging sensor 34 is installed on a shell 5
It is interior；The target surface of the third imaging sensor 34 includes third photosensitive area 340 and the 4th photosensitive area 341, the third photosensitive area
340 are separated from each other with the 4th photosensitive area 341；First camera lens 30 is with second camera lens 31 for carving at the same time to same
One scene carries out capture；Capture of first camera lens 30 to the scene, is projected to the third photosensitive area 340 and is imaged as
Third image；Capture of second camera lens 31 to the scene is projected to the 4th photosensitive area 341 and is imaged as the 4th figure
Picture；Wherein, the third image and the 4th image have parallax, and both with photosensitive shooting area of visual field and not
Photosensitive inactive area.
Compared with the prior art, the embodiment of the present invention only needs the big ditty by obtaining the 3-D imaging system
Whole parameter and the rotation angle parameter as the 3-D imaging system calibration parameter, it will be able to so that it is described it is three-dimensional at
As system calibrates the image taken according to the calibration parameter when carrying out three-dimensional imaging, so that three-dimensional
Ideal image can be imaged out in imaging system.So the embodiment of the present invention, excessive without adding to the three-dimensional modeling system
Fine tuning structure, so as to reduce the production cost of 3-D imaging system, and can be improved 3-D imaging system it is three-dimensional at
The reliability of picture, for using the 3-D imaging system of split-type design.
Illustratively, the computer program can be divided into one or more module/units, one or more
A module/unit is stored in the memory, and is executed by the processor, to complete the present invention.It is one or more
A module/unit can be the series of computation machine program instruction section that can complete specific function, and the instruction segment is for describing institute
State implementation procedure of the computer program in the 3-D imaging system.
Alleged processor can be central processing unit (Central Processing Unit, CPU), can also be it
His general processor, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
Deng the processor is the control centre of the 3-D imaging system, utilizes various interfaces and the entire three-dimensional imaging of connection
The various pieces of system.
The memory can be used for storing the computer program and/or module, and the processor is by operation or executes
Computer program in the memory and/or module are stored, and calls the data being stored in memory, described in realization
The various functions of 3-D imaging system.The memory can mainly include storing program area and storage data area, wherein storage journey
It sequence area can application program needed for storage program area, at least one function (such as sound-playing function, image player function
Deng) etc.；Storage data area, which can be stored, uses created data (such as audio data, phone directory etc.) etc. according to mobile phone.This
Outside, memory may include high-speed random access memory, can also include nonvolatile memory, such as hard disk, memory, insert
Connect formula hard disk, intelligent memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card, flash memory
Block (Flash Card), at least one disk memory, flush memory device or other volatile solid-state parts.
Wherein, if module/unit that the 3-D imaging system integrates is realized in the form of SFU software functional unit and makees
It is independent product when selling or using, can store in a computer readable storage medium.Based on this understanding,
The present invention realizes all or part of the process in above-described embodiment method, can also be instructed by computer program relevant hard
Part is completed, and the computer program can be stored in a computer readable storage medium, the computer program is processed
When device executes, it can be achieved that the step of above-mentioned each embodiment of the method.Wherein, the computer program includes computer program generation
Code, the computer program code can be source code form, object identification code form, executable file or certain intermediate forms
Deng.The computer-readable medium may include: any entity or device, record that can carry the computer program code
Medium, USB flash disk, mobile hard disk, magnetic disk, CD, computer storage, read-only memory (ROM, Read-Only Memory), with
Machine access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..
It should be noted that the content that the computer-readable medium includes can be according to legislation and patent practice in jurisdiction
It is required that carrying out increase and decrease appropriate, such as in certain jurisdictions, do not wrapped according to legislation and patent practice, computer-readable medium
Include electric carrier signal and telecommunication signal.
It should be noted that the apparatus embodiments described above are merely exemplary, wherein described be used as separation unit
The unit of explanation may or may not be physically separated, and component shown as a unit can be or can also be with
It is not physical unit, it can it is in one place, or may be distributed over multiple network units.It can be according to actual
It needs that some or all of the modules therein is selected to achieve the purpose of the solution of this embodiment.In addition, device provided by the invention
In embodiment attached drawing, the connection relationship between module indicate between them have communication connection, specifically can be implemented as one or
A plurality of communication bus or signal wire.Those of ordinary skill in the art are without creative efforts, it can understand
And implement.
The above is a preferred embodiment of the present invention, it is noted that for those skilled in the art
For, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also considered as
Protection scope of the present invention.
Claims (7)
1. a kind of calibration method of 3-D imaging system, which comprises the following steps:
Obtain 3-D imaging system on a predetermined position to target with calibrating pattern shot with parallax
Two width calibrate image；
It identifies the shooting visual field of the two width calibration image, and the shooting visual field of the mobile two width calibration image, makes wherein
Heart point is overlapped with the image center of the calibration image at respective place；
The central point in the shooting visual field of the two width calibration image is overlapped it with the image center of the calibration image at respective place
Afterwards, by the shooting visual field of two width calibration image, to be adjusted to shape size consistent；
It identifies the calibrating pattern in the two width calibration image adjusted, and two width is calibrated into the calibration figure in image
It is consistent that case is adjusted to shape size；
It calculates and obtains after the calibrating pattern in the two width calibration image adjusts relative to the size adjusting parameter before adjustment；Its
In, the size adjusting parameter includes scaling at least one of multiplying power parameter and extensograph parameter；
On the basis of the calibrating pattern in wherein width calibration image, the calibrating pattern in another width calibration image is revolved
Turn, so that the pattern direction of the calibrating pattern in two width calibration image is consistent；
Calculate and obtain the rotation angle parameter of the calibrating pattern rotated；
The size adjusting parameter that will acquire and the rotation angle parameter are saved as calibration parameter, so that described
3-D imaging system calibrates the image taken according to the calibration parameter when carrying out three-dimensional imaging.
2. the calibration method of 3-D imaging system as described in claim 1, which is characterized in that the calibrating pattern is a line
In circle pattern or circle in section, cross configuration, triangle, circle with line segment with by two lines item it is orthogonal at
The circle pattern of cross configuration.
3. the calibration method of 3-D imaging system as claimed in claim 1 or 2, which is characterized in that the target be band
State the calibration card of calibrating pattern.
4. a kind of calibrating installation of 3-D imaging system characterized by comprising
Image collection module on a predetermined position shoots the target with calibrating pattern for obtaining 3-D imaging system
The obtained two width calibration image with parallax；
The first adjustment module, two width calibrates the shooting visual field of image out for identification, and moves two width and calibrate image
The shooting visual field, make its central point and respectively where the image center of calibration image be overlapped；
Second adjustment module, the calibration image at the central point in the shooting visual field for two width calibration image and respectively place
After image center is overlapped, it is consistent that the shooting visual field of two width calibration image is adjusted to shape size；
Third adjusts module, for identification the calibrating pattern in two width calibration image adjusted out, and by two width
It is consistent that calibrating pattern in calibration image is adjusted to shape size；
First computing module, before calculating and obtaining after the calibrating pattern adjustment in two width calibration image relative to adjustment
Size adjusting parameter；Wherein, the size adjusting parameter includes scaling at least one of multiplying power parameter and extensograph parameter；
4th adjustment module, for being calibrated in image to another width on the basis of the calibrating pattern in wherein width calibration image
Calibrating pattern rotated so that two width calibration image in calibrating pattern pattern direction it is consistent；
Second computing module, for calculating and obtaining the rotation angle parameter of the calibrating pattern rotated；
Calibration module, the size adjusting parameter and the rotation angle parameter for will acquire are carried out as calibration parameter
It saves, so that the 3-D imaging system carries out school to the image taken according to the calibration parameter when carrying out three-dimensional imaging
It is quasi-.
5. a kind of 3-D imaging system, which is characterized in that including for target imaging go out two width with parallax image at
As component, processor, memory and storage in the memory and are configured as the computer executed by the processor
Program, the processor realize the three-dimensional imaging as described in any one of claims 1 to 3 when executing the computer program
The calibration method of system.
6. a kind of 3-D imaging system as claimed in claim 5, which is characterized in that the image-forming assembly include the first camera lens,
Second camera lens, the first imaging sensor and the second imaging sensor；
First camera lens is arranged side by side with second camera lens；The target surface of the first image sensor is photosensitive with first
The target surface in area, second imaging sensor has the second photosensitive area；
First camera lens and second camera lens are for carving at the same time to Same Scene progress capture；First camera lens is to institute
The capture for stating scene is projected to first photosensitive area and is imaged as the first image；Second camera lens takes the scene
Picture is projected to second photosensitive area and is imaged as the second image；Wherein, the first image and second image have view
Difference, and both there is photosensitive shooting area of visual field and not photosensitive inactive area.
7. a kind of 3-D imaging system as claimed in claim 5, which is characterized in that the image-forming assembly include the first camera lens,
Second camera lens and third imaging sensor；
First camera lens is arranged side by side with second camera lens；The target surface of the third imaging sensor includes third photosensitive area
With the 4th photosensitive area, the third photosensitive area is separated from each other with the 4th photosensitive area；
First camera lens and second camera lens are for carving at the same time to Same Scene progress capture；First camera lens is to institute
The capture for stating scene is projected to the third photosensitive area and is imaged as third image；Second camera lens takes the scene
Picture is projected to the 4th photosensitive area and is imaged as the 4th image；Wherein, the third image and the 4th image have view
Difference, and both there is photosensitive shooting area of visual field and not photosensitive inactive area.
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