201102752 六、發明說明： 【發明所屬之技術領域】 本發明係關於一種相機校正 校正相機架設角度之方法。 寺別是關於一種用以 【先前技術】 在利用相機或攝影機的拍攝過 的相對關係為相當重要的機與被拍攝物 側方盲點偵測過程中 ，如攝=先進安全― 攝物的角度，以及相相對於被拍 離。料破賴_對財細方向和距 透過以往的技術可得知相機 實空間中的座標系統間 拍攝物於真 υΐ λ )的旋㈣度，魏❹卜個综合 自體二向旋轉角的旋轉矩陣。 若於安全車辅的側方盲點伯測過程中，因碰撞 變7架設於車辆上的相機的角度，如要恢復 n胃度多要藉助於車廠的專業設備，且將車 還要額外花費金錢，更耗費時間。若是透 β 、&正方法來得知目前減相對於被減物間旋轉 角度，則是相當的複雜。 201102752 【發明内容】 因此本發明之一範嚀為提供一種相機擺置角度校正 用以計算關於相機的偏轉角度以解決先前技術之問 題。 本發明之相機擺置角度校正法包含下列步驟：首先利 用相機榻取關於校正板之影像，校正板包含二 影像包含對應二平行線之二參考線。接著觸出=考: ·=相交之消失T接著定義影像之中心點，並根據消失 "，一中心點，計算出關於相機之左右偏轉角及上下偏轉 角’最後根據左右偏㈣及上下偏㈣校正相機。 、、此外，在計算關於相機之左右偏轉角及上下偏轉角時， 還進-步包含以下步驟：於影像上定義影像巾^點之中心點 座標，、並計算消失點之消失點座標，接著定義相機座標系 統’然後根據中心點座標、消失點座標及相機之像距，於相 機座標系統下計算ihΜ於消失點之方向向量。最後根據方向 _ 向量，計算出關於相機之左右偏轉角及上下偏轉角。 由上所述，本發明之相機擺置角度校正法，利用影像 的消失點計算出關於相機之左右偏及上下偏轉角。 於實際，用中僅需利用相機拍攝校正板的影像，再經由簡 易的計算即可得到關於相機之左右偏轉角及上下偏轉角， 才目車父於先前技術，本發明節省了校正及測量相機偏轉角所 需花費的時間與步驟。 關於本發明之優點與精神可以藉由以下的發明詳述及所 201102752 附圖式得到進一步的瞭解。 【實施方式】 請參閱圖一 ’圖一係根據本發明之一具體實施例所繪 示之相機擺置角度校正法流程圖。如圖一所示，本發明： 相機擺置角度校正法包含步驟S10〜S19，其詳細^明如 下。 。 首先執行步驟S10 :利用相機擷取關於校正板之影像。 請參閱圖二至圖四，圖三係根據本發明之—具體實施例所繪 示之相機1架設示意圖。圖三係縛示圖二中之校正板3 四係繪示關於圖二之校正板3的影像4。如圖^所示，拍1 者先將相機1架設於角架2或其他物件上(例如 加 設於角架2的相機丨可左右及上下偏轉，但相機 益= 自體旋轉（自體旋轉：相機1以光軸為中心旋 豸…/去 為：將相機1架設於停在道路上，並」_見的作 2 66 W 1 將权正板3擺在角 絡製i格綠t上包含至少二平行線，或者校正板3 :曰，有格線，並且格線包含至少二平行線。圖 板3场有棋盤格，實際上校正板3之形式不魏=权 :校=可紙張或板子，行的對: ，一山 之—千仃線，或者是於紙張或板子卜給_夕π 之後，即：= 久〕《〜像4，當然擷取校正柘3 限於相機1，,亦可為且有 ^ 的工具习 等。由於校正板3上；！功此之照相手機、細 板上有料平行線(可為袼線本身及校正板 201102752 之邊）’所謂的擷取關於校正板3之影 -曰二ί 3之對邊)，實際上二平行線於影像4中的成像即為 一多考線。此外，所擷取之影像4 人 ’、、 場景或物件，不限於僅包含二參考線而一'各以外的 接著執行步驟S12 :判斷出二參考線延伸相交之消失點 口四中的，㈣。兩參考線雖然為校正板3 ，但實際上是域丨將縣縣於 ^ 平二維平面來成像，於影像4中兩參考線並不 因此當延伸兩參考線(延伸線以虛線表示)時^^ 又於一點，此相交點稱之為消失點。 八 把，步驟S14:於影像上定義中心點之令心點座 ^利用/异，肖失點之歧點座標。在判斷㈣失點之後，首 之1Γ1Γ示之二維影像座標系統來定義影像4上各點 接Μ \中一維影像座標系統包含兩座標1由x，軸及〆軸。 =於:轉像鋪系統下定射心關座標，並計算出消 黑，失點座標。-般而言#心點通常為影像4之中心(以 圖四中之空心圓表示）’其座標可設為(0,0)。。 圖五:步驟si6 ··定義相機座標系統。請參閱圖五， 圖五係根據树明之-具财闕麟*之 由解=1與校正板3的關係，因此定義相機座尨 祕5表達相機1解行線的關係。 用系統5為三維座標系紅在本實施例中採 左手座^法則，相機座標纽5包含χ軸、7軸、之抽， 201102752 ==的==統5的原點為相機1 面)平荇〜心以像干面52 (物體成像時所在之平 3 標系統5之好平面。由於空間中的校正板 座^像，因此影像平面52上的各點與相機 2糸統5中r軸的垂直距離為相機丨的像距，像距以《表 機刺S18 :根射心點、敎點座標及相 方向0旦i二Ϊ相機座標錢5下計算_於消失點之一 系論’料絲座標於二轉像座標 向腦r λ Ί XV，％)，則平行線於相機座標系統5中的方 ’（Χν，Α《）即平行線的方向向量。由成像公 ;σ咐距g與物距p、焦距，的關係為: f —I-- q p 若物距p大於像距分 焦距/來取代。 十倍以上的話，像距β可用相機1的 左右驟S19 ·根據方向向量’計算出關於相機之 ^ 、姐，職神機1有觸。於本文 :與相機座標系統之π平面的夾 條直線所:&點，就數學上而言，由於平面是由無數 的方向皆垂ί於;面'=ί分=3的方向’且直線 次门里因此在汁鼻向量與平面間的 201102752 爽，，實際上是計算為向量與平面的法向量之間的夾角。而 繼雖魄是方向向紙，以與相機 之料面的夾角，實際上本發明之左右偏轉角為 ^平面法向量的夹角之餘角，與一般 2 ^ 尤轴垂直於相機座標系統5之π 轉肖义即為rz平面之法向量，因此於求此左右偏 計算方向向量“一 C〇S0' = L^O].U X, y V^ThyF+p" Φ' = cos_I(—~~^ ' Ιχν yv q\ yl+7 量（XV，W與相機座標5之ι軸所夾的夹紙 彡= 90° — cos—1201102752 VI. Description of the Invention: [Technical Field of the Invention] The present invention relates to a method of correcting a camera erecting angle by a camera. Temple is about a kind of [previous technology] in the process of using the camera or camera to photograph the relative relationship is very important in the process of blind spot detection of the camera and the side of the subject, such as camera = advanced security - the angle of the camera, And the phase is relative to being photographed.破 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ matrix. If the side of the blind spot of the safety car is in the process of being tested, the angle of the camera that is set on the vehicle will be changed by the collision. If you want to restore the n stomach, you must rely on the professional equipment of the car manufacturer, and the car will cost extra. Money is more time consuming. If the β, & positive method is used to know the current rotation relative to the angle of rotation between the objects being reduced, it is quite complicated. 201102752 SUMMARY OF THE INVENTION It is therefore an object of the present invention to provide a camera placement angle correction for calculating a deflection angle with respect to a camera to solve the problems of the prior art. The camera placement angle correction method of the present invention comprises the following steps: First, the camera is used to take an image of the calibration plate, and the calibration plate includes two images including two reference lines corresponding to two parallel lines. Then touch out = test: · = the disappearance of the intersection T then defines the center point of the image, and according to the disappearance ", a center point, calculate the left and right deflection angles of the camera and the upper and lower deflection angles 'last according to the left and right partial (four) and up and down (4) Correct the camera. In addition, when calculating the left and right deflection angles and the vertical deflection angles of the camera, the method further includes the steps of: defining a center point coordinate of the image towel point on the image, and calculating a vanishing point coordinate of the vanishing point, and then calculating Define the camera coordinate system' and then calculate the direction vector of ihΜ at the vanishing point under the camera coordinate system according to the coordinates of the center point, the vanishing point coordinate and the image distance of the camera. Finally, based on the direction _ vector, the left and right deflection angles and the upper and lower deflection angles of the camera are calculated. As described above, the camera placement angle correction method of the present invention calculates the left and right deflection and the vertical deflection angle with respect to the camera using the vanishing point of the image. In practice, the camera only needs to use the camera to capture the image of the calibration plate, and then through simple calculations, the left and right deflection angles and the upper and lower deflection angles of the camera can be obtained, and the present invention saves the calibration and measurement camera. The time and steps required to deflect the angle. The advantages and spirit of the present invention will be further understood from the following detailed description of the invention and the accompanying drawings. [Embodiment] Please refer to FIG. 1A. FIG. 1 is a flow chart of a camera placement angle correction method according to an embodiment of the present invention. As shown in Fig. 1, the present invention: The camera placement angle correction method includes steps S10 to S19, which are described in detail below. . First, step S10 is performed: the image of the calibration plate is captured by the camera. Referring to Figures 2 through 4, Figure 3 is a schematic view of the erection of the camera 1 according to the embodiment of the present invention. Fig. 3 is a diagram showing the correction plate 3 in Fig. 2, and the image 4 of the calibration plate 3 of Fig. 2 is shown. As shown in Fig. 2, the camera 1 is first mounted on the corner frame 2 or other objects (for example, the camera attached to the corner frame 2 can be deflected left and right and up and down, but the camera benefits = self-rotation (self-rotation) : Camera 1 rotates around the optical axis.../ Go to: Mount the camera 1 on the road, and _ see 2 66 W 1 Place the right plate 3 on the corner grid i grid green t Contains at least two parallel lines, or calibration plate 3: 曰, grid lines, and grid lines contain at least two parallel lines. The board 3 has a checkerboard, in fact the form of the calibration board 3 is not Wei = weight: school = paper Or the board, the pair of lines: , one mountain - the thousand lines, or after the paper or board is given to _ π π, ie: = long] "~4, of course, the correction 柘3 is limited to the camera 1, It can also be used as a tool for the correction. Because of the correction plate 3; the camera phone, the parallel plate on the thin plate (can be the line itself and the side of the calibration plate 201102752) The shadow of the board 3 - the opposite side of the 3 o 3), in fact, the imaging of the two parallel lines in the image 4 is a multi-test line. In addition, the captured image 4 ',, scene or object, is not limited to only including two reference lines and one is not followed by step S12: determining that the two reference line extensions intersect in the vanishing point four, (four). Although the two reference lines are the correction plate 3 However, in fact, the domain is to image the county and the county in a two-dimensional plane. In the image 4, the two reference lines are not so extended when the two reference lines (the extension lines are indicated by broken lines) ^^ again at a point, this intersects The point is called the vanishing point. Eight, step S14: Defining the center point of the center point of the image on the image ^Using / different, Xiao points the coordinates of the point of the point. After judging (4) the point of loss, the first one is the first one Dimensional image coordinate system to define the points on the image 4 中 The middle 1D image coordinate system consists of two coordinates 1 from the x, axis and 〆 axis. =:: The image is centered on the coordinate system and the blackout is calculated. , Lost point coordinates. - Generally speaking, the heart point is usually the center of the image 4 (indicated by the hollow circle in Figure 4). Its coordinates can be set to (0,0). Figure 5: Step si6 ··Define the camera Coordinate system. Please refer to Figure 5, Figure 5 is based on the tree - with the unicorn * solution = 1 and correction The relationship of 3, therefore, defines the relationship between the camera seat and the expression line 1 of the camera 1. The system 5 is a three-dimensional coordinate system red. In this embodiment, the left-hand rule is adopted, and the camera coordinate button 5 includes a x-axis, a 7-axis, Pumping, 201102752 == === The origin of the system 5 is the camera 1 side) Flat 荇 ~ heart to the dry surface 52 (the plane of the flat 3 system where the object is imaged. Because of the calibration plate in the space ^ Image, so the vertical distance between each point on the image plane 52 and the r-axis of the camera 2 is the image distance of the camera ,, and the image distance is "the machine spur S18: the root point, the 座 point coordinate and the phase direction 0 i i Ϊ camera coordinates 5 calculations _ at one of the vanishing points of the 'wire coordinates on the second rotation image coordinates to the brain r λ Ί XV,%), then the parallel line in the camera coordinate system 5 ' (Χν, Α ") is the direction vector of the parallel lines. The relationship between the σ 咐 distance g and the object distance p and the focal length is: f —I—- q p If the object distance p is greater than the image distance focal length/to replace. If it is ten times or more, the left and right steps S19 of the camera 1 can be used as the distance β, and the camera 1 can be calculated based on the direction vector. In this paper: the straight line of the π plane with the camera coordinate system: & point, mathematically, because the plane is draped by countless directions; the face '= ί points = 3 directions' and straight lines Therefore, the secondary gate is therefore 201102752 between the juice nose vector and the plane, which is actually calculated as the angle between the vector and the normal vector of the plane. However, although the 魄 is the direction of the paper, and the angle with the surface of the camera, in fact, the left and right deflection angle of the present invention is the angle of the angle of the plane normal vector, and the general 2 ^ axis is perpendicular to the camera coordinate system 5 The π-transition symmetry is the normal vector of the rz plane, so the direction vector is calculated for the left-right direction. "One C〇S0' = L^O].UX, y V^ThyF+p" Φ' = cos_I(—~ ~^ ' Ιχν yv q\ yl+7 Amount (XV, W and the paper axis of the camera coordinate 5) 夹 = 90° — cos—1
Xy 上式中的0角即為左右偏轉角。 1向左偏鑪r,v,lI5n士 ^田0马正值和，表不相機 =左偏轉(以順時鐘方向偏轉） 偏轉(逆時鐘方向偏轉），__越大負值=不 =高。此外，消失點在影像平面越= 相下 相機1上下偏轉的影響而已，不受 叉到 移動的影響。告如她， 左右轉動及任何 ^ . ± 田相機1上下偏轉時，於本發明中利用卜丁你 轉角來表示相機〗絲认一个、肝棚上下偏 方向向量(χν ν ^轉度，上下偏轉角的定義為： V，V，0與相機i的光軸（也就是相機座標系統5 201102752 中的z車由)之夹角。 ，了求得此上下偏轉角，可執行下列步驟： 向1投影至相機座標系統5之rz 將^向 根據投影向量及2軸，計算上下偏轉角。]^向接著 右征2向里（Ή)投影在相機座標5的平面時，沒 方向的分量，因此方向向量於β平面 的技_罝為(0, ^)。接著利用内積公式計算方向向 少v，g)與光軸（2軸）的夾角0: v’ cos6> = (〇^ ^)-(0,0,1) V^v +^2 f \ Θ ~ COS-1 -_2™ +^2 > 透過上下偏轉角Θ以及左右偏轉角可得知相機座標系 統5相對於方向向量（Χν，Θ的偏轉程度以及方向。此 外’當執行步驟S10至S19來計算相機丨的左右偏轉角跟上 下偏轉角時，若於之後操作相機丨的過程中，拍攝者不慎碰 才里相機1導致相機的左右偏轉角、上下偏轉角改變時，則可 根據所§十算到的左右偏轉角跟上下偏轉角來校正相機i的角 度。 於實際應用中’由於已經藉由左右偏轉角與上下偏轉角 得知方向向量（xv，八，《）與FZ平面的夾角，以及方向向量 (A，八，分）與Z軸之爽角。為了更進一步了解相機1與真實空 間中物件的關係’可定義世界座標系統（world coordinate system)。世界座標系統包含χ、少、z三軸，其中校正板3所 201102752 在之平面定義為XZ平面，4平行於校 ，過相機i，並録界麵纽與 f3上之平行線且 豐。既然已經得知方向向紙 5之原點重 軸和泛平_夹角，而又得知= 目機座標系統5之Z 標系統下z軸之方向，故可得知相機1實際上為世界座 的關係，其中左右偏轉角即為相機i相對於=世界座標系統 以架設相機1的物件）之偏轉情形。 ' ;木2 (或其他用 由上所述，本發明之相機擺 用相機拍攝校正板的影像，再經由 =用中僅而利 :。月心了校正及測1相機偏轉角所需花費的時間與步 上Ϊ佳具體實施例之詳述，係希望能更加清楚 與精神’而並非以上述所揭露的較佳具 體實關來對本發明之範.加以限制。相反地，盆目的是 希望能涵蓋各種改變及具相等性的安排於本發明所欲申請 之專利範圍的範_内。 11 [s 201102752 【圖式簡單說明】 圖一係根據本發明之一具體實施例所繪示之相機擺置 角度校正法流程圖。 圖二係根據本發明之一具體實施例所繪示之相機架設 示意圖。 圖三係繪示圖二中之校正板。 圖四係綠示關於圖二之校正板的影像。 圖五係根據本發明之一具體實施例所繪示之相機座標系 統。 【主要元件符號說明】 1 =相機 3 :校正板 5.相機座標糸統 52 :影像平面 S10〜S19 :步驟 2 :角架 4:校正板影像 50 :透鏡 12The 0 angle in Xy is the left and right deflection angle. 1 to the left of the furnace r, v, lI5n Shi ^ Tian 0 horse positive value, the table does not camera = left deflection (deflection in the clockwise direction) deflection (counterclock deflection), __ greater negative value = not = high . In addition, the vanishing point is in the image plane = the effect of the camera 1 up and down deflection, and is not affected by the fork to the movement. As for her, turning left and right and any ^. Tian camera 1 up and down deflection, in the present invention, using the pointer of your diver to indicate that the camera is lining up, the liver shed up and down direction vector (χν ν ^ rotation, up and down The corner is defined as: V, V, 0 and the angle of the optical axis of camera i (that is, the z-vehicle in camera coordinate system 5 201102752). To find the vertical deflection angle, perform the following steps: The rz projected to the camera coordinate system 5 calculates the up and down deflection angle based on the projection vector and the two axes.]^ When the second sign is inward (Ή) projected on the plane of the camera coordinate 5, there is no component of the direction, so The technique _罝 of the direction vector in the β plane is (0, ^). Then use the inner product formula to calculate the angle between the direction v, g) and the optical axis (2 axis): v' cos6> = (〇^ ^)- (0,0,1) V^v +^2 f \ Θ ~ COS-1 -_2TM +^2 > The camera coordinate system 5 relative to the direction vector can be known by the vertical deflection angle Θ and the left and right deflection angles (Χν , the degree of deflection of the Θ and the direction. In addition, when performing steps S10 to S19 to calculate the left and right deflection angles of the camera 跟 and the upper and lower deflection angles, After the camera 丨 is operated, when the photographer accidentally touches the camera 1 and causes the left and right yaw angles and the up and down yaw angles of the camera to change, the camera i can be corrected according to the left and right yaw angles calculated by § 10 and the up and down yaw angles. Angle. In practical applications, 'the angle between the direction vector (xv, VIII, ") and the FZ plane, and the direction vector (A, eight, minute) and Z-axis have been known by the left and right deflection angles and the upper and lower deflection angles. Cool angle. In order to further understand the relationship between camera 1 and objects in real space, the world coordinate system can be defined. The world coordinate system consists of three axes of χ, 少, z, where the calibration plate 3 201102752 is defined in the plane. For the XZ plane, 4 parallel to the school, pass the camera i, and record the interface and the parallel line and f3 on the f3. Now that we know the direction to the origin of the paper 5 and the pan-angle, and then know = The direction of the z-axis under the Z-standard system of the camera coordinate system 5, so it can be known that the camera 1 is actually a world-wide relationship, wherein the left-right deflection angle is the object of the camera i relative to the = world coordinate system to erect the camera 1. ) Deflection situation. '; wood 2 (or other use of the camera of the present invention, the camera of the present invention captures the image of the calibration plate, and then uses only = in use:: the heart spends the correction and measures the camera deflection angle The detailed description of the specific embodiments of the present invention is intended to provide a better understanding of the scope of the invention, and is not intended to limit the scope of the invention. The arrangement encompassing various changes and equivalents is within the scope of the patent scope of the present invention. 11 [s 201102752 [Simplified Schematic] FIG. 1 is a camera pendulum according to an embodiment of the present invention. Figure 2 is a schematic diagram of a camera erection according to an embodiment of the present invention. Figure 3 is a diagram showing the calibration plate of Figure 2. Figure 4 is a green indicator for the calibration plate of Figure 2. Figure 5 is a camera coordinate system according to an embodiment of the present invention. [Main component symbol description] 1 = Camera 3: Correction plate 5. Camera coordinate system 52: Image plane S10~S19: Step 2 : Corner Frame 4: School Image plate 50: lens 12