CN109089103A - Binocular camera attitude adjusting method and device, computer equipment and storage medium - Google Patents
Binocular camera attitude adjusting method and device, computer equipment and storage medium Download PDFInfo
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- CN109089103A CN109089103A CN201811243174.5A CN201811243174A CN109089103A CN 109089103 A CN109089103 A CN 109089103A CN 201811243174 A CN201811243174 A CN 201811243174A CN 109089103 A CN109089103 A CN 109089103A
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Abstract
This application involves a kind of binocular camera attitude adjusting method, system, computer equipment and storage mediums.Method in one embodiment includes: the realtime graphic for obtaining binocular camera shooting and obtaining, the realtime graphic includes the second realtime graphic that the second camera shooting in the first realtime graphic and binocular camera that the first camera shooting in binocular camera obtains obtains；On the preset direction of the realtime graphic, preset number parallel lines are added；According to reference substance in first realtime graphic and second realtime graphic, relative to the position of the parallel lines, the posture of the binocular camera is adjusted.This embodiment scheme improves the accuracy of the pose adjustment of binocular camera.
Description
Technical field
This application involves technical field of computer vision, more particularly to a kind of binocular camera attitude adjusting method, binocular
Camera device for adjusting posture, computer equipment and computer storage medium.
Background technique
Binocular stereo vision is an important branch of computer vision, refers to and is imaged by two of different location or one
Machine obtains the three of the point by calculating the parallax of spatial point in two images by the mobile or same width scene of rotary taking
Dimensional coordinate values.Binocular stereo vision can directly simulate human eye perception environment, be obtained by the accurate matching of left and right view preferable
Object depth information is widely used in object identification, mesh because of its passively detection mode and to the lower advantage of environmental requirement
Demarcate the fields such as position, target following, robot navigation, three-dimensional measurement and virtual reality.In the application of binocular stereo vision,
The vision mode that optical axis is under ideal parastate is generallyd use, however, optical axis is completely in perfect condition to installation essence
The requirement of degree is very high, and in installation or use process, optical axis often deviates ideal position, to influence binocular ranging effect
And measurement accuracy, it needs whether to judge left and right camera optical axis in parallel in actual operation, however existing scheme precision
Error is all larger.
Summary of the invention
Based on this, it is necessary in view of the above technical problems, provide a kind of binocular camera attitude adjusting method, binocular camera appearance
State adjusts device, computer equipment and computer storage medium.
A kind of binocular camera attitude adjusting method, which comprises
The realtime graphic that binocular camera shooting obtains is obtained, the realtime graphic includes that the first camera in binocular camera is clapped
The second realtime graphic that the second camera shooting taken the photograph in the first realtime graphic and binocular camera of acquisition obtains；
On the preset direction of the realtime graphic, preset number parallel lines are added；
Position according to reference substance in first realtime graphic and second realtime graphic, relative to the parallel lines
It sets, adjusts the posture of the binocular camera.
A kind of binocular camera device for adjusting posture, described device include:
Realtime graphic obtains module, the realtime graphic obtained to obtain binocular camera shooting, and the realtime graphic includes
What the second camera shooting in the first realtime graphic and binocular camera that the first camera shooting in binocular camera obtains obtained
Second realtime graphic；
Parallel lines adding module adds preset number parallel lines for the preset direction in the realtime graphic；
Pose adjustment module is used for according to reference substance in first realtime graphic and second realtime graphic, phase
For the position of the parallel lines, the posture of the binocular camera is adjusted.
A kind of computer equipment, including memory and processor, the memory are stored with computer program, the processing
Device performs the steps of when executing the computer program
The realtime graphic that binocular camera shooting obtains is obtained, the realtime graphic includes that the first camera in binocular camera is clapped
The second realtime graphic that the second camera shooting taken the photograph in the first realtime graphic and binocular camera of acquisition obtains；
On the preset direction of the realtime graphic, preset number parallel lines are added；
Position according to reference substance in first realtime graphic and second realtime graphic, relative to the parallel lines
It sets, adjusts the posture of the binocular camera.
A kind of computer readable storage medium, is stored thereon with computer program, and the computer program is held by processor
It is performed the steps of when row
The realtime graphic that binocular camera shooting obtains is obtained, the realtime graphic includes that the first camera in binocular camera is clapped
The second realtime graphic that the second camera shooting taken the photograph in the first realtime graphic and binocular camera of acquisition obtains；
On the preset direction of the realtime graphic, preset number parallel lines are added；
Position according to reference substance in first realtime graphic and second realtime graphic, relative to the parallel lines
It sets, adjusts the posture of the binocular camera.
Above-mentioned binocular camera attitude adjusting method, binocular camera device for adjusting posture, computer equipment and computer storage
Medium in the preset direction of realtime graphic, adds the parallel lines of certain amount, and tie after binocular camera obtains realtime graphic
The posture that reference substance adjusts binocular camera in realtime graphic relative to the position of parallel lines is closed, thus by making in the picture
The optical axis alignment that binocular camera is assisted with horizontal line, by observing the same reference substance in two realtime graphics relative to flat
The position of line can more simply determine the optical axis position relationship of binocular camera, adjust the posture of binocular camera accordingly, thus
Improve the accuracy of the pose adjustment of binocular camera.
Detailed description of the invention
Fig. 1 is the flow diagram of the binocular camera attitude adjusting method in one embodiment；
Fig. 2 is the flow diagram of the addition parallel lines in one embodiment；
Fig. 3 is the flow diagram that pitch angle and/or roll angle adjustment are carried out in one embodiment；
Fig. 4 is the schematic illustration that horizontal parallel line is generated in one embodiment；
Fig. 5 is boundary concept schematic diagram when carrying out pitch angle and/or roll angle adjustment in one embodiment；
Fig. 6 is the flow diagram that one embodiment carries out yaw angle adjustment；
Fig. 7 is the schematic illustration that vertical parallel lines are generated in one embodiment；
Fig. 8 is environmental structure diagram when carrying out yaw angle adjustment in one embodiment；
Fig. 9 is the boundary concept schematic diagram that yaw angle adjustment is carried out in one embodiment；
Figure 10 is the structural block diagram of the binocular camera device for adjusting posture in one embodiment；
Figure 11 is the internal structure chart of computer equipment in one embodiment.
Specific embodiment
It is with reference to the accompanying drawings and embodiments, right in order to which the objects, technical solutions and advantages of the application are more clearly understood
The application is further elaborated.It should be appreciated that specific embodiment described herein is only used to explain the application, not
For limiting the application.
Refering to what is shown in Fig. 1, the binocular camera attitude adjusting method in one embodiment, includes the following steps S101 to step
S103。
Step S101: the realtime graphic that binocular camera shooting obtains is obtained, the realtime graphic includes in binocular camera
The second real-time figure that second camera shooting in the first realtime graphic and binocular camera that first camera shooting obtains obtains
Picture.
Wherein, binocular camera is made of first camera and second camera, in binocular camera is taken the photograph by two of different location
In the case that camera forms, first camera, which can be, to be located in one of wherein a video camera, the second camera of position and refers to position
An other video camera in another position.It is that different location is moved to be clapped by a video camera in binocular camera
In the case where taking the photograph, first camera can refer to the video camera wherein a position when the case where, second camera can refer to the camera shooting
The case where when machine is located at another position.
The realtime graphic that binocular camera shooting obtains, can be before binocular camera (the overlay region of the visual field of binocular camera
Domain) it places reference substance and then carries out the image of shooting acquisition by binocular camera.For first camera and second camera
Speech, corresponding reference substance should be identical.
Step S102: on the preset direction of the realtime graphic, preset number parallel lines are added.
When adding preset number parallel lines, it can be actually generated the parallel of certain amount in some embodiments
Line.In some embodiments, the density of the parallel lines of generation is greater than default line density, to reduce to the greatest extent between each parallel lines
Distance, to further increase the accuracy of binocular camera pose adjustment.Wherein, the width of each lines of parallel lines is greater than default
Line thickness, the color of horizontal each lines can be visually noticeable when intensity of illumination is greater than default intensity of illumination
Color, to be also convenient for user in the case where being located at the very strong environment of outdoor intensity of illumination and be able to observe that the lines.In addition, at this
In preset number horizontal line, it can set transparent for part lines, in order to which user is able to observe that binocular camera takes
Real screen, convenient for observing reference substance.
In one embodiment of the application, the preset number parallel lines can be generated by way of simulation.According to
This, refering to what is shown in Fig. 2, when adding preset number parallel lines, may include steps of on the preset direction of realtime graphic
S1021 and step S1022.
Step S1021: parallel lines parameter is obtained, parallel lines parameter includes: preset number, line thickness and lines face
Color.Wherein, which shows the horizontal lines number for needing to generate.It, can be by double in one embodiment
When the display interface of mesh camera (including first camera and second camera) receives parallel lines generation instruction, parallel lines ginseng is obtained
Number.
In one embodiment, can in configuration file pre-configured parallel lines parameter, what is be arranged in configuration file is flat
Line parameter, parallel lines parameter includes: lines number, the width of line, color of line etc..To obtain parallel lines ginseng
When number, it can be read directly from configuration file and obtain the parallel lines parameter.
Wherein, to binocular camera pitch angle and/or roll angle be adjusted when, can be generation and binocular camera and connect
The parallel horizontal parallel line of horizontal plane where line can be the generation of horizontal parallel line and refer at this point, the parallel lines generate instruction
It enables, above-mentioned parallel lines parameter is the relevant parameter for horizontal parallel line.
Wherein, it when the yaw angle to binocular camera is adjusted, but generates and the level where binocular camera line
The perpendicular vertical parallel lines in face.At this point, the parallel lines, which generate instruction, can be vertical parallel lines generation instruction, above-mentioned parallel lines
Generating parameter can be the relevant parameter for vertical parallel lines.
In one embodiment, can simultaneously to the pitch angle, and/or roll angle of binocular camera, and/or yaw angle into
When row adjustment, can be while generating the horizontal parallel line parallel with the horizontal plane where binocular camera line and with it is double
The perpendicular vertical parallel lines of horizontal plane where mesh camera line, i.e. generation parallel grid, at this point, above-mentioned parallel lines generate ginseng
For the relevant parameter of horizontal parallel line and vertical parallel lines when number.
Step S1022: generating preset number control, and the size of each control is identical, and along parallel direction uniform parallel point
Cloth.
Here control can be any kind of control, such as picture control.Wherein, any one control along parallel
The length in direction, identical as the length of the image along the parallel direction of realtime graphic, any one control is put down perpendicular to this
The height of the vertical direction of line direction is above-mentioned width value, it is generally the case that the width value may be configured as value small as far as possible, example
It such as may be configured as 1.
Wherein, to binocular camera pitch angle and/or roll angle be adjusted when, each control edge and binocular camera
The length value in the parallel direction of horizontal plane where line (being known as horizontal direction in the embodiment of the present application), can be this in real time
The length value of the image along the horizontal direction of image.When needing the yaw angle to binocular camera to be adjusted, each control
The edge direction perpendicular with the horizontal plane where binocular camera line (being known as vertical direction in the embodiment of the present application) length
Value, can be the length value of the image along the vertical direction of the realtime graphic.
To, in the embodiment of the present application, by simulation generate horizontal mode, it is convenient simply realize it is horizontal
It generates.
Step S103: according to reference substance in first realtime graphic and second realtime graphic, relative to described
The position of parallel lines adjusts the posture of the binocular camera.
Wherein, the number of reference substance can be 1, be also possible to be greater than 1.In following each embodiments of the application,
It is illustrated so that reference substance only has 1 as an example.In the case where reference substance has more than two, it is required to for each reference substance full
Identical condition when 1 reference substance of foot.
Wherein, to binocular camera pitch angle and/or roll angle be adjusted when, as described above, above-mentioned parallel lines are
The horizontal parallel line parallel with the horizontal plane where binocular camera line, wherein the number of horizontal parallel line can be set to
Odd number.At this point, according to reference substance in first realtime graphic and second realtime graphic, relative to the parallel lines
Position, when adjusting the posture of the binocular camera, can be pitch angle to first camera or second camera and/or roll angle into
Row adjustment.
In one embodiment, reference substance is in the parts of images in one of direction of the second realtime graphic relative to level
The position of line, it is right when relative in the parts of images of the direction of the first realtime graphic relative to horizontal position difference
The roll angle of first camera and/or second camera is adjusted, until reference substance is in the first realtime graphic and the second realtime graphic
The direction parts of images in it is identical relative to horizontal position.
Wherein, it specifically can be and carried out using following manner:
When reference substance in the first direction parts of images (such as left half image) of the second realtime graphic relative to horizontal
Position, relative to it is on the lower side relative to horizontal position in the first direction parts of images of the first realtime graphic when, will be described
The roll angle of first camera along the first clockwise (as counterclockwise) adjustment, and/or, by the roll angle of the second camera along the
Two clockwises (as clockwise) adjustment, until reference substance is in the first direction part of the first realtime graphic and the second realtime graphic
It is identical relative to horizontal position in image；
When reference substance in the second direction parts of images (such as right half image) of the second realtime graphic relative to horizontal
Position, relative to it is on the lower side relative to horizontal position in the second direction parts of images of the first realtime graphic when, will be described
The roll angle of first camera along second clock direction (as clockwise) adjustment, and/or, by the roll angle of the second camera along the
One clockwise (as counterclockwise) adjustment, until reference substance is in the second direction part of the first realtime graphic and the second realtime graphic
It is identical relative to horizontal position in image.
In one embodiment, when reference substance in the second realtime graphic relative to horizontal position, relative to first
It is on the upper side relative to horizontal position in realtime graphic, the pitch angle of first camera is adjusted downwards, and/or, by second camera
Pitch angle adjust upward, until reference substance is equal relative to horizontal position in the first realtime graphic and the second realtime graphic
It is identical.
In one embodiment, when reference substance in the second realtime graphic relative to horizontal position, relative to first
It is on the lower side relative to horizontal position in realtime graphic, the pitch angle of first camera is adjusted upward, and/or, by second camera
Pitch angle adjust downwards, until reference substance is equal relative to horizontal position in the first realtime graphic and the second realtime graphic
It is identical.
After adjusting the pitch angle and/or roll angle of the first camera or second camera, can return to again according to
Reference substance, relative to the position of the horizontal parallel line, repeats in first realtime graphic and second realtime graphic
The above process, until position phase of the referential matter for the horizontal parallel line in the first realtime graphic and the second realtime graphic
Together.
Wherein, when the yaw angle to binocular camera is adjusted, as described above, above-mentioned parallel lines are to connect with binocular camera
The perpendicular vertical parallel lines of horizontal plane where line.At this point, according to reference substance in first realtime graphic and described second
In realtime graphic, it can be when adjusting the posture of the binocular camera to first camera relative to the position of the parallel lines
And/or the camera yaw angle of second camera is adjusted.
In one embodiment, above-mentioned reference substance can be strip reference substance, and strip reference substance can be set in the binocular
On the forward vertical bisector of camera line, and where the length direction of the strip reference substance and the binocular camera line
Horizontal plane is parallel.The strip reference substance is greater than the first pre-determined distance at a distance from the binocular camera, i.e. strip reference substance is set
It sets a position relatively far away from.Alternatively, in strip reference substance less than the second pre-determined distance at a distance from the binocular camera
When, length strip reference substance identical with the length of the baseline of the binocular camera can be selected, wherein the second pre-determined distance is less than
First pre-determined distance.
Accordingly, in one embodiment, the side of the camera yaw angle of the first camera and/or second camera is specifically adjusted
Formula may include: the yaw angle for adjusting first camera and/or second camera, so that the first realtime graphic is corresponding vertical parallel
First center line of line is aligned with first position of the one end of strip reference substance in the first realtime graphic, and makes the second reality
When the corresponding vertical parallel lines of image the second center line, the other end with the strip reference substance is in second realtime graphic
In the second position alignment.
Wherein, the first direction based on first position relative to the first center line, by the yaw of first camera angular first
Direction adjustment, if reference substance left end is in the left end of the center vertical gridlines of left camera, then left camera yaw angle adjusts to the left, instead
Then left camera yaw angle adjust to the right.Second direction based on the second position relative to the second center line, by second camera
Angular second direction adjustment is yawed, if reference substance right end is in the left end of the center vertical gridlines of right camera, then right camera yaw
Angular left adjustment, on the contrary then right camera yaw angle adjust to the right.
Accordingly, it is illustrated below in conjunction with the process of the detailed binocular camera pose adjustment in one embodiment.
The embodiment of the present application scheme is related to the pitch angle, roll angle and yaw angle to camera when to binocular camera pose adjustment
The process of adjustment, below just to the process of the pitch angle of camera, roll angle adjustment, and the process of the yaw angle adjustment to camera
It is illustrated respectively.
Refering to what is shown in Fig. 3, to camera pitch angle and/or roll angle be adjusted when, carried out using following manner.
Firstly, obtaining the realtime graphic that binocular camera shooting obtains in real time, wherein the realtime graphic is binocular camera to mesh
Mark region carries out the image of shooting acquisition, should be placed in target area or alternative reference substance, under normal circumstances,
During binocular camera pose adjustment, reference substance is as the benchmark whether completed to judge pose adjustment, in binocular camera
Repeatedly in the case where shooting, physical location is remained unchanged.Wherein, binocular camera is parallelly mounted to baseline length, pitch angle, rolling
On corner and the adjustable pedestal of yaw angle, after binocular camera is opened, the image of target area can be acquired.
Secondly, dynamic generation horizontal gridlines, wherein the horizontal gridlines are the horizontal planes where with binocular camera line
Parallel horizontal parallel line.Wherein, the parameter of horizontal gridlines is arranged by configuration file, is provided in configuration file following
Relevant parameter: width parameter (defining the thickness of lines), the color of lines and the lines of the item numbers of lines, each lines
Transparency etc..
Wherein, when generating horizontal gridlines every time, a configuration file is read to obtain the related ginseng of horizontal gridlines
Number.If configuration file is lost, the relevant parameter of the horizontal gridlines of one group of default can also be automatically generated.If desired to horizontal net
The parameter of ruling is adjusted, and need to only modify the setting that the parameter of horizontal gridlines can be completed in configuration file, it is possible to reduce repair
Program repeats the number compiled after changing parameter.In one embodiment, the item number of the lines of horizontal gridlines is set as odd number, with true
Protecting picture centre has grid lines, to facilitate observation central area object alignment condition in the horizontal direction.In one embodiment
The line density of horizontal gridlines is greater than the first default line density, thus by the density for suitably increasing horizontal gridlines, it can
More accurately to observe reference substance alignment condition in the horizontal direction.Wherein, the color of the lines of horizontal gridlines, in illumination
Intensity is greater than the color that can be visually noticeable when default intensity of illumination, such as is set as red, while overstriking can be set, with
Convenient in outdoor strong light situation user can also observe reference substance alignment condition in the horizontal direction obviously.In addition,
The part lines of horizontal gridlines may be configured as it is transparent, thus do not influence image display in the case where, horizontal gridlines are also clear
It is clear as it can be seen that facilitate user observe reference substance alignment condition in the horizontal direction.
In order to not influence the initial data (i.e. above-mentioned realtime graphic) of binocular camera acquisition, one embodiment of the application
In, generate control on interface by dynamic to simulate generation horizontal gridlines.Refering to what is shown in Fig. 4, obtaining horizontal gridlines
Parameter after, by taking the number of the lines of horizontal gridlines is M as an example, then M control of dynamic generation (such as picture control),
In, the size of each control is W*H, and is uniformly distributed (as shown in Fig. 4-1) in vertical direction.Wherein, W is the width of control,
It is equal with the width of realtime graphic that binocular camera shooting obtains；H is the height of control, can be arranged by configuration file, one
It can set H to for 1 (as shown in the Fig. 4-2) in embodiment, control is similar to a horizontal gridlines at this time.Phase is arranged in horizontal gridlines
After the color answered, which can be significantly viewed by a user (as shown in Fig. 4-3).It is appreciated that in other embodiments
In, after M control of dynamic generation, the color of each control can be first set and then set 1 for the height H of control, or
Person is configured control using other modes or sequence.
By taking control is using picture control as an example, picture control is the control for showing picture, this implementation originally
By picture control come simulation lattice line in example, so that horizontal gridlines, which generate, only needs three steps: configuration file is read,
The picture control of M W*H of dynamic generation；Picture width is set by its width W, height H is set as 1；Its background is arranged
It for red, and is uniformly distributed in vertical direction, then picture control is formally similar to a horizontal gridlines.
The position of the horizontal gridlines on realtime graphic (binocular view) obtained due to binocular camera captured in real-time is complete
Identical (because left and right camera sync pulse jamming), when position of the same reference substance in two views relative to horizontal gridlines
When setting identical, then the pitch angle of binocular camera and rolling angle alignment, when same reference substance in two views relative to horizontal net
When the position of ruling is not identical, then need to adjust the pitch angle and/or roll angle of binocular camera.In one embodiment, in order to subtract
Small error, can choose multiple and different reference substances, and each reference substance is located at different positions, such as there is left images interposition
It sets, the Static reference object of left position, location right, and then combines this multiple reference substance of different location and observe it and be aligned feelings
Condition, with to binocular camera pitch angle and/or roll angle be adjusted.
It, can be by same reference object in the visual field overlapping region of observation binocular camera on a left side in the case where manually adjusting
The position of grid lines in right view, that is, can determine whether the pitch angle of binocular camera, roll angle are aligned.It is adjusted automatically by program
It, can be by identification referential matter for the corresponding horizontal gridlines of realtime graphic of binocular camera shooting acquisition in the case where whole
Position it is whether identical, can judge whether the pitch angle of binocular camera, roll angle are aligned.
Refering to what is shown in Fig. 5, when needing to adjust the pitch angle and/or roll angle of binocular camera, based on referential matter for
Relative position on horizontal gridlines can be carried out using following manner.
If the horizontal plane and horizontal gridlines in image where reference substance are not parallel, the roll angle of camera is unjustified, needs
Camera roll angle is adjusted, until the horizontal plane of reference substance is parallel with horizontal gridlines.
When reference substance is opposite in the first direction parts of images (such as left Half-edge Graph) of the second realtime graphic (such as right view)
In horizontal position, relative in the first direction parts of images of the first realtime graphic (such as left view) relative to horizontal line
Position it is on the lower side when, by the roll angle of first camera (such as left camera) along the first clockwise (as counterclockwise) adjustment, and/or,
By the roll angle of second camera (such as right camera) along second clock direction (as clockwise) adjustment, until reference substance is real-time first
It is identical relative to horizontal position in the first direction parts of images of image and the second realtime graphic.
When reference substance is opposite in the second direction parts of images (such as right Half-edge Graph) of the second realtime graphic (such as right view)
In horizontal position, relative in the second direction parts of images of the first realtime graphic (such as left view) relative to horizontal line
Position it is on the lower side when, by the roll angle of first camera (such as left camera) along second clock direction (as clockwise) adjustment, and/or,
By the roll angle of second camera (such as right camera) along the first clockwise (as counterclockwise) adjustment, until reference substance is real-time first
It is identical relative to horizontal position in the first direction parts of images of image and the second realtime graphic.
If position of the reference substance in the second realtime graphic (such as right view) relative to horizontal gridlines, with the referential matter
For in the first realtime graphic (such as left view) compared with the position of horizontal gridlines it is more on the upper side, then by the first realtime graphic
The pitch angle of corresponding first camera (such as left camera) adjusts downwards, or by the corresponding second camera of the second realtime graphic
The pitch angle of (such as right camera) adjusts upward, or simultaneously adjusts the pitch angle of left camera downwards, and by the pitching of right camera
Angle adjusts upward.
Conversely, if position of the reference substance in the second realtime graphic (such as right view) relative to horizontal gridlines, with the ginseng
Examine object relative in the first realtime graphic (such as left view) compared with the position of horizontal gridlines it is more on the lower side, then it is real by first
When the corresponding first camera of image (such as left camera) pitch angle adjust upward, alternatively, by the second realtime graphic corresponding second
The pitch angle of camera (such as right camera) adjusts downwards, or simultaneously adjusts upward the pitch angle of left camera, and by right camera
Pitch angle adjusts downwards.
It is adjusted based on aforesaid way as a result, binocular camera pitch angle and/or roll angle are constantly regulate, until reference substance
The phase in left and right view (i.e. the first realtime graphic for taking of first camera and second camera take the second realtime graphic)
All the same for horizontal grid line position, then the pitch angle of binocular camera and roll angle adjustment are completed.
In the case where simulating generation horizontal gridlines by control, adjusted in the pitch angle and roll angle of binocular camera
After, by clicking related control (such as grid lines display switch), at this time by the ownership of the associated each control of the switch and
Control title searches M control of generation, then deletes control.To, when not needing display horizontal gridlines, Ke Yitong
It crosses control ownership situation and title searches the control generated, and dynamic is deleted.
Refering to what is shown in Fig. 6, in one embodiment when the yaw angle to camera is adjusted, can using following manner into
Row.
Firstly, in real time obtain binocular camera shooting obtain realtime graphic, obtain the process of realtime graphic, can with it is above-mentioned
The mode that pitch angle and/or roll angle to camera are adjusted is identical.
Secondly, determining the baseline length of binocular camera, in one embodiment, binocular phase can be obtained by way of measurement
Machine baseline length.On the other hand reference substance can also be selected, wherein the length and shape of reference substance can not limit, as long as quiet
State, in one embodiment, the length of selected reference substance can be identical as baseline length.
Then, dynamic generation vertical gridlines, wherein the vertical gridlines are the horizontal planes where with binocular camera line
Perpendicular vertical parallel lines.Wherein, the parameter of vertical gridlines is arranged by configuration file, is provided in configuration file following
Relevant parameter: width parameter (defining the thickness of lines), the color of lines and the lines of the item numbers of lines, each lines
Transparency etc..
It, can be from the phase for reading the vertical gridlines being arranged in configuration file in configuration file when generating vertical gridlines
Close parameter.Specifically configuration file be arranged vertical gridlines relevant parameter by way of, can with above by configuration text
The mode that the relevant parameter of horizontal gridlines is arranged in part is identical.If the item number of the lines of vertical gridlines may be configured as odd number, hang down
The line density of straight grid lines can be greater than the second default line density, and second line density and above-mentioned first line density can be with
It is identical, it can not also be identical.The color of the lines of vertical gridlines may be configured as red wait and be greater than default illumination in intensity of illumination
The color that can be visually noticeable when intensity, the part lines of vertical gridlines may be alternatively provided as transparent.
In order to not influence the initial data (i.e. above-mentioned realtime graphic) of binocular camera acquisition, one embodiment of the application
In, generate control on interface by dynamic to simulate vertical gridlines.In such a way that control simulates and generates vertical gridlines,
Can be similar with the generation mode of horizontal gridlines is simulated above by control, refering to what is shown in Fig. 7, generating vertical gridlines
When, after the parameter for obtaining vertical gridlines, by taking the number of the lines of vertical gridlines is M as an example, M control of dynamic generation,
Wherein, the size of each control is W*H, and is uniformly distributed (as shown in Fig. 7-1) in the horizontal direction.Wherein, W is the width of control
Degree, can be arranged by configuration file, H can be set to the height that 1, H is control in one embodiment, obtain with binocular camera shooting
The height of the realtime graphic obtained is equal (as shown in Fig. 7-2), and control is similar to a vertical gridlines at this time.Vertical gridlines setting
After corresponding color, which can be significantly viewed by a user (as shown in Fig. 7-3).It is appreciated that implementing in others
In example, after M control of dynamic generation, the color of each control can be first set and then set 1 for the width W of control,
Or control is configured using other modes or sequence.
Then, on the forward vertical bisector of binocular camera line, horizontal positioned and baseline etc. at binocular camera L
Long strip reference substance.Then, adjustment the first realtime graphic (such as left view) corresponding first camera (such as left camera), allows left view
Figure center vertical gridlines are aligned the left end of reference substance, and the corresponding second camera of adjustment the second realtime graphic (such as right view) is (such as
Right camera), allow right view center vertical gridlines to be aligned the right end of reference substance.
Passing through use in view of usual optical axis is likely to be at two kinds of situations of convergence or diverging in order to reduce experimental error
In the case that family participates in adjustment, according to camera resolution, in the distinguishable situation of human eye, reference substance be can be placed in compared with long distance
From.For theoretically, a point of infinite point can be selected to be aligned, actual techniques adjustment during, can choose away from
From the point of L relatively far away from, it is all aligned the point when the center vertical gridlines of binocular camera are aligned, then binocular camera yaw angle
Adjustment is completed.If L is smaller, i.e., when reference substance is closer it may require that the length of reference substance is equal with baseline length, as shown in Figure 8.
When the length of reference substance is equal with baseline length, it can adjust left camera and be aligned by left view center vertical gridlines and joined
The left end for examining object adjusts right camera by the right end of right view center vertical gridlines alignment reference substance.
Accordingly refering to what is shown in Fig. 9, when needing to adjust the pitch angle and/or roll angle of binocular camera, it is based on referential matter
For the relative position on horizontal gridlines, can be carried out using following manner.
If reference substance left end adjusts to the left in the left end of the center vertical gridlines of left camera, left camera yaw angle, instead
Then left camera yaw angle adjust to the right.Reference substance right end is in the left end of the center vertical gridlines of right camera, then right camera is inclined
The angular left adjustment of boat, on the contrary then right camera yaw angle adjust to the right.
After being adjusted, when the center of the center vertical gridlines and reference substance left alignment of left camera, right camera is hung down
The right alignment of straight grid lines and reference substance, then binocular camera yaw angle adjustment are completed.
When binocular camera pitch angle, roll angle and yaw angle all adjust completion, then binocular camera pose adjustment is completed, binocular
Camera optical axis reaches parallel requirement.
It should be understood that although each step in the flow chart of Fig. 1,2,3,6 is successively shown according to the instruction of arrow,
But these steps are not that the inevitable sequence according to arrow instruction successively executes.Unless expressly state otherwise herein, these
There is no stringent sequences to limit for the execution of step, these steps can execute in other order.Moreover, in Fig. 1,2,3,6
At least part step may include multiple sub-steps perhaps these sub-steps of multiple stages or stage be not necessarily
Synchronization executes completion, but can execute at different times, and the execution sequence in these sub-steps or stage also need not
Be so successively carry out, but can at least part of the sub-step or stage of other steps or other steps in turn or
Person alternately executes.
In one embodiment, refering to what is shown in Fig. 10, providing a kind of binocular camera device for adjusting posture, which includes:
Realtime graphic obtains module 11, the realtime graphic obtained to obtain binocular camera shooting, the realtime graphic packet
The second camera shooting included in the first realtime graphic and binocular camera that the first camera shooting in binocular camera obtains obtains
The second realtime graphic；
Parallel lines adding module 12 adds preset number parallel lines for the preset direction in the realtime graphic；
Pose adjustment module 13 is used for according to reference substance in first realtime graphic and second realtime graphic,
Relative to the position of the parallel lines, the posture of the binocular camera is adjusted.
In one embodiment, the parallel lines determining module 12, comprising:
Horizontal parallel line adding module 121, for adding preset number item and the binocular phase in the realtime graphic
The parallel horizontal parallel line of horizontal plane where machine line；
Vertical parallel lines adding module 122, for adding preset number item and the binocular phase in the realtime graphic
The perpendicular vertical parallel lines of horizontal plane where machine line.
In one embodiment, the pose adjustment module 13, comprising: pitch angle and/or roll angle adjustment module 131 and partially
Boat angle adjusts module 132.
Wherein, pitch angle and/or roll angle adjust module 131, for according to reference substance in first realtime graphic and
In second realtime graphic, relative to the position of the horizontal parallel line, bowing for the first camera or second camera is adjusted
The elevation angle and/or roll angle.
Pitch angle and/or roll angle adjust module 131, when reference substance is in the first direction parts of images of the second realtime graphic
In relative to horizontal position, relative in the first direction parts of images of the first realtime graphic relative to horizontal position
When setting on the lower side, the roll angle of the first camera is adjusted along the first clockwise, and/or, by the rolling of the second camera
Angle is adjusted along second clock direction, until reference substance is in the first direction parts of images of the first realtime graphic and the second realtime graphic
In it is identical relative to horizontal position.
Pitch angle and/or roll angle adjust module 131, when reference substance is in the second direction parts of images of the second realtime graphic
In relative to horizontal position, relative in the second direction parts of images of the first realtime graphic relative to horizontal position
When setting on the lower side, the roll angle of the first camera is adjusted along second clock direction, and/or, by the rolling of the second camera
Angle is adjusted along the first clockwise, until reference substance is in the second direction parts of images of the first realtime graphic and the second realtime graphic
In it is identical relative to horizontal position.
Pitch angle and/or roll angle adjust module 131, when reference substance in the second realtime graphic (such as right view) relative to
Horizontal position, relative to it is on the lower side relative to horizontal position in the first realtime graphic (such as left view) when, by first
The pitch angle of camera (such as left camera) adjusts upward, and/or, the pitch angle of second camera (such as right camera) is adjusted downwards, directly
It is all the same relative to horizontal position in the first realtime graphic and the second realtime graphic to reference substance.
Pitch angle and/or roll angle adjust module 131, when reference substance in the second realtime graphic relative to horizontal position
Set, relative to it is on the upper side relative to horizontal position in the first realtime graphic when, the pitch angle of first camera is adjusted downwards,
And/or adjust upward the pitch angle of second camera, until reference substance is opposite in the first realtime graphic and the second realtime graphic
It is all the same in horizontal position；
Wherein, yaw angle adjusts module 132, according to reference substance in first realtime graphic and second realtime graphic
In, relative to the position of the vertical parallel lines, adjust the yaw angle of the first camera and/or second camera.
In one embodiment, yaw angle adjusts module 132, adjusts the yaw angle of first camera and/or second camera, so that
First center line of the corresponding vertical parallel lines of the first realtime graphic, one end with strip reference substance is in the first realtime graphic
First position alignment, and make the second center line of the corresponding vertical parallel lines of the second realtime graphic, with the strip reference substance
The other end in second realtime graphic the second position alignment.
Specific restriction about binocular camera device for adjusting posture may refer to above for binocular camera pose adjustment
The restriction of method, details are not described herein.Modules in above-mentioned binocular camera device for adjusting posture can be fully or partially through
Software, hardware and combinations thereof are realized.Above-mentioned each module can be embedded in the form of hardware or independently of the place in computer equipment
It manages in device, can also be stored in a software form in the memory in computer equipment, in order to which processor calls execution or more
The corresponding operation of modules.
Accordingly, in one embodiment, a kind of computer equipment is provided, which includes memory and processor, storage
Computer program is stored in device, which realizes when executing computer program in any one embodiment as described above
Binocular camera attitude adjusting method.
The computer equipment in one embodiment can be terminal, and internal structure chart can be as shown in figure 11.The meter
Calculating machine equipment includes processor, memory, network interface, display screen and the input unit connected by system bus.Wherein, should
The processor of computer equipment is for providing calculating and control ability.The memory of the computer equipment includes non-volatile memories
Medium, built-in storage.The non-volatile memory medium is stored with operating system and computer program.The built-in storage is non-volatile
Property storage medium in operating system and computer program operation provide environment.The network interface of the computer equipment be used for
External terminal passes through network connection communication.To realize a kind of binocular camera posture tune when the computer program is executed by processor
Adjusting method.The display screen of the computer equipment can be liquid crystal display or electric ink display screen, the computer equipment
Input unit can be the touch layer covered on display screen, be also possible to the key being arranged on computer equipment shell, trace ball
Or Trackpad, it can also be external keyboard, Trackpad or mouse etc..
It will be understood by those skilled in the art that structure shown in Figure 11, only part relevant to application scheme
The block diagram of structure, does not constitute the restriction for the computer equipment being applied thereon to application scheme, and specific computer is set
Standby may include perhaps combining certain components or with different component layouts than more or fewer components as shown in the figure.
Those of ordinary skill in the art will appreciate that realizing all or part of the process in above-described embodiment method, being can be with
Relevant hardware is instructed to complete by computer program, the computer program can be stored in a non-volatile computer
In read/write memory medium, the computer program is when being executed, it may include such as the process of the embodiment of above-mentioned each method.Wherein,
To any reference of memory, storage, database or other media used in each embodiment provided herein,
Including non-volatile and/or volatile memory.Nonvolatile memory may include read-only memory (ROM), programming ROM
(PROM), electrically programmable ROM (EPROM), electrically erasable ROM (EEPROM) or flash memory.Volatile memory may include
Random access memory (RAM) or external cache.By way of illustration and not limitation, RAM is available in many forms,
Such as static state RAM (SRAM), dynamic ram (DRAM), synchronous dram (SDRAM), double data rate sdram (DDRSDRAM), enhancing
Type SDRAM (ESDRAM), synchronization link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM
(RDRAM), direct memory bus dynamic ram (DRDRAM) and memory bus dynamic ram (RDRAM) etc..
Accordingly, in one embodiment, a kind of computer readable storage medium is provided, computer journey is stored thereon with
Sequence realizes the binocular camera pose adjustment side in any one embodiment as described above when computer program is executed by processor
Method.
Each technical characteristic of above embodiments can be combined arbitrarily, for simplicity of description, not to above-described embodiment
In each technical characteristic it is all possible combination be all described, as long as however, the combination of these technical characteristics be not present lance
Shield all should be considered as described in this specification.
The several embodiments of the application above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the concept of this application, various modifications and improvements can be made, these belong to the protection of the application
Range.Therefore, the scope of protection shall be subject to the appended claims for the application patent.
Claims (10)
1. a kind of binocular camera attitude adjusting method, which comprises
The realtime graphic that binocular camera shooting obtains is obtained, the realtime graphic includes that the first camera shooting in binocular camera obtains
The second realtime graphic that second camera shooting in the first realtime graphic and binocular camera obtained obtains；
On the preset direction of the realtime graphic, preset number parallel lines are added；
According to reference substance in first realtime graphic and second realtime graphic, relative to the position of the parallel lines,
Adjust the posture of the binocular camera.
2. the method according to claim 1, wherein the parallel lines be with where the binocular camera line
The parallel horizontal parallel line of horizontal plane；
According to reference substance in first realtime graphic and second realtime graphic, relative to the position of the parallel lines,
Adjust the posture of the binocular camera, comprising:
Position according to reference substance in first realtime graphic and second realtime graphic, relative to the horizontal parallel line
It sets, adjusts the pitch angle and/or roll angle of the first camera and/or second camera.
3. according to the method described in claim 2, it is characterized in that, according to the determining optical axis position relationship, described in adjustment
The pitch angle and/or roll angle of first camera and/or second camera, comprising:
When reference substance in the first direction parts of images of the second realtime graphic relative to horizontal position, relative to first
When on the lower side relative to horizontal position in the first direction parts of images of realtime graphic, by the roll angle edge of the first camera
The adjustment of first clockwise, and/or, the roll angle of the second camera is adjusted along second clock direction, until reference substance exists
It is identical relative to horizontal position in the first direction parts of images of first realtime graphic and the second realtime graphic；
When reference substance in the second direction parts of images of the second realtime graphic relative to horizontal position, relative to first
When on the lower side relative to horizontal position in the second direction parts of images of realtime graphic, by the roll angle edge of the first camera
The adjustment of second clock direction, and/or, the roll angle of the second camera is adjusted along the first clockwise, until reference substance exists
It is identical relative to horizontal position in the second direction parts of images of first realtime graphic and the second realtime graphic；
When reference substance in the second realtime graphic relative to horizontal position, relative in the first realtime graphic relative to water
When the position of horizontal line is on the upper side, the pitch angle of first camera is adjusted downwards, and/or, the pitch angle of second camera is adjusted upward,
Until reference substance is all the same relative to horizontal position in the first realtime graphic and the second realtime graphic；
When reference substance in the second realtime graphic relative to horizontal position, relative in the first realtime graphic relative to water
When the position of horizontal line is on the lower side, the pitch angle of first camera is adjusted upward, and/or, the pitch angle of second camera is adjusted downwards,
Until reference substance is all the same relative to horizontal position in the first realtime graphic and the second realtime graphic.
4. the method according to claim 1, wherein the parallel lines be with where the binocular camera line
The perpendicular vertical parallel lines of horizontal plane；
According to reference substance in first realtime graphic and second realtime graphic, relative to the position of the parallel lines,
Adjust the posture of the binocular camera, comprising:
Position according to reference substance in first realtime graphic and second realtime graphic, relative to the vertical parallel lines
It sets, adjusts the yaw angle of the first camera and/or second camera.
5. according to the method described in claim 4, it is characterized in that, the reference substance be strip reference substance,
Position according to reference substance in first realtime graphic and second realtime graphic, relative to the vertical parallel lines
It sets, adjusts the camera yaw angle of the first camera and/or second camera, comprising:
The yaw angle for adjusting first camera and/or second camera, so that the first of the corresponding vertical parallel lines of the first realtime graphic
Center line is aligned with first position of the one end of strip reference substance in the first realtime graphic, and makes the second realtime graphic pair
Second center line of the vertical parallel lines answered, with the other end of the strip reference substance in second realtime graphic second
Aligned in position.
6. according to the method described in claim 5, it is characterised in that it includes it is following items in any one:
First item: the strip reference substance is arranged on the forward vertical bisector of the binocular camera line, and the strip
The direction of reference substance is parallel with the horizontal plane where the binocular camera line；
Section 2: the strip reference substance is greater than the first pre-determined distance at a distance from the binocular camera；
Section 3: in the strip reference substance at a distance from the binocular camera less than the second pre-determined distance when, strip ginseng
The length for examining object is identical as the length of the baseline of the binocular camera.
At least one of 7. according to claim 1 to method described in 6 any one, which is characterized in that in including following items:
First item: the density of the parallel lines is greater than default line density；
Section 2: the width of the parallel lines is greater than default line thickness；
Section 3: the color of horizontal each lines, can visually to be seen when intensity of illumination is greater than default intensity of illumination
The color observed；
Section 4: the part lines in the preset number horizontal line are transparent；
Section 5:
On the preset direction of the realtime graphic, preset number parallel lines are added, comprising:
Parallel lines parameter is obtained, the parallel lines parameter includes: the preset number, line thickness and line color；
The preset number control is generated, the size of each control is identical, and is distributed along parallel direction uniform parallel；
Section 6: the number of the reference substance is greater than 1.
8. a kind of binocular camera device for adjusting posture, described device include:
Realtime graphic obtains module, and the realtime graphic obtained to obtain binocular camera shooting, the realtime graphic includes binocular
Second of second camera shooting acquisition in the first realtime graphic and binocular camera that magazine first camera shooting obtains
Realtime graphic；
Parallel lines adding module adds preset number parallel lines for the preset direction in the realtime graphic；
Pose adjustment module is used for according to reference substance in first realtime graphic and second realtime graphic, relative to
The position of the parallel lines adjusts the posture of the binocular camera.
9. a kind of computer equipment, including memory and processor, the memory are stored with computer program, feature exists
In the step of processor realizes any one of claims 1 to 7 the method when executing the computer program.
10. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer program
The step of method described in any one of claims 1 to 7 is realized when being executed by processor.
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| CN201811243174.5A CN109089103A (en) | 2018-10-24 | 2018-10-24 | Binocular camera attitude adjusting method and device, computer equipment and storage medium |
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| CN201811243174.5A CN109089103A (en) | 2018-10-24 | 2018-10-24 | Binocular camera attitude adjusting method and device, computer equipment and storage medium |
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Application publication date: 20181225 |