Method for calculating conversion relationship between high-precision 2D camera coordinate system and mechanical coordinate system
A technology of camera coordinate system and mechanical coordinate system, which can be used in computing, computer parts, electromagnetic radiation induction, etc., and can solve the problems of camera calibration failure accuracy and inaccurate acquisition.
Pending Publication Date: 2021-04-13
BEIJING LUSTER LIGHTTECH +2
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[0005] This application provides a calculation method for the conversion relationship between the high-precision 2D camera coordinate system and the mechanical coordinate system, in order to solve the technical problems of inaccurate acquisition of the actual product as the target in the camera calibration process, resulting in camera calibration failure or low precision
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[0046]In order to better understand the present application scheme, the technical solutions in the present application embodiment will be apparent from the drawings in the present application, and the described embodiments are clearly described herein. It is an embodiment of the present application, not all of the embodiments. Based on the embodiments in the present application, one of ordinary skill in the art does not have all other embodiments obtained without creative labor, and should belong to the scope of the present application.
[0047]It should be noted that the specification and claims of the present application and the terms "first", "second", "second", and the like are used to distinguish a similar object without having to describe a particular order or ahead order. It is to be understood that the data such as use can be interchangeable in appropriate, so that the embodiments of the present application described herein can be implemented in the order other than those illus...
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The invention provides a method for calculating a conversion relationship between a high-precision 2D camera coordinate system and a mechanical coordinate system. The method comprises steps of obtaining to-be-processed target images at different preset positions under the camera coordinate system; traversing the two-dimensional code in the target image to be processed; when the number of the two-dimensional codes is larger than or equal to one, the two-dimensional code closest to the center point of the camera coordinate system being selected as a target two-dimensional code; extracting the information of the target two-dimensional code; determining global target coordinates of all angular points in the to-be-processed target image; determining a common angular point set in the to-be-processed target images at different preset positions according to the global target coordinate system; screening the common angular point set, and determining a final common angular point set; and establishing a conversion relationship between a camera coordinate system and a mechanical coordinate system according to the camera coordinates and the mechanical coordinates corresponding to the final common angular point set. By extracting the final common angular points in the to-be-processed target image, a large number of samples are obtained, the precision of the conversion relation between the camera coordinate system and the mechanical coordinate system is improved, and the conversion time is shortened.
Description
Technical field[0001]The present application relates to industrial vision, and in particular, there is a calculation method of high-precision 2D camera coordinate system and mechanical coordinate system conversion relationship.Background technique[0002]In the industrial visual field, the camera calibration is one of the important premise of detection, measurement, assembly, etc., by the camera, can calculate the internal and external parameters of the camera, establish the relationship between the camera coordinate system and the mechanical coordinate system, in the camera Coordinate system and mechanical coordinate system, the camera coordinate system and mechanical coordinate system are all in the case of vertical coordinate system, there is only the relationship between the camera coordinate system and the mechanical coordinate system; there is only the relationship between the rotation, zoom and translation; to the size, Defects, location, etc. perform measurement and detection ...
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IPC IPC(8): G06K7/14G06T7/80
CPCG06K7/1452G06K7/1443G06T7/80
Inventor 郭志红戴志强金刚赵严姚毅杨艺
Owner BEIJING LUSTER LIGHTTECH