Stereo camera calibration using screen based target projections
In a system and method of calibrating a stereoscopic camera, a target pattern is electronically displayed on a display. The camera to be calibrated captures images of the target pattern using a stereoscopic camera while the displayed target pattern is altered over time. The captured images are analyzed and calibration parameters for the stereoscopic camera are determined.
1. A method of calibrating a stereoscopic camera, comprising the steps of:
displaying a sequence of target patterns on a display, each displayed target pattern differing from the directly preceding displayed target pattern by (i) at least one of position on the display, angular orientation on the display, and perceived planar orientation or perspective, and by (ii) a change in color of at least a portion of the displayed target, wherein the change in color comprises a change from a pattern having black elements and elements of a first color, to a pattern having black elements and elements of a second color, the first color different from the second color;
capturing images of each displayed target pattern using a stereoscopic camera; and
for each target pattern in the displayed sequence of target patterns, analyzing the change in color in the target pattern captured in the captured images to identify which target pattern in the displayed sequence of target patterns is being displayed;
analyzing the captured images to determine calibration parameters for the stereoscopic camera.
2. The method of claim 1 , wherein displaying a sequence of target patterns includes altering the position of the pattern on the display.
3. The method of claim 1 , wherein displaying a sequence of target patterns includes altering an angular orientation of the pattern on the display.
4. The method of claim 1 , wherein displaying a sequence of target patterns includes altering a perceived perspective of the pattern on the display.
5. The method of claim 1 , wherein the camera is a stereoscopic endoscopic camera and the method is a method of calibrating the stereoscopic endoscopic camera,
wherein the method further comprises:
providing a surgical robotic manipulator arm having the display mounted thereon;
mounting the stereoscopic endoscopic camera to the robotic manipulator arm;
with the stereoscopic endoscopic camera on the surgical robotic manipulator arm, displaying the sequence of target patterns on the display and capturing the images of the target pattern using the stereoscopic endoscopic camera.
6. The method of claim 5 , wherein the method includes,
orienting the stereoscopic endoscopic camera on the surgical robotic manipulator arm such that the display is within the field of view of the stereoscopic endoscopic camera; and
capturing images of features within the body cavity using the stereoscopic endoscopic camera.