Calibration system for stereo camera and calibration apparatus for calibrating stereo image
A calibration system for stereo cameras includes a rig control module configured to, when a camera calibration parameter is input, control an auto rig according to the camera calibration parameter to perform physical calibration for a camera, a stereo image calibration apparatus configured to calibrate a stereo image to acquire the camera calibration parameter, and output the acquired camera calibration parameter, and a camera control module configured to output the camera calibration parameter, which is input from the stereo image calibration apparatus, to the rig control module, or screen-output the camera calibration parameter. Therefore, physical calibration and image processing calibration for a camera are performed in association with each other.
1. A calibration system for stereo cameras, the calibration system comprising:
a rig control module configured to perform physical calibration for a camera based on a camera calibration parameter by controlling an auto rig according to the camera calibration parameter;
a stereo image calibration apparatus configured to calibrate a stereo image to acquire the camera calibration parameter, and output the acquired camera calibration parameter; and
a camera control module configured to output the camera calibration parameter, which is input from the stereo image calibration apparatus, to the rig control module, or screen-output the camera calibration parameter,
wherein the stereo image calibration apparatus comprises:
a stereo color calibration module configured to perform color calibration for the stereo image; and
a geometry calibration module configured to perform geometry calibration for the color-calibrated stereo image to generate a rectification stereo image, and analyze the generated rectification stereo image to acquire the camera calibration parameter.
2. The calibration system of claim 1 , further comprising a multiplexer configured to receive and output at least one of the color-calibrated stereo image and the rectification stereo image.
3. The calibration system of claim 2 , wherein the stereo image calibration apparatus further comprises a 3D depth information module configured to generate 3D depth information of the color-calibrated stereo image to output the 3D depth information to the multiplexer.
4. The calibration system of claim 3 , wherein the camera control module performs control such that color-calibrated stereo image is input to the geometry calibration module within a certain time after a change of a zoom magnification, in a camera setup mode or a camera capture mode.
5. A stereo image calibration apparatus comprises:
a stereo color calibration module configured to perform color calibration for a stereo image; and
a geometry calibration module configured to perform geometry calibration for the color-calibrated stereo image to acquire a camera calibration parameter which is used to perform physical calibration for a camera, and output the camera calibration parameter to a camera control module which performs the physical calibration for the camera based on the camera calibration parameter,
wherein the geometry calibration module comprises:
a first rectification image generator configured to analyze the color-calibrated stereo image to generate a rectification stereo image;
a second rectification image generator configured to generate a rectification stereo image through 2D warping of the color-calibrated stereo image on a basis of a camera parameter input from the camera control module; and
a calibration parameter acquirer configured to analyze the rectification stereo image, which is generated by the first rectification image generator or the second rectification stereo image, to acquire a camera calibration parameter, and output the camera calibration parameter to the camera control module.
6. The stereo image calibration apparatus of claim 5 , further comprising a 3D depth information module configured to generate 3D depth information of the color-calibrated stereo image, and output the generated 3D depth information to a multiplexer which receives the color-calibrated stereo image.
7. The calibration system of claim 1 , wherein the camera control module performs control such that color-calibrated stereo image is input to the geometry calibration module within a certain time after a change of a zoom magnification, in a camera setup mode or a camera capture mode.
8. The calibration system of claim 2 , wherein the camera control module performs control such that color-calibrated stereo image is input to the geometry calibration module within a certain time after a change of a zoom magnification, in a camera setup mode or a camera capture mode.
9. The calibration system of claim 3 , wherein the camera control module performs control such that color-calibrated stereo image is input to the geometry calibration module within a certain time after a change of a zoom magnification, in a camera setup mode or a camera capture mode.
10. The stereo image calibration apparatus of claim 6 , further comprising a 3D depth information module configured to generate 3D depth information of the color-calibrated stereo image, and output the generated 3D depth information to a multiplexer which receives the color-calibrated stereo image.