| Binocular stereo vision technology has been widely used in robot navigation,unmanned driving,virtual reality and other fields by imitating the human eye vision system for depth perception of three-dimensional space.At present,most of the cameras used by China's police for surveillance camera system are ordinary monocular cameras,which are unable to complete complex processing such as acquiring the three-dimensional coordinates of objects in space,depth image acquisition and three-dimensional reconstruction.In order to achieve the acquisition of the three-dimensional coordinate of objects in space,and display of depth image,this paper designs an embedded Three-dimensional camera system based on Zynq-7000,which adopt FPGA+ARM architecture.Specific work and innovations are as follows:First,The three-dimensional camera hardware system was built by Zynq-7000 chip with hardware and software collaborative development features.Hardware interface and image output module to achieve image transmission and display were designed;Image acquisition processing channel based on VDMA(Video Direct Memory Access)was built,then the design of relevant custom IP core was completed,Hardware information was imported into the SDK(Software Development Kit)development environment for software editing;Binocular camera image acquisition module was designed,the image sensor driver was programmed;Based on VDMA image acquisition channel,binocular camera hardware system that could achieve video acquisition was designed.Secondly,Binocular camera has been calibrated based on principles of binocular camera model,coordinate transformation,camera calibration.Then,it's internal and external parameters were obtained.;Based on Rodrigues deformation,OpenCV library function was used for stereo correction of images.;BM(Block Matching)and SGBM(Semi-global Block Matching)were adopted to generate a color depth image and display the three-dimensional coordinates of the point in the spaceFinally,an improved depth image display method was used,which achieved overlay of color depth image and high definition two-dimensional image by Alpha image overlay algorithm.Then,the Alpha coefficient with the best display effect was tested according to this experiment;The error analysis of the three-dimensional coordinates of the objects obtained by the BM algorithm and the SGBM algorithm was conducted respectively;The depth image display effect was tested which showed that the texture of images was clear and the depth data was accurate. |
