CN113923317B - Camera frame synchronization test method, device and storage medium - Google Patents
Camera frame synchronization test method, device and storage medium Download PDFInfo
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- CN113923317B CN113923317B CN202111002499.6A CN202111002499A CN113923317B CN 113923317 B CN113923317 B CN 113923317B CN 202111002499 A CN202111002499 A CN 202111002499A CN 113923317 B CN113923317 B CN 113923317B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/04—Synchronising
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- H—ELECTRICITY
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- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N17/00—Diagnosis, testing or measuring for television systems or their details
- H04N17/002—Diagnosis, testing or measuring for television systems or their details for television cameras
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Abstract
The application discloses a camera frame synchronization test method, a device and a storage medium, which are used for carrying out frame synchronization test on a camera. The method comprises the following steps: the method comprises the following steps of controlling a motor to rotate at a preset rotating speed, wherein a rotating shaft of the motor is fixedly provided with a marking piece, and the marking piece rotates along with the rotating shaft; controlling a camera to acquire a first type image and a second type image at the same moment when the motor rotates at the same position, wherein the first type image and the second type image both comprise areas of the marker; determining a first position of the marker in the first type of image and a second position of the marker in the second type of image; determining a difference in angle of the marker at the first position and the second position; and calculating the time difference between the first type image and the second type image according to the angle difference.
Description
Technical Field
The present application relates to the field of camera technologies, and in particular, to a method and an apparatus for testing frame synchronization of a camera, and a storage medium.
Background
In the field of 3D shooting, frame synchronization can be achieved between different lenses, so that images acquired by the lenses can be synthesized, in order to achieve frame synchronization between the lenses, before shooting, frame synchronization of the lenses needs to be tested and adjusted, some schemes for testing frame synchronization of the lenses are provided in the prior art, for example, detection is performed by equipment with LED arrays, the number of the LED arrays of the equipment is formulated according to actual requirements, for example, when frame synchronization between two types of images needs to be tested, the equipment is required to have the LED arrays in two independent areas, if the equipment is not matched, the equipment needs to be formulated again to an equipment manufacturer, but the scheme is not easily realized in an actual testing process, the flexibility is not high, and a flexible and convenient testing scheme is urgently needed.
Disclosure of Invention
In order to solve the technical problem, the present application provides a method and an apparatus for testing frame synchronization of a camera, and a storage medium.
The first aspect of the present application provides a method for testing frame synchronization of a camera, where the method includes:
controlling a motor to rotate at a preset rotating speed, wherein a pointer is fixed on a rotating shaft of the motor and rotates along with the rotating shaft;
controlling a camera to acquire a first type image and a second type image at the same moment when the motor rotates at the same position, wherein the first type image and the second type image both comprise areas of the pointer;
determining a first position of the pointer in the first type of image and a second position of the pointer in the second type of image;
determining an angular difference of the pointer at the first position and the second position;
and calculating the time difference between the first type image and the second type image according to the angle difference.
Optionally, the determining a first position of the pointer in the first type image and a second position of the pointer in the second type image includes:
marking a first location of the pointer on the first type of image with a virtual angulation tool;
marking a second position of the pointer on the second type of image by the virtual angulation tool;
the determining the angular difference of the pointer over the first position and the second position comprises:
and reading the numerical value generated by the virtual angle measuring tool to obtain the angle difference of the pointer on the first position and the second position.
Optionally, before the marking the first position of the pointer on the first type image by the virtual protractor tool, the method further includes:
marking a center of rotation of the pointer by the virtual angulation tool.
Optionally, the calculating the time difference between the first type image and the second type image according to the angle difference includes:
and calculating the angle difference by using a preset coefficient to obtain the time difference between the first type image and the second type image.
Optionally, the preset coefficient is determined from the preset rotation speed.
Optionally, the marker is an elongate shaft.
Optionally, the first type image is an RGB image, and the second type image is an infrared IR image.
A second aspect of the present application provides a camera frame synchronization testing apparatus, the apparatus including:
the first control unit is used for controlling a motor to rotate at a preset rotating speed, and a pointer is fixed on a rotating shaft of the motor and rotates along with the rotating shaft;
the second control unit is used for controlling the camera to acquire a first type image and a second type image at the same moment when the motor rotates in the same machine position, and the first type image and the second type image both comprise areas of the pointer;
a first determining unit configured to determine a first position of the pointer in the first type image and a second position of the pointer in the second type image;
a second determination unit configured to determine an angle difference of the pointer between the first position and the second position;
and the calculating unit is used for calculating the time difference between the first type image and the second type image according to the angle difference.
A third aspect of the present application provides a camera frame synchronization testing apparatus, including:
the device comprises a processor, a memory, an input and output unit and a bus;
the processor is connected with the memory, the input and output unit and the bus;
the memory holds a program that the processor calls to perform the method of any of the first aspect and the first aspect.
A fourth aspect of the present application provides a computer-readable storage medium having a program stored thereon, where the program is to perform the method of any one of the first aspect and the options of the first aspect when the program is executed on a computer.
According to the technical scheme, the method has the following advantages:
according to the method, the pointer is driven to rotate by the motor, the two types of images of the pointer at the same moment are collected when the pointer rotates, the angle difference of the pointer in the two types of images at the moment is determined through the two types of images, the time difference is calculated through the angle difference, the method can be used for testing the frame synchronization of the camera, the used equipment is common, the method is easy to realize in practice, the method for calculating the time difference through the angle difference can be suitable for various application scenes, and the method has high applicability.
Drawings
In order to more clearly illustrate the technical solutions in the present application, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a flow chart illustrating an embodiment of a camera frame synchronization method provided herein;
FIG. 2 is a schematic flowchart illustrating another embodiment of a camera frame synchronization method provided in the present application;
FIG. 3 is a schematic structural diagram of an embodiment of a motor and pointer connection according to the present application;
FIG. 4 is a schematic illustration of a first type of image when a first position is marked in the present application;
FIG. 5 is a schematic illustration of a second type of image when a second location is marked in the present application;
FIG. 6 is a schematic structural diagram of an embodiment of a camera frame synchronization apparatus provided in the present application;
fig. 7 is a schematic structural diagram of another embodiment of a camera frame synchronization apparatus provided in the present application.
Detailed Description
In the field of 3D shooting, frame synchronization can be achieved between different lenses, so that images acquired by the lenses can be synthesized, in order to achieve frame synchronization between the lenses, before shooting, frame synchronization of the lenses needs to be tested and adjusted, some schemes for testing frame synchronization of the lenses are provided in the prior art, for example, detection is performed by equipment with LED arrays, the number of the arrays of LED equipment is formulated according to actual requirements, for example, when frame synchronization between two types of images needs to be tested, the equipment is required to have the LED arrays in two independent areas, if the equipment is not matched, the equipment needs to be formulated again to an equipment manufacturer, which is not easy to implement in an actual testing process, and is not high in flexibility, and a flexible and convenient testing scheme is urgently needed.
Based on this, the application provides a camera frame synchronization test method, which is used for carrying out frame synchronization test on a camera.
Referring to fig. 1 and fig. 3, fig. 1 is a schematic flowchart illustrating an embodiment of a camera frame synchronization testing method provided in the present application, where the camera frame synchronization testing method includes:
101. controlling a motor to rotate at a preset rotating speed, wherein a marking piece is fixed on a rotating shaft of the motor and rotates along with the rotating shaft;
in this application, for convenience of testing, the marker may be an elongated shaft with high reflectivity, such as a pointer, which may have a bright color to facilitate image capture by the camera. For convenience of description, the present application exemplifies a pointer.
Referring to fig. 3, in fig. 3, a pointer 001 is fixed on the motor 002, and the color of the pointer 001 may be bright color such as red, green, etc., which facilitates the resolution when the camera captures and marks. In practical applications, in order to more intuitively test the time difference between two images, a pointer with bright color can be fixed on the rotating shaft of the motor, so that the position of the pointer can be more obviously captured. The control motor is rotatory with certain rotational speed of predetermineeing, and the motor can be step motor, can come control motor rotational speed through the electricity accent, and the rotational speed of motor is set for according to actual needs. When the motor rotates, the pointer rotates along with the motor. The method needs common tools, is easy to obtain, is easy to realize in actual use, and is very convenient to construct.
102. Controlling a camera to acquire a first type image and a second type image at the same moment when a motor rotates at the same position, wherein the first type image and the second type image both comprise areas of a marker;
after the camera is fixed, a first type image and a second type image at the same time when the motor rotates are collected at the same position, wherein both the two types of images should include a pointer region, and when the frame synchronization of the 3D camera is tested, an Infrared (Infrared Radiation) image and an RGB (red, green, blue) image are collected through an Infrared lens and a visible light lens.
103. Determining a first position of the pointer in the first type of image and a second position of the marker in the second type of image;
after the first type image and the second type image are obtained, the positions of the pointer on the two images may be different, and then the first position and the second position can be obtained by determining the positions of the pointer on the two images respectively, so as to be used for determining the subsequent angle difference, and the specific position determining method and the angle difference determining method may refer to the corresponding embodiment in fig. 2.
104. Determining an angular difference of the marker at the first position and the second position;
since the first type of image and the second type of image are acquired at the same machine position, the angular difference between the first position and the second position, i.e. the angle formed by the pointer at the two positions, can be determined by the difference in the position of the pointer on the two images. The angular difference may be determined by some test tool.
105. And calculating the time difference between the first type image and the second type image according to the angle difference.
If a certain angle difference exists, the problem that the two images are not synchronous during shooting is solved, and the time difference between the first type image and the second type image can be obtained by calculating the angle difference through a conversion formula. For example by a preset coefficient, which may be determined by a preset rotational speed of the motor.
For example, one of the calculation embodiments is:
Δt＝θ/λ；
where Δ t represents a time difference, θ represents an angle difference, and λ is a preset coefficient.
Wherein λ is calculated by the following equation:
λ＝N*360°/T；
where N denotes a preset rotation speed of the motor and T denotes a unit time corresponding to N.
For example: assuming that the preset rotation speed of the motor is 36 revolutions per minute, and the preset coefficient lambda is set as the rotation angle of the motor per millisecond, then:
λ＝36*360°/60000ms＝0.216°/ms；
Δt＝θ/0.216。
the time difference can be calculated by the above equation.
According to the method, the pointer is driven to rotate by the motor, the two types of images of the pointer at the same moment are collected when the pointer rotates, the angle difference of the pointer in the two types of images at the moment is determined through the two types of images, the time difference is calculated through the angle difference, the method can be used for testing the frame synchronization of the camera, the used equipment is common, the method is easy to realize in practice, the method for calculating the time difference through the angle difference can be suitable for various application scenes, and the method has high applicability.
In practical applications, the angle measurement tool may be invoked to measure the angle between the first position and the second position to obtain an accurate angle difference, which will be described in detail below with reference to the accompanying drawings.
Referring to fig. 2, fig. 4 and fig. 5, fig. 2 is a schematic flowchart illustrating another embodiment of a camera frame synchronization testing method according to the present application, the embodiment including:
201. controlling a motor to rotate at a preset rotating speed;
202. controlling the camera to acquire a first type image and a second type image at the same time when the motor rotates at the same machine position;
203. Marking the rotation center of the marker by a virtual angulation tool;
when determining the angular difference between the first position and the second position, the rotation center of the pointer 001 is marked on the first type image, and the measurement is performed based on the rotation center, which is generally the connection position with the rotating shaft of the motor 002.
204. Marking a first location of a marker on a first type of image with a virtual angulation tool;
firstly, marking the pointer on the first type image to obtain a first position, and taking the rotation center as a reference when marking, so that the marking line can be positioned on the central axis of the pointer as much as possible when marking.
205. Marking a second location of the marker on the second type of image with the virtual angulation tool;
after the marking of the first position is completed, the virtual angle measuring tool is moved to the second type image, the mark of the rotation center is aligned with the rotation center on the second type image, and the mark of the rotation center is used as the position of the pointer on the reference mark second type image again, so that two mark lines are obtained, and the angle theta formed by the two mark lines is the angle difference between the first position and the second position of the two pointers.
206. Reading a numerical value generated by the virtual angle measuring tool to obtain an angle difference of the marker piece on the first position and the second position;
the virtual angle measuring tool generates angle values according to the marking lines of the first position and the second position, and the angle difference of the pointer on the first position and the second position can be determined by reading the angle values.
207. And calculating the time difference between the first type image and the second type image according to the angle difference.
In the embodiment provided by the application, the pointers on the first type image and the second type image are respectively marked through the virtual angle measuring tool, so that the angle difference of the pointers between the two images is obtained, the measuring accuracy of the angle difference can be improved, the method is easy to realize, the dependence on hardware can be reduced, the measurement can be carried out across the images, and the method has great benefits on the frame synchronization test among multiple images.
The above embodiments describe the method provided in the present application in detail, and the following describes the camera frame synchronization testing apparatus provided in the present application with reference to the accompanying drawings.
Referring to fig. 6, fig. 6 is a schematic structural diagram of an embodiment of a camera frame synchronization testing apparatus provided in the present application, where the embodiment includes:
the first control unit 601 is used for controlling the motor to rotate at a preset rotating speed, and a marking piece is fixed on a rotating shaft of the motor and rotates along with the rotating shaft;
the second control unit 602 is configured to control the camera to acquire a first type image and a second type image at the same time when the motor rotates in the same position, where the first type image and the second type image both include a region of the marker;
a first determining unit 603 for determining a first position of the marker in the first type of image and a second position of the marker in the second type of image;
a second determining unit 604 for determining an angular difference of the marker at the first position and the second position;
a calculating unit 605, configured to calculate a time difference between the first type image and the second type image according to the angle difference.
Optionally, the first determining unit 603 is specifically configured to:
marking a first location of a marker on a first type of image by a virtual angulation tool;
marking a second location of the marker on the second type of image with the virtual angulation tool;
the second determining unit 604 is specifically configured to:
and reading the value generated by the virtual angle measuring tool to obtain the angle difference of the marker piece on the first position and the second position.
Optionally, the first determining unit 603 is further configured to:
the center of rotation of the marker is marked by the virtual angulation tool.
Optionally, the calculating unit 605 is specifically configured to:
and calculating the angle difference by using a preset coefficient to obtain the time difference between the first type image and the second type image.
The present application further provides a camera frame synchronization testing apparatus, including:
a processor 701, a memory 702, an input-output unit 703, a bus 704;
the processor 701 is connected to the memory 702, the input/output unit 703, and the bus 704;
the memory 702 holds a program that the processor 701 calls to execute any of the camera frame synchronization test methods described above.
The present application also relates to a computer-readable storage medium having a program stored thereon, wherein the program, when run on a computer, causes the computer to perform any of the above camera frame synchronization test methods.
It can be clearly understood by those skilled in the art that, for convenience and simplicity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one type of logical functional division, and other divisions may be realized in practice, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one position, or may be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application, which are essential or part of the technical solutions contributing to the prior art, or all or part of the technical solutions, may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and the like.
Claims (9)
1. A camera frame synchronization test method, the method comprising:
controlling a motor to rotate at a preset rotating speed, wherein a rotating shaft of the motor is fixedly provided with a marking piece, and the marking piece rotates along with the rotating shaft;
controlling a camera to acquire a first type image and a second type image at the same moment when the motor rotates at the same position, wherein the first type image and the second type image both comprise areas of the marker, the first type image is an RGB (red, green and blue) image, and the second type image is an infrared IR (infrared) image;
determining a first position of the marker in the first type of image and a second position of the marker in the second type of image;
determining an angular difference of the marker at the first position and the second position;
and calculating the time difference between the first type image and the second type image according to the angle difference.
2. The method for testing frame synchronization of a camera according to claim 1, wherein said determining a first position of said marker in said first type of image and a second position of said marker in said second type of image comprises:
marking a first location of the marker on the first type of image with a virtual angulation tool;
marking a second location of the marker on the second type of image by the virtual angulation tool;
said determining an angular difference of said marker between said first position and said second position comprises:
and reading the numerical value generated by the virtual angle measuring tool to obtain the angle difference of the marker piece on the first position and the second position.
3. The camera frame synchronization test method of claim 2, wherein prior to said marking a first position of said marker on said first type of image by a virtual angulometer, said method further comprises:
marking a center of rotation of the marker by the virtual angulation tool.
4. The method for testing frame synchronization of camera according to claim 1, wherein said calculating a time difference between the first type image and the second type image according to the angle difference comprises:
and calculating the angle difference by using a preset coefficient to obtain the time difference between the first type image and the second type image.
5. The method for testing frame synchronization of a camera according to claim 4, wherein the predetermined coefficient is determined by the predetermined rotation speed.
6. The camera frame synchronization test method according to any one of claims 1 to 5, wherein the marker is an elongated shaft.
7. A camera frame synchronization test apparatus, the apparatus comprising:
the first control unit is used for controlling a motor to rotate at a preset rotating speed, and a pointer is fixed on a rotating shaft of the motor and rotates along with the rotating shaft;
the second control unit is used for controlling the camera to acquire a first type image and a second type image at the same time when the motor rotates at the same machine position, the first type image and the second type image both comprise areas of the pointer, the first type image is an RGB image, and the second type image is an infrared IR image;
a first determining unit configured to determine a first position of the pointer in the first type image and a second position of the pointer in the second type image;
a second determination unit configured to determine an angle difference of the pointer between the first position and the second position;
and the calculating unit is used for calculating the time difference between the first type image and the second type image according to the angle difference.
8. A camera frame synchronization test apparatus, the apparatus comprising:
the device comprises a processor, a memory, an input and output unit and a bus;
the processor is connected with the memory, the input and output unit and the bus;
the memory holds a program that the processor calls to perform the method of any of claims 1 to 6.
9. A computer-readable storage medium having a program stored thereon, the program, when executed on a computer, performing the method of any one of claims 1 to 6.
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