CN108801226A - Plane inclining test method and apparatus - Google Patents

Plane inclining test method and apparatus Download PDF

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Publication number
CN108801226A
CN108801226A CN201811003383.2A CN201811003383A CN108801226A CN 108801226 A CN108801226 A CN 108801226A CN 201811003383 A CN201811003383 A CN 201811003383A CN 108801226 A CN108801226 A CN 108801226A
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plane
sampled point
coordinate
value
angle
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CN108801226B (en
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徐振宾
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Goertek Optical Technology Co Ltd
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Goertek Inc
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/04Interpretation of pictures
    • G01C11/06Interpretation of pictures by comparison of two or more pictures of the same area
    • G01C11/12Interpretation of pictures by comparison of two or more pictures of the same area the pictures being supported in the same relative position as when they were taken
    • G01C11/14Interpretation of pictures by comparison of two or more pictures of the same area the pictures being supported in the same relative position as when they were taken with optical projection

Abstract

The embodiment of the present application provides a kind of plane inclining test method and apparatus, and this method includes:In the depth image of test position collecting test target.Determine that the pixel that the depth image includes the depth information of the default sampling location of the test target is sampled point.Three-dimensional system of coordinate is established based on the corresponding depth information of the sampled point, and determines the sample coordinate value of the sampled point.Under the three-dimensional system of coordinate, determine the sampling spot projection to projection coordinate's value of the first plane where the test position.Based on the sample coordinate value and projection coordinate's value, the plane included angle of the second plane and first plane where calculating the test target.Application scheme can greatly improve the accuracy of testing result, the position relationship between plane where plane where the plane included angle based on acquisition obtains test module and test target.

Description

Plane inclining test method and apparatus
Technical field
The invention relates to technical field of image processing, especially relate to a kind of plane inclining test method and a kind of test Equipment.
Background technology
In mobile phone camera module production, need to test test camera module.Resolving power parameter is as camera shooting mould The important indicator of group image quality evaluation, carry out the when of testing the parameter need to ensure that test environment meets camera module where One plane and the second plane where test target are as parallel as possible.Therefore, it in order to ensure the accuracy of test result, is taken the photograph in test It is whether parallel with the second plane as needing to detect the first plane in above-mentioned test environment before module resolving power parameter.
In the prior art, whether meet the first plane test condition parallel with the second plane in detection test environment, lead to Detect the first plane four angle the distance between opposite with the second plane respectively frequently with laser range finder.If detection obtains The difference of detecting distance and measuring distance between four angles in error range, such as within positive and negative 2CM (centimetre), then it is assumed that The test environment reaches test request.
But this test mode is only capable of position relationship between the test point in two planes of acquisition, and accuracy is relatively low, cannot The position relationship between two planes is accurately reflected, and is vulnerable to interference from human factor during the test, detection is caused to tie The accuracy of fruit is relatively low.
Invention content
A kind of plane inclining test method of the embodiment of the present application offer and test equipment can detect where obtaining test module Position relationship between plane where plane and test target, further improves the accuracy of testing result.
This application provides a kind of plane inclining test methods, including:
In the depth image of test position collecting test target;
Determine that the pixel that the depth image includes the depth information of the default sampling location of the test target is to adopt Sampling point;
Three-dimensional system of coordinate is established based on the corresponding depth information of the sampled point, and determines the sample coordinate of the sampled point Value;
Under the three-dimensional system of coordinate, projection of the sampling spot projection to the first plane where the test position is determined Coordinate value;
Based on the sample coordinate value and projection coordinate's value, the second plane where calculating the test target with it is described The plane included angle of first plane.
Preferably, depth of field module marginal definition is high;
The determination depth image includes the pixel that the test target presets the depth information of sampling location Include for sampled point:
Determine that the depth image includes the pixel positioned at the depth image center of the depth information And positioned at the depth image fringe region pixel be sampled point.
Preferably, depth of field module marginal distortion;
The determination depth image includes the pixel that the test target presets the depth information of sampling location Include for sampled point:
Determine that the depth image includes the pixel positioned at the depth image center of the depth information, And the pixel positioned at the depth image central area is sampled point.
Preferably, described to be based on the sample coordinate value and projection coordinate's value, calculate where the test target the The plane included angle of two planes and first plane includes:
It determines in the sampled point, is located along the same line and at least one set parallel with the depth image any edge Packet samples point;
Based on the corresponding projection coordinate's value of every group of grouping sampled point, calculates separately and correspond to every group in first plane The first straight line equation of the first straight line of packet samples point;
Based on the corresponding sample coordinate value of every group of grouping sampled point, calculate separately corresponding in second plane The second straight line equation of the second straight line of every group of grouping sampled point;
Based on the first straight line equation and the second straight line equation, calculates every group of grouping sampled point and distinguish the correspondence First straight line and second straight line between angle, obtain at least one plane sub-folder angle;
Sum-average arithmetic is carried out to each plane sub-folder angle, obtains the plane holder of first plane and second plane Angle.
Preferably, described that three-dimensional system of coordinate is established based on the corresponding depth information of the sampled point, and determine the sampling Point sample coordinate value include:
Based on the corresponding depth information of the sampled point, establish with the corresponding sampling in center in the depth image Point is the three-dimensional system of coordinate of coordinate origin;
Determine sample coordinate value of the sampled point under the three-dimensional system of coordinate.
Preferably, described under the three-dimensional system of coordinate, determine the sampling spot projection to where the test position the Projection coordinate's value of one plane includes:
First plane is translated under the three-dimensional coordinate system so that the center of second plane and described the Intersect at the coordinate origin at the center of one plane;
Determine that the sampled point is projected under the three-dimensional system of coordinate to projection coordinate's value of first plane.
Preferably, the sampled point include be located at first plane with it is at least one on the second plane intersecting lens Center line sampled point, and respectively about each center line sampling point symmetry and positioned at first side on second plane both sides Edge sampled point and second edge sampled point;Wherein, each center line sampled point and corresponding first edge sampled point and described One edge sampled point projects to the first Projection Sampling point of the first plane and constitutes plane corresponding to each center line sampled point Angle;
It is described to be based on the sample coordinate value and projection coordinate's value, the second plane where calculating the test target with The plane included angle of first plane includes:
The sample coordinate value of each first edge sampled point is made the difference with corresponding projection coordinate's value respectively, is obtained Obtain corresponding first distance of each first edge sampled point;
The sample coordinate value of the second edge sampled point and corresponding projection coordinate's value are made the difference respectively, obtained every The corresponding second distance of a second edge sampled point;
The sample coordinate value of each center line sampled point is sat with the projection of the corresponding first edge sampled point respectively Scale value makes the difference, and obtains the corresponding third distance of each center line sampled point;
The sample coordinate value of each center line sampled point is sat with the projection of the corresponding second edge sampled point respectively Scale value makes the difference, and obtains corresponding 4th distance of each center line sampled point;
Based on first distance, the second distance, the third distance, the 4th distance, calculates and obtain each Central sampling point corresponding plane sub-folder angle;
Sum-average arithmetic is carried out to each center line sampled point corresponding plane sub-folder angle, it is flat to obtain described first The plane included angle in face and second plane.
Preferably, described to be based on the sample coordinate value and projection coordinate's value, calculate where the test target the The plane included angle of two planes and first plane includes:
Based on the corresponding projection coordinate's value of the sampled point, fitting obtains the first plane equation of first plane;
Based on the corresponding sample coordinate value of the sampled point, fitting obtains the second plane equation of second plane;
Based on first plane equation and second plane equation, it is flat to calculate described first according to plane included angle formula Face and the plane included angle of second plane.
Preferably, it based on the sample coordinate value and projection coordinate's value, calculates second where the test target After the plane included angle of plane and first plane, further include:
Judge whether first plane and second plane are parallel based on the plane included angle;
If parallel, judge to correspond to the depth that the test target at least two presets sampling location in the depth image Whether information meets smooth condition;
If so, determining the surfacing of the test target;
If not, determining the surface irregularity of the test target;
If not parallel, continued to execute after adjustment depth of field module and the angle of the test target and judge first plane The step whether parallel with second plane.
Application itself provides a kind of plane inclining test equipment, including processing component and storage assembly;The storage group Part stores one or more computer program instructions;The processing component is for calling and executing one or more computer Program instruction is to realize:
In the depth image of test position collecting test target;
Determine the depth image include the default sampling location depth information of the test target pixel be adopt Sampling point;
Three-dimensional system of coordinate is established based on the corresponding depth information of the sampled point, and determines the sample coordinate of the sampled point Value;
Under the three-dimensional system of coordinate, projection of the sampling spot projection to the first plane where the test position is determined Coordinate value;
Based on the sample coordinate value and projection coordinate's value, the second plane where calculating the test target with it is described The plane included angle of first plane.
The application embodiment provides a kind of plane inclining test method and apparatus, by test position collecting test The depth image of target.Determine that the depth image includes the pixel that the test target presets the depth information of sampling location Point is sampled point.Three-dimensional system of coordinate is established based on the corresponding depth information of the sampled point, and determines the sampling of the sampled point Coordinate value.Under the three-dimensional system of coordinate, projection of the sampling spot projection to the first plane where the test position is determined Coordinate value.Based on the sample coordinate value and projection coordinate's value, the second plane where calculating the test target with it is described The plane included angle of first plane.Application scheme can greatly improve the accuracy of testing result, the plane included angle based on acquisition Position relationship between plane where plane where obtaining test module and test target.
Description of the drawings
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this Shen Some embodiments please for those of ordinary skill in the art without creative efforts, can be with root Other attached drawings are obtained according to these attached drawings.
Fig. 1 shows a kind of structural schematic diagram of plane inclining test method one embodiment provided by the present application;
Fig. 2 shows a kind of structural schematic diagrams of another embodiment of plane inclining test method provided by the present application;
Fig. 3 shows a kind of schematic diagram of plane sub-folder angle provided by the present application one embodiment;
Fig. 4 shows a kind of structural schematic diagram of another embodiment of plane inclining test method provided by the present application;
Fig. 5 shows a kind of structural schematic diagram of plane inclining test device one embodiment provided by the present application;;
Fig. 6 shows a kind of structural schematic diagram of another embodiment of plane inclining test device provided by the present application;
Fig. 7 shows a kind of structural schematic diagram of another embodiment of plane inclining test device provided by the present application;
Fig. 8 shows a kind of structural schematic diagram of plane inclining test equipment one embodiment provided by the present application.
Specific implementation mode
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application Attached drawing, technical solutions in the embodiments of the present application are clearly and completely described.
In some flows of description in the description and claims of this application and above-mentioned attached drawing, contain according to Multiple operations that particular order occurs, but it should be clearly understood that these operations can not be what appears in this article suitable according to its Sequence is executed or is executed parallel, and the serial number such as 101,102 etc. of operation is only used for distinguishing each different operation, serial number It itself does not represent and any executes sequence.In addition, these flows may include more or fewer operations, and these operations can To execute or execute parallel in order.It should be noted that the descriptions such as " first " herein, " second ", are for distinguishing not Same message, equipment, module etc., does not represent sequencing, does not also limit " first " and " second " and be different type.
The embodiment of the present application is applicable in but is not limited to the detection to mobile phone camera module test condition, can be also used for test and appoints The relative dip angle of two planes, the flatness of plane or plane etc., can be applied to multi-field field of engineering technology, herein It is not specifically limited.
Technical scheme is described in detail below in conjunction with attached drawing.
Fig. 1 is a kind of flow chart of plane inclining test method one embodiment provided by the embodiments of the present application.This method May include:
101:In the depth image of test position collecting test target.
The test position can be test module position, can also be preset calibration position, test target setting In the position for having demarcated distance in advance.TOF (Time of flight) depth of field module may be used in the embodiment of the present application, pass through The depth image that TOF depth of field module carries out Image Acquisition acquisition to test target includes by test position to test target Depth information.
102:Determine that the depth image includes the pixel that the test target presets the depth information of sampling location For sampled point.
According to the different accuracy of depth of field module, the scape of edge accuracy high depth of field module and marginal distortion can be divided into Deep module.Therefore it when selection test target presets sampling location, can be chosen according to the accurate of depth of field module.Such as scape Deep module edge accuracy is high, then can set the position for choosing test target fringe region as sampling location is preset, obtain The depth information of test target fringe region;The marginal distortion of depth of field module can cause edge obtain depth information accuracy compared with It is low, therefore the central area for choosing test target can be set as sampling location is preset, obtain test target central area Depth of view information.
In practical application, it can also be that, using all areas of test target as default sampling location, depth of field module obtains The depth of view information of all areas of test target is then based on the accuracy of depth of field module, and it is smaller, smart to choose depth information distortion The higher pixel of exactness is as sampled point.
The selection that sampled point may be implemented with upper type, is not specifically limited herein.
103:Three-dimensional system of coordinate is established based on the corresponding depth information of the sampled point, and determines the sampling of the sampled point Coordinate value.
It can be seen from the above, sampled point is pixel including depth information, therefore can be with pixel coordinate in depth image Respectively as X-axis and Y-axis, using depth information as Z axis, three-dimensional system of coordinate is established, and according to the three-dimensional system of coordinate of foundation, determine The sample coordinate value of each sampled point.
104:Under the three-dimensional system of coordinate, determine the sampling spot projection to the first plane where the test position Projection coordinate's value.
In practical application, the first plane where the test position and the second plane where the test target, in three-dimensional Plane is the second plane where test target where may be considered depth image under coordinate system, and depth image is projected to Z=0 Place plane obtains the first plane where test position.Therefore, flat where sampling spot projection to Z=0 under three-dimensional system of coordinate Face, projection coordinate's value and the sample coordinate of acquisition are worth abscissa and ordinate having the same, but its Z=0.I.e. if sampled point Sample coordinate value be (xi,yi,zi), then corresponding projection coordinate's value can be (xi,yi,0)。
105:Based on the sample coordinate value and projection coordinate's value, the second plane where calculating the test target with The plane included angle of first plane.
In practice, the second plane where test target can be indicated by the sample coordinate value of sampled point, pass through sampling Projection coordinate's value of point can indicate the first plane where the test target.Therefore, with the sample coordinate value of the sampling The plane included angle that the first plane and the second plane can be obtained by a variety of operation modes with projection coordinate value is not done specific herein It limits.
The embodiment of the present application obtains the multiple sampled points for including test target depth information by depth image, based on sampling Point establishes three-dimensional system of coordinate, and determines and can indicate the sample coordinate value of the first plane in three-dimensional system of coordinate and can indicate second Projection coordinate's value of plane, based on projection coordinate's value and sample coordinate value meter can more be precisely calculated obtain the first plane with The plane included angle of second plane, and then according to the position relationship of two planes of plane included angle acquisition.
Further, the embodiment of the present application can be also used for the flatness on detection test target surface, another kind can be real It is described the where based on the sample coordinate value and projection coordinate's value, calculating the test target in existing embodiment After the plane included angle of two planes and first plane, can also include:
Judge whether first plane and second plane are parallel based on the plane included angle;
If parallel, judge to correspond to the depth that the test target at least two presets sampling location in the depth image Whether information meets smooth condition;
If so, determining the surfacing of the test target;
If not, determining the surface irregularity of the test target;
If not parallel, continued to execute after adjustment depth of field module and the angle of the test target and judge first plane The step whether parallel with second plane.
This implementation can be used for testing any plane or the flatness on test target surface, ensured based on above-described embodiment When the first plane is parallel with the second plane where the test target where test position, according to the collected test of depth image Whether the depth information of the default sampling location of target meets smooth threshold value, you can determines that test target surface obtains described second Whether plane is smooth.Wherein, the smooth condition and determine at least two sampled points depth information that includes difference whether In default error range, if in error range, it is believed that meet smooth condition;If it exceeds error range, then it is assumed that, it is discontented with The smooth condition of foot.
Fig. 2 is a kind of flow chart of another embodiment of plane inclining test method provided by the embodiments of the present application.The party Method may include:
201:In the depth image of test position collecting test target.
202:Determine that the depth image includes the picture positioned at the depth image center of the depth information Vegetarian refreshments and positioned at the depth image fringe region pixel be sampled point.
The embodiment of the present application provides a kind of suitable for the higher implementation of depth of field module edge definition.At this point, test The default sampling location of target can be set to fringe region, therefore correspond to the pixel of Selection Center position and be located at the depth map As the pixel of fringe region is sampled point.
203:Three-dimensional system of coordinate is established based on the corresponding depth information of the sampled point, and determines the sampling of the sampled point Coordinate value.
204:Under the three-dimensional system of coordinate, determine the sampling spot projection to the first plane where the test position Projection coordinate's value.
205:It determines in the sampled point, is located along the same line and parallel at least with the depth image any edge Set of group sampled point.
206:Based on the corresponding projection coordinate's value of every group of grouping sampled point, calculate separately corresponding in first plane The first straight line equation of the first straight line of every group of grouping sampled point.
207:Based on the corresponding sample coordinate value of every group of grouping sampled point, calculate separately in second plane The second straight line equation of the second straight line of corresponding every group of grouping sampled point.
In order to more accurately indicate the position relationship between the first plane and the second plane, can by by sampled point or point For multiple packet samples points, the sample coordinate value of every group of grouping sampled point can be fitted in the second plane one first it is straight Projection coordinate's value of line, every group of grouping sampled point can be fitted to a second straight line on the first plane.It is grouped by every group The position relationship of the corresponding first straight line of sampled point and second straight line describes the position between the first plane and the second plane Relationship.
Sample coordinate value and projection coordinate's value based on every group of grouping sampled point, which can be fitted, obtains every group of grouping sampled point The first straight line equation of corresponding first straight line and the second straight line equation of second straight line.
Based on space line equation:Wherein, (x0,y0,z0) it is any point on the straight line Space coordinate, (m, n, p) indicate the direction vector of the straight line.
With the sample coordinate value P (x of sampled pointi,yi,zi);Projection coordinate value P ' (xi,yi,zi');By every group of packet samples The corresponding sample coordinate value of point and projection coordinate's value are solved according to above-mentioned space line equation formulations, every group of grouping sampled point difference Corresponding first straight line equation:
And the corresponding second straight line equation of every group of grouping sampled point:
208:Based on the first straight line equation and the second straight line equation, calculate described in every group of grouping sampled point difference Angle between corresponding first straight line and second straight line obtains at least one plane sub-folder angle.
Direction vector (the m of first straight line can be obtained based on first straight line equation and the second straight line equation1i,n1i, p1i) and second straight line direction vector (m2i,n2i,p2i);Then direction vector (the m based on first straight line1i,n1i,p1i) and second Direction vector (the m of straight line2i,n2i,p2i) acquisition each packet samples point corresponding plane sub-folder angle cosine value can be calculated:
Further, the plane sub-folder for obtaining every group of grouping sampled point corresponding first straight line and second straight line is calculated AngleIt can be expressed as:
209:Sum-average arithmetic is carried out to each plane sub-folder angle, acquisition first plane is flat with second plane Face angle.
By being grouped to sampled point, multiple plane sub-folders angle can be obtained and indicate that the first plane is different from the second plane Position relationship at position, by being further increased to the average precision of plane included angle of acquisition of multiple plane sub-folders angle.
It is optionally, in certain embodiments, described corresponding based on the sampled point in order to be further simplified computational methods Depth information establishes three-dimensional system of coordinate, and determines that the sample coordinate value of the sampled point may include:
Based on the corresponding depth information of the sampled point, establish with the corresponding sampling in center in the depth image Point is the three-dimensional system of coordinate of coordinate origin;
Determine sample coordinate value of the sampled point under the three-dimensional system of coordinate.
Further, described under the three-dimensional system of coordinate in the three-dimensional system of coordinate based on above-mentioned foundation, it is adopted described in determination Sampling point is projected to projection coordinate's value of the first plane where the test position:
First plane is translated under the three-dimensional coordinate system so that the center of second plane and described the Intersect at the coordinate origin at the center of one plane;
Determine that the sampled point is projected under the three-dimensional system of coordinate to projection coordinate's value of first plane.
Intersected with the second plane with plane by translating the under the three-dimensional system of coordinate of above-mentioned foundation, naturally it is also possible to realize Intersected with the first plane by translating the second plane, obtains plane intersecting lens.
It is optionally, described to adopt as a kind of realization method to choose the sampled point in depth image based on plane intersection line Sampling point includes being located at first plane and at least one center line sampled point on the second plane intersecting lens, and close respectively It is adopted in each center line sampling point symmetry and first edge sampled point positioned at second plane both sides and second edge Sampling point;Wherein, each center line sampled point and corresponding first edge sampled point and the first edge sample spot projection to the First Projection Sampling point of one plane is constituted to each center line sampled point corresponding plane sub-folder angle.
It is described to be based on the sample coordinate value and projection coordinate's value, the second plane where calculating the test target with The plane included angle of first plane may include:
The sample coordinate value of each first edge sampled point is made the difference with corresponding projection coordinate's value respectively, is obtained Obtain corresponding first distance of each first edge sampled point.
The sample coordinate value of the second edge sampled point and corresponding projection coordinate's value are made the difference respectively, obtained every The corresponding second distance of a second edge sampled point.
The sample coordinate value of each center line sampled point is sat with the projection of the corresponding first edge sampled point respectively Scale value makes the difference, and obtains the corresponding third distance of each center line sampled point.
The sample coordinate value of each center line sampled point is sat with the projection of the corresponding second edge sampled point respectively Scale value makes the difference, and obtains corresponding 4th distance of each center line sampled point.
Based on first distance, the second distance, the third distance, the 4th distance, calculates and obtain each Central sampling point corresponding plane sub-folder angle.
Sum-average arithmetic is carried out to each center line sampled point corresponding plane sub-folder angle, it is flat to obtain described first The plane included angle in face and second plane.
It is under above-mentioned three-dimensional system of coordinate that first plane and described second is flat according to scheme described in the embodiment of the present application Face is intersected, for choosing 9 sampled points, wherein and 3 central sampling points are located on plane intersecting lens, respectively P2, P5, P8.Wherein, first edge sampled point P1 and second edge sampled point P3 be about center line sample point symmetry P2 symmetrically set up separately with The both sides center line sampled point P2;First edge sampled point P4 and second edge sampled point P6 is about P5 pairs of center line sampled point Title sets up separately and the both sides center line sampled point P5;First edge sampled point P7 and second edge sampled point P9 is to be sampled about center line Point P8 symmetrically sets up separately and the both sides center line sampled point P8.
Wherein, the corresponding sample coordinate value of above-mentioned 9 sampled points can be expressed as respectively:
P1 (x1, y1, z1), P2 (x2, y2, z2), P3 (x3, y3, z3)
P4 (x4, y4, z4), P5 (x5, y5, z5), P6 (x6, y6, z6)
P7 (x7, y7, z7), P8 (x8, y8, z8), P9 (x9, y9, z9);
The corresponding projection coordinate's value of above-mentioned 9 sampled points can be expressed as with minute mark:
P1 ' (x1, y1, z1 '), P2 ' (x2, y2, z2 '), P3 ' (x3, y3, z3 ')
P4 ' (x4, y4, z4 '), P5 (x5, y5, z5 '), P6 ' (x6, y6, z6 ')
P7 ' (x7, y7, z7 '), P8 ' (x8, y8, z8 '), P9 ' (x9, y9, z9 ').
Due to P1, P3 is symmetrical about P2, therefore can be with P1 ', P2 ', P3 ' triangle relation as shown in Figure 3 is established, it is corresponding flat Face angle.
Wherein, corresponding first distances of first edge sampled point P1 can be expressed as:
| P1P1 ' |=| z1-z1 ' |;
The corresponding second distances of second edge sampled point P3 can be expressed as:
| P3P3 ' |=| z3-z3 ' |;
The corresponding third distances of center line sampled point P2 and the 4th distance can be expressed as respectively:
| P1 ' P2 |=x2-x1 ' | P2P3 ' |=x2-x3 ';Wherein, x1 '=x1;X3 '=x3.
Based on the first distance, second distance, third distance and the 4th distance calculate acquisition center line according to following formula and adopt Sampling point P1 corresponding plane sub-folders angle can be expressed as:
Tan ∠ P1P2P1 '=| P1P1 ' |/| P1 ' P2 |
∠ P1P2P1 '=arctan | P1P1 ' |/| P1 ' P2 |.
Above-mentioned calculation is equally used, calculates separately and obtains center line sampled point P5 corresponding plane sub-folders angle ∠ The corresponding ∠ P7P8P7 ' of P4P5P4 ' and center line sampled point P8, details are not described herein.
It is then based on above three plane sub-folder angle, three average values are found out after being added, obtains the first plane and institute State the plane included angle of the second plane.
Fig. 4 is a kind of flow chart of another embodiment of plane inclining test method provided by the embodiments of the present application.The party Method may include:
401:In the depth image of test position collecting test target.
402:Determine that the depth image includes the center of the depth information being located in the depth image Pixel, and positioned at the depth image central area pixel be sampled point.
The embodiment of the present application provides a kind of implementation suitable for depth of field module marginal distortion.At this point, test target Default sampling location can be set to central area, therefore the pixel of corresponding Selection Center position and in the depth image The pixel in heart district domain is sampled point.
403:Three-dimensional system of coordinate is established based on the corresponding depth information of the sampled point, and determines the sampling of the sampled point Coordinate value.
404:Under the three-dimensional system of coordinate, determine the sampling spot projection to the first plane where the test position Projection coordinate's value.
405:Based on the corresponding projection coordinate's value of the sampled point, fitting obtains the first plane side of first plane Journey.
406:Based on the corresponding sample coordinate value of the sampled point, fitting obtains the second plane side of second plane Journey.
It is flat that the embodiment of the present application by sample coordinate value based on sampled point and projection coordinate's value is fitted acquisition first respectively First plane equation in face and the second plane equation of the second plane can more intuitively calculate the first plane based on plane equation And the second position relationship between plane.
It is according to the general expression of plane equation:
Ax+By+Cz+D=0, (c ≠ 0);Wherein, A, B, C are floor coefficient, and D is plane constant.
It is obtained after being converted:
NoteThen plane equation can be expressed as:Z=ax+by+c.
Plane equation fitting is carried out using least square method:
With the sample coordinate value P (x of sampled pointi,yi,zi) for, it is fitted the second plane equation, then makes the second plane:
Minimum should meet
Obtain
Further obtain equation group:
Or obtain system of linear equations:Wherein n indicates sampling The number of point.
By solving above-mentioned system of linear equations, the floor coefficient a of the second plane equation is obtained2,b2,c2
I.e. the second plane equation can be expressed as:Z2=a2x+b2y+c2
Similarly, it according to above-mentioned plane equation fitting formula, is obtained based on the corresponding projection coordinate's value fitting of each sampled point First plane equation can be expressed as:Z1=a1x+b1y+c1
407:Based on first plane equation and second plane equation, described the is calculated according to plane included angle formula The plane included angle of one plane and second plane.
The plane included angle θ obtained is calculated according to angle calcu-lation formula to be represented by:
It is flat to the first plane and second by the sample coordinate value and projection coordinate's value of sampled point in the embodiment of the present application Face carries out plane fitting, calculates the second plane equation of the first plane equation and the second plane that obtain the first plane.Based on One plane equation and the second plane equation calculate according to plane included angle formula and obtain plane included angle, so as to quickly and accurately Obtain the position relationship of the first plane and the second plane.
Fig. 5 is a kind of structural schematic diagram of plane inclining test device one embodiment provided by the embodiments of the present application.It should Device may include:
Acquisition module 501, for the depth image in test position collecting test target.
Sampled point determining module 502, for determining that the depth image includes that the test target presets sampling location Depth information pixel be sampled point.
According to the different accuracy of depth of field module, the scape of edge accuracy high depth of field module and marginal distortion can be divided into Deep module.Therefore it when selection test target presets sampling location, can be chosen according to the accurate of depth of field module.Such as scape Deep module edge accuracy is high, then can set the position for choosing test target fringe region as sampling location is preset, obtain The depth information of test target fringe region;The marginal distortion of depth of field module can cause edge obtain depth information accuracy compared with It is low, therefore the central area for choosing test target can be set as sampling location is preset, obtain test target central area Depth of view information.
In practical application, it can also be that, using all areas of test target as default sampling location, depth of field module obtains The depth of view information of all areas of test target is then based on the accuracy of depth of field module, and it is smaller, smart to choose depth information distortion The higher pixel of exactness is as sampled point.
The selection that sampled point may be implemented with upper type, is not specifically limited herein.
Sample coordinate value determining module 503 establishes three-dimensional system of coordinate for being based on the corresponding depth information of the sampled point, And determine the sample coordinate value of the sampled point.
Projection coordinate is worth determining module 504, under the three-dimensional system of coordinate, determines the sampling spot projection to described Projection coordinate's value of first plane where test position.
Plane included angle acquisition module 505 calculates the survey for being based on the sample coordinate value and projection coordinate's value The plane included angle of second plane and first plane where trying target.
In practice, the second plane where test target can be indicated by the sample coordinate value of sampled point, pass through sampling Projection coordinate's value of point can indicate the first plane where the test target.Therefore, with the sample coordinate value of the sampling The plane included angle that the first plane and the second plane can be obtained by a variety of operation modes with projection coordinate value is not done specific herein It limits.
The embodiment of the present application obtains the multiple sampled points for including test target depth information by depth image, based on sampling Point establishes three-dimensional system of coordinate, and determines and can indicate the sample coordinate value of the first plane in three-dimensional system of coordinate and can indicate second Projection coordinate's value of plane, based on projection coordinate's value and sample coordinate value meter can more be precisely calculated obtain the first plane with The plane included angle of second plane, and then according to the position relationship of two planes of plane included angle acquisition.
Further, the embodiment of the present application can be also used for the flatness on detection test target surface, another kind can be real In existing embodiment, after the plane included angle acquisition module 505, can also include:
First judgment module judges whether first plane puts down with second plane for being based on the plane included angle Row, if flat, row the second judgment module of triggering;If not parallel, triggering adjustment module.
Second judgment module, for judging that corresponding to the test target at least two in the depth image presets sample bits Whether the depth information set meets smooth condition;If so, the first determining module of triggering;The second determining module is triggered if not.
First determining module, the surfacing for determining the test target;
Second takes cover half block, the surface irregularity for determining the test target;
Module is adjusted, for continuing to return the first judgment module after adjusting depth of field module and the angle of the test target.
This implementation can be used for testing any plane or the flatness on test target surface, ensured based on above-described embodiment When the first plane is parallel with the second plane where the test target where test position, according to the collected test of depth image Whether the depth information of the default sampling location of target meets smooth threshold value, you can determines that test target surface obtains described second Whether plane is smooth.Wherein, the smooth condition and determine at least two sampled points depth information that includes difference whether In default error range, if in error range, it is believed that meet smooth condition;If it exceeds error range, then it is assumed that, it is discontented with The smooth condition of foot.
Fig. 6 is a kind of structural schematic diagram of another embodiment of plane inclining test device provided by the embodiments of the present application. The device may include:
Acquisition module 601, for the depth image in test position collecting test target.
Sampled point determining module 602, for determining that the depth image includes that the test target presets sampling location Depth information pixel be sampled point.
Wherein, the sampled point determining module 602 specifically can be used for:
Determine that the depth image includes the pixel positioned at the depth image center of the depth information And positioned at the depth image fringe region pixel be sampled point.
The embodiment of the present application provides a kind of suitable for the higher implementation of depth of field module edge definition.At this point, test The default sampling location of target can be set to fringe region, therefore correspond to the pixel of Selection Center position and be located at the depth map As the pixel of fringe region is sampled point.
Sample coordinate value determining module 603 establishes three-dimensional system of coordinate for being based on the corresponding depth information of the sampled point, And determine the sample coordinate value of the sampled point.
Projection coordinate is worth determining module 604, under the three-dimensional system of coordinate, determines the sampling spot projection to described Projection coordinate's value of first plane where test position.
Plane included angle acquisition module 605 calculates the survey for being based on the sample coordinate value and projection coordinate's value The plane included angle of second plane and first plane where trying target.
Wherein, plane included angle acquisition module 605 may include:
Packet samples point determination unit 611, for determining in the sampled point, be located along the same line and with the depth of field The parallel at least one set of packet samples point of image any edge.
First straight line equation calculation unit 612 is counted respectively for being based on the corresponding projection coordinate's value of every group of grouping sampled point Calculate the first straight line equation for being located at the first straight line that every group of grouping sampled point is corresponded in first plane.
Second straight line equation calculation unit 613, for being based on the corresponding sample coordinate value of every group of grouping sampled point, point The second straight line equation for the second straight line that every group of grouping sampled point is corresponded in second plane Ji Suan be located at.
In order to more accurately indicate the position relationship between the first plane and the second plane, can by by sampled point or point For multiple packet samples points, the sample coordinate value of every group of grouping sampled point can be fitted in the second plane one first it is straight Projection coordinate's value of line, every group of grouping sampled point can be fitted to a second straight line on the first plane.It is grouped by every group The position relationship of the corresponding first straight line of sampled point and second straight line describes the position between the first plane and the second plane Relationship.
Sample coordinate value and projection coordinate's value based on every group of grouping sampled point, which can be fitted, obtains every group of grouping sampled point The first straight line equation of corresponding first straight line and the second straight line equation of second straight line.
Based on space line equation:Wherein, (x0,y0,z0) it is any point on the straight line Space coordinate, (m, n, p) indicate the direction vector of the straight line.
With the sample coordinate value P (x of sampled pointi,yi,zi);Projection coordinate value P ' (xi,yi,zi');By every group of packet samples The corresponding sample coordinate value of point and projection coordinate's value are solved according to above-mentioned space line equation formulations, every group of grouping sampled point difference Corresponding first straight line equation:
And the corresponding second straight line equation of every group of grouping sampled point:
Plane sub-folder angle acquiring unit 614 is calculated for being based on the first straight line equation and the second straight line equation Every group of grouping sampled point distinguishes the angle between the corresponding first straight line and second straight line, obtains at least one plane sub-folder Angle.
Direction vector (the m of first straight line can be obtained based on first straight line equation and the second straight line equation1i,n1i, p1i) and second straight line direction vector (m2i,n2i,p2i);Then direction vector (the m based on first straight line1i,n1i,p1i) and second Direction vector (the m of straight line2i,n2i,p2i) acquisition each packet samples point corresponding plane sub-folder angle cosine value can be calculated:
Further, the plane sub-folder for obtaining every group of grouping sampled point corresponding first straight line and second straight line is calculated AngleIt can be expressed as:
First plane included angle acquiring unit 615 obtains described for carrying out sum-average arithmetic to each plane sub-folder angle The plane included angle of one plane and second plane.
By being grouped to sampled point, multiple plane sub-folders angle can be obtained and indicate that the first plane is different from the second plane Position relationship at position, by being further increased to the average precision of plane included angle of acquisition of multiple plane sub-folders angle.
In order to be further simplified computational methods, optionally, in certain embodiments, the sample coordinate value determining module 603 specifically can be used for:
Based on the corresponding depth information of the sampled point, establish with the corresponding sampling in center in the depth image Point is the three-dimensional system of coordinate of coordinate origin;
Determine sample coordinate value of the sampled point under the three-dimensional system of coordinate.
Further, in the three-dimensional system of coordinate based on above-mentioned foundation, projection coordinate's value determining module 604 can specifically be used In:
First plane is translated under the three-dimensional coordinate system so that the center of second plane and described the Intersect at the coordinate origin at the center of one plane;
Determine that the sampled point is projected under the three-dimensional system of coordinate to projection coordinate's value of first plane.
Intersected with the second plane with plane by translating the under the three-dimensional system of coordinate of above-mentioned foundation, naturally it is also possible to realize Intersected with the first plane by translating the second plane, obtains plane intersecting lens.
It is optionally, described to adopt as a kind of realization method to choose the sampled point in depth image based on plane intersection line Sampling point includes being located at first plane and at least one center line sampled point on the second plane intersecting lens, and close respectively It is adopted in each center line sampling point symmetry and first edge sampled point positioned at second plane both sides and second edge Sampling point;Wherein, each center line sampled point and corresponding first edge sampled point and the first edge sample spot projection to the First Projection Sampling point of one plane is constituted to each center line sampled point corresponding plane sub-folder angle.
Plane included angle acquisition module 605 specifically can be used for:
The sample coordinate value of each first edge sampled point is made the difference with corresponding projection coordinate's value respectively, is obtained Obtain corresponding first distance of each first edge sampled point.
The sample coordinate value of the second edge sampled point and corresponding projection coordinate's value are made the difference respectively, obtained every The corresponding second distance of a second edge sampled point.
The sample coordinate value of each center line sampled point is sat with the projection of the corresponding first edge sampled point respectively Scale value makes the difference, and obtains the corresponding third distance of each center line sampled point.
The sample coordinate value of each center line sampled point is sat with the projection of the corresponding second edge sampled point respectively Scale value makes the difference, and obtains corresponding 4th distance of each center line sampled point.
Based on first distance, the second distance, the third distance, the 4th distance, calculates and obtain each Central sampling point corresponding plane sub-folder angle.
Sum-average arithmetic is carried out to each center line sampled point corresponding plane sub-folder angle, it is flat to obtain described first The plane included angle in face and second plane.
It is under above-mentioned three-dimensional system of coordinate that first plane and described second is flat according to scheme described in the embodiment of the present application Face is intersected, for choosing 9 sampled points, wherein and 3 central sampling points are located on plane intersecting lens, respectively P2, P5, P8.Wherein, first edge sampled point P1 and second edge sampled point P3 be about center line sample point symmetry P2 symmetrically set up separately with The both sides center line sampled point P2;First edge sampled point P4 and second edge sampled point P6 is about P5 pairs of center line sampled point Title sets up separately and the both sides center line sampled point P5;First edge sampled point P7 and second edge sampled point P9 is to be sampled about center line Point P8 symmetrically sets up separately and the both sides center line sampled point P8.
Wherein, the corresponding sample coordinate value of above-mentioned 9 sampled points can be expressed as respectively:
P1 (x1, y1, z1), P2 (x2, y2, z2), P3 (x3, y3, z3)
P4 (x4, y4, z4), P5 (x5, y5, z5), P6 (x6, y6, z6)
P7 (x7, y7, z7), P8 (x8, y8, z8), P9 (x9, y9, z9);
The corresponding projection coordinate's value of above-mentioned 9 sampled points can be expressed as with minute mark:
P1 ' (x1, y1, z1 '), P2 ' (x2, y2, z2 '), P3 ' (x3, y3, z3 ')
P4 ' (x4, y4, z4 '), P5 (x5, y5, z5 '), P6 ' (x6, y6, z6 ')
P7 ' (x7, y7, z7 '), P8 ' (x8, y8, z8 '), P9 ' (x9, y9, z9 ').
Due to P1, P3 is symmetrical about P2, therefore can be with P1 ', P2 ', P3 ' establish triangle relation as shown in Figure 3.
Wherein, corresponding first distances of first edge sampled point P1 can be expressed as:
| P1P1 ' |=| z1-z1 ' |;
The corresponding second distances of second edge sampled point P3 can be expressed as:
| P3P3 ' |=| z3-z3 ' |;
The corresponding third distances of center line sampled point P2 and the 4th distance can be expressed as respectively:
| P1 ' P2 |=x2-x1 ' | P2P3 ' |=x2-x3 ';Wherein, x1 '=x1;X3 '=x3.
Based on the first distance, second distance, third distance and the 4th distance calculate acquisition center line according to following formula and adopt Sampling point P1 corresponding plane sub-folders angle can be expressed as:
Tan ∠ P1P2P1 '=| P1P1 ' |/| P1 ' P2 |
∠ P1P2P1 '=arctan | P1P1 ' |/| P1 ' P2 |.
Above-mentioned calculation is equally used, calculates separately and obtains center line sampled point P5 corresponding plane sub-folders angle ∠ The corresponding ∠ P7P8P7 ' of P4P5P4 ' and center line sampled point P8, details are not described herein.
It is then based on above three plane sub-folder angle, three average values are found out after being added, obtains the first plane and institute State the plane included angle of the second plane.
Fig. 7 is a kind of structural schematic diagram of another embodiment of plane inclining test device provided by the embodiments of the present application. The device may include:
Acquisition module 701, for the depth image in test position collecting test target.
Sampled point determining module 702, for determining that the depth image includes that the test target presets sampling location Depth information pixel be sampled point.
Wherein, the sampled point determining module 702 specifically can be used for:
Determine that the depth image includes the picture for the center of the depth information being located in the depth image Vegetarian refreshments, and positioned at the depth image central area pixel be sampled point.
The embodiment of the present application provides a kind of implementation suitable for depth of field module marginal distortion.At this point, test target Default sampling location can be set to central area, therefore the pixel of corresponding Selection Center position and in the depth image The pixel in heart district domain is sampled point.
Sample coordinate value determining module 703 establishes three-dimensional system of coordinate for being based on the corresponding depth information of the sampled point, And determine the sample coordinate value of the sampled point.
Projection coordinate is worth determining module 704, under the three-dimensional system of coordinate, determines the sampling spot projection to described Projection coordinate's value of first plane where test position.
Plane included angle acquisition module 705 calculates the survey for being based on the sample coordinate value and projection coordinate's value The plane included angle of second plane and first plane where trying target.
Wherein, plane included angle acquisition module 705 may include:
First plane equation computing unit 711, for being based on the corresponding projection coordinate's value of the sampled point, fitting obtains institute State the first plane equation of the first plane.
Second plane equation computing unit 712, for being based on the corresponding sample coordinate value of the sampled point, fitting obtains institute State the second plane equation of the second plane.
It is flat that the embodiment of the present application by sample coordinate value based on sampled point and projection coordinate's value is fitted acquisition first respectively First plane equation in face and the second plane equation of the second plane can more intuitively calculate the first plane based on plane equation And the second position relationship between plane.
It is according to the general expression of plane equation:
Ax+By+Cz+D=0, (c ≠ 0);Wherein, A, B, C are floor coefficient, and D is plane constant.
It is obtained after being converted:
NoteThen plane equation can be expressed as:Z=ax+by+c.
Plane equation fitting is carried out using least square method:
With the sample coordinate value P (x of sampled pointi,yi,zi) for, it is fitted the second plane equation, then makes the second plane:
Minimum should meet
Obtain
Further obtain equation group:
Or obtain system of linear equations:Wherein n indicates sampling The number of point.
By solving above-mentioned system of linear equations, the floor coefficient a of the second plane equation is obtained2,b2,c2
I.e. the second plane equation can be expressed as:Z2=a2x+b2y+c2
Similarly, it according to above-mentioned plane equation fitting formula, is obtained based on the corresponding projection coordinate's value fitting of each sampled point First plane equation can be expressed as:Z1=a1x+b1y+c1
Second plane included angle acquiring unit 713 is pressed for being based on first plane equation and second plane equation The plane included angle of first plane and second plane is calculated according to plane included angle formula.
The plane included angle θ obtained is calculated according to angle calcu-lation formula to be represented by:
It is flat to the first plane and second by the sample coordinate value and projection coordinate's value of sampled point in the embodiment of the present application Face carries out plane fitting, calculates the second plane equation of the first plane equation and the second plane that obtain the first plane.Based on One plane equation and the second plane equation calculate according to plane included angle formula and obtain plane included angle, so as to quickly and accurately Obtain the position relationship of the first plane and the second plane.
Fig. 8 is a kind of structural schematic diagram of plane inclining test equipment one embodiment provided by the embodiments of the present application.It should Equipment may include processing component 801 and storage assembly 802;The storage assembly 802 stores one or more computer program Instruction.
The processing component 801 is for calling and executing one or more computer program instructions to realize:
In the depth image of test position collecting test target;Determine that the depth image includes the test target The pixel of default sampling location depth information is sampled point;Three-dimensional coordinate is established based on the corresponding depth information of the sampled point System, and determine the sample coordinate value of the sampled point;Under the three-dimensional system of coordinate, determine the sampling spot projection to the survey Projection coordinate's value of first plane where trying position;Based on the sample coordinate value and projection coordinate's value, the survey is calculated The plane included angle of second plane and first plane where trying target.
Optionally, which is additionally operable to execute all or part of step in aforementioned approaches method step.
Wherein, which may include that one or more processors carry out computer instructions.Certain processing group Part 801 or one or more application application-specific integrated circuit (ASIC), digital signal processor (DSP), at digital signal Manage equipment (DSPD), programmable logic device (PLD), field programmable gate array (FPGA), controller, microcontroller, Wei Chu It manages device or other electronic components is realized, for executing the above method.
The storage assembly 802 can be real by any kind of volatibility or non-volatile memory device or combination thereof Existing, such as static RAM (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable is only Read memory (EPROM), programmable read only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic Disk or CD.
Certainly, electronic equipment can also include other component, such as input/output interface, communication component etc..Input/defeated Outgoing interface provides interface between processing component and peripheral interface module, and above-mentioned peripheral interface module can be output equipment, defeated Enter equipment etc..
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description, The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
The apparatus embodiments described above are merely exemplary, wherein the unit illustrated as separating component can It is physically separated with being or may not be, the component shown as unit may or may not be physics list Member, you can be located at a place, or may be distributed over multiple network units.It can be selected according to the actual needs In some or all of module achieve the purpose of the solution of this embodiment.Those of ordinary skill in the art are not paying creativeness Labour in the case of, you can to understand and implement.
Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can It is realized by the mode of software plus required general hardware platform, naturally it is also possible to pass through hardware.Based on this understanding, on Stating technical solution, substantially the part that contributes to existing technology can be expressed in the form of software products in other words, should Computer software product can store in a computer-readable storage medium, such as ROM/RAM, magnetic disc, CD, including several fingers It enables and using so that a computer equipment (can be personal computer, server or the network equipment etc.) executes each implementation Method described in certain parts of example or embodiment.
Finally it should be noted that:Above example is only to illustrate the technical solution of the application, rather than its limitations;Although The application is described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that:It still may be used With technical scheme described in the above embodiments is modified or equivalent replacement of some of the technical features; And these modifications or replacements, each embodiment technical solution of the application that it does not separate the essence of the corresponding technical solution spirit and Range.

Claims (10)

1. a kind of plane inclining test method, which is characterized in that including:
In the depth image of test position collecting test target;
Determine that the pixel that the depth image includes the depth information of the default sampling location of the test target is sampled point;
Three-dimensional system of coordinate is established based on the corresponding depth information of the sampled point, and determines the sample coordinate value of the sampled point;
Under the three-dimensional system of coordinate, determine the sampling spot projection to the projection coordinate of the first plane where the test position Value;
Based on the sample coordinate value and projection coordinate's value, the second plane and described first where calculating the test target The plane included angle of plane.
2. according to the method described in claim 1, it is characterized in that, depth of field module marginal definition is high;
The determination depth image includes that the pixel for the depth information that the test target presets sampling location is to adopt Sampling point includes:
Determine that the depth image includes pixel positioned at the depth image center and the position of the depth information In the depth image fringe region pixel be sampled point.
3. according to the method described in claim 1, it is characterized in that, depth of field module marginal distortion;
The determination depth image includes that the pixel for the depth information that the test target presets sampling location is to adopt Sampling point includes:
Determine that the depth image includes pixel positioned at the depth image center and the position of the depth information Pixel in the depth image central area is sampled point.
4. according to the method described in claim 2, it is characterized in that, described be based on the sample coordinate value and the projection coordinate Value, the plane included angle of the second plane and first plane includes where calculating the test target:
It determines in the sampled point, is located along the same line and at least one set parallel with the depth image any edge is grouped Sampled point;
Based on the corresponding projection coordinate's value of every group of grouping sampled point, calculates separately and correspond to every group of grouping in first plane The first straight line equation of the first straight line of sampled point;
Based on the corresponding sample coordinate value of every group of grouping sampled point, calculates separately and correspond to every group in second plane The second straight line equation of the second straight line of packet samples point;
Based on the first straight line equation and the second straight line equation, every group of grouping sampled point difference described corresponding the is calculated Angle between one straight line and second straight line obtains at least one plane sub-folder angle;
Sum-average arithmetic is carried out to each plane sub-folder angle, obtains the plane included angle of first plane and second plane.
5. according to the method described in claim 2, it is characterized in that, described established based on the corresponding depth information of the sampled point Three-dimensional system of coordinate, and determine that the sample coordinate value of the sampled point includes:
Based on the corresponding depth information of the sampled point, foundation is with the corresponding sampled point in center in the depth image The three-dimensional system of coordinate of coordinate origin;
Determine sample coordinate value of the sampled point under the three-dimensional system of coordinate.
6. according to the method described in claim 5, it is characterized in that, described under the three-dimensional system of coordinate, the sampling is determined Projection coordinate's value of the first plane includes where spot projection to the test position:
First plane is translated under the three-dimensional coordinate system so that the center of second plane and described first flat Intersect at the coordinate origin at the center in face;
Determine that the sampled point is projected under the three-dimensional system of coordinate to projection coordinate's value of first plane.
7. according to the method described in claim 6, it is characterized in that, the sampled point include be located at first plane with it is described At least one center line sampled point on second plane intersecting lens, and respectively about each center line sampling point symmetry and position First edge sampled point and second edge sampled point in second plane both sides;Wherein, each center line sampled point with it is right The first edge sampled point answered and the first Projection Sampling point of the first edge sampling spot projection to the first plane are constituted to every A center line sampled point corresponding plane sub-folder angle;
It is described to be based on the sample coordinate value and projection coordinate's value, the second plane where calculating the test target with it is described The plane included angle of first plane includes:
The sample coordinate value of each first edge sampled point is made the difference with corresponding projection coordinate's value respectively, is obtained every Corresponding first distance of a first edge sampled point;
The sample coordinate value of the second edge sampled point and corresponding projection coordinate's value are made the difference respectively, obtain each the The corresponding second distance of 2 edge sample points;
Respectively by projection coordinate's value of the sample coordinate value of each center line sampled point and the corresponding first edge sampled point It makes the difference, obtains the corresponding third distance of each center line sampled point;
Respectively by projection coordinate's value of the sample coordinate value of each center line sampled point and the corresponding second edge sampled point It makes the difference, obtains corresponding 4th distance of each center line sampled point;
Based on first distance, the second distance, the third distance, the 4th distance, calculates and obtain each center Sampled point corresponding plane sub-folder angle;
Sum-average arithmetic is carried out to each center line sampled point corresponding plane sub-folder angle, obtain first plane with The plane included angle of second plane.
8. according to the method described in claim 3, it is characterized in that, described be based on the sample coordinate value and the projection coordinate Value, the plane included angle of the second plane and first plane includes where calculating the test target:
Based on the corresponding projection coordinate's value of the sampled point, fitting obtains the first plane equation of first plane;
Based on the corresponding sample coordinate value of the sampled point, fitting obtains the second plane equation of second plane;
Based on first plane equation and second plane equation, according to plane included angle formula calculate first plane and The plane included angle of second plane.
9. according to the method described in claim 1, it is characterized in that, based on the sample coordinate value and the projection coordinate Value, the second plane where calculating the test target further include with after the plane included angle of first plane:
Judge whether first plane and second plane are parallel based on the plane included angle;
If parallel, judge to correspond to the depth information that the test target at least two presets sampling location in the depth image Whether smooth condition is met;
If so, determining the surfacing of the test target;
If not, determining the surface irregularity of the test target;
If not parallel, continued to execute after adjustment depth of field module and the angle of the test target and judge first plane and institute State the whether parallel step of the second plane.
10. a kind of plane inclining test equipment, which is characterized in that including processing component and storage assembly;The storage assembly is deposited Store up one or more computer program instructions;The processing component is for calling and executing one or more computer program Instruction is to realize:
In the depth image of test position collecting test target;
Determine the depth image include the default sampling location depth information of the test target pixel be sampled point;
Three-dimensional system of coordinate is established based on the corresponding depth information of the sampled point, and determines the sample coordinate value of the sampled point;
Under the three-dimensional system of coordinate, determine the sampling spot projection to the projection coordinate of the first plane where the test position Value;
Based on the sample coordinate value and projection coordinate's value, the second plane and described first where calculating the test target The plane included angle of plane.
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