CN109191516B - Rotation correction method and device of structured light module and readable storage medium - Google Patents
Rotation correction method and device of structured light module and readable storage medium Download PDFInfo
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- G06T7/60—Analysis of geometric attributes
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- H04N9/31—Projection devices for colour picture display, e.g. using electronic spatial light modulators [ESLM]
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Abstract
The invention discloses a rotation correction method and device of a structured light module and a readable storage medium. The rotation correction method of the structured light module comprises the following steps: step 1: projecting a structural light spot onto a projection plane by the structural light projector, and shooting a structural light image onto the projection plane by the structural light camera to obtain a structural light image, wherein a light emitting surface of the structural light projector and a light sensing surface of the structural light camera are both parallel to the projection plane; step 2: calculating an included angle between at least one light spot edge straight line of the structural light spot and an image edge straight line of the structural light image in the acquired structural light image; and step 3: fixing the structured light projector or the structured light camera, adjusting the structured light camera or the structured light projector according to the calculated included angle, and correcting the light emitting axis of the structured light projector and the relative rotation between the light inlet axes of the structured light camera. The rotation correction method can eliminate the relative rotation of the optical axis between the structured light projector and the structured light camera in the structured light module.
Description
Technical Field
The present invention relates to the field of structured light, and in particular, to a rotation correction method and apparatus for a structured light module, and a readable storage medium.
Background
With the first use of structured light technology in mobile phones by apple, it will be the mainstream development direction to use a structured light module for face recognition, 3D sensing, etc. in a smart terminal. The structured light module comprises a structured light projector and a structured light camera, the structured light projector is used for projecting coded structured light to a shot object, the structured light camera is used for shooting the shot object to obtain a structured light image, and an image processor at the rear end decodes the structured light image according to an image algorithm to obtain depth information of the shot object.
Theoretically, the light emitting axis of the structured light projector and the light inlet axis of the structured light camera should be parallel to each other, but due to manufacturing tolerance, design error and the like, the structured light module inevitably has a tilt problem, and after the tilt problem of the structured light module is corrected, a rotation problem is also found, that is, a relative rotation angle exists between the light emitting axis of the structured light projector and the light inlet axis of the structured light camera.
Disclosure of Invention
In order to solve the above-mentioned deficiencies of the prior art, the present invention provides a rotation correction method and apparatus for a structured light module, and a readable storage medium. The rotation correction method can eliminate the relative rotation of the optical axis between the structured light projector and the structured light camera in the structured light module.
The technical problem to be solved by the invention is realized by the following technical scheme:
a rotation correction method of a structured light module, the structured light module comprises a structured light projector and a structured light camera, and the steps comprise:
step 1: projecting a structural light spot onto a projection plane by the structural light projector, and shooting a structural light image onto the projection plane by the structural light camera to obtain a structural light image, wherein a light emitting surface of the structural light projector and a light sensing surface of the structural light camera are both parallel to the projection plane;
step 2: calculating an included angle between at least one light spot edge straight line of the structural light spot and an image edge straight line of the structural light image in the acquired structural light image;
and step 3: fixing the structured light projector or the structured light camera, adjusting the structured light camera or the structured light projector according to the calculated included angle, and correcting the light emitting axis of the structured light projector and the relative rotation between the light inlet axes of the structured light camera.
Further, step 2 comprises:
step 2.1: calculating at least one light spot edge straight line;
step 2.2: and calculating an included angle between the at least one light spot edge straight line and the image edge straight line according to the calculated at least one light spot edge straight line.
Further, step 2.1 comprises:
step 2.1.1: carrying out binarization on the structured light image to form a binarized image;
step 2.1.2: and in the binary image, calculating at least one binary edge straight line between the binary bright area and the binary dark area as a light spot edge straight line.
Further, step 2.1.1 comprises:
step 2.1.1.1: selecting at least one value area on the structural light spot;
step 2.1.1.2: calculating a brightness average value according to all selected value areas;
step 2.1.1.3: and taking the calculated brightness average value as a threshold value, and carrying out binarization on the structured light image.
Further, in step 2.1.2, before calculating the binarized edge straight line, image expansion is performed on the binarized bright area, and then image filling is performed on the internal area of the binarized bright area.
Further, in step 2.1.2, before image filling is performed on the internal area of the binarized bright area, the internal area of the binarized bright area is obtained.
Further, the method for acquiring the internal area of the binarized bright area includes:
A. in the binarization bright area, calculating a binarization bright point which is farthest from the 0-level diffraction point from the upper side, the lower side, the left side and the right side respectively;
B. and taking the calculated horizontal straight line and/or vertical straight line where the binarization bright spot is located as a frame to obtain the internal area of the binarization bright area.
Further, in step 2, at least one edge straight line is calculated by an edge detection algorithm and a straight line detection algorithm.
A rotation correction device of a structured light module comprises a processor and a memory electrically connected with the processor, wherein a computer program executed by the processor is stored in the memory, and when the processor executes the computer program, the step 2 in the rotation correction method of the structured light module is carried out.
A readable storage medium storing a computer program for execution by a processor, wherein the computer program, when executed by the processor, performs step 2 of the method for correcting rotation of a structured light module. .
The invention has the following beneficial effects: according to the rotation correction method, an included angle between a light spot edge of a structural light spot and an image edge is calculated in a structural light image to detect the relative rotation angle of an optical axis between a structural light projector and a structural light camera in a structural light module, so that the relative rotation between a light emitting axis of the structural light projector and a light inlet axis of the structural light camera is eliminated.
Drawings
FIG. 1 is a block diagram illustrating the steps of a method for correcting rotation of a structured light module according to the present invention;
FIG. 2 is a schematic view of a rotation correction detection platform of the structured light module according to the present invention;
FIG. 3 is a schematic diagram of a structured light image captured by a structured light camera;
FIG. 4 is a schematic diagram of selecting at least one value area on a structure light spot;
FIG. 5 is a schematic diagram of a binarized image after structured light image binarization;
FIG. 6 is a schematic diagram of a binarized image after image expansion;
fig. 7 is a schematic diagram of the binarized image after image filling.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and examples.
Example one
As shown in fig. 1, a method for correcting rotation of a structured light module, the structured light module includes a structured light projector 101 and a structured light camera 102, and the method includes:
step 1: as shown in fig. 2, projecting a structured light spot 105 onto a projection plane 103 by the structured light projector 101, and shooting a structured light image 104 shown in fig. 3 by the structured light camera 102 onto the projection plane 103, wherein a light emitting surface of the structured light projector 101 and a light sensing surface of the structured light camera 102 are both parallel to the projection plane 103; in step 1, the acquired structured light image 104 should include at least one light spot edge of the structured light spot 105, and a structured light camera 102 with a large FOV may be selected to cooperate with the structured light projector 101 to form a structured light module, where the FOV of the structured light camera 102 is larger than the FOV of the structured light projector 101, so that the structured light image 104 includes at least two light spot edges opposite to the structured light spot 105. The rotation correction device is used for being connected to the structured light camera 102, and after the structured light image 104 is read, a relative rotation angle between the light emitting axis of the structured light projector 101 and the light incoming axis of the structured light camera 102 is calculated through a built-in rotation correction algorithm.
The projection plane 103 may be, but is not limited to, a projection curtain, and the rotation correction device may be, but is not limited to, a personal computer.
Step 2: calculating an included angle between at least one light spot edge straight line of the structural light spot 105 and an image edge straight line of the structural light image 104 in the acquired structural light image 104;
in step 2, if the calculated light spot edge straight line and the selected image edge straight line are on the same side or opposite sides, they should theoretically be in parallel relationship and have an included angle of 0 °, and if the calculated light spot edge straight line and the selected image edge straight line are on adjacent sides, they should theoretically be in perpendicular relationship and have an included angle of 90 °.
The step 2 specifically comprises:
step 2.1: calculating at least one light spot edge straight line;
in the step 2.1, at least one light spot edge straight line is calculated through an edge detection algorithm and a straight line detection algorithm, specifically, at least one light spot edge of the structural light spot 105 is detected through the edge detection algorithm, then the detected light spot edge is subjected to straight line detection through the straight line detection algorithm, then several light spots with constant pixel distances are selected near the detected light spot edge straight line for fitting, and a light spot edge straight line equation is calculated. The edge detection algorithm preferably adopts a canny operator, and the straight line detection algorithm preferably adopts hough transformation.
The step 2.1 specifically comprises:
step 2.1.1: binarizing the structured light image 104 to form a binarized image 104A as shown in fig. 5;
in the binarization processing, the average brightness value of the whole structured light image 104 may be used as a threshold, the brightness values of all the pixel points whose brightness values are greater than the threshold are all set to 255, so as to form a binarization bright point, and the brightness values of all the pixel points whose brightness values are less than the threshold are all set to 0, so as to form a binarization dark point. In the binarized image 104A, an area where the original structural light spot 105 is located may form a binarized bright area 105A, and a large number of binarized dark blocks are distributed, and an area outside the original structural light spot 105 may form a binarized dark area 105B.
In order to reduce the number of the binarized dark blocks in the binarized bright area 105A and improve the accuracy of detecting and calculating the edge straight line, preferably, the step 2.1.1 includes:
step 2.1.1.1: as shown in fig. 4, at least one value area 106 is selected on the structure light spot 105;
in this step 2.1.1.1, the value area 106 may be selected by an inspector operating on the rotation correction device, or the selected position and the selected size of the value area 106 of the same type of structured light module may be preset on the rotation correction device and automatically selected by the rotation correction device.
The value-taking region 106 may partially include a region outside the structure light spot 105, but may not only include the region outside the structure light spot 105, and the closer the selected position of the value-taking region 106 is to the edge of the structure light spot 105, the better.
Step 2.1.1.2: calculating a brightness average value according to all the selected value areas 106;
in this step 2.1.1.2, a brightness average is calculated according to the brightness values of all the pixels in all the value-taking areas 106.
Step 2.1.1.3: the structured light image 104 is binarized using the calculated average value of the luminance as a threshold value.
Step 2.1.2: in the binarized image 104A, at least a binarized edge straight line between the binarized bright area 105A and the binarized dark area 105B is calculated as a spot edge straight line.
In step 2.1.2, the binarized edge straight line is also obtained by an edge detection algorithm and a straight line detection algorithm, as with the spot edge straight line.
Preferably, in this step 2.1.2, before calculating the binarized edge straight line, the binarized bright area 105A is image-expanded as shown in fig. 6, and then the inner area 105A1 of the binarized bright area 105A is image-filled as shown in fig. 7.
The image expansion can make the boundary between the binarization bright area 105A and the binarization dark area 105B clearer and more obvious, most binarization dark blocks in the binarization bright area 105A can be removed by image filling, the precision of detection calculation of binarization edge straight lines is improved, and the filling color can be white.
In this step 2.1.2, the inner region 105A1 of the binarized bright region 105A is acquired before the inner region 105A1 of the binarized bright region 105A is image-filled.
Specifically, the method of acquiring the inner region 105A1 of the binarized bright region 105A includes:
A. in the binarized bright region 105A, binarized bright points which are farthest from the 0-order diffraction point from the upper, lower, left, and right sides, respectively, are calculated; the 0-order diffraction point corresponds to the optical center 0-order diffraction grating of the structured light projector 101, and is represented as a pixel point with the maximum brightness value in the structured light spot 105, and may be, but not limited to, firstly searching and determining in the structured light image 104 by comparing the brightness value or image binarization before binarization, which is not described in detail in the existing algorithm.
Specifically, as shown in fig. 7, a rectangular coordinate system XY is established on the binarized image 104A, coordinate values of each binarized bright point are compared, two binarized bright points with the largest and smallest difference between the X value and the X value of the 0-order diffraction point and two binarized bright points with the largest and smallest difference between the Y value and the Y value of the 0-order diffraction point are respectively calculated, and the binarized bright point farthest from the 0-order diffraction point from the upper, lower, left and right sides can be obtained. Because the same binarization bright spot can be the one side farthest from the 0-order diffraction point, or the two adjacent sides farthest from the 0-order diffraction point, the number of the finally obtained binarization bright spots is 2-4.
B. The calculated horizontal straight line and/or vertical straight line on which the binarized bright point is located is used as a frame to obtain the inner area 105A1 of the binarized bright area 105A.
The vertical straight line where the binarized bright point farthest from the 0-order diffraction point on the left side is located is taken as a left frame, the vertical straight line where the binarized bright point farthest from the 0-order diffraction point on the right side is taken as a right frame, the horizontal straight line where the binarized bright point farthest from the 0-order diffraction point on the upper side is located is taken as an upper frame, and the horizontal straight line where the binarized bright point farthest from the 0-order diffraction point on the lower side is taken as a lower frame, thereby obtaining the internal region 105a 1.
Step 2.2: and calculating an included angle between the at least one light spot edge straight line and the image edge straight line according to the calculated at least one light spot edge straight line.
The spot edge straight line in this step 2.2 is replaced by a binarized edge straight line.
And step 3: fixing the structured light projector 101 or the structured light camera 102, adjusting the structured light camera 102 or the structured light projector 101 according to the calculated included angle, and correcting the relative rotation between the light emitting axis of the structured light projector 101 and the light inlet axis of the structured light camera 102.
In step 3, the structured light projector 101 is rotated with the central light emitting axis of the structured light projector 101 as a rotation axis, or the structured light camera 102 is rotated with the central light entering axis of the structured light camera 102 as a rotation axis.
According to the rotation correction method, an included angle between a light spot edge of the structured light spot 105 and an image edge is calculated in the structured light image 104, so that the relative rotation angle of an optical axis between the structured light projector 101 and the structured light camera 102 in the structured light module is detected, and the relative rotation between the light emitting axis of the structured light projector 101 and the light inlet axis of the structured light camera 102 is eliminated.
Example two
A rotation correction device of a structured light module comprises a processor and a memory electrically connected with the processor, wherein the memory is stored with a computer program for the processor to execute, and the rotation correction device is characterized in that when the processor executes the computer program, the step 2 in the rotation correction method of the structured light module in the first embodiment is carried out.
EXAMPLE III
A readable storage medium storing a computer program for execution by a processor, wherein the computer program, when executed by the processor, performs step 2 of the method for correcting rotation of a structured light module according to the first embodiment.
The above-mentioned embodiments only express the embodiments of the present invention, and the description is more specific and detailed, but not understood as the limitation of the patent scope of the present invention, but all the technical solutions obtained by using the equivalent substitution or the equivalent transformation should fall within the protection scope of the present invention.
Claims (10)
1. A rotation correction method of a structured light module, the structured light module comprises a structured light projector and a structured light camera, and the method is characterized by comprising the following steps:
step 1: projecting a structural light spot onto a projection plane by the structural light projector, and shooting a structural light image onto the projection plane by the structural light camera to obtain a structural light image, wherein a light emitting surface of the structural light projector and a light sensing surface of the structural light camera are both parallel to the projection plane;
step 2: calculating an included angle between at least one light spot edge straight line of the structural light spot and an image edge straight line of the structural light image in the acquired structural light image;
and step 3: fixing the structured light projector or the structured light camera, adjusting the structured light camera or the structured light projector according to the calculated included angle, and correcting the light emitting axis of the structured light projector and the relative rotation between the light inlet axes of the structured light camera.
2. The method of claim 1, wherein step 2 comprises:
step 2.1: calculating at least one light spot edge straight line;
step 2.2: and calculating an included angle between the at least one light spot edge straight line and the image edge straight line according to the calculated at least one light spot edge straight line.
3. The method of claim 2, wherein step 2.1 comprises:
step 2.1.1: carrying out binarization on the structured light image to form a binarized image;
step 2.1.2: and in the binary image, calculating at least one binary edge straight line between the binary bright area and the binary dark area as a light spot edge straight line.
4. A method for correcting rotation of a structured light module according to claim 3, wherein step 2.1 comprises:
step 2.1.1.1: selecting at least one value area on the structural light spot;
step 2.1.1.2: calculating a brightness average value according to all selected value areas;
step 2.1.1.3: and taking the calculated brightness average value as a threshold value, and carrying out binarization on the structured light image.
5. The method for correcting rotation of a structured light module according to claim 3 or 4, wherein in step 2.1.2, before calculating the binarized edge straight line, the image expansion is performed on the binarized bright area, and then the image filling is performed on the inner area of the binarized bright area.
6. The method for correcting rotation of a structured light module according to claim 5, wherein in step 2.1.2, the inner region of the binarized bright region is obtained before image filling of the inner region of the binarized bright region.
7. The method for correcting rotation of a structured light module according to claim 5, wherein the method for obtaining the inner region of the binarized bright region comprises:
A. in the binarization bright area, calculating a binarization bright point which is farthest from the 0-level diffraction point from the upper side, the lower side, the left side and the right side respectively;
B. and taking the calculated horizontal straight line and/or vertical straight line where the binarization bright spot is located as a frame to obtain the internal area of the binarization bright area.
8. A method for correcting rotation of a structured light module according to any of claims 1 to 3, wherein in step 2, at least one edge line is calculated by an edge detection algorithm and a line detection algorithm.
9. A rotation correction device for a structured light module, comprising a processor and a memory electrically connected to the processor, wherein the memory stores a computer program for the processor to execute, and wherein the processor executes the computer program to perform step 2 of the method for correcting rotation of a structured light module according to any one of claims 1 to 8.
10. A readable storage medium storing a computer program for execution by a processor, wherein the computer program, when executed by the processor, performs step 2 of the method for correcting rotation of a structured light module according to any one of claims 1 to 8.
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| CN110146159B (en) * | 2019-05-05 | 2024-03-29 | 深圳市锐伺科技有限公司 | Optical power detection device and method of TOF light projection module |
| CN112198669B (en) * | 2019-07-08 | 2022-07-26 | 三赢科技（深圳）有限公司 | Structured light projection module, depth camera and electronic device |
| CN111623960B (en) * | 2020-06-05 | 2023-01-03 | 东莞埃科思科技有限公司 | Method and device for measuring optical axis of structured light module |
| CN113315897B (en) * | 2021-05-20 | 2023-04-14 | 江西欧迈斯微电子有限公司 | AA method, test scale, AA equipment, camera module and electronic equipment |
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