CN110049314B - Method and device for detecting distortion of module TV by using checkerboard test table - Google Patents
Method and device for detecting distortion of module TV by using checkerboard test table Download PDFInfo
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- CN110049314B CN110049314B CN201910319790.2A CN201910319790A CN110049314B CN 110049314 B CN110049314 B CN 110049314B CN 201910319790 A CN201910319790 A CN 201910319790A CN 110049314 B CN110049314 B CN 110049314B
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- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N17/00—Diagnosis, testing or measuring for television systems or their details
- H04N17/002—Diagnosis, testing or measuring for television systems or their details for television cameras
Abstract
The invention discloses a method and a device for detecting distortion of a module TV by using a checkerboard test table. The method comprises the following steps: driving a camera module to be tested to shoot a checkerboard test table to obtain a test image; extracting angular points of the test image to obtain all angular points on the test image; and calculating the TV distortion value of the camera module to be tested according to the position distance between the angular points. The method can detect the TV distortion of the camera module by utilizing the checkerboard test table.
Description
Technical Field
The invention relates to the field of camera module detection, in particular to a method and a device for detecting module TV distortion by using a checkerboard test table.
Background
TV distortion is a measure of visual distortion of an image, and is an important index for evaluating the imaging quality of a camera module.
Disclosure of Invention
In order to solve the above-mentioned deficiencies of the prior art, the present invention provides a method and an apparatus for detecting TV distortion of a camera module by using a checkerboard test table.
The technical problem to be solved by the invention is realized by the following technical scheme:
a method for detecting the distortion of a module TV by using a checkerboard test table comprises the following steps:
driving a camera module to be tested to shoot a checkerboard test table to obtain a test image;
extracting angular points of the test image to obtain all angular points on the test image;
and calculating the TV distortion value of the camera module to be tested according to the position distance between the angular points.
Further, according to the position distance between the angular points, the step of calculating the TV distortion value of the camera module to be tested is as follows:
determining a maximum distortion rectangular area formed by all corner points;
calculating the center distance and the edge distance of the maximum distortion rectangular area;
and calculating the TV distortion value of the camera module to be detected according to the central distance and the edge distance.
Further, the step of determining the maximum distortion rectangular area formed by all the corner points is as follows:
counting the number of angular points on each distortion line and each distortion column;
judging the number of angular points on each distortion line and each distortion column, if the number of angular points on a certain distortion line is smaller than a first maximum value, removing all the angular points on the corresponding distortion line, and if the number of angular points on a certain distortion column is smaller than a second maximum value, removing all the angular points on the corresponding distortion column, wherein the first maximum value is the maximum value of the number of angular points in all the distortion lines, and the second maximum value is the maximum value of the number of angular points in all the distortion columns;
and forming the maximum distortion rectangular area by using all the remaining corner points.
Further, the step of calculating the center distance and the edge distance of the maximum distortion rectangular region is as follows:
screening out end corner points positioned on the end corners of the maximum distortion rectangular area and center corner points positioned on the side edges of the maximum distortion rectangular area;
and calculating the distance between two opposite center corner points as the center distance in the corresponding direction, and calculating the distance between two adjacent end corner points as the edge distance in the corresponding direction.
Further, the TV distortion value = (D1-D2)/D2, where D1 and D2 are a center distance and an edge distance of the maximum distortion rectangular region in the same direction, respectively.
Further, before obtaining the test image and performing corner extraction on the test image, the method further includes: and calculating and correcting the offset between the photosensitive surface of the camera module to be tested and the checkerboard test table according to the test image.
Further, the offset between the photosensitive surface of the camera module to be tested and the checkerboard test table includes a position offset, and the step of calculating the position offset is as follows:
establishing a planar rectangular coordinate system XY by taking the photosensitive surface of the camera module to be detected as an XY surface;
and calculating the position deviation according to the centroid coordinate of the central test point in the test image on the photosensitive surface.
Further, the deviation between the photosensitive surface of the camera module to be tested and the checkerboard test table comprises inclination deviation, and the inclination deviation is calculated according to the following steps:
establishing a three-dimensional rectangular coordinate system XYZ by taking the photosensitive surface of the camera module to be detected as an XY plane;
calculating a plane equation of the checkerboard test table according to coordinates of at least three test points which are not on the same straight line in the test image on the checkerboard test table;
calculating the tilt offset according to the plane equation.
Further, the photosensitive surface of the module of making a video recording that awaits measuring with skew between the check test table includes rotatory skew, calculates rotatory skew's step includes:
establishing a plane rectangular coordinate system XY on the photosensitive surface of the camera module to be detected;
calculating an included angle between at least one straight line on the photosensitive surface and the edge of the photosensitive surface according to the centroid coordinates of at least two test points in the test image on the photosensitive surface, wherein the straight line penetrates through the centroid coordinates of the corresponding at least two test points on the photosensitive surface;
and calculating the rotation offset between the photosensitive surface of the camera module to be detected and the checkerboard test tables according to the included angle between the edges of the photosensitive surface and the included angle between the edges of the checkerboard test tables on the same straight line.
The device for detecting the distortion of the module TV by using the checkerboard test table comprises a processor and a memory connected with the processor, wherein a computer program executed by the processor is stored in the memory, and the method for detecting the distortion of the module TV by using the checkerboard test table is carried out when the processor executes the computer program.
The invention has the following beneficial effects: the method and the device can detect the TV distortion of the camera module by utilizing the checkerboard test table.
Drawings
FIG. 1 is a diagram illustrating the steps of a method for detecting TV distortion of a module according to the present invention;
FIG. 2 is a diagram of the method steps for determining the maximum distortion rectangle provided by the present invention;
FIG. 3 is a schematic diagram of a checkerboard test table provided by the present invention;
FIG. 4 is a schematic diagram of all corner points on a test image obtained by the present invention;
FIG. 5 is a schematic diagram of a test image obtained according to the present invention after maximum distortion rectangle.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and examples.
As shown in fig. 1, a method for detecting distortion of a module TV by using a checkerboard test table includes the following steps:
s101: driving a camera module to be tested to shoot a checkerboard test table to obtain a test image;
in step S101, after obtaining the test image, before proceeding to the next step S102, the method further includes: and calculating and correcting the offset between the photosensitive surface of the camera module to be tested and the checkerboard test table according to the test image.
As shown in fig. 3, the checkerboard test table further includes at least one test point in addition to the checkerboard pattern; in this embodiment, the number of the test points is five, each test point is located in a white lattice of the checkerboard pattern, four of the test points are located at four corners of a rectangle, and one test point is located at an intersection point of two diagonal lines of the rectangle and serves as a central test point.
Specifically, the offset between the photosensitive surface of the to-be-detected camera module and the checkerboard test table includes a position offset, and the step of calculating the position offset is as follows:
establishing a planar rectangular coordinate system XY by taking the photosensitive surface of the camera module to be detected as an XY surface; and the plane rectangular coordinate system XY takes the transverse direction of the photosensitive surface as an X axis and the longitudinal direction as a Y axis.
And calculating the position deviation according to the centroid coordinate of the central test point in the test image on the photosensitive surface.
The positional offsets include an X-axis offset dx and a Y-axis offset dy,
the center test point is located on the photosensitive surface, the center coordinate of the photosensitive surface is located, (X0, Y0), Psi is the pixel point size of the to-be-tested camera module, S is the optical axis direction distance from the photosensitive surface to the optical center of the lens of the to-be-tested camera module, and H1 is the optical axis direction distance from the center test point on the checkerboard test table to the lens of the to-be-tested camera module.
The value of H1 is preferably the distance in the optical axis direction from the central test point on the checkered test table to the optical center of the lens of the camera module to be tested, and since this value does not need to be too accurate, the value of H1 may also be the distance in the optical axis direction from the central test point on the checkered test table to the surface of the lens of the camera module to be tested; the value of S is a fixed parameter of the camera module to be tested, and the value of H1 can be obtained through laser ranging or equipment debugging.
After correcting the position offset between the checkerboard test table and the photosensitive surface, the center test point of the checkerboard test table is aligned with the center of the photosensitive surface, namely, the connecting line between the center test point of the checkerboard test table and the center of the photosensitive surface is perpendicular to the photosensitive surface of the camera module to be detected or parallel to the optical axis of the camera module to be detected.
Specifically, the deviation between the photosensitive surface of the to-be-detected camera module and the checkerboard test table includes a tilt deviation, and the tilt deviation is calculated according to the following steps:
establishing a three-dimensional rectangular coordinate system XYZ by taking the photosensitive surface of the camera module to be detected as an XY plane; and the plane rectangular coordinate system XY takes the transverse direction of the photosensitive surface as an X axis and the longitudinal direction as a Y axis.
Calculating a plane equation of the checkerboard test table according to coordinates of at least three test points which are not on the same straight line in the test image on the checkerboard test table;
the specific steps for calculating the plane equation are as follows:
selecting at least three test points which are not on the same straight line in the test image;
in this embodiment, the selected at least three test points include a test point a, a test point B, and a test point C, and the test point a, the test point B, and the test point C are not on the same straight line.
Calculating coordinates of the at least three test points corresponding to the checkerboard test table according to the centroid coordinates of the at least three test points on the photosensitive surface;
the centroid coordinates of the A test point, the B test point and the C test point on the photosensitive surface are (Xa, Ya, 0), (Xb, Yb, 0) and (Xc, Yc, 0), and if the coordinates of the A test point, the B test point and the C test point on the checkerboard test table are (Xa ', Ya ', Za '), (Xb ', Yb ', Zb ') and (Xc ', Yc ', Zc '), then the coordinates have
Wherein, (X0, Y0, 0) is the central coordinate of the photosurface, S is the optical axis direction distance from the photosurface to the optical center of the lens of the to-be-tested camera module, H2 is the optical axis direction distance from the test point a on the checkerboard test table to the lens of the to-be-tested camera module, and f is the focal length of the to-be-tested camera module.
The value of H2 is preferably the distance in the optical axis direction from the a test point on the checkerboard test table to the optical center of the lens of the camera module to be tested, and since these two values do not need to be too accurate, the value of H2 may also be the distance in the optical axis direction from the a test point on the checkerboard test table to the surface of the lens of the camera module to be tested.
Preferably, if the selected a test point is the central test point, H2= H1.
With respect to the B test point and the C test point, there are:
The A test point, the B test point and the C test point on the checkerboard test table form an equation set
Because the test points on the checkerboard test table are all manually set and the test points are all selected manually by a tester or automatically by software according to a preset rule, the relationship of the corners of the polygon formed by the test point A, the test point B and the test point C is known, namely n1 and n2 are known.
For convenience of calculation, when the a test point, the B test point and the C test point are selected, a right triangle is formed among the a test point, the B test point and the C test point, and the a test point is a right angle point, so that n1= 0.
Calculating a plane equation of the checkerboard test table according to the coordinates of the at least three test points on the checkerboard test table;
obtaining a plane equation z = a x + b y + c of the checkerboard test table by adopting least square fitting, and enabling
Taking the minimum value by S, and calculating a, b and c; wherein the coordinate of the ith test point on the chessboard test chart is (Xi ', Yi ', Zi ').
Calculating the inclination offset between the checkerboard test table and the photosensitive surface of the camera module to be tested according to the plane equation;
calculating the tilt offset by taking any of three points (X1 ', Y1 ', Z1 '), (X2 ', Y2 ', Z2 ') and (X3 ', Y3 ', Z3 ') in the plane equation Z = a X + b Y + c;
the tilt offset includes an X-axis offset angle anglex and a Y-axis offset angle angley,
after the inclination deviation between the checkerboard test table and the photosensitive surface is corrected, the checkerboard test table is parallel to the photosensitive surface.
Specifically, the sensitization face of the module of making a video recording that awaits measuring with skew between the check test table includes rotatory skew, calculates rotatory skew's step includes:
establishing a plane rectangular coordinate system XY on the photosensitive surface of the camera module to be detected; and the plane rectangular coordinate system XY takes the transverse direction of the photosensitive surface as an X axis and the longitudinal direction as a Y axis.
Calculating an included angle between at least one straight line on the photosensitive surface and the edge of the photosensitive surface according to the centroid coordinates of at least two test points in the test image on the photosensitive surface;
in this embodiment, the selected at least two test points include an a test point and a B test point, where centroid coordinates of the a test point and the B test point on the photosurface are (Xa, Ya, 0) and (Xb, Yb, 0), respectively, then a slope k = (Ya-Yb)/(Xa-Xb) of a straight line AB on the photosurface, and then an included angle θ between the straight line AB on the photosurface and any edge of the photosurface (i.e., any image edge of the test image) can be calculated.
Calculating the rotation offset between the photosensitive surface of the camera module to be tested and the checkerboard test table according to the included angle between the edge of the photosensitive surface and the included angle between the edge of the checkerboard test table and the included angle on the checkerboard test table;
the rotational offset, Zrotion = theta- α, where theta and α are the angles between the same line and the same side edge on the photosurface and the checkerboard test meter, respectively.
Because the test points on the checkerboard test table are all set manually, and the test points are all selected manually by a tester or automatically by software according to a preset rule, the included angle between any two test points on the checkerboard test table and the edge of the checkerboard test table is known, namely α is known.
After the rotation offset between the checkerboard test table and the photosensitive surface is corrected, the four edges of the checkerboard test table and the photosensitive surface are correspondingly parallel.
S102: extracting corner points of the test image, as shown in fig. 4, to obtain all corner points on the test image;
in step S102, all corner points in the test image are extracted by using a corner point extraction algorithm, which is prior art and not described in detail.
S103: and calculating the TV distortion value of the camera module to be tested according to the position distance between the angular points.
Specifically, the step of calculating the TV distortion value of the camera module to be measured according to the position distance between the angular points is as follows:
s103.1: as shown in fig. 5, determining a maximum distortion rectangular area formed by all corner points;
as shown in fig. 2, the step of determining the maximum distortion rectangular region formed by all the corner points is as follows:
counting the number of angular points on each distortion line and each distortion column;
judging the number of angular points on each distortion line and each distortion column, if the number of angular points on a certain distortion line is smaller than a first maximum value, removing all the angular points on the corresponding distortion line, and if the number of angular points on a certain distortion column is smaller than a second maximum value, removing all the angular points on the corresponding distortion column, wherein the first maximum value is the maximum value of the number of angular points in all the distortion lines, and the second maximum value is the maximum value of the number of angular points in all the distortion columns;
and forming the maximum distortion rectangular area by using all the remaining corner points.
S103.2: calculating the center distance and the edge distance of the maximum distortion rectangular area;
the center distance refers to a center distance between two opposite side edges of the maximum distortion rectangular region, and the edge distance refers to a distance between two adjacent end corners of the maximum distortion rectangular region.
Wherein the step of calculating the center distance and the edge distance of the maximum distortion rectangular region is as follows:
screening out end corner points positioned on the end corners of the maximum distortion rectangular area and center corner points positioned on the side edges of the maximum distortion rectangular area;
in this embodiment, since the TV distortion values of the to-be-measured camera module in two perpendicular directions need to be calculated, four end corner points respectively located on four end corners of the maximum distortion rectangular region and four center corner points respectively located on four sides of the maximum distortion rectangular region need to be screened.
Regarding the screening of the four end corner points, firstly, the distances from all corner points in the maximum distortion rectangular region to the four image corners of the test image are calculated, then the four corner points with the minimum distances from the four image corners are taken as the four end corner points, that is, the corner point with the minimum distance from the upper left image corner of the test image is taken as the upper left end corner point of the maximum distortion rectangular region, the corner point with the minimum distance from the upper right image corner of the test image is taken as the upper right end corner point of the maximum distortion rectangular region, the corner point with the minimum distance from the lower left image corner of the test image is taken as the lower left end corner point of the maximum distortion rectangular region, and the corner point with the minimum distance from the lower right image corner of the test image is taken as the lower right end corner point of the maximum distortion rectangular region.
Regarding the screening of four center corner points, the first method screens by the number of distorted rows and/or distorted columns, and first determines the number of distorted rows and/or distorted columns of the maximum distorted rectangular region, if the number of distorted rows and/or distorted columns is odd, the center corner points are located at two ends of the middle distorted row and/or distorted column, and if the number of distorted rows and/or distorted columns is even, the center corner points are located at two ends of one of the middle two distorted rows and/or distorted columns, preferably at two ends of the distorted row and/or distorted column closest to the center of the maximum distorted rectangular region; the second method is to screen the distances from each corner point to the image edge center of the test image, first calculate the distances from all corner points in the maximum distortion rectangular area to the four side image edge centers of the test image, then use the four corner points with the minimum/maximum distances from the four side image edge centers as the four center corner points, i.e. the corner point with the minimum/maximum distance from the upper side image edge center of the test image is used as the upper side center corner point of the maximum distortion rectangular area, the corner point with the minimum/maximum distance from the lower side image edge center of the test image is used as the lower side center corner point of the maximum distortion rectangular area, the corner point with the minimum/maximum distance from the left side image edge center of the test image is used as the left side center corner point of the maximum distortion rectangular area, and taking the corner point with the minimum/maximum distance from the center of the right image edge of the test image as the center corner point of the right side of the maximum distortion rectangular area.
The second screening method for four center corner points requires the above-mentioned offset correction to ensure that the maximum distortion rectangular region is centered and aligned with the test image.
And calculating the distance between two opposite center corner points as the center distance in the corresponding direction, and calculating the distance between two adjacent end corner points as the edge distance in the corresponding direction.
S103.3: calculating a TV distortion value of the camera module to be detected according to the central distance and the edge distance;
wherein the TV distortion value = (D1-D2)/D2, wherein D1 and D2 are a center distance and an edge distance of the maximum distortion rectangular region in the same direction, respectively.
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 (7)
1. A method for detecting the distortion of a module TV by using a checkerboard test table is characterized by comprising the following steps:
driving a camera module to be tested to shoot a checkerboard test table to obtain a test image;
extracting angular points of the test image to obtain all angular points on the test image;
calculating a TV distortion value of the camera module to be tested according to the position distance between the angular points;
the step of calculating the TV distortion value of the camera module to be tested according to the position distance between the angular points is as follows:
determining a maximum distortion rectangular area formed by all corner points;
calculating the center distance and the edge distance of the maximum distortion rectangular area;
calculating a TV distortion value of the camera module to be detected according to the central distance and the edge distance;
wherein the step of calculating the center distance and the edge distance of the maximum distortion rectangular region is as follows:
screening out end corner points positioned on the end corners of the maximum distortion rectangular area and center corner points positioned on the side edges of the maximum distortion rectangular area;
calculating the distance between two opposite center corner points as the center distance in the corresponding direction, and calculating the distance between two adjacent end corner points as the edge distance in the corresponding direction;
before obtaining the test image and performing corner extraction on the test image, the method further includes: and calculating and correcting the offset between the photosensitive surface of the camera module to be tested and the checkerboard test table according to the test image.
2. The method for detecting the distortion of a TV set according to claim 1, wherein the step of determining the maximum distortion rectangular area formed by all the corner points comprises the following steps:
counting the number of angular points on each distortion line and each distortion column;
judging the number of angular points on each distortion line and each distortion column, if the number of angular points on a certain distortion line is smaller than a first maximum value, removing all the angular points on the corresponding distortion line, and if the number of angular points on a certain distortion column is smaller than a second maximum value, removing all the angular points on the corresponding distortion column, wherein the first maximum value is the maximum value of the number of angular points in all the distortion lines, and the second maximum value is the maximum value of the number of angular points in all the distortion columns;
and forming the maximum distortion rectangular area by using all the remaining corner points.
3. The method of claim 1, wherein the TV distortion value = (D1-D2)/D2, wherein D1 and D2 are the center distance and the edge distance of the maximum distortion rectangular region in the same direction, respectively.
4. The method as claimed in claim 1, wherein the offset between the photosensitive surface of the camera module under test and the checkerboard test table comprises a position offset, and the step of calculating the position offset comprises:
establishing a planar rectangular coordinate system XY by taking the photosensitive surface of the camera module to be detected as an XY surface;
and calculating the position deviation according to the centroid coordinate of the central test point in the test image on the photosensitive surface.
5. The method as claimed in claim 1, wherein the offset between the photosensitive surface of the camera module under test and the checkerboard test table comprises a tilt offset, and the step of calculating the tilt offset comprises:
establishing a three-dimensional rectangular coordinate system XYZ by taking the photosensitive surface of the camera module to be detected as an XY plane;
calculating a plane equation of the checkerboard test table according to coordinates of at least three test points which are not on the same straight line in the test image on the checkerboard test table;
calculating the tilt offset according to the plane equation.
6. The method as claimed in claim 1, wherein the offset between the photosensitive surface of the camera module under test and the checkerboard test table comprises a rotational offset, and the step of calculating the rotational offset comprises:
establishing a plane rectangular coordinate system XY on the photosensitive surface of the camera module to be detected;
calculating an included angle between at least one straight line on the photosensitive surface and the edge of the photosensitive surface according to the centroid coordinates of at least two test points in the test image on the photosensitive surface, wherein the straight line penetrates through the centroid coordinates of the corresponding at least two test points on the photosensitive surface;
and calculating the rotation offset between the photosensitive surface of the camera module to be detected and the checkerboard test tables according to the included angle between the edges of the photosensitive surface and the included angle between the edges of the checkerboard test tables on the same straight line.
7. An apparatus for detecting distortion of a module TV using a checkerboard test table, comprising a processor and a memory connected to the processor, wherein the memory stores a computer program for execution by the processor, wherein the processor executes the computer program to perform the method for detecting distortion of a module TV using a checkerboard test table as claimed in any one of claims 1 to 6.
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| CN111141495B (en) * | 2020-01-06 | 2022-10-28 | 杭州涂鸦信息技术有限公司 | Wide-angle lens TV distortion testing method and device |
| CN111203881B (en) * | 2020-01-16 | 2022-02-08 | 河北工业大学 | On-line feedback hand-eye calibration method based on weighted least square method |
| CN111601100B (en) * | 2020-03-27 | 2022-07-29 | 惠州市德赛西威汽车电子股份有限公司 | TV distortion calculation method |
| CN111768396B (en) * | 2020-07-03 | 2024-02-09 | 深圳惠牛科技有限公司 | Distortion measurement method and device for virtual display equipment |
| CN113645464A (en) * | 2021-08-27 | 2021-11-12 | 优奈柯恩(北京)科技有限公司 | Test system for detecting camera and method for detecting camera |
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| CN108924544A (en) * | 2018-06-29 | 2018-11-30 | 上海与德通讯技术有限公司 | Camera distortion measurement method and test device |
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