CN110189380B - Calibration data optimization method, structured light module and storage medium - Google Patents
Calibration data optimization method, structured light module and storage medium Download PDFInfo
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- CN110189380B CN110189380B CN201910464954.0A CN201910464954A CN110189380B CN 110189380 B CN110189380 B CN 110189380B CN 201910464954 A CN201910464954 A CN 201910464954A CN 110189380 B CN110189380 B CN 110189380B
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Abstract
The embodiment of the application discloses an optimization method of calibration data, a structured light module and a storage medium, wherein the optimization method of the calibration data comprises the following steps: after receiving an optimization instruction, acquiring a current speckle pattern and original calibration data; the original calibration data carries a reference speckle pattern, internal reference data and original external reference data; determining an error parameter according to the internal reference data, the original external reference data, the current speckle pattern and the reference speckle pattern; and responding to the optimization instruction, and performing optimization processing according to the original external parameter data and the error parameter to obtain optimized calibration data.
Description
Technical Field
The embodiment of the application relates to the technical field of computers, in particular to an optimization method of calibration data, a structured light module and a storage medium.
Background
Along with the continuous development of terminal technology, the shooting function at terminal also becomes more and more abundant, for example, when the terminal was shooing through the structured light module, the depth of field data of target scene had already been can calculate, can more effectively carry out the processing of image, optimizes the formation of image effect to simulate the optics special effect of various single lens reflex cameras, greatly promoted user experience. In the production process, specific data of the structural optical module can be calibrated, so that the structural optical module can conveniently perform image processing according to calibration data when leaving a factory.
However, when the structural optical module is replaced, the terminal may deform the structural optical module, so that the actual data and the original calibration data generate errors, the performance of the structural optical module is reduced, the shooting precision of the structural optical module is low, and the shooting effect and the optimization effect are affected.
Disclosure of Invention
The embodiment of the application provides an optimization method of calibration data, a structured light module and a storage medium, which can effectively improve the performance of structured light, improve the shooting precision of the structured light module and ensure the shooting effect and the optimization effect of the structured light module.
The technical scheme of the embodiment of the application is realized as follows:
the embodiment of the application provides an optimization method of calibration data, which comprises the following steps:
after receiving an optimization instruction, acquiring a current speckle pattern and original calibration data; the original calibration data carries a reference speckle pattern, internal reference data and original external reference data;
determining an error parameter according to the internal reference data, the original external reference data, the current speckle pattern and the reference speckle pattern;
and responding to the optimization instruction, and performing optimization processing according to the original external parameter data and the error parameter to obtain optimized calibration data.
Optionally, the acquiring the current speckle pattern includes:
receiving a shooting instruction;
and obtaining the current speckle pattern according to the shooting instruction.
Optionally, the determining an error parameter according to the internal reference data, the original external reference data, the current speckle pattern and the reference speckle pattern includes:
acquiring a first scattered spot and a second scattered spot according to the current speckle pattern and the reference speckle pattern; the first scattered spots and the second scattered spots are scattered spots in different scattered spot patterns and at the same preset position;
obtaining a third scattered spot corresponding to the second speckle point according to the internal parameter data and the original external parameter data;
and determining the error parameter according to the first scattered spot and the third scattered spot.
Optionally, the obtaining a first speckle pattern and a second speckle pattern according to the current speckle pattern and the reference speckle pattern includes:
determining the first speckle corresponding to the preset position in the current speckle pattern;
and determining the second scattered spot corresponding to the first speckle point in the reference scattered spot pattern according to the preset position.
Optionally, the obtaining a third scattered spot corresponding to the second speckle point according to the internal parameter data and the original external parameter data includes:
and performing coordinate transformation on the second speckle point through the internal reference data and the original external reference data, and determining a third speckle point corresponding to the second speckle point in the current speckle pattern.
Optionally, the performing optimization processing according to the original external reference data and the error parameter to obtain optimized calibration data includes:
setting the original external parameter data as an optimization variable, setting the error parameter as an optimization result, and performing nonlinear optimization to obtain optimized external parameter data;
and generating the optimized calibration data according to the optimized external parameter data.
Optionally, the generating the optimized calibration data according to the optimized external parameter data includes:
and replacing the original external parameter data with the optimized external parameter data to obtain optimized calibration data.
Optionally, the acquiring the original calibration data includes:
determining identification information;
and reading the original calibration data in a preset storage space according to the identification information.
Optionally, after performing optimization processing according to the original external reference data and the error parameter to obtain optimized calibration data, the method further includes:
and storing the optimized calibration data into the preset storage space.
The embodiment of the application provides a structured light module, the structured light module includes: an acquisition unit, a determination unit and an optimization unit,
the acquisition unit is used for acquiring a current speckle pattern and original calibration data after receiving an optimization instruction; the original calibration data carries a reference speckle pattern, internal reference data and original external reference data;
the determining unit is used for determining an error parameter according to the internal reference data, the original external reference data, the current speckle pattern and the reference speckle pattern;
and the optimization unit is used for responding to the optimization instruction, and performing optimization processing according to the original external parameter data and the error parameter to obtain optimized calibration data.
Optionally, the determining unit is specifically configured to obtain a first speckle pattern and a second speckle pattern according to the current speckle pattern and the reference speckle pattern; the first scattered spots and the second scattered spots are scattered spots in different scattered spot patterns and at the same preset position; obtaining a third scattered spot corresponding to the second scattered spot according to the internal parameter data and the original external parameter data; and determining the error parameter according to the first scattered spot and the third scattered spot.
Optionally, the optimization unit is specifically configured to set the original extrinsic parameter data as an optimization variable, set the error parameter as an optimization result, and perform nonlinear optimization to obtain optimized extrinsic parameter data; and generating the optimized calibration data according to the optimized external parameter data.
Optionally, the obtaining unit is specifically configured to determine identification information; and reading the original calibration data in a preset storage space according to the identification information.
Optionally, the structured light module further includes: a storage unit for storing the data of the memory cell,
the storage unit is configured to perform optimization processing according to the original external parameter data and the error parameter, and store the optimized calibration data in the preset storage space after obtaining the optimized calibration data.
The embodiment of the application provides a structured light module, which includes a processor and a memory storing executable instructions of the processor, and when the instructions are executed by the processor, the method for optimizing calibration data is implemented.
The embodiment of the application provides a computer-readable storage medium, on which a program is stored, and the program is applied to a structured light module, and when the program is executed by a processor, the method for optimizing calibration data is implemented as described above.
The embodiment of the application provides an optimization method of calibration data, a structured light module and a storage medium, wherein the structured light module acquires a current speckle pattern and original calibration data after receiving an optimization instruction; the original calibration data carries a reference speckle pattern, internal reference data and original external reference data; determining an error parameter according to the internal reference data, the original external reference data, the current speckle pattern and the reference speckle pattern; and responding to the optimization instruction, and performing optimization processing according to the original external parameter data and the error parameter to obtain optimized calibration data. That is to say, in the embodiment of the present application, after the structured light module receives the optimization instruction, the current speckle pattern and the original calibration data when the structured light module leaves the factory may be obtained respectively, and then an error between actual data corresponding to the structured light module and the original calibration data when the structured light module leaves the factory is determined according to the current speckle pattern and the original calibration data, that is, an error parameter is determined, so that external parameter data in the original calibration data of the structured light module may be further optimized according to the error parameter, and the optimized calibration data is obtained. Therefore, according to the calibration data optimization method provided by the embodiment of the application, when actual data and factory data of the structured light module are inconsistent due to deformation, the performance of structured light can be effectively improved through optimization of original calibration data, the shooting precision of the structured light module is improved, and the shooting effect and the optimization effect of the structured light module are ensured.
Drawings
FIG. 1 is a schematic diagram of a structured light workflow;
fig. 2 is a schematic flow chart illustrating an implementation of a calibration data optimization method according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a first speckle point;
FIG. 4 is a second schematic diagram of speckle points;
FIG. 5 is a schematic diagram of a third speckle point;
fig. 6 is a schematic diagram of cloud storage of calibration data;
fig. 7 is a first schematic structural diagram of a structured light module according to an embodiment of the present disclosure;
fig. 8 is a second schematic structural diagram of a structural optical module according to an embodiment of the present disclosure.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant application and are not limiting of the application. It should be noted that, for the convenience of description, only the parts related to the related applications are shown in the drawings.
The set of projection Light rays in the known spatial direction is called structured Light (structured Light), and is mainly classified into point structured Light, line structured Light, multi-line structured Light, area structured Light, and phase method structured Light. Specifically, the structured light may project specific light information onto the surface of the object, and then collect the change of the light signal caused by the object, thereby calculating information such as the position and depth of the object to restore the three-dimensional space of the object. A common structured light module may include a transmitting device, a receiving device, and an image processing chip. The transmitting device is used for transmitting specially modulated invisible infrared light to a shooting object, such as a laser projection device; the receiving device is used for receiving invisible Infrared light reflected by a shot object, such as an Infrared Complementary Metal Oxide Semiconductor (IR CMOS); the image processing chip is used for calculating and acquiring spatial information of the photographed object, namely 3D information of the photographed object, such as an Application Specific Integrated Circuit (ASIC). Further, the structured light module may further include a normal lens for taking a 2D color image, so that the 2D color image and the 3D information may be combined and processed by an algorithm to obtain a color picture with 3D information. Fig. 1 is a schematic diagram of a structured light workflow, and as shown in fig. 1, after a shooting instruction is received, a structured light module in a terminal can control a laser projection device to project an infrared speckle field onto a surface of a 3D object, then can control an IR CMOS to collect a speckle pattern obtained by reflection on the surface of the 3D object, and finally can perform depth calculation through an ASIC to output depth information corresponding to the 3D object.
At present, when producing the structure optical module, can carry out the demarcation of data to the structure optical module, every structure optical module all corresponds calibration data promptly, so that the structure optical module can carry out image processing according to the calibration data that corresponds, however, the terminal is when carrying out the change of structure optical module, the condition that the structure optical module warp often can appear, cause the actual data of structure optical module and the inconsistent problem of data of leaving the factory, at this moment, if the structure optical module still carries out image processing according to the calibration data when leaving the factory, just can influence the shooting effect and the optimization effect of structure optical module, reduce the intelligence of structure optical module.
According to the calibration data optimization method, after the structured light module is installed, the current speckle pattern can be obtained firstly, then the current speckle pattern is used for optimizing the original calibration data of the structured light module, and the optimized calibration data is obtained, so that the problem that the structured light performance is reduced due to the change of the optical axis of the structured light module can be solved, the shooting precision of the structured light module can be effectively improved, and the shooting effect and the optimization effect of the structured light module are guaranteed.
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application.
An embodiment of the present application provides a calibration data optimization method, fig. 2 is a schematic implementation flow chart of the calibration data optimization method provided in the embodiment of the present application, and as shown in fig. 2, in the embodiment of the present application, a method for optimizing calibration data by a structured light module may include the following steps:
In the embodiment of the present application, after receiving the optimization instruction, the structured light module may first acquire the current speckle pattern and the original calibration data.
Further, in the embodiment of the present application, after the terminal completes replacement of the structured light module, the structured light module may receive the optimization instruction first, and then may obtain the corresponding current speckle pattern and the original calibration data. The structured light module is arranged in the terminal.
It should be noted that, in the embodiments of the present application, the terminal may be any device having communication and storage functions, for example: tablet computers, mobile phones, electronic readers, remote controllers, Personal Computers (PCs), notebook computers, vehicle-mounted devices, network televisions, wearable devices, and the like.
Further, in embodiments of the present application, the terminal may be configured with a structured light module. Further, the terminal can detect user operation, and can send an optimization instruction to the structured light module after judging that the module replacement processing is completed. Specifically, the terminal can replace the configured structured light module, and replace the original structured light module with a new structured light module. For example, the terminal may replace the configured elements by a user's operation when performing after-sales. The terminal can detect the connection state of the structured light module in real time, judge whether the module replacement processing is finished according to the detection result, and after the module replacement processing is judged to be finished, the terminal can further send an optimization instruction to the configured structured light module.
It should be noted that, in the embodiment of the present application, the structured light may be Infrared (IR) light. The structured light module may include a structured light projector and a structured light sensor, and the structured light module may project a light spot, a light slit, a grating, a mesh, or a patch onto an object to be measured through the structured light projector, and may obtain an image of the object to be measured through the structured light sensor.
Further, in embodiments of the present application, the structured light module may be configured with a memory, wherein the memory may be used to store the original calibration data.
Further, in an embodiment of the present application, the terminal may be provided with a camera, and the camera may have an RGB sensor having a three-color light R, G, B sensing unit. Specifically, the structured light sensor may be disposed in an RGB sensor of the camera, for example, half of each G sensing unit is replaced with an IR sensor, and a part of any one of the color sensing units is replaced with the structured light sensor, so that the RGB sensor may receive the structured light reflected by the object to be measured.
It should be noted that, in the embodiment of the present application, after the structured light module receives the optimization instruction, that is, after the terminal replaces the original structured light module with the new structured light module and sends the optimization instruction to the structured light module, the structured light module may obtain the corresponding current speckle pattern through shooting.
Further, in the embodiment of the application, when the structured light module obtains the corresponding current speckle pattern through shooting, the shooting instruction can be received first, and then the current speckle pattern can be collected according to the shooting instruction.
It should be noted that, in the embodiment of the present application, the structured light module may encode the structured light, then use the structured light projector to project the structured light to form the preset image code, and use the structured light sensor to collect the structured light reflected by the measured object code, so as to obtain the current speckle pattern.
Further, in the embodiment of the present application, after the structured light module receives the optimization instruction, that is, after the structured light module replaces the original structured light module with a new structured light module and sends the optimization instruction to the structured light module, the structured light module may determine corresponding identification information first, and then read the stored original calibration data through the identification information.
It should be noted that, in the embodiment of the present application, the original calibration data carries a reference speckle pattern, internal reference data, and original external reference data corresponding to the structured light module. Specifically, the original calibration data corresponds to the structured light module, but if the structured light module is deformed, the original calibration data will have an error with the actual data corresponding to the structured light module.
Further, in the embodiment of the present application, the internal reference data in the raw data may include parameters such as a focal length, an optical center, a focal point, and a principal point of a lens corresponding to the structured light module. Specifically, as the internal reference data corresponding to the structured light module is not easily changed once calibrated, in the present application, the internal reference data in the original calibration data can be considered as unchanged.
It should be noted that, in the implementation of the present application, the extrinsic parameters in the raw data may include a rotation matrix and a translation matrix corresponding to the structured light module, that is, the extrinsic parameters may include rotation parameters and translation parameters corresponding to three directions in an (x, y, z) coordinate system, respectively. When the structured light module deforms, the external reference data in the original calibration data changes accordingly, so that the optimization method of the calibration data provided by the application can be optimized for the external reference data.
Further, in the embodiment of the present application, since the structured light module is configured with the memory, the structured light module may store the original calibration data in the preset storage space corresponding to the memory in advance, specifically, the original calibration data may be stored in the preset storage space corresponding to the identification information, and the structured light module may read the corresponding original calibration data in the preset storage space according to the identification information after determining the identification information corresponding to the structured light module.
It should be noted that, in the embodiment of the present application, the structured light module is configured with a storage module for storing identification information and original calibration data corresponding to the structured light module, so that the structured light module can directly read the original calibration data from the storage module configured in the structured light module according to the identification information.
And step 102, determining an error parameter according to the internal reference data, the original external reference data, the current speckle pattern and the reference speckle pattern.
In the embodiment of the application, after the structured light module acquires the current speckle pattern and the original calibration data, the error parameter can be determined according to the internal reference data, the original external reference data, the current speckle pattern and the reference speckle pattern.
Further, in the embodiments of the present application, the error parameter may represent a difference between actual data corresponding to the structured light module and original calibration data.
It should be noted that, in the embodiment of the present application, the structured light module may first determine, in the current speckle pattern and the reference speckle pattern, the corresponding first speckle point and the second speckle point according to the same preset position, and then determine, in the current speckle pattern, the third speckle point corresponding to the second speckle point according to the internal reference data and the original external reference data, so as to further determine the error parameter according to the first speckle point and the third speckle point.
Further, in embodiments of the present application, the first speckle point may be a speckle pattern in the current speckle pattern, and the second speckle point may be a speckle pattern in the reference speckle pattern.
It should be noted that, in the implementation of the present application, the third speckle point may be a speckle point in the current speckle pattern corresponding to the second speckle point. Specifically, in the embodiments of the present application, the first speckle pattern and the third speckle pattern may be completely overlapped, may not be completely overlapped, and may also be partially overlapped in the current speckle pattern, and the present application is not particularly limited.
Further, in the embodiment of the present application, if the original calibration data is changed due to deformation of the structured light module, the second speckle in the reference speckle pattern is subjected to coordinate transformation according to the original calibration data, and a third speckle point obtained by mapping to the current speckle pattern may have an error with the first speckle point, so that the structured light module may determine an error parameter according to coordinates corresponding to the third speckle point and the first speckle point.
And 103, carrying out optimization processing according to the original external parameter data and the error parameter to obtain optimized calibration data.
In the embodiment of the application, after the structured light module determines the error parameter according to the internal reference data, the original external reference data, the current speckle pattern and the reference speckle pattern, optimization processing can be performed according to the original external reference data and the error parameter, and the optimized calibration data is obtained.
It should be noted that, in the embodiment of the present application, once the internal reference data in the original calibration data is determined, it can be considered that the internal reference data is not changed, so that when the structured light module performs optimization of the calibration data, it can be assumed that the internal reference data of the structured light module is unchanged from a factory calibration state, and the external reference data can be optimized based on the error parameter, so as to obtain the optimized external reference data, so as to further obtain the optimized calibration data.
Further, in the embodiment of the present application, when the structured light module optimizes the extrinsic parameter data based on the error parameter, the original extrinsic parameter data of the structured light module may be used as an optimization variable, and the error parameter may be used as an optimization result to perform nonlinear optimization, so as to obtain the optimized extrinsic parameter data.
It should be noted that, in the embodiment of the present application, after the structured light module obtains the optimized extrinsic parameter data, an optimized speckle pattern corresponding to the reference speckle pattern may also be generated according to the optimized extrinsic parameter data.
Further, in the embodiment of the present application, after the structured light module performs the nonlinear optimization based on the error parameter, the original calibration data may be updated according to the optimized external reference data and/or the optimized speckle pattern, so as to obtain the optimized calibration data.
According to the calibration data optimization method provided by the embodiment of the application, after the structured light module receives the optimization instruction, the current speckle pattern and the original calibration data are obtained; the original calibration data carries a reference speckle pattern, internal reference data and original external reference data; determining an error parameter according to the internal reference data, the original external reference data, the current speckle pattern and the reference speckle pattern; and responding to the optimization instruction, and performing optimization processing according to the original external parameter data and the error parameter to obtain optimized calibration data. That is to say, in the embodiment of the present application, after the structured light module receives the optimization instruction, the current speckle pattern and the original calibration data when the structured light module leaves the factory may be obtained respectively, and then an error between actual data corresponding to the structured light module and the original calibration data when the structured light module leaves the factory is determined according to the current speckle pattern and the original calibration data, that is, an error parameter is determined, so that external parameter data in the original calibration data of the structured light module may be further optimized according to the error parameter, and the optimized calibration data is obtained. Therefore, according to the calibration data optimization method provided by the embodiment of the application, when actual data and factory data of the structured light module are inconsistent due to deformation, the performance of structured light can be effectively improved through optimization of original calibration data, the shooting precision of the structured light module is improved, and the shooting effect and the optimization effect of the structured light module are ensured.
Based on the above embodiments, in another embodiment of the present application, a method for determining an error parameter of a structured light module according to internal reference data, original external reference data, a current speckle pattern and a reference speckle pattern may include the following steps:
102a, acquiring a first scattered spot and a second scattered spot according to a current speckle pattern and a reference speckle pattern; the first scattered spots and the second scattered spots are scattered spots in different scattered spot patterns and at the same preset position.
In an embodiment of the present application, after acquiring the current speckle pattern and the original calibration data, the structured light module may first acquire the first speckle pattern and the second speckle pattern according to the current speckle pattern and the reference speckle pattern. In particular, the first speckle point and the second speckle point may be speckle points in the current speckle pattern and the reference speckle pattern, respectively.
Further, in embodiments of the present application, the structured light module may determine the first speckle point and the second speckle point in the current speckle pattern and the reference speckle pattern, respectively, according to the same preset position. Specifically, fig. 3 is a schematic diagram of a first speckle point, and fig. 4 is a schematic diagram of a second speckle point, as shown in fig. 3, the structured light module may determine a corresponding first speckle point in the current speckle pattern according to a preset position; meanwhile, as shown in fig. 4, the structured light module may further determine a second speckle pattern in the reference speckle pattern according to a preset position. It can be seen that the first scattered spot and the second scattered spot correspond based on the preset position.
And 102b, acquiring a third scattered spot corresponding to the second speckle point according to the internal parameter data and the original external parameter data.
In the embodiment of the application, after the structured light module acquires the first scattered spot and the second scattered spot according to the current speckle pattern and the reference speckle pattern, the third scattered spot corresponding to the second speckle point can be determined according to the internal reference data and the original external reference data.
It should be noted that, in the embodiment of the present application, after the structured light module determines the second speckle point, the coordinate of the second speckle point may be transformed, so that a transformed scattered spot, that is, a third scattered spot, may be obtained in the current speckle pattern.
Further, in the embodiment of the present application, when the structured light module performs coordinate transformation on the second speckle point, the coordinate transformation may be performed on the second speckle point according to the internal reference data and the original external reference data in the original calibration data, so that the second speckle point in the reference speckle pattern may be converted into the current speckle pattern, and a third speckle pattern is obtained in the current speckle pattern.
And 102c, determining an error parameter according to the first scattered spot and the third scattered spot.
In the embodiment of the application, after the structured light module obtains the third speckle point corresponding to the second speckle point according to the internal parameter data and the original external parameter data, the structured light module can determine the error parameter between the first scattered spot and the third scattered spot according to the first scattered spot and the third scattered spot.
Further, in the embodiment of the present application, if the actual data corresponding to the structured light module is inconsistent with the original calibration data, the first scattered spot and the third scattered spot in the current scattered spot pattern do not completely coincide, and the structured light module can determine the difference between the first scattered spot and the third scattered spot according to the coordinate corresponding to the first scattered spot and the coordinate corresponding to the third scattered spot, that is, determine the error parameter therebetween.
It should be noted that, in the embodiment of the present application, because the deformation of the structured light module may cause the original calibration data to be changed correspondingly, when the second speckle in the reference speckle pattern is subjected to coordinate transformation according to the original calibration data and is mapped to the current speckle pattern, the obtained third speckle point may not be completely overlapped with the first speckle point, and further, the structured light module may obtain an error parameter according to the third speckle point and the first speckle point. For example, fig. 5 is a diagram of a third speckle point, and as shown in fig. 5, the first scattered spot and the third scattered spot are both in the current speckle pattern, and the first scattered spot and the third speckle point are not coincident.
According to the calibration data optimization method provided by the embodiment of the application, after the structured light module receives the optimization instruction, the current speckle pattern and the original calibration data are obtained; the original calibration data carries a reference speckle pattern, internal reference data and original external reference data; determining an error parameter according to the internal reference data, the original external reference data, the current speckle pattern and the reference speckle pattern; and responding to the optimization instruction, and performing optimization processing according to the original external parameter data and the error parameter to obtain optimized calibration data. That is to say, in the embodiment of the present application, after the structured light module receives the optimization instruction, the current speckle pattern and the original calibration data when the structured light module leaves the factory may be obtained respectively, and then an error between actual data corresponding to the structured light module and the original calibration data when the structured light module leaves the factory is determined according to the current speckle pattern and the original calibration data, that is, an error parameter is determined, so that external parameter data in the original calibration data of the structured light module may be further optimized according to the error parameter, and the optimized calibration data is obtained. Therefore, according to the calibration data optimization method provided by the embodiment of the application, when actual data and factory data of the structured light module are inconsistent due to deformation, the performance of structured light can be effectively improved through optimization of original calibration data, the shooting precision of the structured light module is improved, and the shooting effect and the optimization effect of the structured light module are ensured.
Based on the foregoing embodiment, in another embodiment of the present application, the method for obtaining optimized calibration data by optimizing the structured light module according to the original external reference data and the error parameter may include the following steps:
and 103a, setting the original external parameter data as an optimization variable, setting the error parameter as an optimization result, and performing nonlinear optimization to obtain optimized external parameter data.
In the embodiment of the application, after the structured light module determines the error parameter according to the internal reference data, the original external reference data, the current speckle pattern and the reference speckle pattern, the error parameter can be set as an optimization result, so that the original external parameter data is further optimized based on the error parameter, and the optimized external reference data can be obtained.
It should be noted that, in the embodiment of the present application, when the structured light module performs optimization on the calibration data, it may be assumed that the internal reference data in the original calibration data corresponding to the structured light module is not changed, that is, the internal reference data still maintains the factory state in the original calibration data, and then the structured light module may perform nonlinear optimization processing on the external reference data based on the error parameter. Specifically, when the structured light module performs nonlinear optimization, the original external parameters of the structured light module can be used as optimization variables, and the error parameters are used as optimization results.
Further, in the embodiment of the present application, when the structured light module sets the original external parameter data as the optimization variable and the error parameter as the optimization result to obtain the optimized external parameter data, the structured light module may perform nonlinear optimization in a plurality of ways, specifically, the structured light module may perform nonlinear optimization by a steepest descent method, a newton method, a gauss-newton method, a levenberg-marquardt algorithm, and the like, which is not limited in the application.
And 103b, generating optimized calibration data according to the optimized external parameter data.
In the embodiment of the application, the structured light module sets the original external parameter data as the optimization variable, sets the error parameter as the optimization result, performs nonlinear optimization, and can further generate the optimized calibration data according to the optimized external parameter data after obtaining the optimized external parameter data.
Further, in the embodiment of the application, when the structured light module generates the optimized calibration data according to the optimized external parameter data, the original calibration data may be updated according to the optimized external parameter data, and specifically, the structured light module may replace the original external parameter data with the optimized external parameter data, so as to obtain the optimized calibration data. That is, compared with the original calibration data, the internal parameter data in the optimized calibration data is not changed, and the original external parameter data is replaced by the optimized external parameter data.
It should be noted that, in the embodiment of the present application, after the structured light module obtains the optimized extrinsic parameter data, an optimized speckle pattern may be generated according to the optimized extrinsic parameter data, and then the reference speckle pattern is updated according to the optimized speckle pattern, so as to further obtain the optimized calibration data.
In an embodiment of the present application, further, the method for acquiring calibration data by the structured light module may include the following steps:
step 201, identification information is determined.
In the embodiment of the application, after the structured light module receives the optimization instruction, the corresponding identification information may be determined, and specifically, the identification information may represent the indication of the structured light module.
It should be noted that, in the embodiment of the application, when leaving the factory, each structured light module is correspondingly provided with one-to-one corresponding identification information, where the identification information may be an identification ID, a serial number, and the like.
Step 202, reading original calibration data corresponding to the structured light module in a preset storage space according to the identification information.
In the embodiment of the application, after the structured light module determines the corresponding identification information, the structured light module may read the original calibration data corresponding to the identification information in the preset storage space according to the identification information.
It should be noted that, in the implementation of the present application, the original calibration data corresponding to the structured light module may be stored in a preset storage space in advance. The preset storage space can be used for storing relevant data corresponding to the structured light module.
Further, in the embodiment of the application, under general conditions, the structured light module can be in the identification data storage cloud when leaving factory, and when the identification data when leaving factory of the structured light module needs to be obtained, the structured light module can access the cloud, and read the relevant data corresponding to the structured light module. For example, fig. 6 is a schematic diagram of cloud storage calibration data, as shown in fig. 6, each factory structured light module is provided with one-to-one identification information, such as a module ID, and the structured light module can upload the module ID and the calibration data to the cloud for storage, and after the terminal completes replacement of the module, the new structured light module determines the corresponding module ID, and then the module ID is used as a reference to download the calibration data of the structured light module when the structured light module is factory. Therefore, in the prior art, when calibration data of the structural optical module when leaving the factory is stored through the cloud, since cloud devices of each country are not communicated, if a product is on the market all over the world, a special cloud needs to be established and corresponding management services need to be configured in each country or area, so that after-sale cost and complexity are increased. In this application, the structured light module may be configured with a storage module, where the storage module is configured to store identification information and original calibration data corresponding to the structured light module, and therefore, the structured light module may directly read the original calibration data from the storage module configured with the structured light module according to the identification information.
It should be noted that, in the embodiment of the present application, the storage module configured in the structured light module may be an Electrically Erasable Programmable Read Only Memory (EEPROM). The EEPROM is a memory chip with no data loss after power failure. The existing information can be erased and reprogrammed on a computer or special equipment. In contrast, in the embodiment of the application, the structured light module stores the original calibration data into the preset storage space corresponding to the storage module, so that the structured light module can directly acquire the corresponding original calibration data from the preset storage space of the configured storage module without accessing the cloud, thereby simplifying the data acquisition process and improving the convenience.
Further, in the embodiment of the present application, after the structured light module performs optimization processing according to the original external reference data and the error parameter to obtain the optimized calibration data, the optimized calibration data may be directly stored in the preset storage space. That is, the structured light module optimizes the original calibration data to obtain the optimized calibration data, and then directly stores the optimized calibration data in the memory configured in the structured light module.
According to the calibration data optimization method provided by the embodiment of the application, after the structured light module receives the optimization instruction, the current speckle pattern and the original calibration data are obtained; the original calibration data carries a reference speckle pattern, internal reference data and original external reference data; determining an error parameter according to the internal reference data, the original external reference data, the current speckle pattern and the reference speckle pattern; and responding to the optimization instruction, and performing optimization processing according to the original external parameter data and the error parameter to obtain optimized calibration data. That is to say, in the embodiment of the present application, after the structured light module receives the optimization instruction, the current speckle pattern and the original calibration data when the structured light module leaves the factory may be obtained respectively, and then an error between actual data corresponding to the structured light module and the original calibration data when the structured light module leaves the factory is determined according to the current speckle pattern and the original calibration data, that is, an error parameter is determined, so that external parameter data in the original calibration data of the structured light module may be further optimized according to the error parameter, and the optimized calibration data is obtained. Therefore, according to the calibration data optimization method provided by the embodiment of the application, when actual data and factory data of the structured light module are inconsistent due to deformation, the performance of structured light can be effectively improved through optimization of original calibration data, the shooting precision of the structured light module is improved, and the shooting effect and the optimization effect of the structured light module are ensured.
Based on the above embodiments, in yet another embodiment of the present application, fig. 7 is a schematic structural diagram of a composition of the structured light module according to an embodiment of the present application, and as shown in fig. 7, the structured light module 1 according to an embodiment of the present application may include an obtaining unit 11, a determining unit 12, an optimizing unit 13, and a storing unit 14.
The obtaining unit 11 is configured to obtain a current speckle pattern and original calibration data after receiving an optimization instruction; the original calibration data carries a reference speckle pattern, internal reference data and original external reference data.
The determining unit 12 is configured to determine an error parameter according to the internal reference data, the original external reference data, the current speckle pattern, and the reference speckle pattern.
And the optimization unit 13 is configured to respond to the optimization instruction, perform optimization processing according to the original external parameter data and the error parameter, and obtain optimized calibration data.
Further, in an embodiment of the present application, the obtaining unit 11 is specifically configured to receive a shooting instruction; and obtaining the current speckle pattern according to the shooting instruction.
Further, in an embodiment of the present application, the determining unit 12 is specifically configured to obtain a first speckle pattern and a second speckle pattern according to the current speckle pattern and the reference speckle pattern; the first scattered spots and the second scattered spots are scattered spots in different scattered spot patterns and at the same preset position; obtaining a third scattered spot corresponding to the second scattered spot according to the internal parameter data and the original external parameter data; and determining the error parameter according to the first scattered spot and the third scattered spot.
Further, in an embodiment of the present application, the determining unit 12 is further specifically configured to determine the first speckle point corresponding to the preset position in the current speckle pattern; and determining the second speckle point corresponding to the first speckle point in the reference speckle pattern according to the preset position.
Further, in this embodiment of the application, the determining unit 12 is further specifically configured to perform coordinate transformation on the second speckle point through the internal reference data and the original external reference data, and determine the third speckle point corresponding to the second speckle point in the current speckle pattern.
Further, in an embodiment of the present application, the optimization unit 13 is specifically configured to set the original extrinsic parameter data as an optimization variable, set the error parameter as an optimization result, and perform nonlinear optimization to obtain optimized extrinsic parameter data; and generating the optimized calibration data according to the optimized external parameter data.
Further, in an embodiment of the present application, the optimization unit 13 is further specifically configured to replace the original external parameter data with the optimized external parameter data to obtain optimized calibration data.
Further, in an embodiment of the present application, the obtaining unit 11 is further specifically configured to determine identification information; and reading the original calibration data in a preset storage space according to the identification information.
Further, in an embodiment of the present application, the storage unit 14 is configured to perform optimization processing according to the original external reference data and the error parameter, obtain optimized calibration data, and store the optimized calibration data in the preset storage space.
Fig. 8 is a schematic diagram of a second composition structure of the structured light module according to the embodiment of the present disclosure, and as shown in fig. 8, the structured light module 1 according to the embodiment of the present disclosure may further include a processor 15 and a memory 16 storing executable instructions of the processor 15, and further, the structured light module 1 may further include a communication interface 17, and a bus 18 for connecting the processor 15, the memory 16, and the communication interface 17.
In an embodiment of the present Application, the Processor 15 may be at least one of an Application Specific Integrated Circuit (ASIC), a Digital Signal Processor (DSP), a Digital Signal Processing Device (DSPD), a ProgRAMmable Logic Device (PLD), a Field ProgRAMmable Gate Array (FPGA), a Central Processing Unit (CPU), a controller, a microcontroller, and a microprocessor. It is understood that the electronic devices for implementing the above processor functions may be other devices, and the embodiments of the present application are not limited in particular. The structured light module 1 may further comprise a memory 16, which memory 16 may be connected to the processor 15, wherein the memory 16 is adapted to store executable program code comprising computer operating instructions, and wherein the memory 16 may comprise a high speed RAM memory and may further comprise a non-volatile memory, such as at least two disk memories.
In the embodiment of the present application, the bus 18 is used to connect the communication interface 17, the processor 15, and the memory 16 and the intercommunication among these devices.
In an embodiment of the present application, the memory 16 is used for storing instructions and data.
Further, in an embodiment of the present application, the processor 15 is configured to obtain a current speckle pattern and original calibration data after receiving the optimization instruction; the original calibration data carries a reference speckle pattern, internal reference data and original external reference data; determining an error parameter according to the internal reference data, the original external reference data, the current speckle pattern and the reference speckle pattern; and responding to the optimization instruction, and performing optimization processing according to the original external parameter data and the error parameter to obtain optimized calibration data.
In practical applications, the Memory 16 may be a volatile Memory (volatile Memory), such as a Random-Access Memory (RAM); or a non-volatile Memory (non-volatile Memory), such as a Read-Only Memory (ROM), a flash Memory (flash Memory), a Hard Disk (Hard Disk Drive, HDD) or a Solid-State Drive (SSD); or a combination of the above types of memories and provides instructions and data to the processor 15.
In addition, each functional module in this embodiment may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware or a form of a software functional module.
Based on the understanding that the technical solution of the present embodiment essentially or a part contributing to the prior art, or all or part of the technical solution, may be embodied in the form of a software product stored in a storage medium, and include several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (processor) to execute all or part of the steps of the method of the present embodiment. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
According to the structured light module, after the structured light module receives the optimization instruction, the current speckle pattern and the original calibration data are obtained; the original calibration data carries a reference speckle pattern, internal reference data and original external reference data; determining an error parameter according to the internal reference data, the original external reference data, the current speckle pattern and the reference speckle pattern; and responding to the optimization instruction, and performing optimization processing according to the original external parameter data and the error parameter to obtain optimized calibration data. That is to say, in the embodiment of the present application, after the structured light module receives the optimization instruction, the current speckle pattern and the original calibration data when the structured light module leaves the factory may be obtained respectively, and then an error between actual data corresponding to the structured light module and the original calibration data when the structured light module leaves the factory is determined according to the current speckle pattern and the original calibration data, that is, an error parameter is determined, so that external parameter data in the original calibration data of the structured light module may be further optimized according to the error parameter, and the optimized calibration data is obtained. Therefore, according to the calibration data optimization method provided by the embodiment of the application, when actual data and factory data of the structured light module are inconsistent due to deformation, the performance of structured light can be effectively improved through optimization of original calibration data, the shooting precision of the structured light module is improved, and the shooting effect and the optimization effect of the structured light module are ensured.
An embodiment of the present application provides a computer-readable storage medium, on which a program is stored, and when the program is executed by a processor, the method for optimizing calibration data as described above is implemented.
Specifically, the program instructions corresponding to an optimization method of calibration data in this embodiment may be stored on a storage medium such as an optical disc, a hard disc, a usb disk, etc., and when the program instructions corresponding to an optimization method of calibration data in the storage medium are read or executed by an electronic device, the method includes the following steps:
after receiving an optimization instruction, acquiring a current speckle pattern and original calibration data; the original calibration data carries a reference speckle pattern, internal reference data and original external reference data;
determining an error parameter according to the internal reference data, the original external reference data, the current speckle pattern and the reference speckle pattern;
and responding to the optimization instruction, and performing optimization processing according to the original external parameter data and the error parameter to obtain optimized calibration data.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of a hardware embodiment, a software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of implementations of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart block or blocks and/or flowchart block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks in the flowchart and/or block diagram block or blocks.
The above description is only a preferred embodiment of the present application, and is not intended to limit the scope of the present application.
Claims (14)
1. A calibration data optimization method is characterized in that the method is applied to a structured light module; the method comprises the following steps:
after the structured light module receives the optimization instruction, acquiring a current speckle pattern and original calibration data of the structured light module; the original calibration data carries a reference speckle pattern, internal reference data and original external reference data;
acquiring a first scattered spot and a second scattered spot according to the current speckle pattern and the reference speckle pattern; the first scattered spots and the second scattered spots are scattered spots in different scattered spot patterns and at the same preset position;
obtaining a third scattered spot corresponding to the second speckle point according to the internal parameter data and the original external parameter data;
determining an error parameter according to the first scattered spot and the third scattered spot; the error parameter represents a difference value between actual data corresponding to the structured light module and original calibration data;
and the structured light module responds to the optimization instruction, and performs optimization processing according to the original external parameter data and the error parameter to obtain optimized calibration data.
2. The method of claim 1, wherein obtaining the current speckle pattern of the structured light module comprises:
receiving a shooting instruction;
and obtaining the current speckle pattern according to the shooting instruction.
3. The method of claim 1, wherein obtaining a first speckle pattern and a second speckle pattern from the current speckle pattern and the reference speckle pattern comprises:
determining the first speckle corresponding to the preset position in the current speckle pattern;
and determining the second scattered spot corresponding to the first speckle point in the reference scattered spot pattern according to the preset position.
4. The method of claim 1, wherein obtaining a third scattered spot corresponding to the second speckle point according to the internal reference data and the original external parameter data comprises:
and performing coordinate transformation on the second speckle point through the internal reference data and the original external reference data, and determining a third speckle point corresponding to the second speckle point in the current speckle pattern.
5. The method according to claim 1, wherein the performing optimization processing according to the original external reference data and the error parameter to obtain optimized calibration data comprises:
setting the original external parameter data as an optimization variable, setting the error parameter as an optimization result, and performing nonlinear optimization to obtain optimized external parameter data;
and generating the optimized calibration data according to the optimized external parameter data.
6. The method of claim 5, wherein said generating said optimized calibration data from said optimized extrinsic data comprises:
and replacing the original external parameter data with the optimized external parameter data to obtain optimized calibration data.
7. The method of claim 1, wherein the obtaining raw calibration data for the structured light module comprises:
determining identification information;
and reading the original calibration data in a preset storage space according to the identification information.
8. The method according to claim 7, wherein after the optimization processing is performed according to the original external reference data and the error parameter to obtain optimized calibration data, the method further comprises:
and storing the optimized calibration data into the preset storage space.
9. A structured light module, comprising: an acquisition unit, a determination unit and an optimization unit,
the acquisition unit is used for acquiring a current speckle pattern and original calibration data of the structured light module after the structured light module receives the optimization instruction; the original calibration data carries a reference speckle pattern, internal reference data and original external reference data;
the determining unit is used for acquiring a first scattered spot and a second scattered spot according to the current speckle pattern and the reference speckle pattern; the first scattered spots and the second scattered spots are scattered spots in different scattered spot patterns and at the same preset position; obtaining a third scattered spot corresponding to the second scattered spot according to the internal parameter data and the original external parameter data; determining an error parameter according to the first scattered spot and the third scattered spot; the error parameter represents a difference value between actual data corresponding to the structured light module and original calibration data;
and the optimization unit is used for responding to the optimization instruction by the structured light module, and performing optimization processing according to the original external parameter data and the error parameter to obtain optimized calibration data.
10. The structured light module of claim 9,
the optimization unit is specifically configured to set the original extrinsic parameter data as an optimization variable, set the error parameter as an optimization result, and perform nonlinear optimization to obtain optimized extrinsic parameter data; and generating the optimized calibration data according to the optimized external parameter data.
11. The structured light module of claim 9,
the acquiring unit is specifically configured to determine identification information; and reading the original calibration data in a preset storage space according to the identification information.
12. A structured light module according to claim 11 further comprising: a storage unit for storing the data of the memory cell,
the storage unit is configured to perform optimization processing according to the original external parameter data and the error parameter, and store the optimized calibration data in the preset storage space after obtaining the optimized calibration data.
13. A structured light module comprising a processor, a memory storing instructions executable by the processor, the instructions when executed by the processor implementing the method of any of claims 1 to 8.
14. A computer-readable storage medium, on which a program is stored, for use in a structured light module, wherein the program, when executed by a processor, implements the method of any one of claims 1 to 8.
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