CN110595353A - Calibration positioning method and device based on calibration plate and storage medium - Google Patents
Calibration positioning method and device based on calibration plate and storage medium Download PDFInfo
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- CN110595353A CN110595353A CN201810609977.1A CN201810609977A CN110595353A CN 110595353 A CN110595353 A CN 110595353A CN 201810609977 A CN201810609977 A CN 201810609977A CN 110595353 A CN110595353 A CN 110595353A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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Abstract
The application relates to a calibration positioning method and device based on a calibration plate and a storage medium. The method comprises the following steps: the method comprises the steps of obtaining pixel coordinates of each target in a calibration plate, calculating a first moving distance between a preset initial position and each target according to the pixel coordinates of each target, outputting a moving instruction according to the first moving distance, wherein the moving instruction is used for controlling a testing lens to move from a position corresponding to the initial position to a position corresponding to each target, measuring the moving distance of the testing lens from the position corresponding to the initial position to the position corresponding to each target, calculating a second moving distance between the initial position and each target according to the moving distance, and positioning each position in a region to be tested according to the pixel coordinates and the second moving distance of each target. By adopting the method, the difference between the first moving distance and the second moving distance can be calibrated through the actually measured moving distance, and the positioning of each position in the area to be tested is realized according to the pixel coordinates of each target and the second moving distance.
Description
Technical Field
The present disclosure relates to the field of measurement technologies, and in particular, to a calibration positioning method and apparatus based on a calibration plate, and a storage medium.
Background
With the development of scientific technology, a paper pattern feature recognition technology appears, and before paper pattern feature recognition is carried out, a paper pattern discriminator needs to be calibrated, so that the positioning precision of the paper pattern discriminator during collection of a paper pattern area is improved.
The calibration and positioning method of the traditional paper mark discriminator comprises the steps of determining the scale factor of each target through the pixel coordinate between each target of the calibration plate and the printing distance on the calibration plate, directly calculating the moving distance between the initial position and each target according to the scale factor and the pixel coordinate of each target, and positioning each position in a paper mark area according to the directly calculated moving distance. The requirement on positioning accuracy is high when the paper pattern discriminator collects the paper pattern area, and the existing calibration positioning method has large errors.
Disclosure of Invention
In view of the above, it is necessary to provide a calibration positioning method, a calibration positioning apparatus and a storage medium based on a calibration plate, which can reduce calibration positioning errors.
A calibration positioning method based on a calibration plate, the method comprising:
acquiring pixel coordinates of each target in the calibration plate, and calculating a first moving distance between a preset initial position and each target according to the pixel coordinates of each target;
outputting a moving instruction according to the first moving distance, wherein the moving instruction is used for controlling the testing lens to move from the position corresponding to the initial position to the position corresponding to each target;
measuring the moving distance of the test lens from the position corresponding to the initial position to the position corresponding to each target;
calculating second moving distances between the initial position and each target according to the moving distances;
and positioning each position in the area to be tested according to the pixel coordinates and the second moving distance of each target.
In one embodiment, obtaining the pixel coordinates of each target in the calibration plate comprises:
acquiring a panoramic image of the calibration plate;
and acquiring the pixel coordinates of each target according to the panoramic image.
In one embodiment, calculating the first moving distance between the preset initial position and each target according to the pixel coordinates of each target includes:
acquiring printing distances between targets in a preset calibration plate;
and calculating a first movement distance between a preset initial position and each target according to the pixel coordinates and the printing distance of each target.
In one embodiment, calculating the first moving distance between the preset initial position and each target according to the pixel coordinates and the printing distance of each target comprises:
determining the pixel distance between a preset initial position and each target according to the pixel coordinates of each target;
and calculating a first movement distance between a preset initial position and each target according to the pixel distance and the printing distance of each target.
In one embodiment, calculating the first moving distance between the preset initial position and each target according to the pixel distance and the printing distance of each target comprises:
determining a preset initial position and a scale factor of each target according to the pixel distance and the printing distance of each target;
and calculating a first movement distance between a preset initial position and each target according to the scale factor of each target.
In one embodiment, the scale factor of each target is a ratio of a pixel distance of each target to a printing distance, and the first moving distance of each target is a product of the scale factor of each target and the pixel distance of each target.
In one embodiment, measuring the moving distance of the test lens from the position corresponding to the initial position to the position corresponding to each target includes:
acquiring pixel coordinates of the target center of each target;
when the test lens moves from the position corresponding to the initial position to the position corresponding to each target, acquiring a target image of each target;
and when the pixel distance between the pixel coordinate of the target center of each target and the pixel coordinate of the center of the target image of each target is smaller than a preset pixel distance threshold value, determining the current moving distance of the test lens as the moving distance of the test lens from the position corresponding to the initial position to the position corresponding to each target.
A calibration plate based calibration positioning apparatus, the apparatus comprising:
the acquisition module is used for acquiring the pixel coordinates of each target in the calibration plate and calculating a first moving distance between a preset initial position and each target according to the pixel coordinates of each target;
the control module is used for outputting a moving instruction according to the first moving distance, and the moving instruction is used for controlling the test lens to move from the position corresponding to the initial position to the position corresponding to each target;
the measuring module is used for measuring the moving distance of the test lens from the position corresponding to the initial position to the position corresponding to each target;
the processing module is used for calculating second moving distances between the initial position and each target according to the moving distances;
and the positioning module is used for positioning each position in the area to be tested according to the pixel coordinates and the second moving distance of each target.
A calibration plate based calibration positioning apparatus, the apparatus comprising: the device comprises a controller, a zoom-out lens, an amplifying lens, a transparent glass plate and a calibration plate;
the method comprises the steps that one side, carrying targets, of a calibration plate is placed on the surface of a transparent glass plate, a controller outputs shooting instructions to a reduction lens, the reduction lens shoots a panoramic image of the calibration plate and outputs the panoramic image to the controller, the controller obtains pixel coordinates of the targets on the calibration plate according to the panoramic image and obtains preset printing distances among the targets in the calibration plate, the controller calculates a preset initial position and first moving distances of the targets in the calibration plate according to the pixel coordinates and the printing distances, outputs moving instructions according to the first moving distances, controls the amplification lens to move from the position corresponding to the initial position to the position corresponding to each target, measures the moving distances of the amplification lens, calculates second moving distances according to the moving distances of the amplification lens, and positions of the positions in a region to be tested according to the pixel coordinates and the second moving distances of the targets.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
acquiring pixel coordinates of each target in the calibration plate, and calculating a first moving distance between a preset initial position and each target according to the pixel coordinates of each target;
outputting a moving instruction according to the first moving distance, wherein the moving instruction is used for controlling the testing lens to move from the position corresponding to the initial position to the position corresponding to each target;
measuring the moving distance of the test lens from the position corresponding to the initial position to the position corresponding to each target;
calculating second moving distances between the initial position and each target according to the moving distances;
and positioning each position in the area to be tested according to the pixel coordinates and the second moving distance of each target.
According to the calibration positioning method, the calibration positioning device and the storage medium based on the calibration plate, the first moving distance between the preset initial position and each target is calculated according to the pixel coordinates of each target in the calibration plate, the test lens is moved according to the calculated first moving distance between the initial position and each target, the test lens is moved to the position corresponding to each target from the position corresponding to the initial position, the moving distance of the test lens is measured, the second moving distance between the initial position and each target is calculated according to the moving distance, the difference between the first moving distance and the second moving distance is calibrated according to the actually measured moving distance, the positioning of each position in the to-be-tested area is realized according to the pixel coordinates of each target and the second moving distance, and the positioning precision is improved.
Drawings
FIG. 1 is a schematic flow chart of a calibration positioning method based on a calibration plate according to an embodiment;
FIG. 2 is a schematic flow chart illustrating the steps for obtaining pixel coordinates of targets in a calibration plate in one embodiment;
FIG. 3 is a schematic flowchart of a calibration positioning method based on a calibration plate according to another embodiment;
FIG. 4 is a schematic flowchart of a calibration positioning method based on a calibration plate according to another embodiment;
FIG. 5 is a schematic flowchart of a calibration positioning method based on a calibration plate according to another embodiment;
FIG. 6 is a schematic flowchart of a calibration positioning method based on a calibration plate according to another embodiment;
FIG. 7 is a block diagram of a calibration positioning device based on a calibration plate according to an embodiment;
FIG. 8 is a block diagram of another embodiment of a calibration positioning device based on a calibration plate;
FIG. 9 is a block diagram of another embodiment of a calibration positioning device based on a calibration plate;
FIG. 10 is a diagram showing an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
In one embodiment, as shown in fig. 1, there is provided a calibration positioning method based on a calibration plate, comprising the steps of:
s120: and acquiring the pixel coordinates of each target in the calibration plate, and calculating the first movement distance between the preset initial position and each target according to the pixel coordinates of each target.
A pixel is the smallest unit, i.e. one color point, that constitutes a digital image. The image is composed of pixels, and the pixel coordinates refer to the positions of the pixels in the image. The pixel coordinates of each target in the calibration plate are obtained according to the panoramic image of the calibration plate, the pixel distance between each target can be calculated according to the pixel coordinates of each target, the pixel distance refers to the distance between the pixel coordinates of each target, and the preset initial position and the first moving distance of each target can be calculated according to the pixel distance between each target and the preset printing distance. Where the printing distance is a preset value directly obtainable from the calibration plate, it refers to the distance between any target and the adjacent target. The preset initial position refers to a position on the calibration plate corresponding to the position of the test lens, the center of the initial position and the center of the test lens are on a vertical line, and the vertical line is perpendicular to the plane where the ground is located. The first moving distance between the initial position and each target means a moving distance calculated from the pixel coordinates of each target, the pixel distance between each target, and the printing distance between each target, and is a calculated value and not an actual measured value.
S140: and outputting a moving instruction according to the first moving distance, wherein the moving instruction is used for controlling the test lens to move from the position corresponding to the initial position to the position corresponding to each target.
And the controller pre-estimates the distance which needs to be moved when the test lens moves from the position corresponding to the initial position to the position corresponding to each target according to the calculated first moving distance, and controls the test lens to move from the position corresponding to the initial position to the position corresponding to each target in a mode of outputting a moving instruction. The moving instruction comprises a moving step length and a moving direction, the moving direction is determined by the relative position of the initial position and the target, and the moving step length is determined by the moving direction and the first moving distance, namely the moving step length in each direction is determined according to the moving direction and the first moving distance.
S160: and measuring the moving distance of the test lens from the position corresponding to the initial position to the position corresponding to each target.
The movement distance refers to a measurement value at which the test lens is moved from a position corresponding to the initial position to a position corresponding to each target. Since there may be an error between the calculated first moving distance and the actual distance between the initial position and each target, the actual distance between the initial position and each target is measured by using the test lens, and the moving distance of the test lens from the position corresponding to the initial position to the position corresponding to each target is used as the actual distance between the initial position and each target. Firstly, the controller enables the test lens to move to the position near the corresponding position of each target according to the movement instruction, and then the actual distance between the initial position and each target is determined by continuously moving the test lens. And the moving amplitude of the test lens when the test lens continues to move is far smaller than that when the test lens moves according to the moving instruction.
S180: and calculating second moving distances between the initial position and each target according to the moving distances.
The movement distance refers to an actual distance measured by moving the test lens from a position corresponding to the initial position to a position corresponding to each target. The movement distance is typically taken as the second movement distance of the initial position from each target.
S190: and positioning each position in the area to be tested according to the pixel coordinates and the second moving distance of each target.
According to the pixel coordinates and the second moving distance of each target, the position relation between each target and the initial position can be determined. When the positions in the area to be tested need to be positioned, firstly, the pixel coordinates and the second moving distance of four adjacent targets around the area to be positioned are determined, the second moving distance of the area to be positioned can be determined through interpolation, and the positions of the area to be positioned can be determined according to the second moving distance, so that accurate positioning is realized.
According to the calibration positioning method based on the calibration plate, the first moving distance between the preset initial position and each target is calculated according to the pixel coordinates of each target in the calibration plate, the test lens is moved from the position corresponding to the initial position to the position corresponding to each target according to the calculated first moving distance between the initial position and each target, the moving distance of the test lens is measured, the second moving distance between the initial position and each target is calculated according to the moving distance, the difference between the first moving distance and the second moving distance is calibrated according to the actually measured moving distance, the positioning of each position in the region to be tested is realized according to the pixel coordinates of each target and the second moving distance, and the positioning precision is improved.
In one embodiment, as shown in fig. 2, S120 includes:
s220: acquiring a panoramic image of the calibration plate;
s240: and acquiring the pixel coordinates of each target according to the panoramic image.
The panoramic image refers to a complete image of the calibration plate, a direct coordinate system U-V with pixels as units is established by taking a preset initial position as an origin according to the panoramic image of the calibration plate, targets in the calibration plate are white rectangular squares, the centers of the white rectangular squares in the panoramic image of the calibration plate are found through an image processing method, and the pixel coordinates of the centers of the white rectangular squares are the pixel coordinates of the corresponding targets.
In one embodiment, as shown in fig. 3, S120 includes:
s320: acquiring printing distances between targets in a preset calibration plate;
s340: and calculating a first movement distance between a preset initial position and each target according to the pixel coordinates and the printing distance of each target.
The printing distance between each target refers to the distance between the printed dots of each target on the calibration plate. The calibration plate is a regular plate surface printed according to a calibration algorithm, the arrangement mode of targets on the calibration plate is regularly aligned in rows and columns, the number of the targets can be set according to needs, and the targets at four corners of the calibration plate at least need to be included. The printing distance between any two targets is a value that can be directly obtained by the calibration plate.
In one embodiment, as shown in fig. 4, S340 includes:
s420: determining the pixel distance between a preset initial position and each target according to the pixel coordinates of each target;
s440: and calculating a first movement distance between a preset initial position and each target according to the pixel distance and the printing distance of each target.
The pixel distance refers to the distance between two pixel coordinates in an image coordinate system, and the pixel coordinate of the A target is (X) by way of example1、Y1) The pixel coordinate of the B target is (X)2、Y2) The pixel distance between the A target and the B targetThe printing distance between each target refers to the distance between the printed dots of each target on the calibration plate. According to the pixel distance and the printing distance of each target, the distance relation between the preset initial position and each target can be determined, and then the first moving distance between the preset initial position and each target can be calculated.
In one embodiment, as shown in fig. 5, S440 includes:
s520: determining a preset initial position and a scale factor of each target according to the pixel distance and the printing distance of each target;
s540: and calculating a first movement distance between a preset initial position and each target according to the scale factor of each target.
The preset initial position and the scale factor of each target can be determined by the pixel distance and the printing distance of each target, and the scale factor is used as an operation factor and can be used for converting the pixel distance and the first moving distance between each target in the calibration plate, namely the first moving distance can be calculated through the pixel distance according to the scale factor, and the pixel distance can also be calculated through the first moving distance.
In one embodiment, the scale factor of each target is a ratio of a pixel distance of each target to a printing distance, and the first moving distance of each target is a product of the scale factor of each target and the pixel distance of each target.
In one embodiment, as shown in fig. 6, S160 includes:
s620: acquiring pixel coordinates of the target center of each target;
s640: when the test lens moves from the position corresponding to the initial position to the position corresponding to each target, acquiring a target image of each target;
s660: and when the pixel distance between the pixel coordinate of the target center of each target and the pixel coordinate of the center of the target image of each target is smaller than a preset pixel distance threshold value, determining the current moving distance of the test lens as the moving distance of the test lens from the position corresponding to the initial position to the position corresponding to each target.
The testing lens acquires a target image of a target and outputs the target image to the controller, the controller compares the pixel coordinate of the center of the received target image with the pixel coordinate of the center of the target of the shot target, if the pixel distance between the pixel coordinate of the center of the received target image and the pixel coordinate of the center of the target of the shot target is smaller than a preset pixel distance threshold value, the testing lens is considered to have moved to the center of the target, the current moving distance of the testing lens is measured, and the current moving distance of the testing lens is used as the moving distance of the testing lens from the position corresponding to the initial position to the position corresponding to each target. The preset pixel distance threshold value can be set according to the requirement, and the common pixel distance threshold value is 20 pixels.
It should be understood that although the various steps in the flow charts of fig. 1-6 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 1-6 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternating with other steps or at least some of the sub-steps or stages of other steps.
In one embodiment, as shown in fig. 7, there is provided a calibration positioning device based on a calibration plate, comprising: an acquisition module 720, a control module 740, a measurement module 760, a processing module 780, and a positioning module 790, wherein:
an obtaining module 720, configured to obtain pixel coordinates of each target in the calibration plate, and calculate a first moving distance between a preset initial position and each target according to the pixel coordinates of each target;
a control module 740, configured to output a movement instruction according to the first movement distance, where the movement instruction is used to control the test lens to move from a position corresponding to the initial position to a position corresponding to each target;
a measuring module 760 for measuring a moving distance of the test lens from a position corresponding to the initial position to a position corresponding to each target;
the processing module 780 is configured to calculate a second moving distance between the initial position and each target according to the moving distance;
and a positioning module 790, configured to position each position in the region to be tested according to the pixel coordinates and the second moving distance of each target.
According to the calibration positioning device based on the calibration plate, the first moving distance between the preset initial position and each target is calculated according to the pixel coordinates of each target in the calibration plate, the test lens is moved from the position corresponding to the initial position to the position corresponding to each target according to the calculated first moving distance from the initial position to each target, the moving distance of the test lens is measured, the second moving distance from the initial position to each target is calculated according to the moving distance, the difference between the first moving distance and the second moving distance is calibrated through the actually measured moving distance, the positioning of each position in the region to be tested is realized according to the pixel coordinates of each target and the second moving distance, and the positioning precision is improved.
In one embodiment, as shown in fig. 8, the obtaining module 720 includes a coordinate obtaining module 722, and the coordinate obtaining module 722 is configured to:
acquiring a panoramic image of the calibration plate;
and acquiring the pixel coordinates of each target according to the panoramic image.
In one embodiment, as shown in fig. 8, the obtaining module 720 includes a calculating module 724, and the calculating module 724 is configured to:
acquiring printing distances between targets in a preset calibration plate;
and calculating a first movement distance between a preset initial position and each target according to the pixel coordinates and the printing distance of each target.
In one embodiment, as shown in fig. 8, the calculation module 724 comprises a distance calculation module 726, and the distance calculation module 726 is configured to:
determining the pixel distance between a preset initial position and each target according to the pixel coordinates of each target;
and calculating a first movement distance between a preset initial position and each target according to the pixel distance and the printing distance of each target.
In one embodiment, as shown in FIG. 8, the distance calculation module 726 includes a scale factor calculation module 728, and the scale factor calculation module 728 is configured to:
determining a preset initial position and a scale factor of each target according to the pixel distance and the printing distance of each target;
and calculating a first movement distance between a preset initial position and each target according to the scale factor of each target.
In one embodiment, as shown in fig. 8, the measurement module 760 includes a distance measurement module 762, the distance measurement module 762 being configured to:
acquiring pixel coordinates of the target center of each target;
when the test lens moves from the position corresponding to the initial position to the position corresponding to each target, acquiring a target image of each target;
and when the pixel distance between the pixel coordinate of the target center of each target and the pixel coordinate of the center of the target image of each target is smaller than a preset pixel distance threshold value, determining the current moving distance of the test lens as the moving distance of the test lens from the position corresponding to the initial position to the position corresponding to each target.
For specific definition of the calibration positioning device based on the calibration plate, reference may be made to the above definition of the calibration positioning method based on the calibration plate, and details are not repeated here. The modules in the calibration positioning device based on the calibration board can be wholly or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
An alignment fixture based on an alignment plate, as shown in fig. 9, the fixture comprising: a controller 920, a zoom-out lens 940, a zoom-in lens 960, a transparent glass plate 980, a calibration plate 990;
the side of the calibration plate 990 carrying the target is placed on the surface of the transparent glass plate 980, the controller 920 outputs a shooting instruction to the zoom-out lens 940, so that the zoom-out lens 940 shoots the panoramic view of the calibration plate 990, and outputs the coordinates to the controller 920, the controller 920 obtains the pixel coordinates of each target on the calibration plate 990 according to the panorama, obtains the preset printing distance between each target in the calibration plate 990, and calculates a preset initial position and a first movement distance of each target within the calibration plate 990 according to the pixel coordinates and the printing distance, outputs a movement instruction according to the first movement distance, controls the zoom lens 960 to move from a position corresponding to the initial position to a position corresponding to each target, measures the movement distance of the zoom lens 960, the second moving distance is calculated according to the moving distance of the magnifying lens 960, and each position in the region to be tested is positioned according to the pixel coordinates of each target and the second moving distance.
According to the calibration positioning device based on the calibration plate, the first moving distance between the preset initial position and each target is calculated according to the pixel coordinates of each target in the calibration plate, the test lens is moved from the position corresponding to the initial position to the position corresponding to each target according to the calculated first moving distance from the initial position to each target, the moving distance of the test lens is measured, the second moving distance from the initial position to each target is calculated according to the moving distance, the difference between the first moving distance and the second moving distance is calibrated through the actually measured moving distance, the positioning of each position in the region to be tested is realized according to the pixel coordinates of each target and the second moving distance, and the positioning precision is improved.
In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as shown in fig. 10. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a calibration plate based calibration positioning method.
Those skilled in the art will appreciate that the architecture shown in fig. 10 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:
acquiring pixel coordinates of each target in the calibration plate, and calculating a first moving distance between a preset initial position and each target according to the pixel coordinates of each target;
outputting a moving instruction according to the first moving distance, wherein the moving instruction is used for controlling the testing lens to move from the position corresponding to the initial position to the position corresponding to each target;
measuring the moving distance of the test lens from the position corresponding to the initial position to the position corresponding to each target;
calculating second moving distances between the initial position and each target according to the moving distances;
and positioning each position in the area to be tested according to the pixel coordinates and the second moving distance of each target.
According to the calibration positioning computer equipment based on the calibration plate, the first movement distance between the preset initial position and each target is calculated according to the pixel coordinates of each target in the calibration plate, the test lens is moved from the position corresponding to the initial position to the position corresponding to each target according to the calculated first movement distance from the initial position to each target, the movement distance of the test lens is measured, the second movement distance from the initial position to each target is calculated according to the movement distance, the difference between the first movement distance and the second movement distance is calibrated through the actually measured movement distance, the positioning of each position in the area to be tested is realized according to the pixel coordinates and the second movement distance of each target, and the positioning precision is improved.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
acquiring a panoramic image of the calibration plate;
and acquiring the pixel coordinates of each target according to the panoramic image.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
acquiring printing distances between targets in a preset calibration plate;
and calculating a first movement distance between a preset initial position and each target according to the pixel coordinates and the printing distance of each target.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
determining the pixel distance between a preset initial position and each target according to the pixel coordinates of each target;
and calculating a first movement distance between a preset initial position and each target according to the pixel distance and the printing distance of each target.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
determining a preset initial position and a scale factor of each target according to the pixel distance and the printing distance of each target;
and calculating a first movement distance between a preset initial position and each target according to the scale factor of each target.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
acquiring pixel coordinates of the target center of each target;
when the test lens moves from the position corresponding to the initial position to the position corresponding to each target, acquiring a target image of each target;
and when the pixel distance between the pixel coordinate of the target center of each target and the pixel coordinate of the center of the target image of each target is smaller than a preset pixel distance threshold value, determining the current moving distance of the test lens as the moving distance of the test lens from the position corresponding to the initial position to the position corresponding to each target.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
acquiring pixel coordinates of each target in the calibration plate, and calculating a first moving distance between a preset initial position and each target according to the pixel coordinates of each target;
outputting a moving instruction according to the first moving distance, wherein the moving instruction is used for controlling the testing lens to move from the position corresponding to the initial position to the position corresponding to each target;
measuring the moving distance of the test lens from the position corresponding to the initial position to the position corresponding to each target;
calculating second moving distances between the initial position and each target according to the moving distances;
and positioning each position in the area to be tested according to the pixel coordinates and the second moving distance of each target.
According to the calibration positioning storage medium based on the calibration plate, the first moving distance between the preset initial position and each target is calculated according to the pixel coordinates of each target in the calibration plate, the test lens is moved from the position corresponding to the initial position to the position corresponding to each target according to the calculated first moving distance between the initial position and each target, the moving distance of the test lens is measured, the second moving distance between the initial position and each target is calculated according to the moving distance, the difference between the first moving distance and the second moving distance is calibrated through the actually measured moving distance, the positioning of each position in the region to be tested is realized according to the pixel coordinates and the second moving distance of each target, and the positioning precision is improved.
In one embodiment, the computer program when executed by the processor further performs the steps of:
acquiring a panoramic image of the calibration plate;
and acquiring the pixel coordinates of each target according to the panoramic image.
In one embodiment, the computer program when executed by the processor further performs the steps of:
acquiring printing distances between targets in a preset calibration plate;
and calculating a first movement distance between a preset initial position and each target according to the pixel coordinates and the printing distance of each target.
In one embodiment, the computer program when executed by the processor further performs the steps of:
determining the pixel distance between a preset initial position and each target according to the pixel coordinates of each target;
and calculating a first movement distance between a preset initial position and each target according to the pixel distance and the printing distance of each target.
In one embodiment, the computer program when executed by the processor further performs the steps of:
determining a preset initial position and a scale factor of each target according to the pixel distance and the printing distance of each target;
and calculating a first movement distance between a preset initial position and each target according to the scale factor of each target.
In one embodiment, the computer program when executed by the processor further performs the steps of:
acquiring pixel coordinates of the target center of each target;
when the test lens moves from the position corresponding to the initial position to the position corresponding to each target, acquiring a target image of each target;
and when the pixel distance between the pixel coordinate of the target center of each target and the pixel coordinate of the center of the target image of each target is smaller than a preset pixel distance threshold value, determining the current moving distance of the test lens as the moving distance of the test lens from the position corresponding to the initial position to the position corresponding to each target.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A calibration positioning method based on a calibration plate is characterized by comprising the following steps:
acquiring pixel coordinates of each target in a calibration plate, and calculating a first moving distance between a preset initial position and each target according to the pixel coordinates of each target;
outputting a moving instruction according to the first moving distance, wherein the moving instruction is used for controlling the test lens to move from the position corresponding to the initial position to the position corresponding to each target;
measuring the moving distance of the test lens from the position corresponding to the initial position to the position corresponding to each target;
calculating second moving distances between the initial position and each target according to the moving distances;
and positioning each position in the area to be tested according to the pixel coordinates of each target and the second moving distance.
2. The method of claim 1, wherein the obtaining pixel coordinates for each target in the calibration plate comprises:
acquiring a panoramic image of the calibration plate;
and acquiring the pixel coordinates of each target according to the panoramic image.
3. The method of claim 1, wherein calculating the first moving distance between the preset initial position and each target according to the pixel coordinates of each target comprises:
acquiring printing distances between targets in a preset calibration plate;
and calculating a first movement distance between a preset initial position and each target according to the pixel coordinates of each target and the printing distance.
4. The method of claim 3, wherein calculating the first movement distance from the preset initial position to each target according to the pixel coordinates of each target and the printing distance comprises:
determining the pixel distance between a preset initial position and each target according to the pixel coordinates of each target;
and calculating a first movement distance between a preset initial position and each target according to the pixel distance of each target and the printing distance.
5. The method of claim 4, wherein calculating the first movement distance from the preset initial position to each target according to the pixel distance and the printing distance of each target comprises:
determining a preset initial position and a scale factor of each target according to the pixel distance and the printing distance of each target;
and calculating a first movement distance between a preset initial position and each target according to the scale factor of each target.
6. The method of claim 5, wherein the scale factor of each of the targets is a ratio of a pixel distance of each of the targets to the printing distance, and the first movement distance of each of the targets is a product of the scale factor of each of the targets and the pixel distance of each of the targets.
7. The method of claim 1, wherein the measuring a movement distance that the test lens moves from a position corresponding to the initial position to a position corresponding to each target comprises:
acquiring pixel coordinates of the target center of each target;
when the test lens moves from the position corresponding to the initial position to the position corresponding to each target, acquiring a target image of each target;
and when the pixel distance between the pixel coordinate of the target center of each target and the pixel coordinate of the target image of each target is smaller than a preset pixel distance threshold value, determining that the current moving distance of the test lens is the moving distance of the test lens from the position corresponding to the initial position to the position corresponding to each target.
8. A calibration positioning device based on a calibration plate, the device comprising:
the acquisition module is used for acquiring the pixel coordinates of each target in the calibration plate and calculating a first movement distance between a preset initial position and each target according to the pixel coordinates of each target;
the control module is used for outputting a moving instruction according to the first moving distance, and the moving instruction is used for controlling the test lens to move from the position corresponding to the initial position to the position corresponding to each target;
the measuring module is used for measuring the moving distance of the test lens from the position corresponding to the initial position to the position corresponding to each target;
the processing module is used for calculating second moving distances between the initial position and each target according to the moving distances;
and the positioning module is used for positioning each position in the area to be tested according to the pixel coordinates of each target and the second moving distance.
9. A calibration positioning device based on a calibration plate, the device comprising: the device comprises a controller, a zoom-out lens, an amplifying lens, a transparent glass plate and a calibration plate;
the side, carrying the targets, of the calibration plate is placed on the surface of the transparent glass plate, the controller outputs a shooting instruction to the zoom-out lens, the zoom-out lens shoots a panoramic image of the calibration plate and outputs the panoramic image to the controller, the controller acquires pixel coordinates of each target on the calibration plate according to the panoramic image, acquires a preset printing distance between each target in the calibration plate, calculates a preset initial position and a first moving distance of each target in the calibration plate according to the pixel coordinates and the printing distance, outputs a moving instruction according to the first moving distance, controls the zoom-out lens to move from a position corresponding to the initial position to a position corresponding to each target, measures a moving distance of the zoom-out lens, calculates a second moving distance according to the moving distance of the zoom-out lens, and calculates the pixel coordinates of each target and the second moving distance, and positioning each position in the area to be tested.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
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