CN111210480B - Binocular precision detection method, binocular precision detection system, binocular precision detection equipment and storage medium - Google Patents
Binocular precision detection method, binocular precision detection system, binocular precision detection equipment and storage medium Download PDFInfo
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Abstract
The embodiment of the invention discloses a binocular precision detection method, a binocular precision detection system, binocular precision detection equipment and a binocular precision storage medium, wherein a first three-dimensional coordinate is acquired firstly, and a machine coordinate system of a measuring machine where the first three-dimensional coordinate is located is determined; transforming a coordinate system according to the machine coordinate system to obtain a target binocular coordinate system corresponding to the binocular equipment; and determining binocular detection precision of the binocular equipment according to the target binocular coordinate system. Therefore, the embodiment of the invention determines the coordinate system adopted by the binocular equipment by the machine coordinate system, and further determines the binocular detection precision under the target binocular coordinate system, so that the visual precision of the binocular equipment can be accurately judged.
Description
Technical Field
The present invention relates to the field of computer vision, and in particular, to a binocular accuracy detection method, system, device, and storage medium.
Background
Along with the gradual popularization of binocular equipment, the binocular equipment is widely applied to other technical fields such as robots.
The binocular equipment comprises two cameras which are placed at different positions and can be used for shooting the same object at the same time, so that two pictures are obtained; then, according to the difference of imaging positions of the object in the two pictures, the parallax of the two pictures is calculated, and then the three-dimensional coordinate of the object under the camera coordinate system is calculated according to the parallax principle.
In order to determine the three-dimensional coordinates of an object and thus to process other operations related to the object according to the three-dimensional coordinates, the visual accuracy of the binocular device is particularly important in this process. After all, the visual accuracy directly relates to whether the three-dimensional coordinates of the object obtained by the binocular device meet the actual conditions.
However, at present, the visual accuracy of binocular devices cannot be well discriminated.
Disclosure of Invention
In order to solve the above problems, embodiments of the present invention provide a binocular precision detection method, system, device, and storage medium.
In a first aspect, an embodiment of the present invention provides a binocular accuracy detection method, including:
acquiring a first three-dimensional coordinate and determining a machine coordinate system in which the first three-dimensional coordinate is located;
transforming a coordinate system according to the machine coordinate system to obtain a target binocular coordinate system corresponding to the binocular equipment;
and determining binocular detection precision of the binocular equipment according to the target binocular coordinate system.
Preferably, the transforming the coordinate system according to the machine coordinate system to obtain a target binocular coordinate system corresponding to the binocular device specifically includes:
performing coordinate system transformation according to a first three-dimensional coordinate under the machine coordinate system and a first preset coordinate of binocular equipment to obtain an initial binocular coordinate system, wherein the first three-dimensional coordinate corresponds to the first preset coordinate;
acquiring a second three-dimensional coordinate under the initial binocular coordinate system;
performing alignment operation of a coordinate system according to the second three-dimensional coordinate and a second preset coordinate to obtain a first conversion matrix corresponding to a target binocular coordinate system, wherein the second three-dimensional coordinate corresponds to the second preset coordinate;
and establishing a coordinate system through the first conversion matrix to obtain the target binocular coordinate system.
Preferably, the transforming the coordinate system according to the first three-dimensional coordinate in the machine coordinate system and the first preset coordinate of the binocular device to obtain an initial binocular coordinate system specifically includes:
processing according to the first three-dimensional coordinate under the machine coordinate system and the first preset coordinate of the binocular equipment to obtain a second conversion matrix corresponding to the initial binocular coordinate system;
and establishing a coordinate system through the second transformation matrix to obtain the initial binocular coordinate system.
Preferably, the determining the binocular detection precision of the binocular device according to the target binocular coordinate system specifically includes:
setting standard coordinates;
acquiring a third three-dimensional coordinate under the target binocular coordinate system and taking the third three-dimensional coordinate as a measurement coordinate, wherein the standard coordinate corresponds to the measurement coordinate;
and determining binocular detection precision of the binocular equipment according to the standard coordinates and the measurement coordinates.
Preferably, the binocular detection precision is a binocular detection precision corresponding to a single point;
after the binocular detection precision of the binocular device is determined according to the standard coordinates and the measurement coordinates, the binocular detection method further comprises the following steps:
and constructing a binocular error distribution map according to the binocular detection precision corresponding to the single point.
Preferably, the determining the binocular detection precision of the binocular device according to the standard coordinates and the measurement coordinates specifically includes:
acquiring standard coordinate components in a preset direction from the standard coordinates;
acquiring a measurement coordinate component in the preset direction from the measurement coordinate;
and determining binocular single-point detection precision in the preset direction according to the standard coordinate component and the measurement coordinate component.
Preferably, after the third three-dimensional coordinate in the target binocular coordinate system is obtained and used as the measurement coordinate, the binocular precision detection method further includes:
performing plane fitting according to the measurement coordinates to obtain plane parameters corresponding to the fitted plane;
and determining a system error through a parameter difference between the plane parameter and a preset plane parameter.
In a second aspect, an embodiment of the present invention provides a binocular accuracy detection system, including:
the coordinate value acquisition module is used for acquiring a first three-dimensional coordinate and determining a machine coordinate system in which the first three-dimensional coordinate is positioned;
the coordinate system transformation module is used for transforming the coordinate system according to the machine coordinate system so as to obtain a target binocular coordinate system corresponding to the binocular equipment;
and the precision detection module is used for determining binocular detection precision of the binocular equipment according to the target binocular coordinate system.
In a third aspect, an embodiment of the present invention provides an electronic device, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor, where the steps of a binocular accuracy detection method provided in the first aspect of the present invention are implemented when the processor executes the program.
In a fourth aspect, embodiments of the present invention provide a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of a binocular precision detection method provided by the first aspect of the present invention.
The binocular precision detection method, system, equipment and storage medium provided by the embodiment of the invention are characterized in that a first three-dimensional coordinate is firstly obtained, and a machine coordinate system in which the first three-dimensional coordinate is located is determined; transforming a coordinate system according to the machine coordinate system to obtain a target binocular coordinate system corresponding to the binocular equipment; and determining binocular detection precision of the binocular equipment according to the target binocular coordinate system. Therefore, the embodiment of the invention determines the coordinate system adopted by the binocular equipment by the machine coordinate system, and further determines the binocular detection precision under the target binocular coordinate system, so that the visual precision of the binocular equipment can be accurately judged.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a binocular accuracy detection method provided by an embodiment of the present invention;
FIG. 2 is a flowchart of a binocular accuracy detection method according to another embodiment of the present invention;
FIG. 3 is a schematic diagram of a precision detection framework according to another embodiment of the present invention;
FIG. 4 is a schematic diagram of a machine coordinate system converted to an initial binocular coordinate system according to another embodiment of the present invention;
FIG. 5 is a schematic diagram of a transformation of an initial binocular coordinate system into a target binocular coordinate system according to another embodiment of the present invention;
FIG. 6 is a flowchart of a binocular accuracy detection method according to another embodiment of the present invention;
FIG. 7 is a binocular error distribution chart according to still another embodiment of the present invention;
FIG. 8 is a flowchart of a binocular accuracy detection method according to another embodiment of the present invention;
FIG. 9 is a schematic structural diagram of a binocular accuracy detection system according to an embodiment of the present invention;
fig. 10 is a schematic diagram of an entity structure of an electronic device according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Fig. 1 is a flowchart of a binocular accuracy detection method provided by an embodiment of the present invention, as shown in fig. 1, where the method includes:
s1, acquiring a first three-dimensional coordinate, and determining a machine coordinate system in which the first three-dimensional coordinate is located.
First, in order to detect the visual accuracy of the binocular device, the embodiment of the present invention may use a measuring device for auxiliary detection, and the measuring device may be a three-coordinate measuring machine.
The binocular devices can be classified into active type devices and passive type devices, and the calculation methods of the two device types are the same, but the two device types can project active light sources, such as infrared light source lamps, and the two device types have no active light sources. The embodiment of the invention can be illustrated by taking passive binocular equipment as an example.
In the implementation process, the binocular device can be fixed on a machine platform of the three-coordinate measuring machine for operation, and the execution main body of the embodiment of the invention is an electronic device which can be connected with the three-coordinate measuring machine.
The electronic device may be a personal computer.
It will be appreciated that a three-coordinate measuring machine will detect the visual accuracy of a binocular device to obtain a binocular detection accuracy, which is used to describe the accuracy of the object coordinates obtained when the binocular device is applied to detect an object.
In a specific implementation, an object to be identified can be configured on a three-coordinate measuring machine, the object to be identified can be a spherical ruby measuring needle, and three-dimensional coordinates for marking the position of the spherical ruby measuring needle can be collected. For example, a first three-dimensional coordinate may be acquired, where the first three-dimensional coordinate is a three-dimensional coordinate of a spherical ruby stylus detected by a three-coordinate measuring machine, and the first three-dimensional coordinate may be recorded asi represents a sequence number.
It should be noted that the number of the substrates,the upper one is only distinguished between symbols, e.g. < >>There are three points above, +.>And->Representing the same data type in different situations, other situations, and so on.
The machine coordinate system is a coordinate system adopted when the three-coordinate measuring machine detects an object.
In addition, the object to be identified used in the embodiment of the invention is a spherical ruby measuring needle, which can eliminate errors of binocular calculation results caused by different mass center positions of the three-dimensional object in the left and right camera projection images.
S2, carrying out coordinate system transformation according to the machine coordinate system to obtain a target binocular coordinate system corresponding to the binocular equipment.
Unlike machine coordinate systems, which are used when a binocular device detects an object, embodiments of the present invention convert a machine coordinate system corresponding to a measuring device into a target binocular coordinate system.
S3, determining binocular detection precision of the binocular equipment according to the target binocular coordinate system.
Then, accuracy confirmation is performed under the target binocular coordinate system to obtain binocular detection accuracy of the binocular equipment.
Further, after the binocular detection accuracy is obtained, the device performance of the binocular device may be adjusted according to the numerical value of the binocular detection accuracy, or the model selection of the binocular device may be performed. After all, the operation error requirements for binocular devices are different in different application scenarios.
The binocular precision detection method provided by the embodiment of the invention comprises the steps of firstly obtaining a first three-dimensional coordinate and determining a machine coordinate system in which the first three-dimensional coordinate is positioned; transforming a coordinate system according to the machine coordinate system to obtain a target binocular coordinate system corresponding to the binocular equipment; and determining binocular detection precision of the binocular equipment according to the target binocular coordinate system. Therefore, the embodiment of the invention determines the coordinate system adopted by the binocular equipment by the machine coordinate system, and further determines the binocular detection precision under the target binocular coordinate system, so that the visual precision of the binocular equipment can be accurately judged.
Fig. 2 is a flowchart of a binocular accuracy detection method according to another embodiment of the present invention, which is based on the embodiment shown in fig. 1.
In this embodiment, the S2 specifically includes:
s21, carrying out coordinate system transformation according to a first three-dimensional coordinate under the machine coordinate system and a first preset coordinate of the binocular equipment to obtain an initial binocular coordinate system, wherein the first three-dimensional coordinate corresponds to the first preset coordinate.
The embodiment of the present invention will give a specific example of converting a machine coordinate system into a binocular coordinate system corresponding to a binocular device, but is not limited thereto.
First, there is an ideal coordinate value in the accuracy detection process, the ideal coordinate value is a coordinate value under an ideal state binocular coordinate system, the ideal state binocular coordinate system exists in a preset model, and the ideal state binocular coordinate system can be recorded as an ideal coordinate system. The ideal state of the binocular coordinate system corresponding to the binocular device is the ideal coordinate system, but in common practice, the ideal coordinate system is approximated, i.e. the target binocular coordinate system approximates the ideal coordinate system.
The ideal coordinate system can be recorded in a preset model.
Wherein the Zp axis of the ideal coordinate system is the optical axis passing through the left camera lens in the binocular device, and the accuracy detecting frame can be described with reference to fig. 3, 1-1 in the accuracy detecting frame represents a three-coordinate measuring machine, 1-2 represents a machine coordinate system (X, Y, Z), 1-3 represents a spherical ruby stylus, 1-4 represents the binocular device, and 1-5 represents the ideal coordinate system (Xp, yp, zp).
Tool for putting onIn the body implementation, 15 coordinate points can be selected from an ideal coordinate system of a preset model to serve as theoretical points, and the coordinates of the theoretical points are in the ideal coordinate system and can be recorded asi represents a sequence number.
Then, the spherical ruby measuring needle on the three-coordinate measuring machine can be moved based on the coordinate value of the theoretical point, and the coordinate value of the spherical ruby measuring needle is detected through the three-coordinate measuring machine and the binocular equipment, and the three-coordinate measuring machine can obtain the first three-dimensional coordinate under the machine coordinate system and can be recorded asThe binocular device may obtain the first preset coordinates. Obviously, the first three-dimensional coordinate and the first preset coordinate are corresponding theoretical points in different coordinate systems. By moving the spherical ruby stylus, it is expected that the coordinate indication at the binocular device, i.e. the first preset coordinate, may be close to the coordinate value of the theoretical point.
Then, coordinate system transformation can be performed according to the first three-dimensional coordinate under the machine coordinate system and the first preset coordinate of the binocular device, so as to obtain an initial binocular coordinate system.
The purpose of establishing the initial binocular coordinate system is to enable the measuring equipment to determine the visual field range of the binocular equipment, so that the follow-up accurate determination of the binocular coordinate system is facilitated.
Furthermore, see FIG. 4,5-1 for a machine coordinate system (X, Y, Z), 5-2 for an initial binocular coordinate system (Xc, yc, zc), 5-3 for 15 coordinate points establishing the initial binocular coordinate system, 5-4 for a rotation matrix R involved in converting the machine coordinate system into the initial binocular coordinate system c Translation matrix T c 5-5 represents an ideal coordinate system (Xp, yp, zp).
S22, obtaining a second three-dimensional coordinate under the initial binocular coordinate system.
For the accurate determination of the binocular coordinate system, i.e. for obtaining the target binocular coordinate system, 50 coordinate points can be selected from the preset model automatically and randomly to be usedAs theoretical points, the 50 coordinate points can be recorded as
S23, performing alignment operation of a coordinate system according to the second three-dimensional coordinate and a second preset coordinate to obtain a first conversion matrix corresponding to the target binocular coordinate system, wherein the second three-dimensional coordinate corresponds to the second preset coordinate.
Then, can be based on the theoretical pointThe spherical ruby measuring needle on the three-coordinate measuring machine is moved, and the coordinate value of the spherical ruby measuring needle is detected through the three-coordinate measuring machine and the binocular equipment, wherein the three-coordinate measuring machine can measure the second three-dimensional coordinate under the initial binocular coordinate system based on the initial binocular coordinate system and can be recorded as>The display reading on the binocular device side can now be noted as second preset coordinates, which can be abbreviated as +.>
Wherein, it is obtainedFor the procedure of (1) the spherical ruby stylus on a three-coordinate measuring machine will be moved, hopefully +.>Can approach the theoretical point->After the operation is completed, the specific indication on the binocular device can be recorded as +.>
Then, an alignment operation of the coordinate system can be performed according to the second three-dimensional coordinate and the second preset coordinate, so as to hopefully convert the initial binocular coordinate system into the final target binocular coordinate system.
Specifically, regarding the alignment operation of the coordinate system, the alignment operation of the coordinate system can be performed by a nearest iteration point (ICP, iterative Closest Point) algorithm with precisely aligned point clouds, the input of the ICP algorithm is two sets of data of a second three-dimensional coordinate and a second preset coordinate, and the obtained output result is a first transformation matrix.
Wherein the first transformation matrix represents a transformation matrix that transforms the initial binocular coordinate system into the target binocular coordinate system.
Wherein the first transformation matrix may be embodied as a rotation matrix R cb And a translation matrix T cb I.e. the first transformation matrix may comprise a first rotation matrix and a first translation matrix.
Furthermore, a calculation of the display reading, i.e. the second preset coordinates, at the binocular device side can be provided.
For example, spherical ruby can be detected by left and right cameras of binocular equipment, and coordinate points of the spherical center in left and right image coordinate systems are obtained as (u) L ,v L ) Sum (u) R ,v R ) The unit is a pixel.
Then, the following formula can be applied,
wherein f xL 、f xR 、f yL 、f yR Represents the focal length of the left and right monocular cameras, u 0L 、v 0L 、u 0R V 0R The main points representing the left and right monocular cameras can be obtained by primarily calibrating the monocular cameras through a Zhang Zhengyou calibration method.
Wherein, the liquid crystal display device comprises a liquid crystal display device,representing three-dimensional coordinate values of the ruby ball under a monocular camera coordinate system,the value obtained after the normalization of the three-dimensional coordinate values of the ruby ball under the monocular camera coordinate system is represented.
Then, the second preset coordinate, which is the display reading of the binocular equipment side, can be calculated through the corresponding point, and the following formula can be adopted,
wherein, (X e ，Y e ，Z e ) Namely, the second preset coordinate is the second preset coordinate,a rotation matrix representing left camera to right camera, < +.>Representing the translation matrix of the left camera to the right camera.
S24, establishing a coordinate system through the first conversion matrix to obtain the target binocular coordinate system.
Then, a coordinate system can be established through the first rotation matrix and the first translation matrix to obtain a target binocular coordinate system.
It can be seen that the ideal coordinate system will be aligned with the target binocular coordinate system prior to actually determining the accuracy.
Furthermore, a rotation matrix R for converting the initial binocular coordinate system to the target binocular coordinate system can be shown in FIG. 5,6-1 cb And a translation matrix T cb 6-2 represents an initial binocular coordinate system (Xc, yc, zc), 6-3 represents 50 coordinate points for establishing a target binocular coordinate system, 6-4 represents a target binocular coordinate system (Xb, yb, zb), and 6-5 represents an ideal coordinate system (Xp, yp, zp).
In addition, before the coordinates of the binocular device are acquired, for example, before the first preset coordinates of the binocular device are acquired, the binocular device may be calibrated first, so as to obtain the internal parameters and the external parameters of the camera in the binocular device, and then the parameters are utilized and the three-dimensional coordinate values are obtained through parallax map calculation, for example, the first preset coordinates of the binocular device may be obtained.
It should be noted that the accuracy of the parameters obtained in the calibration process may affect the accuracy of the three-dimensional coordinate values obtained by the final calculation.
In the calibration operation, the binocular can be calibrated by Zhang Zhengyou method to determine the three-dimensional coordinate value of the spherical ruby under the binocular coordinate system.
The binocular accuracy detection method provided by the embodiment of the invention provides a method for establishing a binocular coordinate system corresponding to binocular equipment, and specifically comprises the steps of converting a machine coordinate system into an initial binocular coordinate system representing a visual field range, and then converting the initial binocular coordinate system into a target binocular coordinate system to be used in subsequent accuracy determination. Therefore, the detection precision is determined based on the established target binocular coordinate system, and the accuracy of the detection precision can be further ensured.
On the basis of the foregoing embodiment, preferably, the transforming the coordinate system according to the first three-dimensional coordinate under the machine coordinate system and the first preset coordinate of the binocular device to obtain an initial binocular coordinate system specifically includes:
processing according to the first three-dimensional coordinate under the machine coordinate system and the first preset coordinate of the binocular equipment to obtain a second conversion matrix corresponding to the initial binocular coordinate system;
and establishing a coordinate system through the second transformation matrix to obtain the initial binocular coordinate system.
Embodiments of the present invention may provide a specific class of transformations from a machine coordinate system to an initial binocular coordinate system, but are not limited to such transformations.
The conversion is performed in the following manner, and the conversion matrix from the machine coordinate system to the initial binocular coordinate system can be determined by a singular value decomposition (SVD, singular Value Decomposition).
Wherein the second transformation matrix obtained here may be embodied as a rotation matrix R c And a translation matrix T c I.e. the second conversion matrix may comprise a second rotation matrix and a second translation matrix.
Then, a coordinate system can be established through the second rotation matrix and the second translation matrix to obtain an initial binocular coordinate system.
Therefore, the embodiment of the invention provides a specific transformation mode for transforming the coordinate system, an initial binocular coordinate system can be established, and the established initial binocular coordinate system can ensure smooth realization of subsequent operation.
Fig. 6 is a flowchart of a binocular accuracy detection method according to another embodiment of the present invention, which is based on the embodiment shown in fig. 1.
In this embodiment, the S3 specifically includes:
s31, setting standard coordinates.
S32, obtaining a third three-dimensional coordinate under the target binocular coordinate system and taking the third three-dimensional coordinate as a measurement coordinate, wherein the standard coordinate corresponds to the measurement coordinate.
In order to determine the overall detection accuracy of the binocular device itself in detecting objects, 100 points distributed at equal intervals can be obtained as theoretical points in the working range of the binocular device itself, and the 100 coordinate points can be recorded asAnd subsequently used to evaluate binocular detection accuracy.
The theoretical point can be used as standard coordinates for detecting the precision of the equipment.
Then, can be based on the theoretical pointThe spherical ruby measuring needle on the three-coordinate measuring machine is moved, the coordinate value of the spherical ruby measuring needle is detected through the binocular equipment, and the binocular equipment can obtain three coordinates under the target binocular coordinate systemDimensional coordinates, which can be noted->
Wherein, for binocular devices are obtainedIn terms of the procedure of (1), the spherical ruby stylus on the three-coordinate measuring machine is moved, desirably such that +.>At this point, the specific indication on the binocular device isCan be noted as a third three-dimensional coordinate and as a measurement coordinate.
S33, determining binocular detection precision of the binocular equipment according to the standard coordinates and the measurement coordinates.
The binocular detection accuracy of the binocular device may then be determined by the following equation,
the error between the standard coordinates and the measured coordinates can be calculated by the above formula,and +.>The error can be measured for binocular detection of binocular devicesPrecision. The smaller the error is, the higher the binocular detection accuracy is, and the more excellent the device performance is.
It can be seen that the binocular detection accuracy referred to in the embodiments of the present invention may be specifically binocular overall accuracy, and that the binocular overall accuracy is the detection accuracy of evaluating binocular devices in terms of integrity.
On the basis of the above embodiment, preferably, the binocular detection accuracy is a binocular detection accuracy corresponding to a single point;
after the binocular detection precision of the binocular device is determined according to the standard coordinates and the measurement coordinates, the binocular detection method further comprises the following steps:
and constructing a binocular error distribution map according to the binocular detection precision corresponding to the single point.
It will be appreciated that embodiments of the present invention may also produce an error map based on the overall error found herein, see FIG. 7.
It should be noted that, the binocular detection accuracy used herein may be based on each single point alone, which is greatly different from the conventional accuracy detection method, which will mix a large number of points to obtain an overall detection accuracy.
And when the binocular detection precision corresponding to each single point is obtained, the binocular error distribution map can be drawn based on the binocular detection precision corresponding to a large number of single points.
In addition, the embodiment of the invention can also calculate the average value of the errors on each shaft based on the errors obtained hereAnd the error standard deviation sigma is used as a standard for measuring the overall accuracy of the binocular.
In particular, the method comprises the steps of,
wherein, the liquid crystal display device comprises a liquid crystal display device,represents the mean value of the error on the x-axis, +.>Represents the mean value of the error on the y-axis, +.>Representing the mean value of the errors on the z axis, n representing the number of errors; sigma (sigma) x Represents the standard deviation of error, sigma, on the x-axis y Representing the standard deviation of error, sigma, in the z-axis z Representing the standard deviation of the error on the y-axis.
The binocular precision detection method provided by the embodiment of the invention not only can evaluate the overall detection precision of the binocular equipment when detecting objects, but also can draw an error distribution diagram based on the detection precision corresponding to a single point, and can judge the visual precision of the binocular equipment more comprehensively.
In addition, the mentioned preset model is a preset camera detection model, and by analyzing the preset camera detection model, it is known that the detection accuracy of the binocular device can be affected by a plurality of factors such as the accuracy of monocular parameter calibration, the accuracy of binocular parameter calibration, the binocular base line distance, the included angle of the optical axis, the object to be detected, the camera distance and the like. Although conventional studies indicate the source of process errors, there is no way to evaluate binocular accuracy nor to compensate for the errors. However, the embodiment of the invention provides a better method for evaluating the binocular precision, and in addition, the embodiment of the invention can also perform error compensation based on the obtained error so as to improve the identification accuracy of the binocular equipment in operation.
Fig. 8 is a flowchart of a binocular accuracy detection method according to another embodiment of the present invention, which is based on the embodiment shown in fig. 6.
In this embodiment, the step S33 specifically includes:
s331, acquiring standard coordinate components in a preset direction from the standard coordinates.
S332, acquiring the measurement coordinate component in the preset direction from the measurement coordinate.
The embodiment of the invention can also evaluate the detection precision in the Z direction.
Specifically, in the case of a binocular device, the reading of the indicia on the binocular device is noted as And->Is actually defined by +.>The detection accuracy in the binocular Z direction can be used as an important evaluation index.
The preset direction referred to herein may be the Z direction, but is not limited thereto.
Next, if the standard seat is marked asMark measurement seat as +.>The standard coordinate component in the Z direction is +.>The measurement coordinate component in the Z direction is +.>i represents a sequence number.
S333, determining binocular single-point detection precision in the preset direction according to the standard coordinate component and the measurement coordinate component.
The binocular single point detection accuracy in the preset direction may be determined from the standard coordinate components and the measured coordinate components based on the following formula,
wherein, the liquid crystal display device comprises a liquid crystal display device,representing the error in the Z direction, can be used to describe the binocular detection accuracy in the Z direction.
In addition, can also findScope of->And +.>Standard deviation of (2)
Is>Can describe binocular in the Z directionAnd (5) detecting accuracy.
The binocular precision detection method provided by the embodiment of the invention can evaluate the detection precision in a specific direction.
On the basis of the foregoing embodiment, preferably, the setting standard coordinates specifically includes:
determining an ideal coordinate system and determining an ideal direction in the ideal coordinate system;
and establishing a plane to be used perpendicular to the ideal direction, and setting standard coordinates from the plane to be used.
Standard coordinates used in connection with embodiments of the present inventionIn other words, it can be obtained from the plane to be used.
Specifically, in an ideal state, when the measured plane is perpendicular to the Z of the ideal coordinate system of the binocular apparatus p On axis, measured by binocular apparatusThe values are the same.
Therefore, a plane to be used can be selected from the preset model, so that the plane is perpendicular to Z p Axis, Z p The axis is the Z direction in the ideal coordinate system. At the same time, the plane to be used can pass through the point
Then, the point can be fetched on the plane
On the basis of the foregoing embodiment, preferably, after the obtaining the third three-dimensional coordinate in the target binocular coordinate system and serving as the measurement coordinate, the binocular precision detection method further includes:
performing plane fitting according to the measurement coordinates to obtain plane parameters corresponding to the fitted plane;
and determining a system error through a parameter difference between the plane parameter and a preset plane parameter.
It should be appreciated that embodiments of the present invention may also determine a systematic error.
In particular, the measured measurement coordinates may be usedFitting a fitting plane, which fitting plane is +.>
In an ideal state, the ideal values of the plane parameters in the fitting plane are a=0, b=0, c=1 and a=0, respectively
Then, the plane parameters corresponding to the actual fitting plane can be obtained and respectively recorded asAnd +.>The parameter difference between the plane parameter and the ideal value, i.e. the preset plane parameter, can be obtained, and the parameter difference is the systematic error when the z-direction value is measured.
A detailed calculation manner of the above-mentioned systematic error will be given below, and the following calculation formula may be specifically referred to, as follows,
/>
order the
Wherein, the liquid crystal display device comprises a liquid crystal display device,and +.>All represent mean values;
then, singular value decomposition can be performed on a, such that a=uΛv T ，
Wherein Λ is a diagonal array, U and V T Is a unitary matrix.
V＝[v 1 ,v 2 ,…,v n ]Can be solved for a, b, c= (v) n,1 ,v n,2 ,v n,3 )，
The values of a, b, c and d obtained here are those mentioned aboveAnd +.>
It can be seen that embodiments of the present invention can evaluate errors in a particular direction.
In addition, the embodiment of the invention can also calculate the distance between each point and the fitting plane,
wherein, the liquid crystal display device comprises a liquid crystal display device,representing the distance of the ith point to the fitting plane.
Then, the standard deviation of the random error can be obtained based on the following formula,
wherein sigma d The standard deviation is indicated as such,representation->I represents the sequence number.
It can be seen that the stability of the binocular device can be evaluated by standard deviation.
Fig. 9 is a schematic structural diagram of a binocular precision detection system according to an embodiment of the present invention, as shown in fig. 9, the system includes: a coordinate value acquisition module 301, a coordinate system transformation module 302, and an accuracy detection module 303;
a coordinate value obtaining module 301, configured to obtain a first three-dimensional coordinate, and determine a machine coordinate system in which the first three-dimensional coordinate is located;
a coordinate system transformation module 302, configured to perform coordinate system transformation according to the machine coordinate system, so as to obtain a target binocular coordinate system corresponding to the binocular device;
and the precision detection module 303 is used for determining binocular detection precision of the binocular equipment according to the target binocular coordinate system.
The binocular precision detection system provided by the embodiment of the invention firstly acquires a first three-dimensional coordinate and determines a machine coordinate system in which the first three-dimensional coordinate is positioned; transforming a coordinate system according to the machine coordinate system to obtain a target binocular coordinate system corresponding to the binocular equipment; and determining binocular detection precision of the binocular equipment according to the target binocular coordinate system. Therefore, the embodiment of the invention determines the coordinate system adopted by the binocular equipment by the machine coordinate system, and further determines the binocular detection precision under the target binocular coordinate system, so that the visual precision of the binocular equipment can be accurately judged.
The system embodiment provided in the embodiment of the present invention is for implementing the above method embodiments, and specific flow and details refer to the above method embodiments, which are not repeated herein.
Fig. 10 is a schematic physical structure diagram of an electronic device according to an embodiment of the present invention, where, as shown in fig. 10, the electronic device may include: a processor (processor) 401, a communication interface (Communications Interface) 402, a memory (memory) 403, and a bus 404, wherein the processor 401, the communication interface 402, and the memory 403 complete communication with each other through the bus 404. The communication interface 402 may be used for information transfer of an electronic device. The processor 401 may call logic instructions in the memory 403 to perform a method comprising:
acquiring a first three-dimensional coordinate and determining a machine coordinate system in which the first three-dimensional coordinate is located;
transforming a coordinate system according to the machine coordinate system to obtain a target binocular coordinate system corresponding to the binocular equipment;
and determining binocular detection precision of the binocular equipment according to the target binocular coordinate system.
Further, the logic instructions in the memory 403 may be implemented in the form of software functional units and stored in a computer readable storage medium when sold or used as a stand alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the above-described method embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In another aspect, embodiments of the present invention also provide a non-transitory computer readable storage medium having stored thereon a computer program, which when executed by a processor is implemented to perform the method provided in the above embodiments, for example, including:
acquiring a first three-dimensional coordinate and determining a machine coordinate system in which the first three-dimensional coordinate is located;
transforming a coordinate system according to the machine coordinate system to obtain a target binocular coordinate system corresponding to the binocular equipment;
and determining binocular detection precision of the binocular equipment according to the target binocular coordinate system.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. The binocular precision detection method is characterized by comprising the following steps of:
acquiring a first three-dimensional coordinate and determining a machine coordinate system in which the first three-dimensional coordinate is located;
transforming a coordinate system according to the machine coordinate system to obtain a target binocular coordinate system corresponding to the binocular equipment;
determining binocular detection precision of the binocular equipment according to the target binocular coordinate system;
the method specifically includes the steps of:
performing coordinate system transformation according to a first three-dimensional coordinate under the machine coordinate system and a first preset coordinate of binocular equipment to obtain an initial binocular coordinate system, wherein the first three-dimensional coordinate corresponds to the first preset coordinate;
acquiring a second three-dimensional coordinate under the initial binocular coordinate system;
performing alignment operation of a coordinate system according to the second three-dimensional coordinate and a second preset coordinate to obtain a first conversion matrix corresponding to a target binocular coordinate system, wherein the second three-dimensional coordinate corresponds to the second preset coordinate;
and establishing a coordinate system through the first conversion matrix to obtain the target binocular coordinate system.
2. The method for detecting binocular precision according to claim 1, wherein the transforming the coordinate system according to the first three-dimensional coordinate under the machine coordinate system and the first preset coordinate of the binocular device to obtain an initial binocular coordinate system specifically comprises:
processing according to the first three-dimensional coordinate under the machine coordinate system and the first preset coordinate of the binocular equipment to obtain a second conversion matrix corresponding to the initial binocular coordinate system;
and establishing a coordinate system through the second transformation matrix to obtain the initial binocular coordinate system.
3. The binocular precision detection method according to claim 1 or 2, wherein the determining the binocular precision of the binocular device according to the target binocular coordinate system specifically comprises:
setting standard coordinates;
acquiring a third three-dimensional coordinate under the target binocular coordinate system and taking the third three-dimensional coordinate as a measurement coordinate, wherein the standard coordinate corresponds to the measurement coordinate;
and determining binocular detection precision of the binocular equipment according to the standard coordinates and the measurement coordinates.
4. A binocular accuracy detecting method according to claim 3, wherein the binocular accuracy is a binocular accuracy corresponding to a single point;
after the binocular detection precision of the binocular device is determined according to the standard coordinates and the measurement coordinates, the binocular detection method further comprises the following steps:
and constructing a binocular error distribution map according to the binocular detection precision corresponding to the single point.
5. A binocular accuracy detection method according to claim 3, wherein the determining the binocular accuracy of the binocular device according to the standard coordinates and the measurement coordinates specifically comprises:
acquiring standard coordinate components in a preset direction from the standard coordinates;
acquiring a measurement coordinate component in the preset direction from the measurement coordinate;
and determining binocular single-point detection precision in the preset direction according to the standard coordinate component and the measurement coordinate component.
6. A binocular accuracy detecting method according to claim 3, wherein the method further comprises, after the third three-dimensional coordinates in the target binocular coordinate system are obtained and used as the measurement coordinates:
performing plane fitting according to the measurement coordinates to obtain plane parameters corresponding to the fitted plane;
and determining a system error through a parameter difference between the plane parameter and a preset plane parameter.
7. A binocular accuracy detection system, comprising:
the coordinate value acquisition module is used for acquiring a first three-dimensional coordinate and determining a machine coordinate system in which the first three-dimensional coordinate is positioned;
the coordinate system transformation module is used for transforming the coordinate system according to the machine coordinate system so as to obtain a target binocular coordinate system corresponding to the binocular equipment;
the precision detection module is used for determining binocular detection precision of the binocular equipment according to the target binocular coordinate system;
the coordinate system transformation module is specifically configured to:
performing coordinate system transformation according to a first three-dimensional coordinate under the machine coordinate system and a first preset coordinate of binocular equipment to obtain an initial binocular coordinate system, wherein the first three-dimensional coordinate corresponds to the first preset coordinate; acquiring a second three-dimensional coordinate under the initial binocular coordinate system; performing alignment operation of a coordinate system according to the second three-dimensional coordinate and a second preset coordinate to obtain a first conversion matrix corresponding to a target binocular coordinate system, wherein the second three-dimensional coordinate corresponds to the second preset coordinate; and establishing a coordinate system through the first conversion matrix to obtain the target binocular coordinate system.
8. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the binocular precision detection method according to any one of claims 1 to 6 when the program is executed.
9. A non-transitory computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when executed by a processor, implements the steps of the binocular precision detection method according to any one of claims 1 to 6.
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