CN111862232B - Calibration method and device - Google Patents
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- CN111862232B CN111862232B CN202010561127.6A CN202010561127A CN111862232B CN 111862232 B CN111862232 B CN 111862232B CN 202010561127 A CN202010561127 A CN 202010561127A CN 111862232 B CN111862232 B CN 111862232B
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- 238000000034 method Methods 0.000 title claims abstract description 61
- 239000013307 optical fiber Substances 0.000 claims abstract description 235
- 230000003287 optical effect Effects 0.000 claims abstract description 78
- 230000005540 biological transmission Effects 0.000 claims abstract description 36
- 239000000835 fiber Substances 0.000 claims description 8
- 241000549194 Euonymus europaeus Species 0.000 claims description 6
- 230000000903 blocking effect Effects 0.000 claims 1
- 230000001360 synchronised effect Effects 0.000 description 7
- 238000004590 computer program Methods 0.000 description 4
- 238000012937 correction Methods 0.000 description 3
- 230000003068 static effect Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10028—Range image; Depth image; 3D point clouds
Abstract
The invention provides a calibration method and a calibration device, wherein the method comprises the following steps: calibrating the actual optical path of an optical fiber set, wherein the optical fiber set comprises a plurality of optical fibers with different lengths; the calibrated optical fiber group is controlled to receive the light beam emitted by the emitting module of the TOF camera to be calibrated, and the receiving module of the TOF camera to be calibrated is controlled to receive the light beam passing through the optical fiber group; and calibrating the TOF camera to be calibrated according to the transmission time of the light beam and the actual optical path of the optical fiber group. The TOF camera to be calibrated is calibrated by adopting the optical fiber group calibrated with the actual optical path, so that the error between the length of the optical fiber and the actual optical path is eliminated, the calibration error of the subsequent TOF camera to be calibrated is eliminated, the calibration efficiency is improved, and more importantly, the calibration precision is improved.
Description
Technical Field
The invention relates to the technical field of calibration, in particular to a calibration method and device.
Background
Time of Flight (TOF) ranging techniques calculate the distance of a target object by calculating the Time or phase difference of light beams from being transmitted to being received via reflection by the target object to obtain depth data information of the target object. TOF-based ranging technology has begun to be applied in the fields of three-dimensional measurement, gesture control, robot navigation, security and monitoring, etc.
In the prior art, TOF depth cameras mainly contain the following error sources: 1. due to the systematic error generated by the modulation-demodulation signal deviation, the method is called as "wiggling" for short; 2. errors caused by variations in incident light intensity; 3. errors caused by temperature changes; 4. errors due to different integration times. Therefore, if higher accuracy measurement is to be achieved, correction of the error is required. In the error correction, the most complicated error correction is wiggling, and the conventional method generally adopts a guide rail method or a cattree for wiggling calibration, but the two methods are more suitable for near-distance TOF camera calibration, and for far-distance TOF camera calibration, the calibration equipment is large in size and low in efficiency, so that the method is not suitable for large-batch TOF camera far-distance calibration.
Therefore, a more accurate calibration method for a TOF camera is lacking in the prior art.
The foregoing background is only for the purpose of facilitating an understanding of the principles and concepts of the invention and is not necessarily in the prior art to the present application and is not intended to be used as an admission that such background is not entitled to antedate such novelty and creativity by the present application without undue evidence prior to the present application.
Disclosure of Invention
The invention provides a calibration method and device for solving the existing problems.
In order to solve the problems, the technical scheme adopted by the invention is as follows:
a calibration method comprising the steps of: s1: calibrating the actual optical path of an optical fiber set, wherein the optical fiber set comprises a plurality of optical fibers with different lengths; s2: the calibrated optical fiber group is controlled to receive the light beam emitted by the emitting module of the TOF camera to be calibrated, and the receiving module of the TOF camera to be calibrated is controlled to receive the light beam passing through the optical fiber group; s3: and calibrating the TOF camera to be calibrated according to the transmission time of the light beam and the actual optical path of the optical fiber group.
In one embodiment of the invention, calibrating the actual optical path length of the optical fiber set comprises the steps of: s11: controlling the optical fiber group to receive the light beam emitted by the emission module of the pre-calibrated TOF camera; s12: controlling a receiving module of the pre-calibrated TOF camera to receive the light beam passing through the optical fiber group; s13: and calculating the actual transmission distance of the light beam according to the transmission time of the light beam and determining the actual optical path length of the optical fiber group according to the actual transmission distance.
In another embodiment of the present invention, the pre-calibrated TOF camera is calibrated using a rail method or a cattree method. Controlling the optical fibers of different lengths in the optical fiber group to mark the length of each optical fiber; or, dividing the energy of the light beam into the optical fibers with different lengths according to the number of the optical fibers in the optical fiber group, and controlling the light beam to pass through each optical fiber with different lengths in the optical fiber group asynchronously so as to calibrate the length of each optical fiber. Fitting a curve according to the actual optical paths of a plurality of optical fibers with different lengths and the physical distances of the optical fibers, and deducing the actual optical paths of the optical fibers with other lengths according to the curve.
The invention also provides a calibration device, comprising: the pre-calibrated TOF camera comprises an emission module, an acquisition module and a control and processor which are respectively connected with the emission module and the acquisition module, wherein the control and processor is used for realizing the calibration of the optical fiber group; and the optical fiber group is used for receiving the light emitted by the emitting module and transmitting the light to the collecting module.
In one embodiment of the present invention, further comprising: a first optical fiber, a first component, a second component, and a second optical fiber; the first optical fiber is used for transmitting the light beam of the emission module to the first component; one end of the first component is connected with the first optical fiber, and the other end of the first component is connected with the input end of each optical fiber with different lengths in the optical fiber group, and is used for receiving the light beam transmitted by the first optical fiber and transmitting the light beam to the second component through each optical fiber with different lengths; one end of the second component is connected with the second optical fiber, and the other end of the second component is connected with the output end of each optical fiber with different lengths in the optical fiber group, receives the light beam of the optical fiber group and transmits the light beam to the acquisition module through the second optical fiber.
In another embodiment of the present invention, the first component is a first optical path switch for switching on/off input ends of optical fibers of different lengths; the second component is a second light path switch and is used for switching on/off the output ends of the optical fibers with different lengths, and the light beams are transmitted to the second optical fibers after passing through the optical fibers with different lengths in an unsynchronized mode. The first component is an optical fiber beam splitter and is used for equally dividing the received light beam energy into optical fibers with different lengths, and each optical fiber with different length is connected with a switch so as to allow/block the light beam to pass through the input end of each optical fiber with different length; the second component is a second light path switch and is used for switching on/off the output ends of the optical fibers with different lengths, and the light beams are transmitted to the second optical fibers after passing through the optical fibers with different lengths in an unsynchronized mode.
In yet another embodiment of the present invention, the optical fiber further includes a diffuser disposed directly under the second optical fiber, and the beam passing through the second optical fiber forms a uniform spot after being irradiated to the diffuser.
The beneficial effects of the invention are as follows: the method and the device for calibrating the TOF camera to be calibrated are provided, and the optical fiber group calibrated with the actual optical path is used for calibrating the TOF camera to be calibrated, so that errors between the length of the optical fiber and the actual optical path are eliminated, further, calibration errors of subsequent TOF cameras to be calibrated are eliminated, the calibration efficiency is improved, and more importantly, the calibration precision is improved.
Furthermore, the calibration device reduces the volume of the calibration equipment and improves the calibration efficiency and the calibration precision.
Drawings
FIG. 1 is a schematic structural view of a first calibration device according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a TOF camera according to an embodiment of the present invention.
FIG. 3 is a schematic structural view of a second calibration device according to an embodiment of the present invention.
FIG. 4 is a schematic structural view of a third calibration device according to an embodiment of the present invention.
FIG. 5 is a schematic structural view of a fourth calibration device according to an embodiment of the present invention.
FIG. 6 is a schematic diagram of a calibration method according to an embodiment of the invention.
FIG. 7 is a schematic illustration of a method for calibrating the actual optical path length of an optical fiber set in an embodiment of the invention.
Detailed Description
In order to make the technical problems, technical schemes and beneficial effects to be solved by the embodiments of the present invention more clear, the present invention is further described in detail below with reference to the accompanying drawings and the embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element. In addition, the connection may be for both the fixing action and the circuit communication action.
It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are merely for convenience in describing embodiments of the invention and to simplify the description, and do not denote or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the embodiments of the present invention, the meaning of "plurality" is two or more, unless explicitly defined otherwise.
One thinking of performing TOF camera calibration by adopting optical fibers is that different distances of the TOF camera can be calibrated by utilizing optical fibers with different lengths, and a wiggling curve is fitted based on a theoretical optical path of light beam transmission and an actual flight distance of a corresponding light beam respectively, so that the calibration of the TOF camera is realized.
The technology not only reduces the volume of the calibration equipment, but also improves the calibration efficiency. However, the theoretical optical path of the beam transmission in this technique is determined according to the length of the optical fiber, and the beam transmission is actually lossy in the optical fiber, so that the actual distance of the beam transmission is not equal to the physical distance (length) of the optical fiber. Such as the transmission of the light beam in the optical fiber due to absorption, scattering, etc., or the presence of significant losses at the serial port when multiple fibers are connected in series. The physical distance (length) of the optical fiber is thus unequal to the actual optical path length of the optical fiber.
Fig. 1 and fig. 2 show a calibration device according to an embodiment of the present invention. The calibration device 100 includes a pre-calibrated TOF camera 50, a fiber optic set 4. The TOF camera 50 comprises an emission module 1, a collection module 2 and a control and processor 3 respectively connected with the emission module 1 and the collection module 2. The transmitting module 1 comprises a light source for emitting a light beam, the light beam is transmitted to the collecting module 2 through the optical fiber group 4, the control and processor 3 calculates the actual transmission distance of the light beam according to the time from the emission to the receiving of the light beam, and determines the actual optical path length of the optical fiber according to the actual transmission distance of the light beam. It will be appreciated that for convenience of illustration, only two optical fibers are shown to form the optical fiber set 4, and in practice, the optical fiber set may be formed of a plurality of optical fibers of different lengths, as the case may be, so that the actual optical path length of the optical fibers can be determined each time a light beam passes through one optical fiber.
According to the invention, the actual light beam transmission distance is obtained by adopting the pre-calibrated TOF camera, and the actual optical path of the optical fiber is determined according to the actual light beam transmission distance, so that the error between the length of the optical fiber and the actual optical path is eliminated, the calibration error of the subsequent TOF camera to be calibrated is eliminated, and the calibration precision is improved.
The calibration device provided by the invention not only reduces the volume of calibration equipment and improves the calibration efficiency, but also improves the calibration precision.
As shown in fig. 3, the identification device 100 in one embodiment further comprises a first optical fiber 5, a first component 6, a second component 7, and a second optical fiber 8. Wherein the first optical fiber 5 is used for transmitting the light beam of the emission module 1 to the first component 6; one end of the first component 6 is connected with the first optical fiber 5, and the other end is respectively connected with the input end of the optical fiber group, and is used for receiving the light beams transmitted by the first optical fiber 5 and transmitting the received light beams outwards through each optical fiber with different lengths; one end of the second component 7 is connected with a second optical fiber 8, and the other end of the second component is connected with the output end of the optical fiber group, and the second component is used for respectively receiving the light beams transmitted by each optical fiber with different lengths and transmitting the light beams to the acquisition module 2 of the TOF camera through the second optical fiber 8; the control and processor 3 calculates the actual transmission distance of the light beam from the time the light beam is transmitted from transmission to reception and determines the actual optical path length of the optical fiber from the actual transmission distance of the light beam.
As shown in fig. 4, in one embodiment, the first component 6 is a first optical path switch 9 and the second component 7 is a second optical path switch 10. The light source 11 emits light beams to be transmitted to the first optical fiber 5 and to the first optical path switch 9, and the first optical path switch 9 is connected with the input ends of the optical fibers with different lengths and used for switching on/off the input ends of the optical fibers with different lengths; the second optical path switch 10 is connected to the output ends of the optical fibers with different lengths, and is used for switching on/off the output ends of the optical fibers with different lengths. The light beams sequentially pass through the optical fibers of different lengths and then sequentially transmit to the second optical fiber 8 to irradiate the image sensor 21, and the control and processor 3 calculates the actual transmission distance of the light beams according to the time from the emission to the reception of the light beams, and determines the actual optical path length of the optical fibers according to the actual transmission distance of the light beams. The optical fiber set shown in the figures comprises two optical fibers of different lengths, which are only exemplary here, the number of actual optical fibers being a number of optical fibers arranged as desired.
In the above embodiment, the optical path switch is used to control the on or off states of the input end and the output end of the optical fibers with different lengths, so that the light beam is transmitted through the optical fibers asynchronously, for example, each time the light beam passes through one optical fiber, and the actual optical path length of the optical fibers is determined based on the actual transmission distance of the light beam calculated by the TOF camera.
As shown in fig. 5, in one embodiment, the first component 6 is a fiber optic splitter 11 and the second component 7 is a second optical path switch 10. The light source 11 emits a light beam to be transmitted to the first optical fiber 5 and to the optical fiber splitter 11, the optical fiber splitter 11 is connected to the input ends of optical fibers with different lengths, the light beam is transmitted to the optical fiber splitter 11 to equally divide the energy of the light beam into each optical fiber, and each optical fiber is connected to a switch to allow/block the light beam to pass through the input ends of the optical fibers. The second optical path switch 10 is connected to the output ends of the optical fibers with different lengths, and is used for turning on/off the output ends of the optical fibers with different lengths, and the light beam is transmitted to the second optical fiber 8 after passing through the optical fibers with different lengths in an unsynchronized manner so as to irradiate the image sensor 21, and the control and processor 3 calculates the actual transmission distance of the light beam according to the transmission time of the light beam, and determines the actual optical path length of the optical fiber according to the actual transmission distance of the light beam. It will be appreciated that the control and processor may be connected to control the on/off of the corresponding optical fibers by the optical splitter 11 and the second optical switch 10, or the input end of the corresponding optical fiber may be controlled to be on/off by the switch of each optical fiber, and the second optical switch 10 may be connected to a control switch to control the output end of the corresponding optical fiber to be on/off by the second optical switch 10.
The difference from the embodiment shown in fig. 3 is that the optical fiber beam splitter 11 used in this embodiment turns on or off the input ends of the optical fibers, and besides only making the light beam pass through one optical fiber at a time, the optical fiber beam splitter can equally divide the energy of the received light beam according to the number of optical fibers, so as to avoid that the energy of the light beam irradiated to the image sensor 21 is too strong.
In the embodiments shown in fig. 3-5, the light beam finally passes through the second optical fiber 8 to irradiate the image sensor 21, and since the spot size of the light beam is very small, only a small portion of pixels of the image sensor 21 can collect the light beam signal, and each time the incident position is the same, so that accuracy errors caused by phase delay, pixel deviation and the like between different pixels can be avoided. It will be appreciated that in this embodiment, the actual optical path length of the whole may be determined by taking the first optical fiber 5, the single optical fiber of the optical fiber group 4, and the second optical fiber 8 as a whole, respectively; the actual optical lengths of the first optical fiber 5 and the second optical fiber 8 may be determined in advance, and the lengths of the optical fibers may be determined.
In the above embodiment, the curve may be fitted according to the actual optical lengths of the optical fibers with different lengths and the physical distances of the optical fibers, and the actual optical lengths of the optical fibers with other lengths may be derived according to the fitting result, so as to reduce the workload.
In one embodiment, the calibration device 100 further includes a diffuser (not shown) located directly below the second optical fiber 8, and the light beam irradiates the diffuser through the second optical fiber 8 to form a uniform light spot, where the size of the light spot is larger than that of the light beam, and the light spot can cover more pixels in the image sensor 21. For example, the light beam passes through the second optical fiber 8 and then is directly irradiated to the image sensor 21, and occupies 2x2 pixels of the image sensor 21, and then the light beam passes through the diffuser and is collected by the image sensor 21, i.e. occupies the pixels 4x4. It is noted that the spot size is only illustrative and the spot size may occupy 5x5 pixels or more.
It will be appreciated that the pre-calibrated TOF camera 50 described in the above embodiments may be calibrated by rail methods, cattree methods, and the like. Because the calibration equipment of the guide rail method and the cattree method is large in size and low in efficiency, the method is not suitable for large-batch TOF camera long-distance calibration, but a small number of TOF cameras can be calibrated by using the two methods, so that the TOF cameras can measure accurate actual transmission distances of light beams. And the TOF camera is utilized to calibrate the optical fiber so as to calibrate a large number of TOF cameras to be calibrated later, thereby improving the calibration efficiency and reducing the volume of the calibration equipment.
Based on the optical fiber calibration device in each embodiment, the application also provides a corresponding calibration method. FIG. 6 shows a flow chart of a calibration method according to an embodiment of the invention, comprising the steps of:
s1: calibrating the actual optical path of an optical fiber set, wherein the optical fiber set comprises a plurality of optical fibers with different lengths;
s2: the calibrated optical fiber group is controlled to receive the light beam emitted by the emitting module of the TOF camera to be calibrated, and the receiving module of the TOF camera to be calibrated is controlled to receive the light beam passing through the optical fiber group;
s3: and calibrating the TOF camera to be calibrated according to the transmission time of the light beam and the actual optical path of the optical fiber group.
It will be appreciated that the above method may be performed by the control and processor of the TOF camera to be calibrated, or by a separate processor.
The invention adopts the optical fiber group calibrated with the actual optical path to calibrate the TOF camera to be calibrated, so as to eliminate the error between the length of the optical fiber and the actual optical path, further eliminate the calibration error of the subsequent TOF camera to be calibrated, improve the calibration efficiency, and more importantly, improve the calibration precision.
When the TOF camera to be calibrated is calibrated by adopting the optical fiber group, the actual optical path of each optical fiber in the optical fiber group is calibrated firstly, because the length or the physical distance of the optical fiber is not equal to the actual optical path, the middle has loss, and if the TOF camera to be calibrated is calibrated by directly using the length or the physical distance of the optical fiber, errors are obvious.
As shown in fig. 7, the present invention provides a method for calibrating the actual optical path length of an optical fiber set, comprising the steps of:
s11: controlling the optical fiber group to receive the light beam emitted by the emission module of the pre-calibrated TOF camera;
s12: controlling a receiving module of the pre-calibrated TOF camera to receive the light beam passing through the optical fiber group;
s13: and calculating the actual transmission distance of the light beam according to the transmission time of the light beam and determining the actual optical path length of the optical fiber group according to the actual transmission distance.
It will be appreciated that the control and processor of the pre-calibrated TOF camera may perform the above method to effect calibration of the optical fiber set. Or may be performed by a separate processor that also performs the method of fig. 6.
As previously mentioned, the pre-calibrated TOF camera may be calibrated by methods known in the art, such as rail or cattree methods.
There are two methods for calibrating each fiber in a fiber set:
(1) Calibrating each optical fiber;
controlling the optical fibers with different lengths in the optical fiber group to mark the length of each optical fiber;
or, dividing the energy of the light beam to each optical fiber with different length according to the number of the optical fibers in the optical fiber group, and controlling the light beam to pass through each optical fiber with different length in the optical fiber group asynchronously so as to mark the length of each optical fiber.
(2) Only one part of the optical fibers is calibrated, and then the length of the other part of the optical fibers is obtained through curve fitting;
fitting a curve according to the actual optical paths of a plurality of optical fibers with different lengths and the physical distances of the optical fibers, and deducing the actual optical paths of the optical fibers with other lengths according to the curve. It will be appreciated that the method of calibration herein may be used to calibrate a portion of the optical fibers and then fit the curve using the method described in (1).
In order to implement the method described above, in one embodiment, the first component is a first optical path switch and the second component is a second optical path switch, respectively connected to the input end and the output end of the optical fibers of different lengths, for switching on/off the input end and the output end of the optical fibers of different lengths so that the light beam is transmitted to the second optical fiber through the corresponding optical fibers.
In one embodiment, the first component is a fiber optic splitter and the second component is a second optical switch, connected to the input and output ends of the optical fibers of different lengths, respectively, the beam of light passing through the fiber optic splitter will divide the beam of light energy equally into each of the optical fibers, and each of the optical fibers is provided with a control switch, respectively, that allows/blocks the beam of light to pass through the input ends of the optical fibers so that the beam of light passes to the second optical switch, which turns on/off the output ends of the optical fibers so that the beam of light passes through the corresponding optical fibers to the second optical fibers.
Embodiments of the invention may include or utilize a special purpose or general-purpose computer including computer hardware, as discussed in greater detail below. Embodiments within the scope of the present invention also include physical and other computer-readable media for carrying or storing computer-executable instructions and/or data structures. Such computer-readable media can be any available media that can be accessed by a general purpose or special purpose computer system. The computer-readable medium storing the computer-executable instructions is a physical storage medium. The computer-readable medium carrying computer-executable instructions is a transmission medium. Thus, by way of example, and not limitation, embodiments of the invention may comprise at least two distinct computer-readable media: physical computer readable storage media and transmission computer readable media.
The embodiment of the application also provides a control device, which comprises a processor and a storage medium for storing a computer program; wherein the processor is adapted to perform at least the method as described above when executing said computer program.
The embodiments also provide a storage medium storing a computer program which, when executed, performs at least the method as described above.
Embodiments of the present application also provide a processor executing the computer program, at least performing the method as described above.
The storage medium may be implemented by any type of volatile or non-volatile storage device, or combination thereof. The nonvolatile Memory may be a Read Only Memory (ROM), a programmable Read Only Memory (PROM, programmable Read-Only Memory), an erasable programmable Read Only Memory (EPROM, erasableProgrammable Read-Only Memory), an electrically erasable programmable Read Only Memory (EEPROM, electricallyErasable Programmable Read-Only Memory), a magnetic random Access Memory (FRAM, ferromagneticRandom Access Memory), a Flash Memory (Flash Memory), a magnetic surface Memory, an optical disk, or a compact disk Read Only (CD-ROM, compact Disc Read-Only Memory); the magnetic surface memory may be a disk memory or a tape memory. The volatile memory may be random access memory (RAM, random Access Memory), which acts as external cache memory. By way of example, and not limitation, many forms of RAM are available, such as static random access memory (SRAM, static Random Access Memory), synchronous static random access memory (SSRAM, synchronousStatic Random Access Memory), dynamic random access memory (DRAM, dynamic Random AccessMemory), synchronous dynamic random access memory (SDRAM, synchronous Dynamic Random AccessMemory), double data rate synchronous dynamic random access memory (ddr SDRAM, double Data RateSynchronous Dynamic Random Access Memory), enhanced synchronous dynamic random access memory (ESDRAM, enhanced Synchronous Dynamic Random Access Memory), synchronous link dynamic random access memory (SLDRAM, syncLink Dynamic Random Access Memory), direct memory bus random access memory (DRRAM, direct Rambus Random Access Memory). The storage media described in embodiments of the present invention are intended to comprise, without being limited to, these and any other suitable types of memory.
In the several embodiments provided in this application, it should be understood that the disclosed systems and methods may be implemented in other ways. The above described device embodiments are only illustrative, e.g. the division of the units is only one logical function division, and there may be other divisions in practice, such as: multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. In addition, the various components shown or discussed may be coupled or directly coupled or communicatively coupled to each other via some interface, whether indirectly coupled or communicatively coupled to devices or units, whether electrically, mechanically, or otherwise.
The units described as separate units may or may not be physically separate, and units displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units; some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present invention may be integrated in one processing unit, or each unit may be separately used as one unit, or two or more units may be integrated in one unit; the integrated units may be implemented in hardware or in hardware plus software functional units.
Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the above method embodiments may be implemented by hardware associated with program instructions, where the foregoing program may be stored in a computer readable storage medium, and when executed, the program performs steps including the above method embodiments; and the aforementioned storage medium includes: a mobile storage device, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk or an optical disk, or the like, which can store program codes.
Alternatively, the above-described integrated units of the present invention may be stored in a computer-readable storage medium if implemented in the form of software functional modules and sold or used as separate products. Based on such understanding, the technical solutions of the embodiments of the present invention may be embodied in essence or a part contributing to the prior art in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in the embodiments of the present invention. And the aforementioned storage medium includes: a removable storage device, ROM, RAM, magnetic or optical disk, or other medium capable of storing program code.
The methods disclosed in the several method embodiments provided in the present application may be arbitrarily combined without collision to obtain a new method embodiment.
The features disclosed in the several product embodiments provided in the present application may be combined arbitrarily without conflict to obtain new product embodiments.
The features disclosed in the several method or apparatus embodiments provided in the present application may be arbitrarily combined without conflict to obtain new method embodiments or apparatus embodiments.
The foregoing is a further detailed description of the invention in connection with the preferred embodiments, and it is not intended that the invention be limited to the specific embodiments described. It will be apparent to those skilled in the art that several equivalent substitutions and obvious modifications can be made without departing from the spirit of the invention, and the same should be considered to be within the scope of the invention.
Claims (10)
1. The calibration method is characterized by comprising the following steps of:
s1: calibrating an actual optical path of an optical fiber group, wherein the actual optical path is a calibrated theoretical optical path, and the optical fiber group comprises a plurality of optical fibers with different lengths;
s2: the calibrated optical fiber group is controlled to receive the light beam emitted by the emitting module of the TOF camera to be calibrated, and the receiving module of the TOF camera to be calibrated is controlled to receive the light beam passing through the optical fiber group;
s3: and calculating the actual transmission distance of the light beam in the optical fiber group according to the transmission time of the light beam, and calibrating the TOF camera to be calibrated based on the actual transmission distance of the light beam and the actual optical path of the optical fiber group.
2. The method of calibrating an actual optical path length of an optical fiber set according to claim 1, comprising the steps of:
s11: controlling the optical fiber group to receive the light beam emitted by the emission module of the pre-calibrated TOF camera;
s12: controlling a receiving module of the pre-calibrated TOF camera to receive the light beam passing through the optical fiber group;
s13: and calculating the actual transmission distance of the light beam according to the transmission time of the light beam and determining the actual optical path length of the optical fiber group according to the actual transmission distance.
3. The calibration method according to claim 2, wherein the pre-calibrated TOF camera is calibrated by a rail method or a cattree method.
4. A method of calibrating a light source according to claim 2, wherein each of said optical fibres of different lengths in said set of optical fibres is calibrated to control the actual optical path length of the light beam through each of said optical fibres;
or, dividing the energy of the light beam into the optical fibers with different lengths according to the number of the optical fibers in the optical fiber group, and controlling the light beam to pass through each optical fiber with different lengths in the optical fiber group asynchronously to mark the actual optical path length of each optical fiber.
5. A calibration method according to claim 2, characterized in that the actual optical path of the optical fibres of the other lengths is derived from a curve fitted from the actual optical path of the optical fibres of a plurality of different lengths and the physical distance of the optical fibres.
6. A method of calibrating an optical path according to any one of claims 1 to 5, wherein the actual optical path length of the group of calibrated optical fibres is calibrated by a calibration device comprising:
the pre-calibrated TOF camera comprises an emission module, an acquisition module and a control and processor which are respectively connected with the emission module and the acquisition module, wherein the control and processor is used for realizing the calibration of the optical fiber group;
and the optical fiber group is used for receiving the light emitted by the emitting module and transmitting the light to the collecting module.
7. The calibration method of claim 6, wherein the calibration device further comprises: a first optical fiber, a first component, a second component, and a second optical fiber;
the first optical fiber is used for transmitting the light beam of the emission module to the first component;
one end of the first component is connected with the first optical fiber, and the other end of the first component is connected with the input end of each optical fiber with different lengths in the optical fiber group, and is used for receiving the light beam transmitted by the first optical fiber and transmitting the light beam to the second component through each optical fiber with different lengths;
one end of the second component is connected with the second optical fiber, and the other end of the second component is connected with the output end of each optical fiber with different lengths in the optical fiber group, receives the light beam of the optical fiber group and transmits the light beam to the acquisition module through the second optical fiber.
8. The method of calibrating according to claim 7, wherein the first component is a first optical switch for turning on/off input ends of optical fibers of different lengths;
the second component is a second light path switch and is used for switching on/off the output ends of the optical fibers with different lengths, and the light beams are transmitted to the second optical fibers after passing through the optical fibers with different lengths in an unsynchronized mode.
9. The method of calibrating according to claim 7, wherein the first component is a fiber optic splitter for dividing the received beam energy equally to each of the different length optical fibers, and each of the different length optical fibers is connected to a switch for allowing/blocking the beam to pass through the input end of each of the different length optical fibers;
the second component is a second light path switch and is used for switching on/off the output ends of the optical fibers with different lengths, and the light beams are transmitted to the second optical fibers after passing through the optical fibers with different lengths in an unsynchronized mode.
10. The method according to any one of claims 7 to 9, wherein the calibration device further comprises a diffuser disposed directly below the second optical fiber, and the light beam passing through the second optical fiber irradiates the diffuser to form a uniform light spot.
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