CN112762896B - Device and method for judging and adjusting levelness of large-depth-of-field lens camera - Google Patents
Device and method for judging and adjusting levelness of large-depth-of-field lens camera Download PDFInfo
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Abstract
The application relates to the technical field of industrial vision, in particular to a device and a method for judging and adjusting levelness of a large-depth-of-field lens camera. The device can solve the problem that whether the imaging plane of the image sensor and the surface of the shot object cannot be directly detected or the detection is inaccurate when the precision of a mechanical measuring instrument is reduced to a certain extent, and comprises: a display; and (3) a controller: receiving an instant acquisition image sent by a camera; performing inclination correction on the acquired image to obtain a corrected image, marking target grids at preset positions of the corrected image, and respectively calculating the side lengths of the target grids and the maximum side lengths and the difference values among the side lengths; when the difference value between the side lengths is smaller than a preset threshold value, judging that the levelness reaches the standard; and when the difference value between the side lengths is larger than or equal to a preset threshold value, judging that the levelness is not up to the standard, and adjusting the distance from the camera side to the shooting object until the levelness is up to the standard.
Description
Technical Field
The application relates to the technical field of industrial vision, in particular to a device and a method for judging and adjusting levelness of a large-depth-of-field lens camera.
Background
Cameras comprising image sensors and lenses of various types are assembled into imaging systems, and the imaging plane of the image sensor is required to be parallel to the surface of a photographed object during the use of the cameras. The influence of the non-level installation of the camera on different lenses is different, and the imaging part of the camera is clear and partially blurred under the small depth of field lens, so that the imaging quality is influenced; the imaging target of the lens with large depth of field is large on one side and small on the other side, and the machine vision detection result is affected.
In some implementations of large depth of field lens camera levelness determination, whether the camera is properly installed is determined by measuring distances from a plurality of points on a front panel of the camera to a surface of a subject; or whether the camera is properly installed is judged by a level meter.
However, if the camera front panel is parallel to the object surface, but the image sensor imaging plane is not parallel to the camera front panel, or if the accuracy of the level gauge is lowered, the large depth lens camera levelness determination may be inaccurate.
Disclosure of Invention
In order to solve the problem that whether the imaging plane of the image sensor and the surface of the shot object cannot be directly detected or the detection is inaccurate when the precision of a mechanical measuring instrument is reduced, the application provides a device and a method for judging and adjusting the levelness of a large-depth-of-field lens camera.
Embodiments of the present application are implemented as follows:
a first aspect of an embodiment of the present application provides an apparatus for determining and adjusting levelness of a large depth lens camera, including: a display for displaying a user interface; a controller configured to: receiving an instant acquisition image sent by a large depth-of-field lens camera, wherein the acquisition image is a clear image acquired when a field of view of the camera is full of checkerboard targets; performing inclination correction on the acquired image to obtain a corrected image, marking target grids for evaluating whether image deformation exists at different positions of the acquired image at preset positions of the corrected image, and respectively calculating the side length of the target grids and the maximum side length and the difference value between the side lengths; when the difference value between the side lengths is smaller than a preset threshold value, judging that the levelness of the large-depth-of-field lens camera meets the standard; and when the difference value between the side lengths is larger than or equal to a preset threshold value, judging that the levelness of the large-depth-of-field lens camera does not reach the standard, and adjusting the distance from the camera side corresponding to the minimum side length target lattice to the shooting object until the controller judges that the levelness of the large-depth-of-field lens camera reaches the standard.
A second aspect of an embodiment of the present application provides a method for adjusting levelness determination of a large depth of field lens camera, where the method includes: receiving an instant acquisition image sent by a large depth-of-field lens camera, wherein the acquisition image is a clear image acquired when a field of view of the camera is full of checkerboard targets; performing inclination correction on the acquired image to obtain a corrected image, marking target grids for evaluating whether image deformation exists at different positions of the acquired image at preset positions of the corrected image, and respectively calculating the side length of the target grids and the maximum side length and the difference value between the side lengths; when the difference value between the side lengths is smaller than a preset threshold value, judging that the levelness of the large-depth-of-field lens camera meets the standard; and when the difference value between the side lengths is larger than or equal to a preset threshold value, judging that the levelness of the large-depth-of-field lens camera does not reach the standard, and adjusting the distance from the camera side corresponding to the minimum side length target lattice to the shooting object until the controller judges that the levelness of the large-depth-of-field lens camera reaches the standard.
A third aspect of the embodiments of the present application provides a computer-readable storage medium having stored thereon a computer program to be executed by a computer to implement the method provided in the second aspect of the inventive content of the present application. .
The technical scheme provided by the application comprises the following beneficial technical effects: the acquisition of the complete target image can be realized by constructing an acquisition image full of the field of view; further, filtering of levelness judgment interference factors can be achieved by constructing a correction image; further, by constructing the difference value between the side lengths and the maximum side length, the camera installation level can be judged only by collecting single images on the checkerboard, the operation difficulty is reduced, and the levelness judgment is more objective by image calculation data.
Drawings
In order to more clearly illustrate the technical solutions of the present application, the drawings that are needed in the embodiments will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.
FIG. 1 illustrates a schematic diagram of a system 100 for large depth of field camera levelness determination adjustment according to an embodiment of the present application;
FIG. 2 illustrates a schematic diagram of a computing device 200 in accordance with an embodiment of the present application;
fig. 3 is a flowchart illustrating a method for determining and adjusting the levelness of a large depth lens camera according to an embodiment of the present application;
FIG. 4 is a schematic diagram showing the positions of a linear camera and a surface of a subject according to an embodiment of the present application;
FIG. 5 is a schematic diagram showing the positions of an imaging plane and a subject surface of a line camera image sensor according to an embodiment of the present application;
FIG. 6 shows a schematic diagram of a tessellated target in accordance with an embodiment of the present application;
FIG. 7 shows a schematic diagram of an area camera checkerboard marker according to an embodiment of the present application;
FIG. 8 illustrates a schematic diagram of a line camera checkerboard identification according to an embodiment of the present application;
FIG. 9 shows a schematic diagram of the horizontal and vertical sides of a target grid for one implementation of the present application.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. 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.
Reference throughout this specification to "multiple embodiments," "some embodiments," "one embodiment," or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Thus, appearances of the phrases "in various embodiments," "in some embodiments," "in at least one other embodiment," or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. Thus, a particular feature, structure, or characteristic shown or described in connection with one embodiment may be combined, in whole or in part, with features, structures, or characteristics of one or more other embodiments without limitation. Such modifications and variations are intended to be included within the scope of the present application.
Fig. 1 shows a schematic diagram of a system 100 for large depth of field camera levelness determination adjustment according to an embodiment of the present application. The system 100 for judging and adjusting the levelness of the large-depth-of-field lens camera is a system capable of automatically judging and adjusting the levelness of the large-depth-of-field lens camera.
The system 100 for large depth of view camera levelness determination adjustment may include a server 110, at least one storage device 120, at least one network 130, one or more cameras under test 150-1, 150-2, &..the (i.e., component 1, component 2 in the figure). The server 110 may include a processing engine 112.
In some embodiments, server 110 may be a single server or a group of servers. The server farm may be centralized or distributed (e.g., server 110 may be a distributed system). In some embodiments, server 110 may be local or remote. For example, server 110 may access data stored in storage device 120 via network 130. The server 110 may be directly connected to the storage device 120 to access the stored data. In some embodiments, server 110 may be implemented on a cloud platform. The cloud platform may include a private cloud, a public cloud, a hybrid cloud, a community cloud, a distributed cloud, a multiple cloud, etc., or any combination of the above examples.
In some embodiments, server 110 and the alert platform may be implemented on a computing device as shown in fig. 2 of the present application, including one or more components of computing device 200.
In some embodiments, the server 110 may include a processing engine 112. The processing engine 112 may process information and/or data related to the service request to perform one or more functions described herein. For example, the processing engine 112 may be based on acquiring data collected by the camera under test 150 and sent to the storage device 120 over the network 130 for updating the data stored therein. In some embodiments, the processing engine 112 may include one or more processors. The processing engine 112 may include one or more hardware processors, such as a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), a special instruction set processor (ASIP), an image processor (GPU), a physical arithmetic processor (PPU), a Digital Signal Processor (DSP), a Field Programmable Gate Array (FPGA), an editable logic device (PLD), a controller, a microcontroller unit, a Reduced Instruction Set Computer (RISC), a microprocessor, or the like, or any combination of the above.
The storage device 120 may store data and/or instructions. In some embodiments, the storage device 120 may store data obtained from the camera under test 150. In some embodiments, the storage device 120 may store data and/or instructions for execution or use by the server 110, which may be executed or used by the server 110 to implement the embodiment methods described herein. In some embodiments, storage device 120 may include mass storage, removable storage, volatile read-write memory, read-only memory (ROM), and the like, or any combination of the above. In some embodiments, storage device 120 may be implemented on a cloud platform. For example, the cloud platform may include a private cloud, a public cloud, a hybrid cloud, a community cloud, a distributed cloud, a multiple cloud, or the like, or any combination of the above examples.
In some embodiments, the storage device 120 may be connected to the network 130 to enable communication with one or more components in the system 100 for large depth lens camera levelness decision adjustment. One or more components of the system 100 for large depth of view camera levelness determination adjustment may access data or instructions stored in the storage device 120 over the network 130. In some embodiments, the storage device 120 may be directly connected or in communication with one or more components of the system 100 for large depth of view lens camera levelness determination adjustment. In some embodiments, the storage device 120 may be part of the server 110.
The network 130 may facilitate the exchange of information and/or data. In some embodiments, one or more components in the system for large depth lens camera levelness determination adjustment 100 may send information and/or data over the network 130 to other components in the system for large depth lens camera levelness determination adjustment 100. For example, the server 110 may obtain/get a request from the camera under test 150 through the network 130. In some embodiments, the network 130 may be any one of a wired network or a wireless network, or a combination thereof. In some embodiments, network 130 may include one or more network access points. For example, the network 130 may include wired or wireless network access points, such as base stations and/or Internet switching points 130-1, 130-2, and the like. One or more components of the system 100 for large depth lens camera levelness determination adjustment may be connected to the network 130 via an access point to exchange data and/or information.
The camera under test 150 may acquire a plurality of flat field images. In some embodiments, the camera under test 150 may send the collected various data information to one or more devices in the system 100 for large depth of field camera levelness determination adjustment. For example, the camera under test 150 may send the acquired flat field image data to the server 110 for processing or to the storage device 120 for storage.
FIG. 2 is a schematic diagram of an exemplary computing device 200, shown in accordance with some embodiments of the present application.
The server 110, the storage device 120 may be implemented on the computing device 200. For example, the processing engine 112 may be implemented on the computing device 200 and configured to implement the functionality disclosed in the present application.
For ease of understanding, only one processor is schematically depicted in fig. 2. However, it should be noted that the computing device 200 in this application may include multiple processors, and thus the operations and/or methods described herein as being implemented by one processor may also be implemented by multiple processors, either collectively or independently. For example, if in the present application the processor of computing device 200 performs steps 1 and 2, it should be understood that steps 1 and 2 may also be performed jointly or independently by two different processors of computing device 200.
Aiming at the application of the large depth of field lens, the application provides a judging method for judging the installation levelness of the large depth of field lens camera by shooting a standard checkerboard.
In some embodiments, both an area-array camera and a line-array camera are required to be used with lenses, and lenses with different depths of field affect the imaging quality of an image.
When the camera is not horizontally installed, for example, the imaging surface of the image sensor is not parallel to the surface of the photographed object, so that the working distance of the camera is changed to a certain extent, the imaging of the large depth lens is displayed as that the image can be clearly imaged, but the side of the photographed object is large and the side of the photographed object is small.
According to the method for judging and adjusting the levelness of the large-depth-of-field lens camera, a high-precision measuring tool is not required to be manufactured, and an objective judgment conclusion can be rapidly given through image processing and calculation.
Fig. 3 is a flowchart illustrating a method for determining and adjusting the levelness of a large depth lens camera according to an embodiment of the present application.
In step 301, an immediate acquisition image sent by a large depth lens camera is received, wherein the acquisition image is a clear image acquired when the field of view of the camera is full of checkerboard targets.
The device for judging and adjusting the levelness of the large-depth-of-field lens camera comprises a display and a controller. The display is used for displaying a user interface; the controller is configured to receive an immediate acquisition image sent by a large depth lens camera, the acquisition image being a clear image acquired when the field of view of the camera fills a checkerboard target.
In some embodiments, the display may be implemented as a liquid crystal display, an OLED display, a projection display device. The particular display type, size, resolution, etc. are not limited, and those skilled in the art will appreciate that the display may be modified in performance and configuration as desired.
The display is used for receiving the image signals input by the controller and displaying the video content and the images and a menu control interface. The display includes a display screen assembly for presenting a picture, and a drive assembly for driving the display of the image. The video content may be displayed from various broadcast signals received through a wired or wireless communication protocol, or various image content transmitted from a web server side received from a web communication protocol may be displayed. Meanwhile, the display may display a user manipulation UI interface of the apparatus for controlling the big depth lens camera levelness determination adjustment.
In some embodiments, the controller controls the data transfer between the user interface and the external other device. Such as receiving video signals, image signals, or command instructions from an external camera under test. The user interface may include, but is not limited to, the following: any one or more interfaces of a high definition multimedia interface HDMI interface, an analog or data high definition component input interface, a composite video input interface, a USB input interface, an RGB port, and the like can be used. In other exemplary embodiments, the user interface may also be formed as a composite user interface from the plurality of interfaces described above.
In some embodiments, the controller provided herein may include RAM and ROM as well as a graphics processor, a CPU processor, a communication interface, and a communication bus. Wherein the RAM and ROM are connected with the graphics processor, the CPU processor and the communication interface through buses.
The controller may control the overall operation of the device provided herein. For example: in response to receiving a user command to select to display a UI object on the display, the controller may perform an operation related to the object selected by the user command.
In some embodiments, the installation of the area-array camera should ensure that the area-array camera is parallel to the surface of the object, and the installation of the line-array camera may not be parallel to the surface of the object, as shown in fig. 4, fig. 4 shows a schematic diagram of the positions of the line-array camera and the surface of the object according to an embodiment of the present application.
However, the distances between the two ends of the imaging plane (Sensor) of the linear array camera and the surface of the object should be the same, so that the imaging frames can be ensured to be clear by installing, and the magnification is consistent, as shown in fig. 5, fig. 5 shows a schematic diagram of the positions of the imaging plane of the linear array camera and the surface of the object according to an embodiment of the present application.
According to the device and the method for judging and adjusting the levelness of the large-depth-of-field lens camera, whether the camera is installed horizontally or not can be judged only by collecting one image of the target image, the operation is simple, and the conclusion is more objective through the data of image calculation.
In some embodiments, after the large depth lens camera is installed, the checkerboard target is filled with the whole field of view of the camera, and then the large depth lens is adjusted to make the image in the field of view as clear as possible;
after the camera collects the clear target image, the clear target image is sent to the device for judging and adjusting the levelness of the large-depth-of-field lens camera provided by the application for subsequent calculation, the collected image is shown in fig. 6, and fig. 6 shows a schematic diagram of a checkerboard target according to an embodiment of the application.
In step 302, the acquired image is subjected to inclination correction to obtain a corrected image, target grids for evaluating whether image deformation exists at different positions of the acquired image are identified at preset positions of the corrected image, and the side lengths of the target grids, the maximum side lengths and the difference values among the side lengths are calculated respectively.
In some embodiments, if the controller receives that the checkerboard in the acquired image is tilted, it may be necessary to perform tilt correction preprocessing for subsequent analysis.
The method of tilt correction is many, and is not limited herein, and the present application describes a Hough (Hough) transform and a method of combining projection correction as an example.
The Hough transformation can detect the inclination angle of the straight line in the acquired image, and the inclination angle of the checkerboard image can be obtained.
Assuming that the inclination angle of the acquired image is θ, the coordinates of the target point in the original acquired image are (x 0 ，y 0 )，x 0 And y 0 Respectively representing a row index and a column index of a target point in the acquired image; the correction is performed according to the projection correction method, and a correction result (x, y) is obtained, wherein x and y respectively represent a row index and a column index of the target point after the tilt correction, and are expressed as follows:
in some embodiments, the controller identifies a target grid at a preset position of the correction image, specifically including the controller: when the large depth-of-field lens camera is an area array camera, the target grid is positioned at the center and four corners of the corrected image; when the large depth lens camera is a line camera, the target grid is positioned at the center of the correction image and the leftmost and rightmost ends of the center.
For example, in order to quickly and comprehensively obtain an evaluation result, a plurality of appropriate checkerboards need to be selected on the corrected image to be identified as target checkers so as to facilitate subsequent comparison and calculation;
the selection principle of the plurality of target grids can be implemented, for example, as follows: the area array camera selects a checkerboard as a target lattice at the center and four corners of the image, as shown in fig. 7, fig. 7 shows a schematic diagram of the checkerboard mark of the area array camera according to an embodiment of the present application; the linear array camera selects one checkerboard as a target grid at the center of the image and at the left and right ends respectively, as shown in fig. 8, and fig. 8 shows a schematic diagram of the checkerboard identification of the linear array camera according to an embodiment of the present application.
In some embodiments, the controller calculates the side lengths of the target grids respectively, and specifically includes the controller: when the camera is an area array camera, the side length of each target grid is the average value of the length of the transverse side and the length of the vertical side of each target grid; when the camera is a linear array camera, the side length of each target cell is the length of the transverse side of each target cell.
For example, the target grid in the corrected image is rectangular and includes horizontal sides and vertical sides, as shown in fig. 9, and fig. 9 shows a schematic diagram of the horizontal sides and the vertical sides of the target grid according to an embodiment of the present application.
The planar array camera needs to calculate the horizontal edge and the vertical edge, and the linear array camera only needs to calculate the horizontal edge, and the specific calculation method can be implemented as follows:
firstly, when the controller acquires the length of the transverse edge of a target grid, selecting one line of image data in the center of a region as a target line in a target region of the target grid;
then, obtaining the absolute value of the difference between the gray value of the pixel point at the current position of the target row and the gray value of the pixel point at the adjacent position, when the absolute value is larger than a set threshold value, considering the current position as the position of gray jump, namely the boundary position of the target grid, wherein one target grid can generate two gray jumps on one row, and the column index between the two positions is the length of the transverse edge of the target grid, for example, for an 8-bit image, the threshold value can be set to be 50; similarly, the length of the vertical edge of the target grid can be calculated by the same method;
for the area array camera, taking an average value of the length of the transverse side and the length of the vertical side of each target grid as the length of the side of the target grid; for a linear array camera, the length of the transverse edge of the target grid is taken as the edge length of the target grid;
the final correction image of the area array camera can obtain the side lengths of 5 target grids, and the correction image of the linear array camera can obtain the side lengths of 3 target grids.
In some embodiments, based on the obtained target grid side lengths, a maximum side length max_length of the target grid side lengths can be found; and calculating an inter-side length difference value error_length between a plurality of side lengths by the following method:
wherein error_length represents an inter-side difference value; max_length represents the maximum side length value in all target cells; error_length (i) represents the side length of the target cell in the corrected image.
In step 303, when the difference value between the side lengths is smaller than a preset threshold value, determining that the levelness of the large depth-of-field lens camera meets the standard; and when the difference value between the side lengths is larger than or equal to a preset threshold value, judging that the levelness of the large-depth-of-field lens camera does not reach the standard, and adjusting the distance from the camera side corresponding to the minimum side length target lattice to the shooting object until the controller judges that the levelness of the large-depth-of-field lens camera reaches the standard.
For example, the preset Threshold is denoted by Threshold, and if the inter-edge difference value is smaller than the preset Threshold, the controller determines that the installation levelness of the large depth lens camera meets the requirement, and the determination formula is expressed as follows:
error_length＜Threshold；
and if the inter-side length difference value is larger than or equal to the preset threshold value, the controller judges that the installation levelness of the large-depth-of-field lens camera does not meet the requirement, and the large-depth-of-field lens camera needs to be adjusted. The preset Threshold may be set according to practical situations, for example, the preset Threshold may be configured to be 5.
In some embodiments, when the controller determines that the large depth lens camera levelness does not reach the standard, the user may adjust the distance from the camera side corresponding to the minimum side length target grid to the photographed object until the controller determines that the large depth lens camera levelness reaches the standard.
For example, the height of the camera side corresponding to the minimum side is finely adjusted according to the acquired image and the calculated target grid side, and the steps are repeated until the levelness of the camera meets the condition.
The method has the beneficial effects that the acquisition of the complete target image can be realized by constructing the acquisition image full of the field of view; further, filtering of levelness judgment interference factors can be achieved by constructing a correction image; further, by constructing the difference value between the side lengths and the maximum side length, the camera installation level can be judged only by collecting single images on the checkerboard, the operation difficulty is reduced, and the levelness judgment is more objective by image calculation data.
Furthermore, those skilled in the art will appreciate that the various aspects of the invention are illustrated and described in the context of a number of patentable categories or circumstances, including any novel and useful procedures, machines, products, or materials, or any novel and useful modifications thereof. Accordingly, aspects of the present application may be performed entirely by hardware, entirely by software (including firmware, resident software, micro-code, etc.) or by a combination of hardware and software. The above hardware or software may be referred to as a "data block", "module", "engine", "unit", "component" or "system". Furthermore, aspects of the present application may take the form of a computer product, comprising computer-readable program code, embodied in one or more computer-readable media.
The computer storage medium may contain a propagated data signal with the computer program code embodied therein, for example, on a baseband or as part of a carrier wave. The propagated signal may take on a variety of forms, including electro-magnetic, optical, etc., or any suitable combination thereof. A computer storage medium may be any computer readable medium that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code located on a computer storage medium may be propagated through any suitable medium, including radio, cable, fiber optic cable, RF, or the like, or a combination of any of the foregoing.
The computer program code necessary for operation of portions of the present application may be written in any one or more programming languages, including an object oriented programming language such as Java, scala, smalltalk, eiffel, JADE, emerald, C ++, c#, vb net, python, etc., a conventional programming language such as C language, visual Basic, fortran 2003, perl, COBOL 2002, PHP, ABAP, dynamic programming languages such as Python, ruby and Groovy, or other programming languages, etc. The program code may execute entirely on the user's computer or as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer may be connected to the user's computer through any form of network, such as a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet), or in a cloud computing environment, or as a service, for example, software as a service (SaaS).
It should be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that an article or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.
The foregoing is merely a specific embodiment of the application to enable one skilled in the art to understand or practice the application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
It will be understood that the present application is not limited to what has been described above, and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.
Claims (7)
1. The device for judging and adjusting the levelness of the large-depth-of-field lens camera is characterized by comprising the following components:
a display for displaying a user interface;
a controller configured to:
receiving an instant acquisition image sent by a large depth-of-field lens camera, wherein the acquisition image is a clear image acquired when a field of view of the camera is full of checkerboard targets;
performing inclination correction on the acquired image to obtain a corrected image, marking target grids for evaluating whether image deformation exists at different positions of the acquired image at preset positions of the corrected image, and respectively calculating the side length of the target grids and the maximum side length and the difference value between the side lengths;
when the difference value between the side lengths is smaller than a preset threshold value, judging that the levelness of the large-depth-of-field lens camera meets the standard; when the difference value between the side lengths is larger than or equal to a preset threshold value, judging that the levelness of the large-depth-of-field lens camera does not reach the standard, and adjusting the distance from the camera side corresponding to the minimum side length target lattice to the shooting object until the controller judges that the levelness of the large-depth-of-field lens camera reaches the standard;
the method for calculating the difference value between the side lengths comprises the following steps:
error_length represents the inter-side difference value; max_length represents the maximum side length value in all target cells; error_length (i) represents the side length of the target cell in the corrected image.
2. The apparatus for determining and adjusting levelness of a large depth-of-field lens camera according to claim 1, wherein the controller identifies a target cell at a preset position of the corrected image, specifically comprising the controller:
when the large depth-of-field lens camera is an area array camera, the target grid is positioned at the center and four corners of the corrected image;
when the large depth lens camera is a line camera, the target grid is positioned at the center of the correction image and the leftmost and rightmost ends of the center.
3. The apparatus for determining and adjusting levelness of a large depth-of-field lens camera according to claim 1, wherein the controller calculates the side lengths of the target cells respectively, and specifically comprises the controller:
when the camera is an area array camera, the side length of each target grid is the average value of the length of the transverse side and the length of the vertical side of each target grid;
when the camera is a linear array camera, the side length of each target cell is the length of the transverse side of each target cell.
4. A method for determining and adjusting levelness of a large depth of field lens camera, the method comprising:
receiving an instant acquisition image sent by a large depth-of-field lens camera, wherein the acquisition image is a clear image acquired when a field of view of the camera is full of checkerboard targets;
performing inclination correction on the acquired image to obtain a corrected image, marking target grids for evaluating whether image deformation exists at different positions of the acquired image at preset positions of the corrected image, and respectively calculating the side length of the target grids and the maximum side length and the difference value between the side lengths;
when the difference value between the side lengths is smaller than a preset threshold value, judging that the levelness of the large-depth-of-field lens camera meets the standard; when the difference value between the side lengths is larger than or equal to a preset threshold value, judging that the levelness of the large-depth-of-field lens camera does not reach the standard, and adjusting the distance from the camera side corresponding to the minimum side length target lattice to the shooting object until the controller judges that the levelness of the large-depth-of-field lens camera reaches the standard;
the method for calculating the difference value between the side lengths comprises the following steps:
error_length represents the inter-side difference value; max_length represents the maximum side length value in all target cells; error_length (i) represents the side length of the target cell in the corrected image.
5. The method for determining and adjusting the levelness of a large depth-of-field lens camera according to claim 4, wherein the identifying the target cell at the preset position of the corrected image specifically comprises:
when the large depth-of-field lens camera is an area array camera, the target grid is positioned at the center and four corners of the corrected image;
when the large depth lens camera is a line camera, the target grid is positioned at the center of the correction image and the leftmost and rightmost ends of the center.
6. The method for determining and adjusting the levelness of a large depth-of-field lens camera according to claim 4, wherein calculating the edge length of the target grid respectively comprises:
when the camera is an area array camera, the side length of each target grid is the average value of the length of the transverse side and the length of the vertical side of each target grid;
when the camera is a linear array camera, the side length of each target cell is the length of the transverse side of each target cell.
7. A computer readable storage medium having stored thereon a computer program, characterized in that the program is executed by a computer to implement the method according to any of claims 4-6.
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