CN113838146A - Method and device for verifying calibration precision of camera module and method and device for testing camera module - Google Patents
Method and device for verifying calibration precision of camera module and method and device for testing camera module Download PDFInfo
- Publication number
- CN113838146A CN113838146A CN202111128130.XA CN202111128130A CN113838146A CN 113838146 A CN113838146 A CN 113838146A CN 202111128130 A CN202111128130 A CN 202111128130A CN 113838146 A CN113838146 A CN 113838146A
- Authority
- CN
- China
- Prior art keywords
- position information
- camera module
- target
- information
- white
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000012360 testing method Methods 0.000 title claims abstract description 84
- 238000000034 method Methods 0.000 title claims abstract description 81
- 238000001792 White test Methods 0.000 claims abstract description 54
- 238000003384 imaging method Methods 0.000 claims abstract description 26
- 238000012795 verification Methods 0.000 claims description 18
- 238000000605 extraction Methods 0.000 claims description 16
- 238000004590 computer program Methods 0.000 claims description 14
- 238000012545 processing Methods 0.000 claims description 10
- 230000008569 process Effects 0.000 abstract description 34
- 238000010586 diagram Methods 0.000 description 10
- 238000005259 measurement Methods 0.000 description 7
- 238000012986 modification Methods 0.000 description 5
- 230000004048 modification Effects 0.000 description 5
- 230000006870 function Effects 0.000 description 4
- 238000010998 test method Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
Images
Classifications
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
-
- 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
- G06T2207/10004—Still image; Photographic image
Abstract
The invention discloses a method and a device for verifying calibration precision of a camera module and testing the camera module, which are used for obtaining an imaging result of a TOF camera module on a target black-and-white test chart and extracting a gray image and a depth image from the imaging result; determining first position information of a white area in the gray image, and determining second position information of a target attention block in the white area according to the first position information of the white area; according to the second position information, extracting the depth information of the target attention block in the depth image; and verifying the ranging calibration result of the TOF camera module based on the depth information. The method and the device break through the limitation of the process of verifying the calibration precision on the type of the used test chart, and further solve the technical problems of complicated test steps and long time consumption in the test process of the camera module to a certain extent.
Description
Technical Field
The invention belongs to the field of camera testing, and particularly relates to a method and a device for verifying calibration precision of a camera module and testing the camera module.
Background
TOF (Time of flight ) camera module has the test procedure before dispatching from the factory, and the test procedure is including the process of maring the process and verifying the precision of maring, and need verify the precision of maring in order to guarantee to mark, after the completion is markd TOF camera module, still need carry out the verification of maring the precision, for example: and the TOF camera module needs to calibrate the test distance between the TOF camera module and the test drawing board and verify the precision of the ranging calibration result.
In the related art, the process of verifying the calibration precision uses a white test chart, and the white test chart and the different test charts are used in the calibration process, so that the white test chart and the different test charts cannot be used universally, the calibration process of the TOF camera module and the process of verifying the calibration precision need to be carried out on two different machines, the white test chart and the different test charts cannot be combined to the same machine, the test steps are complicated, and the test process is time-consuming and long.
Disclosure of Invention
The embodiment of the invention provides a method and a device for verifying the calibration precision of a camera module and a camera module testing method and device, so that a target black-and-white test chart can be used in the process of verifying the calibration precision, and the technical problems of complicated testing steps and long time consumption in the testing process in the prior art are solved to a certain extent.
In a first aspect, an embodiment of the present invention provides a method for verifying calibration accuracy of a camera module, including:
acquiring an imaging result of the TOF camera module on a target black-and-white test chart, and extracting a gray image and a depth image from the imaging result;
determining first position information of a white area in the gray image, and determining second position information of a target attention block in the white area according to the first position information of the white area;
according to the second position information, extracting depth information of the target attention block in the depth image;
and verifying the ranging calibration result of the TOF camera module based on the depth information.
Optionally, the determining first position information of a white area in the grayscale image includes:
processing the grayscale image to locate each white region in the grayscale image;
and extracting the position coordinates of each white area in the gray level image to obtain the first position information.
Optionally, the determining, according to the first position information of the white area, second position information of a target attention block in the white area includes:
acquiring third position information and gray scale information of a preselected position from the gray scale image;
and determining the second position information according to the first position information, the third position information of the preselected position and the gray scale information.
Optionally, the determining the second position information according to the first position information, and the third position information and the gray scale information of the preselected position includes:
judging whether the preselected position belongs to the white area or not according to the gray information of the preselected position;
if so, taking the third position information of the preselected position as the second position information of the target attention block;
if not, the position coordinate of a pixel block in the target white area is used as the second position information of the target attention block, and the target white area is adjacent to the preselected position.
Optionally, the extracting depth information of the target block of interest in the depth image includes:
according to the second position information, obtaining the depth value of each pixel point in the target attention block from the depth image;
and obtaining the depth information according to the depth value of each pixel point in the target attention block.
In a second aspect, an embodiment of the present invention provides a method for testing a camera module, which is applied to a camera test machine, where the camera test machine is provided with a target black-and-white test chart, and the method includes:
on the camera testing machine, calibrating the TOF camera module by using the target black-and-white test chart to obtain a ranging calibration result;
and on the camera test machine, verifying the ranging calibration result by using the target black-and-white test chart and the method of any one of the implementation embodiments of the first aspect.
In a third aspect, an embodiment of the present invention provides a device for verifying calibration accuracy of a camera module, including:
the image acquisition unit is used for acquiring the imaging result of the TOF camera module on the target black-and-white test chart and extracting a gray image and a depth image from the imaging result;
the position determining unit is used for determining first position information of a white area in the gray image and determining second position information of a target attention block in the white area according to the first position information of the white area;
an information extraction unit, configured to extract depth information of the target attention block in the depth image according to the second position information;
and the verification unit is used for verifying the ranging calibration result of the TOF camera module based on the depth information.
Optionally, the position determination unit includes:
the white positioning subunit is used for processing the grayscale image so as to position each white area in the grayscale image;
and the coordinate extraction subunit is used for extracting the position coordinates of each white area in the gray level image so as to obtain the first position information.
Optionally, the position determination unit includes:
a first information extraction subunit, configured to acquire third position information and grayscale information of a preselected position from the grayscale image;
and the second information extraction subunit is used for determining the second position information according to the first position information, and the third position information and the gray scale information of the preselected position.
Optionally, the second information extraction subunit is specifically configured to:
judging whether the preselected position belongs to the white area or not according to the gray information of the preselected position;
if so, taking the third position information of the preselected position as the second position information of the target attention block;
if not, the position coordinate of a pixel block in the target white area is used as the second position information of the target attention block, and the target white area is adjacent to the preselected position.
Optionally, the information extracting unit includes:
a depth value extracting subunit, configured to obtain, according to the second location information, a depth value of each pixel point in the target attention block from the depth image;
and the depth information acquisition subunit is used for acquiring the depth information according to the depth value of each pixel point in the target attention block.
Optionally, the target black-and-white test chart specifically includes: black and white test pattern of the checkerboard.
In a fourth aspect, an embodiment of the present invention provides a camera module testing apparatus, including a camera testing machine, where the camera testing machine is provided with a target black-and-white test chart, and the testing apparatus further includes:
the ranging calibration device is used for calibrating the TOF camera module by using the target black-and-white test chart on the camera test machine to obtain a ranging calibration result;
and the precision verification device is used for verifying the ranging calibration result on the camera testing machine by using the target black-and-white test chart and any one of the embodiments of the first aspect.
In a fifth aspect, an embodiment of the present invention provides an electronic device, including: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the method according to any of the first or second aspects when executing the program.
In a sixth aspect, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the method described in any of the embodiments of the first aspect or the second aspect.
One or more technical solutions provided in the embodiments of the present invention have at least the following technical effects or advantages:
extracting a gray image and a depth image from the imaging result of the TOF camera module on the target black-and-white test chart; determining first position information of a white area in the gray level image, and determining second position information of a target attention block in the white area according to the first position information; acquiring depth information of the target attention block in the depth image according to the second position information; and verifying the ranging calibration result of the TOF camera module based on the depth information. Therefore, the target concerned block can avoid the interference of the noise of the black area on the extraction of the depth information, the verification of the calibration precision of the camera module by using the target black-white test chart is realized, and the limitation of the process of verifying the calibration precision on the test chart is broken. Therefore, the process of verifying the calibration precision and the process of ranging calibration can share the same test chart, so that the test steps are simplified, and the test time is reduced.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
Fig. 1 is a flowchart of a method for verifying calibration accuracy of a camera module according to an embodiment of the present invention;
fig. 2 is a flowchart of a method for testing a camera module according to an embodiment of the present invention;
fig. 3 is a schematic view of a device for verifying calibration accuracy of a camera module according to an embodiment of the present invention;
fig. 4 is a system architecture diagram of a camera module testing apparatus according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of an electronic device in an embodiment of the invention.
Detailed Description
In order to solve the technical problems that the testing steps of the camera module are complicated and the testing process consumes a long time in the prior art, the embodiment of the invention provides a method and a device for verifying the calibration precision of the camera module and testing the camera module.
In order to solve the above technical problems, the technical solutions provided by the embodiments of the present invention have the following general ideas:
extracting a gray image and a depth image from the imaging result of the TOF camera module on the target black-and-white test chart; determining first position information of a white area in the gray level image, and determining second position information of the target attention block according to the first position information; acquiring depth information of the target attention block in the depth image according to the second position information; and verifying the ranging calibration result of the TOF camera module based on the depth information. By the technical scheme, the interference of the noise of the black area on the extraction of the depth information is avoided, the verification of the calibration precision of the camera module by using the target black-white test chart is realized, and further, the same test chart can be used in the calibration process, so that the test steps are simplified, and the test time is reduced.
In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.
First, it is stated that the term "and/or" appearing herein is merely one type of associative relationship that describes an associated object, meaning that three types of relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
In the related art, in the test of the camera module, a black and white test chart, such as a checkerboard black and white test chart, is generally used when the TOF camera module is subjected to ranging calibration, and a white chart is required in the calibration accuracy verification process, so that different test charts are required in the ranging calibration process and the calibration accuracy verification process, the test chart needs to be replaced after the calibration process in the actual test, and the ranging calibration process and the calibration accuracy verification process cannot be completed on the same test machine, and therefore, the test efficiency is not high.
The inventor finds that the black and white test chart used for ranging calibration cannot be directly used in the process of verifying the calibration precision, and the black area of the black and white test chart has high noise, so that the extraction of depth information in the verification process is interfered, and the verification is inaccurate. Therefore, in order to enable the distance measurement calibration and the verification of the calibration precision of the TOF camera module to be common to the same black and white test chart, the embodiment of the invention provides a method for verifying the distance measurement calibration result of the TOF camera module by using the black and white test chart so as to verify whether the calibration precision reaches the preset precision.
Referring to fig. 1, a method for verifying calibration accuracy of a camera module according to an embodiment of the present invention includes the following steps:
s101, obtaining an imaging result of the TOF camera module on the target black and white test chart, and extracting a gray image and a depth image from the imaging result.
In step S101, a TOF camera module to be tested is used to capture a black and white target test chart on a testing machine, so as to obtain an imaging result. The target black-and-white test chart can be but is not limited to a checkered black-and-white test chart, and the target black-and-white test chart is different according to different actual conditions. Specifically, a black-and-white test chart used for ranging calibration is directly used by the TOF camera module, so that the test flow is simplified.
Specifically, an imaging result of the TOF camera module on the target black and white test chart is obtained, and a gray image and a depth image are extracted from the imaging result. When extracting the gray image from the imaging result, any one of floating point algorithm, integer method, shift method, average value method, and the like may be used. And directly acquiring a depth image from the imaging result of the TOF camera module on the target black-and-white test chart.
S102, determining first position information of a white area in the gray image, and determining second position information of a target attention block in the white area according to the first position information of the white area.
In step S102, each white area in the grayscale image is located by processing the grayscale image; and extracting the position coordinates of each white area in the gray level image so as to obtain first position information, wherein the first position information comprises the position coordinates of each white area in the gray level image. The extracted position coordinates of each white region can be represented by coordinates referring to each vertex of the white region, such as: (x1, y1, x2, y2, x3, y3, x4, y 4). Of course, it can also be represented by coordinates of diagonal vertices, such as: (x1, y1, x2, y 2).
Taking the black and white test chart of the checkerboard as an example, one white square in the black and white test chart of the checkerboard corresponds to one white area in the imaging result, and one black square corresponds to one black area in the imaging result. The imaging result of the checkered black and white test pattern is an image formed by interleaving black areas with white areas, and each individual white area needs to be located from the gray scale image of the imaging result.
In step S102, third position information and grayscale information of a preselected position are acquired from the grayscale image; and determining second position information of the target attention area according to the first position information, and third position information and gray scale information of the preselected position.
It should be noted that the preselected position may be a pixel block of a central position point of the imaging result, and of course, other positions may be selected according to actual needs, such as: a block of pixels located in 60% of the surrounding field of view.
In the implementation, the manner of extracting the second position information of the target attention block is different according to whether the preselected position is imaged in a white area or a black area. Specifically, judging whether the preselected position belongs to a white area or not according to the gray information of the preselected position; and if the preselected position belongs to the white area, using the third position information of the preselected position as the second position information of the target attention block.
And if the preselected position does not belong to the white area, taking the position coordinate of a pixel block in the target white area as second position information of the target attention block, wherein the target white area is adjacent to the preselected position. Specifically, according to the position coordinates of each white area in the first position information and the third position information, a white area closest to the preselected position, namely a target white area, is determined; selecting a target attention block in the target white area, such as: and selecting one pixel block closest to the preselected position in the target white area as a target attention area.
It is understood that the target region of interest is a pixel region of a predetermined size, for example, the predetermined size may be 10 × 10 pixels. Of course, in specific implementation, the preset size may be preset to other values according to actual requirements, and is not limited herein.
In the process of directly using the black and white test chart to verify the calibration accuracy, the inventor finds that the noise in the black area is large and interferes with the extraction of the depth information, and in order to eliminate the noise interference, the inventor can accurately extract the second position information of the target interest block in the white area through the step S102.
And S103, extracting the depth information of the target attention block in the depth image according to the second position information.
Specifically, the pixel block indicated by the second position information is exactly where the white area is located, and according to the second position information, the depth information of the target attention block is extracted from the depth image, and the depth information of the black area is not extracted. For example, the second position information is (x1, y1, x2, y2, x3, y3, x4, and y4), and the depth information of the pixel block extracted (x1, y1, x2, y2, x3, y3, x4, and y4) in the depth image is accurate because there is no depth information of a black pixel.
As can be understood, according to the second position information, the depth value of each pixel point in the target attention area is obtained from the depth image; and determining depth information according to the depth value of each pixel point in the target attention block. Specifically, the depth value of each pixel point in the target attention block may be averaged to obtain an average depth. Of course, in specific implementation, the depth value of each pixel point in the target attention block may be calculated in other calculation manners to obtain the depth information of the target attention block.
And S104, verifying the ranging calibration result of the TOF camera module based on the depth information.
Specifically, the ranging calibration result is calibrated according to the testing distance between the TOF camera module and the target black-and-white test chart, whether the difference value between the depth information and the ranging calibration result is smaller than a preset numerical value or not is judged, if yes, the ranging calibration result of the TOF camera module is judged to meet the preset precision, otherwise, the ranging calibration result of the TOF camera module is judged to not reach the preset precision, and the testing distance of the TOF camera module needs to be calibrated again.
By the technical scheme, the process of verifying the calibration precision can be carried out by utilizing the target black-and-white test chart, the limitation of the process of verifying the calibration precision on the test chart is broken, the same target black-and-white test chart can be used in the calibration process of calibrating the TOF camera module, and conditions are provided for distance measurement calibration and verification calibration precision of the TOF camera module on the same test machine.
Based on the same inventive concept, the embodiment of the invention provides a camera module testing method, which is applied to a camera testing machine, the camera testing machine is provided with a target black-and-white testing chart, and referring to fig. 2, the TOF camera module testing method comprises the following steps:
s201, calibrating a TOF camera module by using a target black-and-white test chart on a camera test machine to obtain a ranging calibration result;
s202, on the camera testing machine, the ranging calibration result is verified by using a target black-and-white test chart and a method for verifying the calibration precision of the camera module.
It should be noted that, in the embodiment, the process of calibrating the TOF camera module may refer to the prior art; in the process of verifying the calibration accuracy of the camera module, reference may be made to the foregoing embodiment of the method for verifying the calibration accuracy of the camera module, which is not repeated herein for brevity of the specification.
By the embodiment of the invention, the ranging calibration and the calibration precision verification process of the TOF camera module can be completed on the same test machine by using the same test chart. The test flow before the TOF camera module leaves the factory is simplified, the test time is saved, and the test efficiency is improved.
Moreover, hardware environments used in ranging calibration and verification of calibration precision through the TOF camera module can be consistent, and calibration passing rate is improved.
Based on the same inventive concept, an embodiment of the present invention further provides a device for verifying the calibration accuracy of a camera module, which is shown in fig. 3 and includes:
an image acquisition unit 301, configured to acquire an imaging result of the TOF camera module on the target black-and-white test chart, and extract a grayscale image and a depth image from the imaging result;
a position determining unit 302, configured to determine first position information of a white area in the grayscale image, and determine second position information of the target region of interest in the white area according to the first position information of the white area;
an information extraction unit 303, configured to extract depth information of the target region of interest in the depth image according to the second position information;
and the verification unit 304 is configured to verify a ranging calibration result of the TOF camera module based on the depth information.
In an alternative embodiment, the position determining unit 302 includes:
the white positioning subunit is used for processing the gray level image so as to position each white area in the gray level image;
and the coordinate extraction subunit is used for extracting the position coordinates of each white area in the gray level image to obtain first position information, and the first position information comprises the position coordinates of each white area in the gray level image.
In an alternative embodiment, the position determining unit 302 includes:
a first information extraction subunit for acquiring third position information and gradation information of a preselected position from the gradation image;
and the second information extraction subunit is used for determining second position information according to the first position information and the third position information and the gray scale information of the preselected position.
In an optional implementation manner, the second information extraction subunit is specifically configured to:
judging whether the preselected position belongs to a white area or not according to the gray information of the preselected position;
if so, taking the third position information of the preselected position as the second position information of the target attention block;
if not, the position coordinate of a pixel block in the target white area is used as the second position information of the target attention block, and the target white area is adjacent to the preselected position.
In an optional implementation manner, the information extracting unit 303 includes:
the depth value extraction subunit is used for acquiring the depth value of each pixel point in the target attention block from the depth image according to the second position information;
and the depth information acquisition subunit is used for acquiring depth information according to the depth value of each pixel point in the target attention block.
In the apparatus for verifying the calibration accuracy of the camera module, each functional unit is used for implementing the method embodiment for verifying the calibration accuracy of the camera module, corresponding to the method steps, and specific implementation details may refer to relevant contents in the method embodiment for verifying the calibration accuracy of the camera module, and are not described herein again for brevity of the description.
Based on the same inventive concept, an embodiment of the present invention provides a camera module testing apparatus, as shown in fig. 4, the camera module testing apparatus includes: camera test board 400, camera test board 400 are provided with target black-and-white test chart 401, and this camera module testing arrangement still includes:
the distance measurement calibration device is used for calibrating the TOF camera module 402 by using the target black-and-white test chart 401 on the camera test machine 400 to obtain a distance measurement calibration result;
the precision verification device is configured to verify, at the camera test machine 400, a distance measurement calibration result obtained by the distance measurement calibration device by using the target black-and-white test chart 401 and the method for verifying the calibration precision of the camera module described in any embodiment of the first aspect.
It should be noted that, in this embodiment, the process of calibrating the TOF camera module may refer to related technologies; in the process of verifying the calibration accuracy of the camera module, reference may be made to the foregoing embodiment of the method for verifying the calibration accuracy of the camera module, which is not repeated herein for brevity of the specification.
Based on the same inventive concept, another embodiment of the present invention provides an electronic device for implementing the method for verifying the calibration accuracy of the camera module in the embodiment of the present invention, as shown in fig. 5, the electronic device includes a memory 504, a processor 502, and a computer program stored in the memory 504 and capable of running on the processor 502, and when the processor 502 executes the computer program, the method for verifying the calibration accuracy of the camera module is implemented.
Where in fig. 5 a bus architecture (represented by bus 500) is shown, bus 500 may include any number of interconnected buses and bridges, and bus 500 links together various circuits including one or more processors, represented by processor 502, and memory, represented by memory 504. The bus 500 may also link together various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. A bus interface 505 provides an interface between the bus 500 and the receiver 501 and transmitter 503. The receiver 501 and the transmitter 503 may be the same element, i.e. a transceiver, providing a means for communicating with various other apparatus over a transmission medium. The processor 502 is responsible for managing the bus 500 and general processing, and the memory 504 may be used for storing data used by the processor 502 in performing operations.
Since the electronic device described in this embodiment is an electronic device used for implementing the method for verifying the calibration accuracy of the camera module in the embodiment of the present invention, based on the method for verifying the calibration accuracy of the camera module described in the embodiment of the present invention, a person skilled in the art can understand the specific implementation manner and various variations of the electronic device in this embodiment, so that a detailed description of how the electronic device implements the method in the embodiment of the present invention is omitted here. As long as those skilled in the art implement the electronic device used in the method for verifying the calibration accuracy of the camera module in the embodiment of the present invention, the electronic device is within the scope of the present invention.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A method for verifying calibration precision of a camera module is characterized by comprising the following steps:
acquiring an imaging result of the TOF camera module on a target black-and-white test chart, and extracting a gray image and a depth image from the imaging result;
determining first position information of a white area in the gray image, and determining second position information of a target attention block in the white area according to the first position information of the white area;
according to the second position information, extracting depth information of the target attention block in the depth image;
and verifying the ranging calibration result of the TOF camera module based on the depth information.
2. The method of claim 1, wherein the determining first location information for a white region in the grayscale image comprises:
processing the grayscale image to locate each white region in the grayscale image;
and extracting the position coordinates of each white area in the gray level image to obtain the first position information.
3. The method of claim 2, wherein the determining second position information of a target block of interest in the white area according to the first position information of the white area comprises:
acquiring third position information and gray scale information of a preselected position from the gray scale image;
and determining the second position information according to the first position information, the third position information of the preselected position and the gray scale information.
4. The method of claim 3, wherein said determining said second position information based on said first position information and third position information and gray scale information for said preselected position comprises:
judging whether the preselected position belongs to the white area or not according to the gray information of the preselected position;
if so, taking the third position information of the preselected position as the second position information of the target attention block;
if not, the position coordinate of a pixel block in the target white area is used as the second position information of the target attention block, and the target white area is adjacent to the preselected position.
5. The method of claim 1, wherein the extracting depth information of the target block of interest in the depth image comprises:
according to the second position information, obtaining the depth value of each pixel point in the target attention block from the depth image;
and obtaining the depth information according to the depth value of each pixel point in the target attention block.
6. A camera module testing method is applied to a camera testing machine, the camera testing machine is provided with a target black-and-white test chart, and the method is characterized by comprising the following steps:
on the camera testing machine, calibrating the TOF camera module by using the target black-and-white test chart to obtain a ranging calibration result;
on the camera test machine, verifying the ranging calibration result by using the target black-and-white test chart and the method of any one of claims 1 to 5.
7. The utility model provides a verify camera module and mark device of precision which characterized in that includes:
the image acquisition unit is used for acquiring the imaging result of the TOF camera module on the target black-and-white test chart and extracting a gray image and a depth image from the imaging result;
the position determining unit is used for determining first position information of a white area in the gray image and determining second position information of a target attention block in the white area according to the first position information of the white area;
an information extraction unit, configured to extract depth information of the target attention block in the depth image according to the second position information;
and the verification unit is used for verifying the ranging calibration result of the TOF camera module based on the depth information.
8. The utility model provides a camera module testing arrangement, includes camera test board, be provided with target black and white test chart on the camera test board, its characterized in that, test equipment still includes:
the ranging calibration device is used for calibrating the TOF camera module by using the target black-and-white test chart on the camera test machine to obtain a ranging calibration result;
the precision verification device is used for verifying the ranging calibration result on the camera testing machine by using the target black-and-white test chart and the method of any one of claims 1 to 5.
9. An electronic device, comprising: memory, processor and computer program stored on the memory and executable on the processor, the processor implementing the method of any of claims 1-6 when executing the program.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method of any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111128130.XA CN113838146A (en) | 2021-09-26 | 2021-09-26 | Method and device for verifying calibration precision of camera module and method and device for testing camera module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111128130.XA CN113838146A (en) | 2021-09-26 | 2021-09-26 | Method and device for verifying calibration precision of camera module and method and device for testing camera module |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113838146A true CN113838146A (en) | 2021-12-24 |
Family
ID=78970323
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111128130.XA Pending CN113838146A (en) | 2021-09-26 | 2021-09-26 | Method and device for verifying calibration precision of camera module and method and device for testing camera module |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113838146A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115442591A (en) * | 2022-11-04 | 2022-12-06 | 合肥的卢深视科技有限公司 | Camera quality testing method, system, electronic device and storage medium |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017107524A1 (en) * | 2015-12-21 | 2017-06-29 | 乐视控股（北京）有限公司 | Imaging distortion test method and apparatus for virtual reality helmet |
| WO2018014730A1 (en) * | 2016-07-18 | 2018-01-25 | 华为技术有限公司 | Method for adjusting parameters of camera, broadcast-directing camera, and broadcast-directing filming system |
| CN109712192A (en) * | 2018-11-30 | 2019-05-03 | Oppo广东移动通信有限公司 | Camera module scaling method, device, electronic equipment and computer readable storage medium |
| CN109889820A (en) * | 2019-03-14 | 2019-06-14 | 深圳博时特科技有限公司 | Detection method, device, storage medium and the terminal of binocular camera mould group |
| CN110335307A (en) * | 2019-06-26 | 2019-10-15 | Oppo广东移动通信有限公司 | Scaling method, device, computer storage medium and terminal device |
| CN111080705A (en) * | 2019-05-07 | 2020-04-28 | 像工场(深圳)科技有限公司 | Calibration method and device for automatic focusing binocular camera |
| CN111385558A (en) * | 2018-12-28 | 2020-07-07 | 浙江舜宇智能光学技术有限公司 | TOF camera module precision measurement method and system thereof |
| CN112540364A (en) * | 2019-09-05 | 2021-03-23 | 浙江舜宇智能光学技术有限公司 | Time delay measuring method, measuring device and measuring system of TOF depth camera |
| CN113362238A (en) * | 2021-05-21 | 2021-09-07 | 昆山丘钛光电科技有限公司 | Test image processing method and device, electronic equipment and storage medium |
-
2021
- 2021-09-26 CN CN202111128130.XA patent/CN113838146A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017107524A1 (en) * | 2015-12-21 | 2017-06-29 | 乐视控股（北京）有限公司 | Imaging distortion test method and apparatus for virtual reality helmet |
| WO2018014730A1 (en) * | 2016-07-18 | 2018-01-25 | 华为技术有限公司 | Method for adjusting parameters of camera, broadcast-directing camera, and broadcast-directing filming system |
| CN109712192A (en) * | 2018-11-30 | 2019-05-03 | Oppo广东移动通信有限公司 | Camera module scaling method, device, electronic equipment and computer readable storage medium |
| CN111385558A (en) * | 2018-12-28 | 2020-07-07 | 浙江舜宇智能光学技术有限公司 | TOF camera module precision measurement method and system thereof |
| CN109889820A (en) * | 2019-03-14 | 2019-06-14 | 深圳博时特科技有限公司 | Detection method, device, storage medium and the terminal of binocular camera mould group |
| CN111080705A (en) * | 2019-05-07 | 2020-04-28 | 像工场(深圳)科技有限公司 | Calibration method and device for automatic focusing binocular camera |
| CN110335307A (en) * | 2019-06-26 | 2019-10-15 | Oppo广东移动通信有限公司 | Scaling method, device, computer storage medium and terminal device |
| CN112540364A (en) * | 2019-09-05 | 2021-03-23 | 浙江舜宇智能光学技术有限公司 | Time delay measuring method, measuring device and measuring system of TOF depth camera |
| CN113362238A (en) * | 2021-05-21 | 2021-09-07 | 昆山丘钛光电科技有限公司 | Test image processing method and device, electronic equipment and storage medium |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115442591A (en) * | 2022-11-04 | 2022-12-06 | 合肥的卢深视科技有限公司 | Camera quality testing method, system, electronic device and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108257121B (en) | Method, apparatus, storage medium and the terminal device that product defects detection model updates | |
| CN101295402B (en) | Information processing apparatus and information processing method | |
| CN108961345A (en) | A kind of effective determination method and determining device of color in Urine test paper | |
| CN110096540B (en) | Mapping data conversion method, device, storage medium and device | |
| CN114220757A (en) | Wafer detection alignment method, device and system and computer medium | |
| CN113838146A (en) | Method and device for verifying calibration precision of camera module and method and device for testing camera module | |
| CN113362238A (en) | Test image processing method and device, electronic equipment and storage medium | |
| KR102023087B1 (en) | Method for camera calibration | |
| CN113160223A (en) | Contour determination method, contour determination device, detection device and storage medium | |
| CN114445499A (en) | Checkerboard angular point automatic extraction method, system, equipment and medium | |
| CN110162362B (en) | Dynamic control position detection and test method, device, equipment and storage medium | |
| CN113836199B (en) | Method and device for processing sensing data of vehicle, electronic equipment and storage medium | |
| CN116385346A (en) | Method and device for analyzing and processing critical dimension data of mask | |
| WO2022254854A1 (en) | Three-dimensional measurement device | |
| CN116188588A (en) | Light spot center positioning method and device | |
| CN113884188B (en) | Temperature detection method and device and electronic equipment | |
| TWI510758B (en) | System and method for measuring contour line of object | |
| CN112292577A (en) | Three-dimensional measuring device and method | |
| CN107734324A (en) | A kind of measuring method, system and the terminal device of flash lamp illuminance uniformity | |
| CN113747146A (en) | Test chart detection method, device, equipment and storage medium | |
| CN114387353A (en) | Camera calibration method, calibration device and computer readable storage medium | |
| CN113920269A (en) | Project progress obtaining method and device, electronic equipment and medium | |
| CN113989384A (en) | Camera calibration method, cropping data generation method, device, equipment and medium | |
| CN114061524A (en) | Steel coil profile measuring method and device | |
| KR101891980B1 (en) | Method for measuring spin character of rotating body and apparatus thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |