CN114785937A - Method and device for determining optical axis position offset - Google Patents

Method and device for determining optical axis position offset Download PDF

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Publication number
CN114785937A
CN114785937A CN202210603400.6A CN202210603400A CN114785937A CN 114785937 A CN114785937 A CN 114785937A CN 202210603400 A CN202210603400 A CN 202210603400A CN 114785937 A CN114785937 A CN 114785937A
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image
optical axis
preset
image pickup
camera
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杨沥
黄恒敏
温跃明
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Zhejiang Dahua Technology Co Ltd
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Zhejiang Dahua Technology Co Ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/54—Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils

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  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The embodiment of the invention provides a method and a device for determining the position offset of an optical axis, wherein the method comprises the following steps: acquiring a first image and a second image; determining the position offset of a first optical axis in the first image pickup device and a second optical axis in the second image pickup device relative to a preset position by using the first image and the second image, wherein the preset position can be a fixed position or an origin position of one of the optical axes; and storing the position offset into the image pickup system to instruct the first image pickup apparatus and the second image pickup apparatus to respectively photograph the preset object based on the position offset. According to the invention, the problem of poor positioning accuracy of the camera equipment in the related art is solved, and the effect of improving the positioning accuracy of the camera equipment is achieved.

Description

Method and device for determining optical axis position offset
Technical Field
The embodiment of the invention relates to the field of images, in particular to a method and a device for determining optical axis position offset.
Background
In the related art, in a system in which a plurality of image pickup apparatuses are integrated, each image pickup apparatus and a pan/tilt apparatus are independent apparatuses. For example, in a monitoring system integrating two image capturing apparatuses (for example, an infrared imaging apparatus and a visible light imaging apparatus, which are not limited to these two types, but may be other types of image capturing apparatuses), when the two image capturing apparatuses capture the same target object, it is necessary to ensure that the optical axes of the two image capturing apparatuses must be parallel to each other in order to ensure the consistency of the capturing. However, in actual production and processing, due to the influence of the processing precision and assembly error of parts, the optical axes of the two camera devices are parallel to the positive direction of the pan-tilt device, and the default optical axes are parallel to each other in the target coordinate calculation process, so that when the pan-tilt device uses a target for positioning, the coordinate calculated by the processor is deviated from the actual coordinate, and the device mark position is inconsistent with the actual geographic position, so that the information obtained by related practitioners has an error.
It is thus known that, when positioning an object by a plurality of image pickup apparatuses in the related art, there is a problem that the positioning target position is deviated.
Disclosure of Invention
The embodiment of the invention provides a method, a device, a system, a storage medium and an electronic device for determining the position offset of an optical axis, which are used for at least solving the problem of positioning deflection of camera equipment in the related art.
According to an embodiment of the present invention, there is provided a method of determining an optical axis position shift amount, including: acquiring a first image and a second image, wherein the first image is obtained by shooting a target object through a first camera device, the second image is obtained by shooting the target object through a second camera device, and the first camera device and the second camera device are integrated in the same camera system; determining a position displacement amount of a first optical axis in the first image pickup apparatus and a second optical axis in the second image pickup apparatus with respect to a preset position using the first image and the second image; and storing the position offset amount in the image pickup system to instruct the first image pickup apparatus and the second image pickup apparatus to respectively photograph a preset object based on the position offset amount.
According to another embodiment of the present invention, there is provided an optical axis position displacement amount determination apparatus including: a first acquisition module, configured to acquire a first image and a second image, where the first image is an image obtained by shooting a target object with a first image capturing apparatus, the second image is an image obtained by shooting the target object with a second image capturing apparatus, and the first image capturing apparatus and the second image capturing apparatus are integrated in a same image capturing system; a first determining module configured to determine a position shift amount of a first optical axis in the first image pickup apparatus and a second optical axis in the second image pickup apparatus with respect to a preset position using the first image and the second image; and the first storage module is used for storing the position offset into the camera system so as to instruct the first camera equipment and the second camera equipment to shoot a preset object based on the position offset respectively.
In an exemplary embodiment, the first obtaining module includes: a first control unit for controlling the light emitting device to emit a target light beam; a first acquisition unit configured to acquire the first image of the target light beam acquired by the first image pickup apparatus when the target light beam passes through the first image pickup apparatus; and a second acquisition unit configured to acquire the second image of the target light flux acquired by the second image pickup apparatus when the target light flux passes through the second image pickup apparatus.
In one exemplary embodiment, the first determining module includes: a first display unit for displaying both the first image and the second image on a target display device; a first determination unit configured to determine a first position in the target display apparatus of an image of the target object included in the first image and determine a second position in the target display apparatus of an image of the target object included in the second image, in a case where the first image and the second image are not completely overlapped on the target display apparatus; a second determination unit configured to determine the positional displacement amounts of the first optical axis and the second optical axis with respect to the preset position based on the first position and the second position.
In an exemplary embodiment, the second determining unit includes: the first determining subunit is used for determining a first distance between the first position and the preset position; a second determining subunit, configured to determine a second distance between the second location and the preset location; a first calculating subunit, configured to calculate, using the first distance and the second distance, position offsets of the first optical axis and the second optical axis with respect to the preset position point.
In an exemplary embodiment, the first calculating subunit includes: the first determining submodule is used for determining a first angle offset between the preset positions of the first position; a first calculation submodule configured to calculate a first positional shift amount between the first optical axis and the preset position based on the first angular shift amount and the first distance; the second determining submodule is used for determining a second angle offset between the preset positions at a second position; a second calculation submodule configured to calculate a second positional deviation amount between the second optical axis and the preset position based on the second angular deviation amount and the second distance.
In an exemplary embodiment, the first storage module includes: a first storage unit configured to store the first positional deviation amount and the second positional deviation amount in the imaging system to instruct the first imaging apparatus to take a picture of the preset object based on the first positional deviation amount, and the second imaging apparatus to take a picture of the preset object based on the second positional deviation amount.
According to another embodiment of the present invention, there is provided a system for determining an optical axis position displacement amount, including: a processor, wherein the processor includes the optical axis position deviation amount determining device; the first image pickup apparatus described above; the second image pickup apparatus described above.
In an exemplary embodiment, the system further comprises: a first light emitting device for emitting a first light beam of a first type; a second light emitting device for emitting a second light beam of a second type; wherein the first beam and the second beam are integrated into the target object.
In an exemplary embodiment, the system further comprises: and the tool placing table is used for placing the first light-emitting device, the second light-emitting device, the first camera device, the second camera device, a light pipe device and a calibration device, wherein the light pipe device is used for bearing the first light-emitting device and the second light-emitting device, and the calibration device is used for calibrating the first light-emitting device, the second light-emitting device, the first camera device, the second camera device and the light pipe device which are positioned on the same horizontal line on the tool placing table.
In an exemplary embodiment, the system further includes: and a target display device for displaying the first image and the second image.
According to a further embodiment of the present invention, there is also provided a computer-readable storage medium having a computer program stored thereon, wherein the computer program is arranged to, when executed, perform the steps of any of the method embodiments described above.
According to yet another embodiment of the present invention, there is also provided an electronic device, comprising a memory in which a computer program is stored and a processor configured to run the computer program to perform the steps of any of the method embodiments described above.
According to the invention, through the acquired first image and second image of the target object, the position offset of the first optical axis in the first image pickup device and the second optical axis in the second image pickup device relative to the preset position is determined, and the position offset is stored in the image pickup system so as to instruct the first image pickup device and the second image pickup device to respectively shoot the preset object based on the position offset. Therefore, the problem of positioning deviation of the image pickup apparatus in the related art can be solved, and the effect of improving the positioning accuracy of the image pickup apparatus is achieved.
Drawings
Fig. 1 is a block diagram of a hardware structure of a mobile terminal of a method for determining an optical axis position offset according to an embodiment of the present invention;
fig. 2 is a flowchart of a method of determining an optical axis position offset amount according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a multi-optical axis apparatus according to an embodiment of the present invention;
FIG. 4 is a schematic diagram in accordance with an embodiment of the invention;
FIG. 5 is a schematic illustration of the visible light axis position according to an embodiment of the invention;
FIG. 6 is a schematic diagram of an infrared optical axis according to an embodiment of the invention;
FIG. 7 is a flowchart of an angle compensation algorithm according to an embodiment of the present invention;
fig. 8 is a block diagram of the structure of an optical axis position displacement amount determination apparatus according to an embodiment of the present invention;
fig. 9 is a block diagram of the configuration of an optical axis position offset amount determination system according to an embodiment of the present invention;
fig. 10 is a schematic view of the overall scheme according to an embodiment of the present invention.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
The method embodiments provided in the embodiments of the present application may be executed in a mobile terminal, a computer terminal, or a similar computing device. Taking the mobile terminal as an example, fig. 1 is a hardware block diagram of the mobile terminal of a method for determining an optical axis position offset according to an embodiment of the present invention. As shown in fig. 1, the mobile terminal may comprise one or more processors 102 (only one is shown in fig. 1) (the processor 102 may comprise, but is not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA), and a memory 104 for storing data, wherein the mobile terminal may further comprise a transmission device 106 for communication functions and an input-output device 308. It will be understood by those skilled in the art that the structure shown in fig. 1 is only an illustration, and does not limit the structure of the mobile terminal. For example, the mobile terminal may also include more or fewer components than shown in FIG. 1, or have a different configuration than shown in FIG. 1.
The memory 104 may be used to store a computer program, for example, a software program of application software and a module, such as a computer program corresponding to the determination method of the optical axis position offset in the embodiment of the present invention, and the processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, so as to implement the above-described method. The memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory located remotely from the processor 102, which may be connected to the mobile terminal over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The transmission device 106 is used to receive or transmit data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a Network adapter (NIC), which can be connected to other Network devices through a base station so as to communicate with the internet. In one example, the transmission device 106 may be a Radio Frequency (RF) module, which is used for communicating with the internet in a wireless manner.
In the present embodiment, a method for determining an optical axis position offset is provided, and fig. 2 is a flowchart of a method for determining an optical axis position offset according to an embodiment of the present invention, as shown in fig. 2, the flowchart includes the following steps:
step S202, acquiring a first image and a second image, wherein the first image is obtained by shooting a target object through a first camera device, the second image is obtained by shooting the target object through a second camera device, and the first camera device and the second camera device are integrated in the same camera system;
in this embodiment, the types of the first image pickup apparatus and the second image pickup apparatus may be the same or different. Preferably, the first image pickup apparatus and the second image pickup apparatus are not the same type. For example, it is preferable that the first image pickup apparatus is a visible light image pickup apparatus, and the second image pickup apparatus is an infrared image pickup apparatus; alternatively, it is preferable that the first image pickup apparatus is an infrared image pickup apparatus, and the second image pickup apparatus is a visible light image pickup apparatus; or, alternatively, the first image capturing apparatus is a visible light image capturing apparatus and the second image capturing apparatus is a visible light image capturing apparatus; or, alternatively, the first image pickup apparatus is an infrared image pickup apparatus, and the second image pickup apparatus is an infrared image pickup apparatus.
In this embodiment, the image pickup system may be a multifunctional photoelectric integrated system including a multifunctional photoelectric integrated apparatus therein. The multifunctional photoelectric integrated device is a device that integrates a plurality of optical instruments, for example, an infrared image pickup device and a visible light image pickup device are integrated in the multifunctional photoelectric integrated device.
Step S204, determining the position offset of a first optical axis in the first image pickup device and a second optical axis in the second image pickup device relative to a preset position by using the first image and the second image;
in this embodiment, in the case where the first image pickup apparatus is a visible light image pickup apparatus, the first optical axis is a visible light optical axis; in the case where the second image pickup apparatus is an infrared image pickup apparatus, the second optical axis is an infrared optical axis, and the configuration of the multi-optical axis system is as shown in fig. 3.
In addition, in the present embodiment, the optical axis parallelism problem is an important parameter for measuring the accuracy of the imaging system. When the first optical axis and the second optical axis are not parallel, the coordinates of the detection and positioning are greatly deviated from the coordinates of the actual target object when the first image pickup device and the second image pickup device perform detection and positioning on the target object. Therefore, it is necessary to calculate a position offset between the first optical axis and the second optical axis to compensate for the observation coordinates of the target object by the imaging apparatus, so as to achieve the accuracy of positioning the target object by the imaging system.
In this embodiment, the preset position may be a fixed position, or a position with one of the optical axes as an origin position.
Step S206, storing the position offset amount into the image capturing system to instruct the first image capturing apparatus and the second image capturing apparatus to capture a preset object based on the position offset amount, respectively.
The embodiment includes but is not limited to the application in the scene that the camera system monitors the fire. For example, in the case where an infrared image pickup apparatus and a visible light image pickup apparatus are included in the image pickup system, the amount of positional shift is compensated to the shooting of the fire environment by the infrared image pickup apparatus and the visible light image pickup apparatus, and the specific position where the fire occurs can be accurately located.
The execution subject of the above steps may be a server or a specific processor provided in the server, or a processor or a processing device provided relatively independently from the server, but is not limited thereto.
Through the steps, the position offset of the first optical axis in the first camera device and the second optical axis in the second camera device relative to the preset position is determined through the acquired first image and the second image of the target object, and the position offset is stored in the camera system so as to instruct the first camera device and the second camera device to shoot the preset object respectively based on the position offset. Therefore, the problem of positioning deviation of the image pickup apparatus in the related art can be solved, and the effect of improving the positioning accuracy of the image pickup apparatus is achieved.
In one exemplary embodiment, acquiring a first image and a second image comprises:
s11, controlling the light-emitting device to emit a target light beam;
s12, acquiring a first image of the target light beam by the first image pickup apparatus while the target light beam passes through the first image pickup apparatus;
s13, a second image of the target luminous flux acquired by the second image pickup apparatus while the target luminous flux passes through the second image pickup apparatus.
In the present embodiment, the light emitting device includes a first light emitting device and a second light emitting device, and the first light emitting device may be a device that can emit a visible light beam, such as the light source in fig. 4; the second light emitting device may be a device that can emit infrared light, such as a black body in fig. 4. The two light-emitting devices are positioned on the same horizontal line, and the light sources emitted by the two light-emitting devices are superposed on one point. For example, as shown in fig. 4, the first optical axis is an infrared light optical axis, and the second optical axis is a visible light optical axis. When a cross reticle in the collimator device is positioned on a focal plane of an objective lens of the collimator device, the position of the cross reticle can be illuminated by a light source; the light source emits a target light beam, the target light beam exits through the objective lens, passes through the lens of the first camera equipment, and the lens of the first camera equipment acquires an image converged in the Sensor (or an image converged on an imaging target surface) to obtain a first image; and through the lens of the second camera device, the lens of the second camera device obtains the image converged in the objective lens to obtain a second image.
In one exemplary embodiment, determining a positional shift amount of a first optical axis in a first image pickup apparatus and a second optical axis in a second image pickup apparatus with respect to a preset position using a first image and a second image includes:
s21, displaying both the first image and the second image on the target display device;
s22, in a case where the first image and the second image are not completely overlapped on the target display device, determining a first position in the target display device of an image of the target object included in the first image, and determining a second position in the target display device of an image of the target object included in the second image;
and S23, determining the position offset of the first optical axis and the second optical axis relative to the preset position based on the first position and the second position.
In this embodiment, the target display device may be a Sensor screen or a frosted glass screen. For example, in the case where the target display device is a Sensor screen and the first optical axis and the second optical axis are parallel, the first image and the second image presented on the Sensor screen by the light beams emitted through the two optical axes coincide; if the two optical axes are not parallel, the first image and the second image of the two beams of parallel light emitted through the two optical axes on the Sensor screen are not coincident. In the case of misalignment, the first and second positions of the first and second images are visually derived and have a value D. Since the image on the Senor screen is an image of an infinitely distant object, the distance between the two misaligned images represents the angular value between the conjugate beams on the object side, and D reflects the non-parallelism of the two optical axes.
In one exemplary embodiment, determining the position offset amounts of the first and second optical axes with respect to the preset position based on the first and second positions includes:
s31, determining a first distance between the first position and the preset position;
s32, determining a second distance between the second position and the preset position;
and S33, calculating the position offset of the first optical axis and the second optical axis relative to the preset position point by using the first distance and the second distance.
In this embodiment, calculating the position offset of the first optical axis and the second optical axis with respect to the preset position point by using the first distance and the second distance includes:
determining a first angular offset between first position preset positions;
calculating a first position offset between the first optical axis and a preset position based on the first angular offset and the first distance;
determining a second angular offset between the second position presets;
a second positional displacement amount between the second optical axis and the preset position is calculated based on the second angular displacement amount and the second distance.
In the present embodiment, the first angular offset includes a horizontal parallelism and a vertical parallelism of the first optical axis. The second angular offset includes a horizontal parallelism and a vertical parallelism of the second optical axis. The horizontal parallelism and the vertical parallelism of the first optical axis or the second optical axis can be determined by formula (1):
Figure BDA0003670492100000091
wherein, thetaxFor representing the horizontal parallelism of the first or second optical axis; theta.theta.yFor indicating the vertical parallelism of the first or second optical axis; d for representing the first or second optical axisSingle pixel size of the shaft; f. ofwUsed for expressing the focal length of a Complementary Metal Oxide Semiconductor (CMOS) imaging module objective lens; x is the number ofLFor representing the horizontal pixel coordinates of the left eyepiece optic axis (e.g., infrared optic axis); x is the number ofRFor representing horizontal pixel coordinates of a right eyepiece optical axis (e.g., visible light optical axis) in the image pickup apparatus; x is used to represent the horizontal pixel coordinate difference of the left and right oculars (e.g., infrared optical axis and visible optical axis); y isLThe system is used for representing the vertical pixel coordinate of the optical axis of the left ocular; y isRThe system is used for representing the vertical pixel coordinate of the optical axis of the right ocular; y is used for representing the pixel coordinate difference of the vertical optical axis of the left and right optical axis ocular lenses.
In this embodiment, the horizontal offset angle and the vertical offset angle of the first optical axis can be calculated through the horizontal parallelism and the vertical parallelism of the first optical axis; for example, in the case where the first optical axis is the visible light optical axis, the horizontal shift angle and the vertical shift angle of the visible light optical axis are as shown in fig. 5. The horizontal deviation angle and the vertical deviation angle of the second optical axis can be calculated through the horizontal parallelism and the vertical parallelism of the second optical axis. For example, in the case where the second optical axis is the infrared light axis, the horizontal offset angle and the vertical offset angle of the infrared light axis are as shown in fig. 6. In the case of determining the horizontal offset angle and the vertical offset angle, a first offset value and a second offset value may be determined.
In one exemplary embodiment, storing the positional offset amount in the image capturing system to instruct the first image capturing apparatus and the second image capturing apparatus to capture a preset object based on the positional offset amount, respectively, includes:
and S41, storing the first position offset amount and the second position offset amount to the camera system to instruct the first camera device to shoot the preset object based on the first position offset amount, and the second camera device to shoot the preset object based on the second position offset amount.
In this embodiment, when the imaging apparatus is in normal use, the accurate position of the target object observed by the imaging apparatus can be obtained by adding the position offset to the coordinate position of the target object actually observed.
In the present embodiment, the angular deviation of the observation point of the image pickup apparatus can be compensated by the angular compensation algorithm. As shown in fig. 7, the step of compensating for the angular deviation of the observation point of the image pickup apparatus by the angular compensation algorithm includes:
s701, respectively reading a first image of an observation point shot by a first image pickup device and a second image of the observation point shot by a second image pickup device;
s702, adjusting the gray value of the first image and the second image to obtain a first gray image and a second gray image; the gray value adjustment mode is not limited;
s703, carrying out image filtering and denoising on the first gray level image and the second gray level image to obtain a first filtering image and a second filtering image; the filtering and denoising method is not limited;
s704, carrying out image binarization processing on the first filtered image and the second filtered image;
s705, marking a connected domain of the first filtered image and the second filtered image after the binarization processing;
s706, extracting mass center positions of the first filtered image and the second filtered image after the binarization processing, and determining a first mass center position and a second mass center position;
s707, calculating an angular deviation (i.e., a position deviation) between the first optical axis and the second optical axis according to the first centroid position and the second centroid position;
and S708, performing angle compensation calculation on the observation point by using the angle deviation value.
Through the above description of the embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but the former is a better implementation mode in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
In this embodiment, a device for determining an optical axis position offset is further provided, where the device is used to implement the foregoing embodiments and preferred embodiments, and details of the description already given are not repeated. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. Although the means described in the embodiments below are preferably implemented in software, an implementation in hardware or a combination of software and hardware is also possible and contemplated.
Fig. 8 is a block diagram of the structure of an apparatus for determining the amount of optical axis position shift according to an embodiment of the present invention, as shown in fig. 8, the apparatus including:
a first obtaining module 802, configured to obtain a first image and a second image, where the first image is obtained by shooting a target object through a first image capturing device, the second image is obtained by shooting the target object through a second image capturing device, and the first image capturing device and the second image capturing device are integrated in a same image capturing system;
a first determining module 804, configured to determine, by using the first image and the second image, a position offset amount of a first optical axis in the first image capturing apparatus and a second optical axis in the second image capturing apparatus with respect to a preset position;
a first storage module 806, configured to store the position offset amount in the image capturing system, so as to instruct the first image capturing apparatus and the second image capturing apparatus to capture a preset object based on the position offset amount, respectively.
In an exemplary embodiment, the first obtaining module includes:
a first control unit for controlling the light emitting device to emit a target light beam;
a first acquisition unit configured to acquire the first image of the target light flux acquired by the first image pickup apparatus while the target light flux passes through the first image pickup apparatus;
a second acquisition unit configured to acquire the second image of the object beam acquired by the second image pickup apparatus when the object beam passes through the second image pickup apparatus.
In one exemplary embodiment, the first determining module includes:
a first display unit configured to display both the first image and the second image on a target display device;
a first determination unit configured to determine a first position in the target display apparatus of an image of the target object included in the first image and determine a second position in the target display apparatus of an image of the target object included in the second image, in a case where the first image and the second image are not completely overlapped on the target display apparatus;
a second determining unit configured to determine the position offset amounts of the first optical axis and the second optical axis with respect to the preset position based on the first position and the second position.
In an exemplary embodiment, the second determining unit includes:
the first determining subunit is used for determining a first distance between the first position and the preset position;
a second determining subunit, configured to determine a second distance between the second location and the preset location;
a first calculating subunit, configured to calculate, using the first distance and the second distance, position offsets of the first optical axis and the second optical axis with respect to the preset position point.
In an exemplary embodiment, the first calculating subunit includes:
the first determining submodule is used for determining a first angle offset between the preset positions of the first position;
a first calculation submodule configured to calculate a first positional displacement amount between the first optical axis and the preset position based on the first angular displacement amount and the first distance;
a second determining submodule for determining a second angular offset between the preset positions at a second position;
a second calculation submodule configured to calculate a second positional deviation amount between the second optical axis and the preset position based on the second angular deviation amount and the second distance.
In an exemplary embodiment, the first storage module includes:
a first storage unit configured to store the first positional deviation amount and the second positional deviation amount in the imaging system to instruct the first imaging apparatus to take a picture of the preset object based on the first positional deviation amount, and the second imaging apparatus to take a picture of the preset object based on the second positional deviation amount.
Fig. 9 is a block diagram of a configuration of a system for determining an amount of optical axis position shift according to an embodiment of the present invention, as shown in fig. 9, the system including:
a processor 904, wherein the processor comprises the optical axis position offset determination device;
the first image pickup apparatus 902 described above;
the second image pickup apparatus 906 described above.
In an exemplary embodiment, the system further includes:
a first light emitting device for emitting a first light beam of a first type;
a second light emitting device for emitting a second light beam of a second type;
wherein the first beam and the second beam are integrated into a target object.
In an exemplary embodiment, the system further includes:
the fixture placing table is used for placing a first light-emitting device, a second light-emitting device, a first camera device, a second camera device, a light pipe device and a calibration device, wherein the light pipe device is used for bearing the first light-emitting device and the second light-emitting device, and the calibration device is used for calibrating the first light-emitting device, the second light-emitting device, the first camera device, the second camera device and the light pipe device to be located on the same horizontal line on the fixture placing table.
In an exemplary embodiment, the system further comprises:
and a target display device for displaying the first image and the second image.
The system is described below with reference to a specific embodiment:
in the present embodiment, as shown in fig. 10, which is a block diagram of the overall configuration of the system for determining the amount of optical axis position deviation in the present embodiment, the imaging system 1, the laser emitting device 3, and the light emitting apparatus 4 are provided on the tool mount table 2. The laser emitting device 3 is disposed between the light emitting apparatus 4 and the image pickup system 1, and emits a laser signal. The laser signal passes through the cross differentiation plate in the light emitting device 4 (e.g., collimator device), and the center mark of the cross differentiation plate is determined. The center mark is used for marking observation points of the first optical axis and the second optical axis. For example, the laser signal emitted by the laser emitting device passes through the center of the cross differentiation plate, the center of the cross differentiation plate is represented as a coordinate origin, and the coordinate origin is used as a reference for optical axis measurement.
In this embodiment, the pan-tilt head of the first camera device and the pan-tilt head of the second camera device are both provided with a horizontal calibration instrument; all equipment and the like on the tool placing table 2 are ensured to be in a horizontal state through the horizontal calibration instrument. Through the vertical positioning tool on the tool placing table, all the equipment on the tool placing table are ensured to be in a standard vertical state. Through the electronic level device in the first camera equipment and the second camera equipment, the two camera equipment are both in a horizontal state. In the horizontal state, all the image pickup apparatuses satisfy the horizontal and vertical states.
In addition, the processor is further used for calculating the longitude and latitude coordinates of the observation point through the longitude and latitude coordinates of the holder device, the 3D map distance information, the horizontal rotation angle of the holder device, the vertical rotation angle of the holder device, the horizontal offset angle of the optical axis and the vertical offset angle of the optical axis.
In summary, in the embodiment, the collimator technology is used to simply measure the dual-optical-axis coordinates, and the algorithm is used to realize the automatic measurement and calculation of the optical axis deviation and the optical axis deviation compensation of the rotational angle of the pan/tilt/zoom lens, so as to realize the highly accurate positioning of the camera. The quick and accurate posture placement of the camera equipment during test and debugging can be realized by adopting the correction tool, the positive direction of the holder equipment of the camera equipment can be kept consistent with the correction reference laser, the operability is strong, the operation is quick and efficient, and the posture of the holder equipment is accurately ensured. The offset angle of the optical axis is calculated by using a compensation algorithm, so that the requirements on the assembly precision and debugging of the camera equipment are greatly reduced; the camera equipment does not need to adjust the installation posture of the thermal imaging lens, so that the production efficiency is greatly improved, and the production steps are simplified. The processor can calculate the optical axis offset by itself, so that the measurement error of manual calibration operation is eliminated, and the precision is greatly improved.
It should be noted that the above modules may be implemented by software or hardware, and for the latter, the following may be implemented, but not limited to: the modules are all positioned in the same processor; alternatively, the modules are located in different processors in any combination.
Embodiments of the present invention also provide a computer-readable storage medium having a computer program stored thereon, wherein the computer program is arranged to perform the steps of any of the above-mentioned method embodiments when executed.
In the present embodiment, the above-described computer-readable storage medium may be configured to store a computer program for executing the above steps.
In an exemplary embodiment, the computer readable storage medium may include, but is not limited to: various media capable of storing computer programs, such as a usb disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk.
Embodiments of the present invention also provide an electronic device comprising a memory having a computer program stored therein and a processor arranged to run the computer program to perform the steps of any of the above method embodiments.
In an exemplary embodiment, the electronic apparatus may further include a transmission device and an input/output device, wherein the transmission device is connected to the processor, and the input/output device is connected to the processor.
In an exemplary embodiment, the processor may be configured to execute the above steps by a computer program.
For specific examples in this embodiment, reference may be made to the examples described in the above embodiments and exemplary embodiments, and details of this embodiment are not repeated herein.
It will be apparent to those skilled in the art that the various modules or steps of the invention described above may be implemented using a general purpose computing device, they may be centralized on a single computing device or distributed across a network of computing devices, and they may be implemented using program code executable by the computing devices, such that they may be stored in a memory device and executed by the computing device, and in some cases, the steps shown or described may be performed in an order different than that described herein, or they may be separately fabricated into various integrated circuit modules, or multiple ones of them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the principle of the present invention shall be included in the protection scope of the present invention.

Claims (13)

1. A method for determining an amount of optical axis positional deviation, comprising:
acquiring a first image and a second image, wherein the first image is obtained by shooting a target object through a first camera device, the second image is obtained by shooting the target object through a second camera device, and the first camera device and the second camera device are integrated in the same camera system;
determining a position offset amount of a first optical axis in the first image pickup apparatus and a second optical axis in the second image pickup apparatus with respect to a preset position using the first image and the second image;
and storing the position offset into the camera system to instruct the first camera device and the second camera device to shoot a preset object based on the position offset respectively.
2. The method of claim 1, wherein acquiring the first image and the second image comprises:
controlling the light emitting device to emit a target light beam;
the first image of the target beam acquired by the first image pickup apparatus while the target beam passes through the first image pickup apparatus;
the second image of the target light beam acquired by the second image pickup apparatus while the target light beam passes through the second image pickup apparatus.
3. The method according to claim 1 or 2, wherein determining a position shift amount of a first optical axis in the first image pickup apparatus and a second optical axis in the second image pickup apparatus with respect to a preset position using the first image and the second image comprises:
displaying both the first image and the second image on a target display device;
determining a first position in the target display device of an image of the target object included in the first image and determining a second position in the target display device of an image of the target object included in the second image if the first image and the second image are not fully overlapped on the target display device;
determining a position offset amount of the first optical axis and the second optical axis with respect to the preset position based on the first position and the second position.
4. The method of claim 3, wherein determining the position offset of the first and second optical axes relative to the preset position based on the first and second positions comprises:
determining a first distance between the first position and the preset position;
determining a second distance between the second position and the preset position;
and calculating the position offset of the first optical axis and the second optical axis relative to the preset position point by using the first distance and the second distance.
5. The method of claim 4, wherein calculating the position offset of the first optical axis and the second optical axis relative to the preset position point using the first distance and the second distance comprises:
determining a first angular offset between the preset positions at a first position;
calculating a first position offset amount between the first optical axis and the preset position based on the first angular offset amount and the first distance;
determining a second angle offset between the preset positions at a second position;
calculating a second positional deviation amount between the second optical axis and the preset position based on the second angular deviation amount and the second distance.
6. The method according to claim 5, wherein storing the positional offset amount into the image capturing system to instruct the first image capturing apparatus and the second image capturing apparatus to capture a preset object based on the positional offset amount, respectively, comprises:
and storing the first position offset amount and the second position offset amount to the camera system so as to instruct the first camera equipment to shoot the preset object based on the first position offset amount, and the second camera equipment to shoot the preset object based on the second position offset amount.
7. An optical axis position displacement amount determination device, characterized by comprising:
the device comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring a first image and a second image, the first image is obtained by shooting a target object through a first camera device, the second image is obtained by shooting the target object through a second camera device, and the first camera device and the second camera device are integrated in the same camera system;
a first determination module configured to determine a position shift amount of a first optical axis in the first image pickup apparatus and a second optical axis in the second image pickup apparatus with respect to a preset position using the first image and the second image;
the first storage module is used for storing the position offset into the camera system so as to instruct the first camera equipment and the second camera equipment to shoot a preset object based on the position offset respectively.
8. An optical axis position offset determination system, comprising:
a processor, wherein the processor includes the optical axis position offset determination device recited in claim 7;
the first image pickup apparatus;
the second image pickup apparatus.
9. The system of claim 8, further comprising:
a first light emitting device for emitting a first light beam of a first type;
a second light emitting device for emitting a second light beam of a second type;
wherein the first beam and the second beam are integrated into a target object.
10. The system of claim 9, further comprising:
the fixture placing table is used for placing the first light-emitting device, the second light-emitting device, the first camera device, the second camera device, the light pipe device and the calibration device, wherein the light pipe device is used for bearing the first light-emitting device and the second light-emitting device, and the calibration device is used for calibrating the first light-emitting device, the second light-emitting device, the first camera device, the second camera device and the light pipe device on the same horizontal line on the fixture placing table.
11. The system of claim 8, further comprising:
a target display device to display the first image and the second image.
12. A computer-readable storage medium, in 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.
13. An electronic device comprising a memory and a processor, wherein the memory has stored therein a computer program, and wherein the processor is arranged to execute the computer program to perform the method of any of claims 1 to 6.
CN202210603400.6A 2022-05-30 2022-05-30 Method and device for determining optical axis position offset Pending CN114785937A (en)

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CN202210603400.6A CN114785937A (en) 2022-05-30 2022-05-30 Method and device for determining optical axis position offset

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