CN114913243A - Distortion detection method and device for optical material and medium - Google Patents
Distortion detection method and device for optical material and medium Download PDFInfo
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Abstract
The application discloses a distortion detection method, a device and a medium of an optical material, which comprise the following steps: the method comprises the steps of obtaining an image to be detected, which is obtained by shooting a calibration graphic card through a target optical material by a camera lens, extracting an actual two-dimensional coordinate of a target point from the image to be detected, obtaining an actual three-dimensional coordinate corresponding to the two-dimensional coordinate on the calibration graphic card, determining a reference two-dimensional coordinate and a reference three-dimensional coordinate according to the actual two-dimensional coordinate, the actual three-dimensional coordinate and camera related parameters, and finally determining whether the target optical material meets a preset distortion condition or not according to the actual two-dimensional coordinate, the reference two-dimensional coordinate, the actual three-dimensional coordinate and the reference three-dimensional coordinate. Therefore, whether the optical material is distorted or not is determined by detecting the influence of the optical material on the camera shooting result, the low accuracy rate caused by determining the distortion condition only by judging the attribute of the optical material is avoided, the calibration precision of the internal and external parameters of the camera is improved, and the product yield is further improved.
Description
Technical Field
The present disclosure relates to the field of optical technologies, and in particular, to a method, an apparatus, and a medium for detecting distortion of an optical material.
Background
In the design of Virtual Reality (VR) products, a camera is required to shoot images, and then an internal parameter and an external parameter of the camera are called to perform image processing by using a Tracking algorithm according to the images shot by the camera, so as to perform positioning Tracking on the position of a user. Therefore, in the production test process of VR products, the internal parameters and the external parameters of the camera need to be accurately calibrated, and then written into equipment for a series of image processing such as positioning in the use process of the products.
In the use of VR product, if the camera lens is direct to be exposed outside the product, and is in easy wearing and tearing position, the camera lens is worn and torn easily, leads to the picture of camera shooting fuzzy, and then influences the image processing result. Typically, to protect the camera lens from wear, a layer of transparent optical material is covered in front of the camera lens.
Because the optical material is positioned in an imaging optical path of a camera, certain requirements are required on the optical performance of the optical material, the normal optical path cannot be seriously influenced, and serious refraction and diffraction cannot occur. If the optical material influences the optical path, the calibration precision of the internal parameters and the external parameters of the camera can be influenced, so that the algorithm precision depending on the internal parameters and the external parameters of the camera is influenced.
At present, the distortion degree can be judged by accurately simulating the surface profile parameters of the optical material and then by the surface profile parameters, wherein the distortion of the optical material can cause the distortion, the offset and the like of the image shot by the camera. Or a stress detection method can be adopted to detect the distortion degree of the optical material, namely the flatness of the optical material is judged by determining the distribution condition of the internal stress of the optical material, and then the distortion degree of the optical material is determined. At present, the method for detecting the distortion condition of the optical material of the protective lens is mainly used for judging the distortion condition according to the attribute of the optical material, the influence of the distortion of the optical material on a camera cannot be known, and the accuracy for removing poor optical materials is low. That is, the current detection method can only reject the bad optical material according to whether the optical material itself is distorted, but cannot reject the bad optical material according to the influence on the image taken by the camera.
Therefore, how to detect the distortion of the optical material according to the influence of the optical material on the camera, reject the optical material with too large distortion, improve the calibration precision of the internal and external parameters of the camera, and further improve the product yield is a problem to be solved by technical personnel in the field.
Disclosure of Invention
The application aims to provide a distortion detection method, a distortion detection device and a distortion detection medium for an optical material, which are used for detecting the distortion of the optical material based on the influence of the optical material on a shot image of a camera, so that the optical material with serious distortion can be removed, and the yield of products can be improved.
In order to solve the above technical problem, the present application provides a distortion detection method for an optical material, including:
acquiring an image to be detected, which is obtained by shooting a calibration graphic card through a target optical material by a camera lens;
extracting an actual two-dimensional coordinate of a target point from the image to be detected, and acquiring an actual three-dimensional coordinate corresponding to the target point on the calibration graph card according to the actual two-dimensional coordinate; the target point is any point appearing in the image to be detected;
determining a reference two-dimensional coordinate and a reference three-dimensional coordinate according to the actual two-dimensional coordinate, the actual three-dimensional coordinate and the camera related parameters;
and determining whether the target optical material meets a preset distortion condition according to the actual two-dimensional coordinate, the reference two-dimensional coordinate, the actual three-dimensional coordinate and the reference three-dimensional coordinate.
Preferably, the calibration graph card is a graph card of an array graph formed by a plurality of dots.
Preferably, each dot is a different two-dimensional code, and the extracting the actual two-dimensional coordinate of the target point from the image to be detected includes:
and identifying the two-dimensional code corresponding to the target point to acquire the actual two-dimensional coordinate.
Preferably, the camera-related parameters include: intrinsic, extrinsic, and distortion parameters of the camera.
Preferably, the determining whether the target optical material satisfies a preset distortion condition according to the actual two-dimensional coordinate, the reference two-dimensional coordinate, the actual three-dimensional coordinate, and the reference three-dimensional coordinate includes:
determining a two-dimensional error of the actual two-dimensional coordinate and the reference two-dimensional coordinate, and a three-dimensional error of the actual three-dimensional coordinate and the reference three-dimensional coordinate;
obtaining a statistical index of each two-dimensional error and each three-dimensional error, wherein the statistical index comprises a sum and/or an average and/or a median and/or a variance;
judging whether each statistical index exceeds each corresponding preset threshold value;
and if the target optical material and the target optical material are both beyond the preset distortion condition, determining that the target optical material meets the preset distortion condition.
Preferably, after the determining the two-dimensional error of the actual two-dimensional coordinate and the reference two-dimensional coordinate, the three-dimensional error of the actual three-dimensional coordinate and the reference three-dimensional coordinate further includes:
generating a first color temperature diagram and a second color temperature diagram according to the two-dimensional error and the three-dimensional error;
and comparing the first color temperature graph and the second color temperature graph to determine the distortion condition of the target optical material.
Preferably, before the extracting the actual two-dimensional coordinates of the target point from the image to be detected, the method further includes:
acquiring the area of a light-transmitting area of the target optical material;
and determining and extracting the range of the actual two-dimensional coordinate according to the area of the light-transmitting area.
In order to solve the above technical problem, the present application further provides a distortion detection apparatus for an optical material, including:
the first acquisition module is used for acquiring an image to be detected, which is obtained by shooting a calibration chart through a target optical material by a camera lens;
the extraction module is used for extracting the actual two-dimensional coordinates of the target point from the image to be detected; the target point is any point appearing in the image to be detected;
the second acquisition module is used for acquiring the actual three-dimensional coordinate corresponding to the target point on the calibration graph card according to the actual two-dimensional coordinate;
the first determining module is used for determining a reference two-dimensional coordinate and a reference three-dimensional coordinate according to the actual two-dimensional coordinate, the actual three-dimensional coordinate and camera related parameters;
and the second determining module is used for determining whether the target optical material meets a preset distortion condition according to the actual two-dimensional coordinate, the reference two-dimensional coordinate, the actual three-dimensional coordinate and the reference three-dimensional coordinate.
In order to solve the above technical problem, the present application further provides a distortion detection apparatus for an optical material, including a memory for storing a computer program;
a processor for implementing the steps of the method for distortion detection of an optical material as described when executing the computer program.
In order to solve the above technical problem, the present application further provides a computer-readable storage medium having a computer program stored thereon, the computer program, when being executed by a processor, implementing the steps of the distortion detection method of an optical material as described.
The invention provides a distortion detection method of an optical material, which comprises the following steps: and acquiring an image to be detected, which is obtained by shooting the calibration graphic card through the target optical material by the camera lens, and acquiring related parameters of the camera. Extracting an actual two-dimensional coordinate of a target point from an image to be detected, acquiring an actual three-dimensional coordinate corresponding to the two-dimensional coordinate on a calibration graphic card, calculating and determining a reference two-dimensional coordinate and a reference three-dimensional coordinate according to the actual two-dimensional coordinate, the actual three-dimensional coordinate and camera related parameters, and finally determining whether the target optical material meets a preset distortion condition according to the actual two-dimensional coordinate, the reference two-dimensional coordinate, the actual three-dimensional coordinate and the reference three-dimensional coordinate. Therefore, according to the technical means provided by the application, the camera is collected to shoot the image to be detected obtained by shooting the calibration graph card through the optical material, the actual two-dimensional coordinate, the reference two-dimensional coordinate, the actual three-dimensional coordinate and the reference three-dimensional coordinate of the target point in the image to be detected are determined according to the image to be detected and some related parameters of the camera, whether the optical material meets the distortion condition is determined, namely whether the optical material is distorted is determined by detecting the influence of the optical material on the shooting result of the camera, the low accuracy rate caused by determining the distortion condition only by judging the attribute of the optical material is avoided, the calibration precision of the internal and external parameters of the camera is improved, and the product yield is improved.
In addition, the application also provides a distortion detection device and medium of the optical material, which correspond to the distortion detection method of the optical material, and the effects are the same.
Drawings
In order to more clearly illustrate the embodiments of the present application, the drawings needed for the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained by those skilled in the art without inventive effort.
Fig. 1 is a flowchart of a distortion detection method for an optical material according to an embodiment of the present disclosure;
fig. 2 is a schematic diagram of an image to be detected taken according to an embodiment of the present disclosure;
fig. 3 is a structural diagram of a distortion detection apparatus for an optical material according to an embodiment of the present application;
fig. 4 is a structural diagram of a distortion detection apparatus for an optical material according to another embodiment of the present application;
the reference numbers are as follows: 1 is a camera, 2 is a calibration chart, and 3 is a target optical material.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without any creative effort belong to the protection scope of the present application.
The core of the application is to provide a distortion detection method, a device and a medium for optical materials, a camera lens penetrates through an optical material shooting calibration graphic card to obtain an image to be detected, and an actual two-dimensional coordinate, a reference two-dimensional coordinate, an actual three-dimensional coordinate and a reference three-dimensional coordinate of a target point in the image to be detected are determined according to the image to be detected and relevant parameters of the camera to determine whether the optical materials meet distortion conditions, namely whether the optical materials are distorted is determined by detecting the influence of the optical materials on a camera shooting result, so that the accuracy of the detection of the optical materials is improved, and the yield of products is improved.
In order that those skilled in the art will better understand the disclosure, the following detailed description will be given with reference to the accompanying drawings.
With the continuous development of science and technology, Virtual Reality technology (VR for short) products gradually enter people's lives, when VR product design is performed, a camera lens is needed to shoot images, and an algorithm is called according to the images shot by the camera, internal parameters and external parameters of the camera to perform image processing, so that the position of a user is located and tracked. Therefore, the accuracy of the internal parameters and the external parameters of the camera is very important for positioning, so that in the production test process of a VR product, the internal parameters and the external parameters of the camera need to be accurately calibrated, and then written into equipment for a series of image processing such as positioning in the use process of the product.
In the use of VR product, if the camera lens is direct to be exposed outside the product, and when being in the position of easily wearing and tearing, the camera lens is worn and torn easily, leads to the picture of camera shooting fuzzy, and then influences the image processing result. Typically, to protect the camera lens from wear, the front of the camera lens is covered with a layer of transparent optical material.
Because the optical material is positioned in an imaging optical path of a camera, certain requirements are required on the optical performance of the optical material, the normal optical path cannot be seriously influenced, and serious refraction and diffraction cannot occur. If the optical material influences the optical path, the calibration precision of the internal parameters and the external parameters of the camera can be influenced, so that the algorithm precision depending on the internal parameters and the external parameters of the camera is influenced.
At present, the distortion degree can be judged by accurately simulating the surface profile parameters of the optical material and then judging the distortion degree through the surface profile parameters, wherein the distortion of the optical material can cause the distortion and the offset of the image shot by a camera. Or a stress detection method can be adopted to detect the distortion degree of the optical material, namely the flatness of the optical material is judged by determining the distribution condition of the internal stress of the optical material, and then the distortion degree of the optical material is determined. At present, a distortion condition detection method for an optical material for protecting a camera lens mainly judges the distortion condition according to the attribute of the optical material, but cannot know the influence of the distortion of the optical material on a camera, so that the accuracy of removing a poor optical material is low. That is, the current detection method can only reject the bad optical material according to whether the optical material itself is distorted, but cannot reject the bad optical material according to the influence on the image taken by the camera.
In order to detect distortion of an optical material according to the influence of the optical material on a camera lens, eliminate the optical material with overlarge distortion, improve calibration precision of internal and external parameters of a camera, and further improve product yield, the embodiment of the application provides a distortion detection method of the optical material.
Fig. 1 is a flowchart of a distortion detection method for an optical material according to an embodiment of the present application, as shown in fig. 1, the method includes:
s10: and acquiring an image to be detected, which is obtained by shooting the calibration chart through the target optical material by the camera lens.
In the specific embodiment, the relative positions of the high-precision camera and the calibration chart are fixed and kept unchanged after the relative positions are fixed, and then the target optical material is placed on an optical path of the camera lens for shooting the calibration chart, namely, the camera lens can shoot the calibration chart through the target optical material to obtain an image to be detected. Then, an image to be detected taken by the camera lens is acquired through step S10.
The calibration chart is a preset chart, wherein the chart is an array chart composed of a plurality of circular dots or an array chart composed of rectangular dots, and the shape and the structure of the chart are not limited in the present application, but each point on the chart is a different two-dimensional code regardless of the shape of the dot structure. From the viewpoint of accuracy, an array chart card composed of a plurality of dots is preferable.
S11: extracting an actual two-dimensional coordinate of the target point from the image to be detected, and acquiring an actual three-dimensional coordinate corresponding to the target point on the calibration chart according to the two-dimensional coordinate; wherein the target point is any point appearing in the image to be detected.
It can be understood that after the image to be detected is obtained, the actual two-dimensional coordinates of the target point can be extracted by identifying the two-dimensional codes of the points in the image to be detected, wherein the target point is any point appearing in the image to be detected, and the number of the extracted target points can be one or more, which is not limited in the present application. In addition, it should be noted that before extracting the actual two-dimensional coordinates of the target point, the area of the light-transmitting region of the target optical material may be obtained, and then the number of the target points to be obtained may be determined according to the area of the light-transmitting region. After the actual two-dimensional coordinates of the target point are obtained, the corresponding actual three-dimensional coordinates on the calibration graphic card can be found on the calibration graphic card according to the actual two-dimensional coordinates.
It should be noted that, when the calibration chart selects the chart card of the array chart formed by the dots, the actual two-dimensional coordinate is the circle center coordinate of the target point in the image to be detected, and the actual three-dimensional coordinate is the actual three-dimensional circle center coordinate of the actual two-dimensional coordinate on the calibration chart card. If the array graph formed by the rectangular points is selected, the actual two-dimensional coordinates are coordinates of a rectangular center point, and correspondingly, the actual three-dimensional coordinates are actual three-dimensional center coordinates of the actual two-dimensional coordinates on the calibration graph card.
S12: and determining a reference two-dimensional coordinate and a reference three-dimensional coordinate according to the actual two-dimensional coordinate, the actual three-dimensional coordinate and the camera related parameters.
Acquiring related parameters such as an internal parameter Mint, an external parameter RT and a distortion parameter KP of a camera, wherein the internal parameter Mint is related to factors such as the focal length of the camera, the size of a negative film and the like, the external parameter RT is the direction relation between the camera and a calibration graphic card, the distortion parameter KP comprises radial distortion coefficients (k1, k2 and k3) and tangential distortion coefficients (p1 and p2), and the radial distortion occurs in the process of converting a camera coordinate system into a physical coordinate system, namely the position of a pixel generates deviation and is related to the distance from a pixel point to an image. Tangential distortion results from distortion caused by the lens not being perfectly parallel to the image, i.e., the lens is not parallel to the film.
In a specific embodiment, after the actual two-dimensional coordinates Px1 and the actual three-dimensional coordinates Pw1 of the target point are obtained, the actual three-dimensional coordinates Pw1 of the target point are re-projected to obtain the reference two-dimensional coordinates Px2 through the internal parameters Mint, the external parameters RT and the distortion parameters KP of the camera, that is, the internal parameters Mint, the external parameters RT, the distortion parameters KP and the actual three-dimensional coordinates Pw1 of the camera are calculated to obtain the reference two-dimensional coordinates Px 2. That is, X is Pw1 RT Mint, where Pw1 is the actual three-dimensional coordinates Pw1 of the target point, and the calculated X value is substituted into the equation of the distortion parameter KP to calculate the reference two-dimensional coordinates Px 2. The distortion parameter KP has an equation of k 1X + k 2X 2+ k 3X 3, and it is noted that the accuracy can be improved by calculating a higher-order distortion coefficient, and the calculation accuracy can be set according to actual requirements.
And re-projecting the actual two-dimensional coordinates Px1 of the target point to obtain reference three-dimensional coordinates Pw2 through the internal parameters Mint, the external parameters RT and the distortion parameters KP of the camera, namely calculating the internal parameters Mint, the external parameters RT, the distortion parameters KP and the actual two-dimensional coordinates of the camera to obtain the reference three-dimensional coordinates Pw 2. Namely, the actual two-dimensional coordinate Px1 is known, the X value is obtained by the inverse function of the actual two-dimensional coordinate Px1, and the actual three-dimensional coordinate Pw2 is obtained according to the X value. That is, in X ═ Pw2 × (RT) × (Mint), it is known that the X value is referenced to the three-dimensional coordinate Pw 2. Therefore, according to the actual two-dimensional coordinates, the actual three-dimensional coordinates and the camera related parameters, the reference two-dimensional coordinates and the reference three-dimensional coordinates are obtained through calculation.
S13: and determining whether the target optical material meets a preset distortion condition according to the actual two-dimensional coordinate, the reference two-dimensional coordinate, the actual three-dimensional coordinate and the reference three-dimensional coordinate.
After an actual two-dimensional coordinate Px1, a reference two-dimensional coordinate Px2, an actual three-dimensional coordinate Pw1 and a reference three-dimensional coordinate Pw2 are obtained, a two-dimensional error re-pre-err-2d of the actual two-dimensional coordinate Px1 and a two-dimensional error re-pre-err-3d of the reference two-dimensional coordinate Px2 are calculated, a three-dimensional error re-pre-err-3d of the actual three-dimensional coordinate Pw1 and a three-dimensional error Pw2 are calculated, statistical indexes of the two-dimensional error re-pre-err-2d and the three-dimensional error re-pre-err-3d are obtained, and whether each statistical index exceeds each corresponding preset threshold value is judged to determine whether the target optical material meets distortion conditions or not.
In an implementation, the first color temperature map and the second color temperature map may be generated according to the two-dimensional error and the three-dimensional error, and whether the target optical material is distorted may be further determined by comparing the first color temperature map and the second color temperature map.
The distortion detection method of the optical material provided by the embodiment of the application comprises the following steps: and acquiring an image to be detected, which is obtained by shooting the calibration graphic card through the target optical material by the camera lens, and acquiring related parameters of the camera. Extracting an actual two-dimensional coordinate of a target point from an image to be detected, acquiring an actual three-dimensional coordinate corresponding to the two-dimensional coordinate on a calibration graphic card, determining a reference two-dimensional coordinate and a reference three-dimensional coordinate according to the actual two-dimensional coordinate, the actual three-dimensional coordinate and camera related parameters, and finally determining whether the target optical material meets a preset distortion condition according to the actual two-dimensional coordinate, the reference two-dimensional coordinate, the actual three-dimensional coordinate and the reference three-dimensional coordinate. Therefore, according to the technical means provided by the application, the camera is collected to shoot the image to be detected obtained by shooting the calibration graph card through the optical material, the actual two-dimensional coordinate, the reference two-dimensional coordinate, the actual three-dimensional coordinate and the reference three-dimensional coordinate of the target point in the image to be detected are determined according to the image to be detected and some related parameters of the camera, whether the optical material meets the distortion condition is determined, namely whether the optical material is distorted is determined by detecting the influence of the optical material on the shooting result of the camera, the low accuracy rate caused by determining the distortion condition only by judging the attribute of the optical material is avoided, the calibration precision of the internal and external parameters of the camera is improved, and the product yield is improved.
Fig. 2 is a schematic diagram of an image to be detected captured according to an embodiment of the present disclosure, in a specific embodiment, as shown in fig. 2, the relative positions of the camera 1 and the calibration chart 2 are fixed, and then the target optical material 3 is placed between the camera lens and the calibration chart 2, it should be noted that, of course, the camera lens must be able to capture the calibration chart 2 through the target optical material 3, that is, the target optical material 3 is on the optical path of the camera lens capturing the calibration chart 2.
It should be noted that the calibration chart 2 may be a chart of an array chart formed by a plurality of dots, or may be a chart of an array chart formed by a plurality of rectangular dots, and since the accuracy of the chart formed by the rectangular dots can only reach an integer, and the origin can be accurate to a decimal number, in order to improve the accuracy, the calibration chart 2 is preferably a chart of an array chart formed by a plurality of dots in the embodiment of the present application.
Before distortion detection of the optical material is carried out, the calibration graph card 2 is preset, and actual three-dimensional coordinates of all dots of the calibration graph card 2 are obtained, so that the actual three-dimensional coordinates corresponding to the calibration graph card 2 can be quickly matched and found after the actual two-dimensional coordinates are extracted according to a shot image to be detected. It will be appreciated that in order to improve accuracy, the number of calibration dots may be set as much as possible, i.e. the density of the origin points on the calibration chart 2 may be made as large as possible.
According to the distortion detection method of the optical material, the calibration graph card is set to be the graph card of the array graph formed by the multiple dots, so that the accuracy of extracting the actual two-dimensional coordinate and the actual three-dimensional coordinate is improved, the accuracy of detecting the distortion of the target optical material is improved, and the yield of products is improved.
On the basis of the above embodiment, it is considered that if the dots adopt solid original points, after the camera lens shoots the calibration chart through the target optical material to obtain the image to be detected, a series of processing such as sorting and calculation needs to be performed on the original points to obtain the actual two-dimensional left sides of the dots, obviously, the data calculation amount is increased, and further, the distortion detection efficiency of the optical material is reduced. Therefore, in order to improve the distortion detection efficiency of the optical material, the plurality of dots are set to be different two-dimensional code codes, and when the actual two-dimensional coordinates of the target point are extracted from the image to be detected, the actual two-dimensional coordinates can be directly acquired by identifying the two-dimensional code corresponding to the target point. Of course, the two-dimensional code may be a black and white checkerboard, and the like, and the present application is not limited thereto.
According to the distortion detection method of the optical material, the dots in the calibration graph card are set to be different two-dimensional code codes, the actual two-dimensional coordinates of the target point can be obtained by rapidly identifying the two-dimensional codes, and then the distortion detection efficiency of the optical material is improved.
In specific implementation, when the reference two-dimensional coordinate and the reference three-dimensional coordinate are determined according to the actual two-dimensional coordinate, the actual three-dimensional coordinate and the camera related parameters, the camera related parameters include an internal parameter Mint, an external parameter RT and a distortion parameter KP. The internal parameter Mint is a parameter related to factors such as the focal length of the camera, the size of the negative film and the like, namely the internal parameter Mint is determined by the camera and is not changed by the external environment. The external parameter RT is the direction relation between the camera and the calibration chart. And the distortion parameter KP comprises radial distortion coefficients (k1, k2, k3) and tangential distortion coefficients (p1, p2), and the radial distortion occurs in the process of converting the camera coordinate system into a physical coordinate system, namely, the position of a pixel is deviated and is related to the distance from the pixel point to the image. Tangential distortion results from distortion caused by the lens not being perfectly parallel to the image, i.e., the lens is not parallel to the film.
It will be appreciated that an actual two-dimensional coordinate corresponds to a reference three-dimensional coordinate, and that an actual three-dimensional coordinate also corresponds to a reference two-dimensional coordinate. Therefore, after the actual two-dimensional coordinates and the actual three-dimensional coordinates of the target point are obtained according to the image to be detected shot by the camera lens, the reference two-dimensional coordinates are obtained by calculating the internal parameters Mint, the external parameters RT, the distortion parameters KP and the actual three-dimensional coordinates of the camera, and the reference three-dimensional coordinates are obtained by calculating the internal parameters Mint, the external parameters RT, the distortion parameters KP and the actual two-dimensional coordinates of the camera.
According to the distortion detection method for the optical material, relevant parameters such as internal parameters, external parameters and distortion parameters of a camera are combined with the actual two-dimensional coordinates and the actual three-dimensional coordinates of a target point to be analyzed and determined, so that the distortion condition of the target optical material is determined, whether the optical material is distorted or not is determined by detecting the influence of the optical material on the shooting result of the camera, and the yield of products is improved.
On the basis of the embodiment, after the reference two-dimensional coordinate Px2 and the reference three-dimensional coordinate Pw2 are obtained by calculation according to the relevant parameters of the camera, the actual two-dimensional coordinate Px1 and the actual three-dimensional coordinate Pw1, the two-dimensional error re-pre-err-2d of the actual two-dimensional coordinate Px1 and the reference two-dimensional coordinate Px2 and the three-dimensional error re-pre-err-3d of the actual three-dimensional coordinate Pw1 and the reference three-dimensional coordinate Pw2 are calculated.
In fact, in order to improve the distortion detection accuracy of the optical material, coordinates of a plurality of target points are usually obtained from the image to be detected to detect the distortion of the target optical material, and certainly, by adjusting the relative position between the camera and the calibration chart, one image to be detected is obtained at each relative position, and the distortion of the optical material is detected based on each target point in the plurality of images to be detected, which is not limited in this application.
And after obtaining the two-dimensional error re-pre-err-2d and the three-dimensional error re-pre-err-3d of each target point, statistically obtaining statistical indexes of the two-dimensional error re-pre-err-2d and the three-dimensional error re-pre-err-3d, wherein the statistical indexes comprise sums and/or average values and/or median values and/or variances. And determining whether the target optical material is distorted according to each statistical index, for example, calculating and determining a two-dimensional error average value and a three-dimensional error average value of each target point, and determining the distortion of the target optical material when the two-dimensional error average value exceeds a two-dimensional error preset threshold value and the three-dimensional error average value exceeds a three-dimensional error preset threshold value, so as to eliminate the distortion. The determination may also be performed according to other indexes in the statistical indexes to determine whether the target optical material is distorted, and of course, a plurality of statistical indexes may also be combined to perform analysis to determine whether the target optical material is distorted, which is not limited in this application.
According to the distortion detection method for the optical material, the two-dimensional errors of the actual two-dimensional coordinates and the reference two-dimensional coordinates and the three-dimensional errors of the actual three-dimensional coordinates and the reference three-dimensional coordinates are determined, and the statistical indexes of the two-dimensional errors and the three-dimensional errors are obtained, wherein the statistical indexes comprise the sum and/or the average and/or the median and/or the variance, and when the statistical indexes exceed the corresponding preset thresholds, the target optical material is determined to be distorted. Therefore, whether the optical material is distorted or not is determined by combining the influence degree of the optical material on the shooting result of the camera lens, the distortion condition is determined by analyzing a plurality of statistical indexes, the accuracy of detecting the distortion of the optical material is improved, and the yield of products is improved.
On the basis of the above embodiment, in order to further improve the distortion detection accuracy of the optical material, after the two-dimensional error re-pre-err-2d and the three-dimensional error re-pre-err-3d are obtained, a first color temperature map and a second color temperature map can be generated according to the two-dimensional error and the three-dimensional error, and then whether the target optical material is distorted or not can be further determined by comparing the first color temperature map and the second color temperature map.
In fact, after the first color temperature diagram and the second color temperature diagram are obtained, the distortion distribution condition of the target optical material can be visually observed through the first color temperature diagram and the second color temperature diagram, the production line is convenient to adjust, and the product yield is further improved.
According to the distortion detection method for the optical material, the first color temperature diagram and the second color temperature diagram are generated according to the two-dimensional error and the three-dimensional error, and the distortion condition of the target optical material is determined by comparing the first color temperature diagram and the second color temperature diagram. Therefore, on the basis of various statistical indexes of two-dimensional errors and three-dimensional errors, the distortion condition of the optical material is determined by combining the generated first color temperature diagram and the generated second color temperature diagram, the distortion detection accuracy is improved, and the calibration precision of the internal and external parameters of the camera can be improved.
In specific implementation, in order to accurately detect the distortion condition of all areas of the target optical material, before the actual two-dimensional coordinates of the target point are extracted from the image to be detected, the light-transmitting area of the target optical material is obtained first, so that the position for placing the target optical material is adjusted, and therefore when the camera lens shoots the calibration graph card, all areas of the optical material of the lock head can be shot through the light-transmitting area. Meanwhile, the range of extracting the actual two-dimensional coordinate can be determined according to the area of the light-transmitting area, the situation that the extracted actual two-dimensional coordinate is not a point shot through the optical material, unnecessary calculation is caused, and the detection efficiency is reduced can be avoided.
According to the distortion detection method of the optical material, before the actual two-dimensional coordinate of the target point is extracted from the image to be detected, the area of the light-transmitting area of the target optical material is obtained, and the range of the actual two-dimensional coordinate is determined and extracted according to the area of the light-transmitting area, so that the condition that the shot image to be detected is shot through all areas of the target optical material is ensured, the range of the actual two-dimensional coordinate is determined and extracted according to the area of the light-transmitting area, invalid target points are avoided being obtained, the calculated amount is reduced, and therefore the detection efficiency and the detection accuracy are improved.
In the above embodiments, the distortion detection method of the optical material is described in detail, and the present application also provides embodiments corresponding to the distortion detection apparatus of the optical material. It should be noted that the present application describes the embodiments of the apparatus portion from two perspectives, one is based on the functional module, and the other is based on the hardware structure.
Fig. 3 is a structural diagram of an apparatus for detecting distortion of an optical material according to an embodiment of the present application, and as shown in fig. 3, the apparatus includes:
the first obtaining module 10 is configured to obtain an image to be detected, where the camera lens shoots the calibration chart through the target optical material.
The extraction module 11 is used for extracting the actual two-dimensional coordinates of the target point from the image to be detected; wherein, the target point is any point appearing in the image to be detected.
The second obtaining module 12 is configured to obtain an actual three-dimensional coordinate of the target point on the calibration chart according to the two-dimensional coordinate.
And a first determining module 13, configured to determine the reference two-dimensional coordinate and the reference three-dimensional coordinate according to the actual two-dimensional coordinate, the actual three-dimensional coordinate, and the camera related parameter.
And the second determining module 14 is configured to determine whether the target optical material meets a preset distortion condition according to the actual two-dimensional coordinate, the reference two-dimensional coordinate, the actual three-dimensional coordinate, and the reference three-dimensional coordinate.
Since the embodiments of the apparatus portion and the method portion correspond to each other, please refer to the description of the embodiments of the method portion for the embodiments of the apparatus portion, which is not repeated here.
The distortion detection device of optical material that this application embodiment provided includes: and acquiring an image to be detected, which is obtained by shooting the calibration graphic card through the target optical material by the camera lens, and acquiring related parameters of the camera. Extracting an actual two-dimensional coordinate of a target point from an image to be detected, acquiring an actual three-dimensional coordinate corresponding to the two-dimensional coordinate on a calibration graphic card, determining a reference two-dimensional coordinate and a reference three-dimensional coordinate according to the actual two-dimensional coordinate, the actual three-dimensional coordinate and camera related parameters, and finally determining whether the target optical material meets a preset distortion condition according to the actual two-dimensional coordinate, the reference two-dimensional coordinate, the actual three-dimensional coordinate and the reference three-dimensional coordinate. Therefore, according to the technical means provided by the application, the camera is collected to shoot the image to be detected obtained by shooting the calibration graph card through the optical material, the actual two-dimensional coordinate, the reference two-dimensional coordinate, the actual three-dimensional coordinate and the reference three-dimensional coordinate of the target point in the image to be detected are determined according to the image to be detected and some related parameters of the camera, whether the optical material meets the distortion condition is determined, namely whether the optical material is distorted is determined by detecting the influence of the optical material on the shooting result of the camera, the low accuracy rate caused by determining the distortion condition only by judging the attribute of the optical material is avoided, the calibration precision of the internal and external parameters of the camera is improved, and the product yield is improved.
Fig. 4 is a structural diagram of a distortion detection apparatus for an optical material according to another embodiment of the present application, and as shown in fig. 4, the distortion detection apparatus for an optical material includes: a memory 20 for storing a computer program;
a processor 21 for implementing the steps of the distortion detection method of the optical material as mentioned in the above embodiments when executing the computer program.
The distortion detection device for the optical material provided in this embodiment may include, but is not limited to, a smart phone, a tablet computer, a notebook computer, or a desktop computer.
The processor 21 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and the like. The Processor 21 may be implemented in the form of at least one hardware of a Digital Signal Processor (DSP), a Field-Programmable Gate Array (FPGA), and a Programmable Logic Array (PLA). The processor 21 may also include a main processor and a coprocessor, where the main processor is a processor for Processing data in an awake state, and is also called a Central Processing Unit (CPU); a coprocessor is a low power processor for processing data in a standby state. In some embodiments, the processor 21 may be integrated with an image processor (GPU), and the GPU is responsible for rendering and drawing the content required to be displayed by the display screen. In some embodiments, the processor 21 may further include an Artificial Intelligence (AI) processor for processing computing operations related to machine learning.
The memory 20 may include one or more computer-readable storage media, which may be non-transitory. Memory 20 may also include high speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In this embodiment, the memory 20 is at least used for storing a computer program 201, wherein the computer program is loaded and executed by the processor 21, and then the relevant steps of the distortion detection method for an optical material disclosed in any one of the foregoing embodiments can be implemented. In addition, the resources stored in the memory 20 may also include an operating system 202, data 203, and the like, and the storage manner may be a transient storage manner or a permanent storage manner. Operating system 202 may include, among others, Windows, Unix, Linux, and the like. Data 203 may include, but is not limited to, relevant data involved in distortion detection methods for optical materials.
In some embodiments, the optical material distortion detection apparatus may further include a display 22, an input/output interface 23, a communication interface 24, a power supply 25, and a communication bus 26.
Those skilled in the art will appreciate that the configuration shown in fig. 4 does not constitute a definition of a distortion detection means for optical materials and may include more or fewer components than those shown.
The distortion detection device of the optical material provided by the embodiment of the application comprises a memory and a processor, wherein when the processor executes a program stored in the memory, the following method can be realized: a distortion detection method for optical materials.
The distortion detection device of optical material that this application embodiment provided sees through the optical material through gathering the camera and shoots the image that awaits measuring that the calibration picture card obtained, and confirm the actual two-dimensional coordinate, the reference two-dimensional coordinate, actual three-dimensional coordinate and the reference three-dimensional coordinate of target point in the image that awaits measuring according to the image that awaits measuring and some relevant parameters of camera self, and then confirm whether optical material satisfies the distortion condition, whether the influence of through detecting optical material to camera shooting result confirms optical material distortion promptly, avoid only confirming the low accuracy that the distortion condition leads to through the attribute of judging optical material itself, improve the demarcation precision of camera internal and external parameter, and then improve the product yields.
Finally, the application also provides a corresponding embodiment of the computer readable storage medium. The computer-readable storage medium has stored thereon a computer program which, when being executed by a processor, carries out the steps as set forth in the above-mentioned method embodiments.
It is to be understood that if the method in the above embodiments is implemented in the form of software functional units and sold or used as a stand-alone product, it can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application, which are essential or part of the prior art, or all or part of the technical solutions may be embodied in the form of a software product, which is stored in a storage medium and executes all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The method, the device and the medium for detecting the distortion of the optical material provided by the application are described in detail above. The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed in the embodiment corresponds to the method disclosed in the embodiment, so that the description is simple, and the relevant points can be referred to the description of the method part. It should be noted that, for those skilled in the art, it is possible to make several improvements and modifications to the present application without departing from the principle of the present application, and such improvements and modifications also fall within the scope of the claims of the present application.
It is further noted that, in the present specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Claims (10)
1. A method for detecting distortion in an optical material, comprising:
acquiring an image to be detected, which is obtained by shooting a calibration graphic card through a target optical material by a camera lens;
extracting an actual two-dimensional coordinate of a target point from the image to be detected, and acquiring an actual three-dimensional coordinate corresponding to the target point on the calibration graph card according to the actual two-dimensional coordinate; the target point is any point appearing in the image to be detected;
determining a reference two-dimensional coordinate and a reference three-dimensional coordinate according to the actual two-dimensional coordinate, the actual three-dimensional coordinate and the camera related parameters;
and determining whether the target optical material meets a preset distortion condition according to the actual two-dimensional coordinate, the reference two-dimensional coordinate, the actual three-dimensional coordinate and the reference three-dimensional coordinate.
2. The method for detecting distortion of an optical material as claimed in claim 1, wherein the calibration chart is a chart of an array chart consisting of a plurality of dots.
3. The method as claimed in claim 2, wherein each dot is encoded by a different two-dimensional code, and the extracting the actual two-dimensional coordinates of the target point from the image to be detected comprises:
and identifying the two-dimensional code corresponding to the target point to acquire the actual two-dimensional coordinate.
4. A distortion detection method of an optical material according to claim 3, wherein the camera-related parameters include: intrinsic, extrinsic, and distortion parameters of the camera.
5. The method of claim 4, wherein the determining whether the target optical material satisfies a predetermined distortion condition according to the actual two-dimensional coordinate, the reference two-dimensional coordinate, the actual three-dimensional coordinate, and the reference three-dimensional coordinate comprises:
determining a two-dimensional error of the actual two-dimensional coordinate and the reference two-dimensional coordinate, and a three-dimensional error of the actual three-dimensional coordinate and the reference three-dimensional coordinate;
obtaining a statistical index of each two-dimensional error and each three-dimensional error, wherein the statistical index comprises a sum and/or an average and/or a median and/or a variance;
judging whether each statistical index exceeds each corresponding preset threshold value;
and if the target optical material and the target optical material are both beyond the preset distortion condition, determining that the target optical material meets the preset distortion condition.
6. The distortion detection method of an optical material according to claim 4, further comprising, after the determining the two-dimensional errors of the actual two-dimensional coordinates and the reference two-dimensional coordinates, the three-dimensional errors of the actual three-dimensional coordinates and the reference three-dimensional coordinates:
generating a first color temperature diagram and a second color temperature diagram according to the two-dimensional error and the three-dimensional error;
and comparing the first color temperature graph with the second color temperature graph to determine the distortion condition of the target optical material.
7. The distortion detection method of an optical material according to claim 1, further comprising, before said extracting actual two-dimensional coordinates of a target point from said image to be detected:
acquiring the area of a light-transmitting area of the target optical material;
and determining and extracting the range of the actual two-dimensional coordinate according to the area of the light-transmitting area.
8. A distortion detection apparatus for an optical material, comprising:
the first acquisition module is used for acquiring an image to be detected, which is obtained by shooting a calibration chart through a target optical material by a camera lens;
the extraction module is used for extracting the actual two-dimensional coordinates of the target point from the image to be detected; the target point is any point appearing in the image to be detected;
the second acquisition module is used for acquiring the actual three-dimensional coordinate corresponding to the target point on the calibration graph card according to the actual two-dimensional coordinate;
the determining module is used for determining a reference two-dimensional coordinate and a reference three-dimensional coordinate according to the actual two-dimensional coordinate, the actual three-dimensional coordinate and the camera related parameters;
and the second determining module is used for determining whether the target optical material meets a preset distortion condition according to the actual two-dimensional coordinate, the reference two-dimensional coordinate, the actual three-dimensional coordinate and the reference three-dimensional coordinate.
9. A distortion detection apparatus for an optical material, comprising a memory for storing a computer program;
a processor for implementing the steps of the method of distortion detection of an optical material according to any one of claims 1 to 7 when executing said computer program.
10. A computer-readable storage medium, characterized in that a computer program is stored thereon, which computer program, when being executed by a processor, carries out the steps of the method for distortion detection of an optical material according to any one of claims 1 to 7.
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