CN115268199A - Monocular three-dimensional machine vision light path system and method - Google Patents
Monocular three-dimensional machine vision light path system and method Download PDFInfo
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- CN115268199A CN115268199A CN202211200462.9A CN202211200462A CN115268199A CN 115268199 A CN115268199 A CN 115268199A CN 202211200462 A CN202211200462 A CN 202211200462A CN 115268199 A CN115268199 A CN 115268199A
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- 230000003287 optical effect Effects 0.000 claims abstract description 31
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- 238000010586 diagram Methods 0.000 description 4
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B35/00—Stereoscopic photography
- G03B35/08—Stereoscopic photography by simultaneous recording
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B17/00—Systems with reflecting surfaces, with or without refracting elements
- G02B17/02—Catoptric systems, e.g. image erecting and reversing system
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B17/00—Details of cameras or camera bodies; Accessories therefor
- G03B17/56—Accessories
- G03B17/565—Optical accessories, e.g. converters for close-up photography, tele-convertors, wide-angle convertors
Abstract
The invention relates to the technical field of optical instruments and discloses a monocular three-dimensional machine vision optical path system and a method; the monocular three-dimensional machine vision light path system can enable the light rays on the two sides to enter the monocular camera to generate the three-dimensional image, while the traditional binocular three-dimensional machine vision light path system needs to use a binocular camera to receive the light rays to generate the three-dimensional image, and the binocular camera needs to have a uniform coordinate system when in use, so that calibration is needed before use, and the monocular camera module does not need to be calibrated, therefore, the monocular three-dimensional machine vision light path method provided by the invention has the advantage of high efficiency, and solves the problem of low use efficiency of the light path system in the prior art.
Description
Technical Field
The invention relates to the technical field of optical instruments, in particular to a monocular three-dimensional machine vision optical path system and a monocular three-dimensional machine vision optical path method.
Background
The current global market artificial intelligence industry develops rapidly, and more machine vision products lead the development of artificial intelligence. Because machine vision has the advantages of high precision, high efficiency, low cost and the like, the traditional manual and mechanical methods are increasingly replaced by machine vision technologies. Therefore, the precision and efficiency of machine vision products are continuously improved, and the reduction of cost becomes an important development direction of the machine vision industry.
In the prior art, two methods are generally adopted in a machine vision technology, one method is a monocular two-dimensional measurement method, the efficiency of the monocular two-dimensional measurement method is high, but only two-dimensional data can be measured, and the method cannot be applied to wider measurement scenes; the other method is a binocular three-dimensional measurement method, a binocular camera or an image acquisition module needs to be calibrated in the test process, and the binocular three-dimensional measurement method is complex in use process, low in efficiency, high in cost, large in size and inconvenient to standardize.
Disclosure of Invention
The invention aims to provide a monocular three-dimensional machine vision optical path system and a method, and aims to solve the problem that an optical path system in the prior art is low in use efficiency.
The present invention is achieved in the first aspect, and provides a monocular three-dimensional machine vision optical path system, disposed between a measured sample and a camera module, for reflecting surface light of the measured sample emitted by the measured sample into the camera module, where the surface light of the measured sample includes a middle light and two side lights, and the monocular three-dimensional machine vision optical path system includes:
a middle reflecting structure and two side reflecting structures;
the two-side reflecting structures are arranged on two sides of the middle reflecting structure;
the two side reflecting structures are used for reflecting the light rays on the two sides to the middle reflecting structure;
the middle reflecting structure is used for blocking the middle light rays and reflecting the two side light rays reflected by the two side reflecting structures to the camera module backwards so as to generate a three-dimensional image of the measured sample.
In one embodiment, the two-sided reflective structure includes a left-sided reflective element and a right-sided reflective element;
the two side light rays comprise a left side light ray and a right side light ray, the left side light ray carries a left side visual image of the tested sample, and the right side light ray carries a right side visual image of the tested sample;
the intermediate reflective structure has an intermediate axis, the intermediate reflective structure being in an axisymmetric configuration along the intermediate axis;
the left side reflecting piece is arranged on the left side of the middle reflecting structure and used for reflecting the left side light rays to the middle reflecting structure;
the right side reflector is arranged on the right side of the middle reflecting structure and used for reflecting the right side light rays to the middle reflecting structure.
In one embodiment, the left reflector is a plane mirror, and the angle between the left reflector and the middle axis is 30-45 °.
In one embodiment, the right reflector is a plane mirror, and the right reflector forms an angle of 30-45 ° with the central axis.
In one embodiment, the intermediate reflective structure comprises a first reflective element and a second reflective element;
one end of the first reflecting piece is connected with one end of the second reflecting piece to form a V-shaped structure, the V-shaped structure is in an axisymmetric structure along the middle axis, an opening of the V-shaped structure is aligned with the sample to be measured in front, and the tip of the V-shaped structure is aligned with the camera module in back;
the first reflecting piece is arranged on the left side of the V-shaped structure, and the second reflecting piece is arranged on the right side of the V-shaped structure.
In one embodiment, the first reflecting member is a plane mirror, and the angle between the first reflecting member and the middle axis is 30-45 degrees.
In one embodiment, the second reflecting member is a plane mirror, and the angle between the second reflecting member and the middle axis is 30-45 degrees.
In a second aspect, the present invention provides a monocular three-dimensional machine vision optical path method, implemented by any one of the monocular three-dimensional machine vision optical path systems described in the first aspect, including:
s1: blocking the intermediate light;
s2: reflecting the light rays on the two sides to the middle position; the two side light rays comprise a left side light ray and a right side light ray;
s3: and reflecting the light rays on the two sides reflected to the middle position backwards to enter the camera module so as to generate a three-dimensional image of the tested sample.
In one embodiment, the S2 includes:
s21: reflecting the left ray to a middle position;
s22: reflecting the right ray to a middle position.
In one embodiment, the S3 includes:
s31: reflecting the left light reflected to the middle position backwards to enter the camera module to form a left visual image of the tested sample;
s32: reflecting the right light reflected to the middle position backwards to enter the camera module to form a right visual image of the tested sample;
s33: and combining the left visual image of the tested sample piece with the right visual image of the tested sample piece to form a three-dimensional image of the tested sample piece.
The invention provides a monocular three-dimensional machine vision optical path system and a method, which have the following beneficial effects:
1. the monocular three-dimensional machine vision optical path system provided by the invention comprises a middle reflection structure and two side reflection structures, wherein two sides of light rays are reflected to the middle reflection structure by the two side reflection structures, and then the two sides of light rays are reflected to a rear camera module by the middle reflection structure to generate a three-dimensional image of a measured sample.
2. Binocular camera module use needs to be markd, and the calibration result can lose the validity because of the mutual correction between two meshes, and monocular camera module then need not to mark, consequently can eliminate because of the error that the demarcation caused between two meshes, and then promotes the precision.
3. The volume and price of the acquisition mode for generating the three-dimensional image by the monocular camera are about half of those of the acquisition mode for generating the three-dimensional image by the binocular camera, so that the product volume can be reduced, and the cost can be reduced.
Drawings
FIG. 1 is a schematic diagram of a monocular three-dimensional machine vision system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating steps of a monocular three-dimensional machine vision method according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of step S2 of a monocular three-dimensional machine vision method according to an embodiment of the present invention;
fig. 4 is a schematic diagram of step S3 of a monocular three-dimensional machine vision method according to an embodiment of the present invention.
Reference numerals: 1-middle reflection structure, 2-two-side reflection structure, 10-middle axis, 11-first reflection piece, 12-second reflection piece, 21-left side reflection piece, 22-right side reflection piece, 3-sample piece to be measured, 31-middle light, 32-two-side light, 321-left side light, 322-right side light, 4-camera module, 41-left side visual image, 42-right side visual image and 43-three-dimensional image.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The same or similar reference numerals in the drawings of the present embodiment correspond to the same or similar components; in the description of the present invention, it should be understood that if there is an orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", etc. based on the orientation or positional relationship shown in the drawings, it is only for convenience of describing the present invention and simplifying the description, but it is not intended to indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and are not to be construed as limiting the present patent, and the specific meaning of the terms may be understood by those skilled in the art according to specific circumstances.
The following detailed description of implementations of the invention refers to specific embodiments.
Referring to FIG. 1, a preferred embodiment of the present invention is provided.
In a first aspect, the present invention provides a monocular three-dimensional vision optical path system, disposed between a sample 3 to be measured and a camera module 4, for reflecting light rays emitted from the sample 3 to be measured into the camera module 4, where the light rays emitted from the surface of the sample 3 to be measured include a middle light ray 31 and two side light rays 32, and the monocular three-dimensional vision optical path system includes:
a middle reflecting structure 1 and two side reflecting structures 2.
It should be noted that the two-sided reflective structures 2 are disposed on two sides of the middle reflective structure 1, and the middle reflective structure 1 is disposed on the centerline position of the whole monocular three-dimensional vision light, when the monocular three-dimensional machine vision system provided by the present invention is disposed between the sample 3 to be measured and the camera module 4, the centerline of the monocular three-dimensional machine vision system is aligned with the front surface of the sample 3 to be measured, at this time, the middle light 31 is aligned with the middle reflective structure 1, and the two-sided light 32 is aligned with the two-sided reflective structures 2.
Specifically, the two-sided reflection structure 2 is used for reflecting the two-sided light rays 32 toward the middle reflection structure 1, and the middle reflection structure 1 blocks the middle light rays 31 and reflects the two-sided light rays 32 reflected by the two-sided reflection structure 2 backward into the camera module 4 to generate the three-dimensional image 43 of the sample 3 to be measured.
It should be noted that the light rays on the surface of the sample to be measured are light rays reflected by the surface of the sample to be measured, and the light rays on the surface of the sample to be measured 3 carry image information of the sample to be measured 3, specifically, the light rays 32 on the two sides include a left light ray 321 and a right light ray 322, and referring to fig. 1, the left light ray 321 and the right light ray 322 do not correspond to light rays on the two sides of the middle light ray 31, but light rays emitted to the left rear and the right rear of the sample to be measured 3, the left light ray 321 carries a left visual image 41 of the sample to be measured 3, and the right light ray 322 carries a right visual image 42 of the sample to be measured 3, and by plotting extension lines in fig. 1, it can be seen that the left visual image 41 is an image observed from the left rear of the sample to be measured, and the right visual image 42 is an image observed from the right rear of the sample to be measured, and it can be understood that the left visual image 41 and the right visual image 42 are not images observed from the left and the right of the sample to be measured 3, but three-dimensional images observed from the left and right of the camera module 4, and the left visual image 42 are combined, and right, and the sample to be measured 43.
It will be appreciated that in the monocular three-dimensional vision optical path system provided by the present invention, the two side rays 32 are required to generate the three-dimensional image 43 of the sample 3 under test, while the middle ray 31 is useless, so the middle radiation structure will block the middle ray 31.
The invention provides a monocular three-dimensional machine vision light path system, which has the following beneficial effects:
1. the monocular three-dimensional machine vision optical path system provided by the invention comprises a middle reflection structure 1 and two side reflection structures 2, two side light rays 32 are reflected to the middle reflection structure 1 by the two side reflection structures 2, and then the two side light rays 32 are reflected to a rear camera module 4 by the middle reflection structure 1 to generate a three-dimensional image 43 of a measured sample 3.
2. Binocular camera module 4 use needs to be markd, and the calibration result can lose the validity because of the mutual correction between two meshes, and monocular camera module 4 then need not to mark, consequently can eliminate because of the error that the demarcation caused between two meshes, and then promotes the precision.
3. The volume and price of the acquisition mode for generating the three-dimensional image 43 by the monocular camera are about half of those of the acquisition mode for generating the three-dimensional image 43 by the binocular camera, so that the product volume can be reduced and the cost can be reduced.
In some embodiments, the two-sided reflective structure 2 includes a left-sided reflective element 21 and a right-sided reflective element 22.
Specifically, the left reflector 21 is disposed on the left side of the middle reflector structure 1, and the right reflector 22 is disposed on the right side of the middle reflector structure 1, and more specifically, the left reflector 21 is used for reflecting the left light ray 321 to the middle reflector structure 1, and the right reflector 22 is used for reflecting the right light ray 322 to the middle reflector structure 1.
More specifically, the intermediate reflective structure 1 has a middle axis 10, and the intermediate reflective structure 1 is axially symmetric along the middle axis 10.
It can be understood that the purpose of the left reflector 21 and the right reflector 22 is to reflect the two side light rays 32 to the middle reflecting structure 1, and therefore, when the left reflector 21 and the right reflector 22 are disposed, the left reflector 21 and the right reflector 22 need to be controlled within a certain angle range to ensure that the two side reflecting structure 2 can reflect the two side light rays 32 to the middle reflecting structure 1.
More specifically, when the monocular three-dimensional machine vision optical system is set, the intermediate ray 31 is directed at the midline of the monocular three-dimensional machine vision optical system, and the left and right reflecting members 21, 22 are angled 30 ° -45 ° from the central axis 10.
It should be noted that the left reflector 21 and the right reflector 22 are both plane reflectors, that is, mirror surfaces with a reflection function and a plane shape, and it can be understood that the left reflector 21 and the right reflector 22 both have a reflection surface and a non-reflection surface, where the reflection surface has a function of reflecting light and the non-reflection surface does not have a function of reflecting light, so when the left reflector 21 and the right reflector 22 are disposed, the reflection surfaces of the left reflector 21 and the right reflector 22 need to face the sample to be measured and the intermediate reflection structure 1.
In some embodiments, the intermediate reflective structure 1 comprises a first reflective element 11 and a second reflective element 12.
Specifically, one end of the first reflecting member 11 and one end of the second reflecting member 12 are connected to form a V-shaped structure, the tip of the V-shaped structure is aligned with the rear camera module 4, and the opening of the V-shaped structure is aligned with the front sample 3 to be measured.
More specifically, the first reflecting member 11 is disposed at the left side of the V-shaped structure, the second reflecting member 12 is disposed at the right side of the V-shaped structure, the intersection of the first reflecting member 11 and the second reflecting member 12 is on the middle axis 10, and the first reflecting member 11 and the second reflecting member 12 are in an axisymmetric structure along the middle axis 10.
It will be appreciated that the first 11 and second 12 reflective elements are likewise planar mirrors and that the first 11 and second 12 reflective elements are angled at 30-45 to the central axis 10; more specifically, the non-reflective surfaces of the first reflective member 11 and the second reflective member 12 face the inside of the opening of the V-shaped structure, the reflective surfaces of the first reflective member 11 and the second reflective member 12 are used for reflecting the two side light rays 32 to the rear camera module 4, the left side light ray 321 is reflected by the first reflective member 11 to the camera module 4 to form a left side visual image 41 of the sample 3 to be measured, the right side light ray 322 is reflected by the second reflective member 12 to the camera module 4 to form a right side visual image 42 of the sample 3 to be measured, and the left side visual image 41 and the right side visual image 42 are combined to generate the three-dimensional image 43 of the sample 3 to be measured.
In a second aspect, referring to fig. 2, the present invention provides a monocular three-dimensional machine vision optical path method, which is implemented by using any one of the monocular three-dimensional machine vision optical path systems provided in the first aspect, and includes:
s1: blocking the intermediate light rays 31.
Specifically, in the monocular three-dimensional machine vision optical path method provided by the invention, the two-sided light ray 32 is used for generating the three-dimensional image 43 of the measured sample 3, and the middle light ray 31 is useless for the method, so that the blocking is needed.
S2: reflecting both side rays 32 towards the middle.
It should be noted that the two side light rays 32 include a left side light ray 321 and a right side light ray 322, the left side light ray 321 and the right side light ray 322 carry image information of the left visual image 41 and the right visual image 42 of the sample to be measured respectively, and the left visual image 41 and the right visual image 42 are combined to generate the three-dimensional image 43 of the sample to be measured 3, so that the two side reflection structures 2 which need to be arranged at the two sides reflect the two side light rays 32 to the middle position, and then the two side light rays are reflected backward by the middle reflection structure 1 arranged at the middle position to enter the camera module 4.
It should be noted that propagation of the middle light ray 31 and the two side light rays 32 of the sample 3 to be measured is performed together, and therefore the two steps S1 and S2 are also performed simultaneously.
S3: the light rays 32 reflected to the middle position are reflected backwards to enter the camera module 4 so as to generate a three-dimensional image 43 of the sample 3 to be measured.
The invention provides a monocular three-dimensional machine vision light path method, which has the following beneficial effects:
1. the monocular three-dimensional machine vision optical path system provided by the invention comprises a middle reflection structure 1 and two side reflection structures 2, two side light rays 32 are reflected to the middle reflection structure 1 by the two side reflection structures 2, and then the two side light rays 32 are reflected to a rear camera module 4 by the middle reflection structure 1 to generate a three-dimensional image 43 of a measured sample 3.
2. Binocular camera module 4 use needs to be markd, and the calibration result can lose the validity because of the mutual correction between two meshes, and monocular camera module 4 then need not to mark, consequently can eliminate because of the error that the demarcation caused between two meshes, and then promotes the precision.
3. The volume and price of the monocular three-dimensional image 43 acquisition mode are about half of those of the binocular three-dimensional image 43 acquisition mode, so that the product volume can be reduced, and the cost can be reduced.
Referring to fig. 3, in some embodiments, S2 includes:
s21: reflecting the left ray 321 towards the middle position.
S22: reflecting the right ray 322 towards the middle.
Specifically, the two-sided light rays 32 include a left-sided light ray 321 and a right-sided light ray 322, the left-sided light ray 321 is a light ray propagating to the left and back of the sample 3 to be measured, the right-sided light ray 322 is a light ray propagating to the right and back of the sample 3 to be measured, the left-sided light ray 321 is reflected to the middle position by the left-sided reflector 21, and the right-sided light ray 322 is reflected to the middle position by the right-sided reflector 22.
Referring to fig. 4, in some embodiments, S3 includes:
s31: the left light ray 321 reflected to the middle position is reflected backward and enters the camera module 4 to form a left visual image 41 of the sample 3.
S32: the right light ray 322 reflected to the middle position is reflected backward and enters the camera module 4 to form a right visual image 42 of the sample 3 to be measured.
S33: the left visual image 41 of the sample 3 and the right visual image 42 of the sample 3 are combined to form a three-dimensional image 43 of the sample 3.
Specifically, the intermediate reflection structure 1 is provided with a V-shaped structure at the intermediate position, the intermediate reflection structure 1 includes a first reflection member 11 and a second reflection member 12, the first reflection member 11 is used for reflecting the left light ray 321 reflected to the intermediate position backward into the camera module 4 to form a left visual image 41 of the sample 3, the second reflection member 12 is used for reflecting the right light ray 322 reflected to the intermediate position backward into the camera module 4 to form a right visual image 42 of the sample 3, and at this time, the left visual image 41 of the sample 3 and the right visual image 42 of the sample 3 are combined to form a three-dimensional image 43 of the sample 3.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. The utility model provides a three-dimensional machine vision light path system of monocular, sets up between by survey sample and camera module for with survey sample surface light reflection that the survey sample sent gets into in the camera module, survey sample surface light includes middle light and both sides light, its characterized in that includes:
a middle reflecting structure and two side reflecting structures;
the two-side reflecting structures are arranged on two sides of the middle reflecting structure;
the two side reflecting structures are used for reflecting the light rays at the two sides to the middle reflecting structure;
the middle reflecting structure is used for blocking the middle light rays and reflecting the two side light rays reflected by the two side reflecting structures to the camera module backwards so as to generate a three-dimensional image of the measured sample.
2. A monocular three-dimensional machine vision optical path system according to claim 1, wherein the two-sided reflective structure comprises a left-sided reflective element and a right-sided reflective element;
the two side light rays comprise a left side light ray and a right side light ray, the left side light ray carries a left side visual image of the tested sample, and the right side light ray carries a right side visual image of the tested sample;
the intermediate reflective structure has an intermediate axis, the intermediate reflective structure being in an axisymmetric configuration along the intermediate axis;
the left side reflecting piece is arranged on the left side of the middle reflecting structure and used for reflecting the left side light rays to the middle reflecting structure;
the right side reflector is arranged on the right side of the middle reflecting structure and used for reflecting the right side light rays to the middle reflecting structure.
3. A monocular three dimensional machine vision optical path system as claimed in claim 2, wherein said left reflector is a plane mirror, and said left reflector is angled 30 ° -45 ° to said central axis.
4. A monocular three dimensional machine vision optical path system according to claim 2, wherein said right reflecting element is a plane mirror, and said right reflecting element is angled between 30 ° and 45 ° from said central axis.
5. A monocular three dimensional machine vision optical path system according to claim 2, wherein the intermediate reflective structure comprises a first reflective element and a second reflective element;
one end of the first reflecting piece is connected with one end of the second reflecting piece to form a V-shaped structure, the V-shaped structure is in an axisymmetric structure along the middle axis, an opening of the V-shaped structure is aligned with the sample to be measured in front, and the tip of the V-shaped structure is aligned with the camera module in back;
the first reflecting piece is arranged on the left side of the V-shaped structure, and the second reflecting piece is arranged on the right side of the V-shaped structure.
6. A monocular three dimensional machine vision optical path system according to claim 5, wherein said first reflecting element is a plane mirror, and said first reflecting element is angled 30 ° -45 ° with respect to said central axis.
7. A monocular three dimensional machine vision optical path system according to claim 5, wherein said second reflecting element is a plane mirror, and said second reflecting element is angled 30 ° -45 ° with respect to said central axis.
8. A monocular three-dimensional machine vision optical circuit method implemented using a monocular three-dimensional machine vision optical circuit system according to any one of claims 1-7, comprising:
s1: blocking the intermediate light;
s2: reflecting the light rays on the two sides to the middle position; the two side light rays comprise a left side light ray and a right side light ray; s3: and reflecting the light rays on the two sides reflected to the middle position backwards to enter the camera module so as to generate a three-dimensional image of the sample to be measured.
9. A monocular three dimensional machine vision raypath method as described in claim 8 wherein said S2 comprises:
s21: reflecting the left light ray to a middle position;
s22: reflecting the right ray to a middle position.
10. A monocular three-dimensional machine vision raypath method as described in claim 8 wherein said S3 comprises:
s31: reflecting the left light reflected to the middle position backwards to enter the camera module to form a left visual image of the tested sample;
s32: reflecting the right light reflected to the middle position backwards to enter the camera module to form a right visual image of the tested sample;
s33: and combining the left visual image of the tested sample piece with the right visual image of the tested sample piece to form a three-dimensional image of the tested sample piece.
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Application publication date: 20221101 |