CN115834869A - Frame rate testing method and device for depth camera - Google Patents
Frame rate testing method and device for depth camera Download PDFInfo
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- CN115834869A CN115834869A CN202111092854.3A CN202111092854A CN115834869A CN 115834869 A CN115834869 A CN 115834869A CN 202111092854 A CN202111092854 A CN 202111092854A CN 115834869 A CN115834869 A CN 115834869A
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Abstract
The invention provides a frame rate testing method and a frame rate testing device for a depth camera, wherein the frame rate testing method comprises the following steps: arranging a back plate with scales, arranging a depth camera towards the back plate, and enabling the back plate to be located in an imaging visual field of the camera; placing an object on the upper edge of the back plate, and enabling the object to fall freely; controlling the depth camera to continuously acquire images of the object, and determining a descending distance difference H of the object according to the Nth frame of image and the Mth frame of image; inputting the descent distance H into a preset formula H =1/2gT 2 The time difference T is calculated, and a frame rate, frame rate = (M-N)/T, is calculated according to the time difference T. According to the method, the descending distance difference H of the object is determined according to the descending distance of the object displayed by the Nth frame of image and the M frame of image, the time difference T is further calculated, the frame rate is determined, and the convenience and the rapidness of the frame rate of the depth camera are realizedAnd the frame rate parameters of the depth camera are accurate, and the quality guarantee of the depth camera is realized.
Description
Technical Field
The invention relates to a depth camera, in particular to a frame rate testing method and device of the depth camera.
Background
3D depth vision is a brand-new technology, has appeared in consumer-grade products such as mobile phones, motion sensing games and payment, and gradually permeates new fields such as security protection and automatic driving. With the continuous progress of the hardware end technology and the continuous optimization of the algorithm and the software level, the accuracy and precision of 3D depth vision and the application range of an actual scene are greatly improved.
The main current schemes for 3D depth vision include binocular stereo vision, 3D structured light and TOF schemes. In several schemes, a camera is required to perform the image calculation of an actual object, but the actual frame rate of the camera is only counted by adopting special software, and only a high-speed camera which is relatively expensive in terms of hardware can be used. There is therefore a need for a frame rate testing method for a depth camera that is more cost effective and efficient.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a frame rate testing method and device for a depth camera.
The frame rate testing method of the depth camera provided by the invention comprises the following steps:
step S1: arranging a back plate with scales, arranging a depth camera towards the back plate, and enabling the back plate to be located in an imaging visual field of the camera;
step S2: placing an object on the upper edge of the back plate, and enabling the object to fall freely;
and step S3: controlling the depth camera to continuously acquire images of the object, and determining a descending distance difference H of the object according to the Nth frame of image and the Mth frame of image;
and step S4: inputting the descent distance H into a preset formula H =1/2gT 2 The time difference T is calculated, and a frame rate, frame rate = (M-N)/T, is calculated according to the time difference T.
Preferably, the object is a tennis ball; the tennis ball is clamped by the tennis ball clamp holder;
the tennis ball holder and the camera are connected with a signal source for synchronization.
Preferably, the object is a tennis ball; the tennis ball is clamped by the tennis ball clamp holder;
the tennis ball holder and the camera are connected with a controller; the controller is configured to send a synchronization control signal to the tennis ball holder and the depth camera.
Preferably, the depth camera comprises a processor module, a light projector, an infrared camera and an RGB camera;
the light projector for projecting structured light toward a target;
the infrared camera is used for collecting an infrared image of a target and receiving the structured light reflected by the target to generate a structured light pattern;
the RGB camera is used for acquiring RGB images of the target;
the processor module is used for reconstructing according to the structured light pattern to generate a depth image of the target;
acquiring the object image by the RGB camera or the infrared camera to determine a frame rate of the object depth camera.
Preferably, the infrared camera comprises an optical imaging lens and a light sensor;
the optical imaging lens is used for enabling the light which is transmitted through the optical imaging lens to enter the light sensor;
the light sensor is used for receiving the structured light reflected by the target object and generating a structured light pattern according to the structured light.
The frame rate testing device for the depth camera comprises
A back plate provided with scales;
an object placed on an upper edge of the back plate to allow the object to fall freely;
a controller for controlling the depth camera to continuously acquire the images of the object, determining a descending distance H of the object according to the Nth frame image and the Mth frame image, and inputting the descending distance H into a preset formula H =1/2gT 2 The time difference T is calculated, and a frame rate, frame rate = (M-N)/T, is calculated according to the time difference T.
Preferably, the object is a tennis ball; the tennis ball is clamped by the tennis ball clamp holder;
the controller is used for sending synchronous control signals to the tennis ball holder and the depth camera so as to control the tennis ball holder and the depth camera to operate synchronously.
Preferably, the object is triangular pyramid shaped, spherical shaped, cube shaped, triangular shaped or trapezoidal shaped.
Preferably, the depth camera comprises a processor module, a light projector, an infrared camera, and an RGB camera;
the light projector for projecting structured light toward a target;
the infrared camera is used for collecting an infrared image of a target and receiving the structured light reflected by the target to generate a structured light pattern;
the RGB camera is used for acquiring RGB images of the target;
the processor module is used for reconstructing according to the structured light pattern to generate a depth image of the target;
acquiring the object image by the RGB camera or the infrared camera to determine a frame rate of the object depth camera.
Preferably, the infrared camera comprises an optical imaging lens and a light sensor;
the optical imaging lens is used for enabling the light which is transmitted through the optical imaging lens to enter the light sensor;
the light sensor is used for receiving the structured light reflected by the target object and generating a structured light pattern according to the structured light.
Compared with the prior art, the invention has the following beneficial effects:
according to the invention, an object is placed on the upper edge of a backboard with scales, the object is allowed to fall freely, images in the falling process of the object are continuously acquired by controlling the depth camera, the falling distance difference H of the object is determined according to the falling distance of the object displayed by an Nth frame of image and an Mth frame of image, and then the formula H =1/2gT 2 The time difference T is calculated, the frame rate is determined, the convenient calculation of the frame rate of the depth camera is realized, the frame rate parameters of the depth camera are accurate, and the quality guarantee of the depth camera is realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts. Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a flowchart illustrating steps of a method for testing a frame rate of a depth camera according to an embodiment of the present invention;
FIG. 2 is a diagram illustrating a method for testing a frame rate of a depth camera according to an embodiment of the present invention;
FIG. 3 is a diagram illustrating a frame rate testing apparatus for a depth camera according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a depth camera in an embodiment of the invention;
fig. 5 is a schematic diagram of an infrared camera according to an embodiment of the invention.
In the figure:
1 is a depth camera; 101 is an optical imaging lens; 102 is a narrow band filter; 103 is a light sensor; 2 is a back plate; and 3 is an object.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims, as well as in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Moreover, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The technical means of the present invention will be described in detail with reference to specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.
The following describes the technical solutions of the present invention and how to solve the above technical problems with specific embodiments. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present invention will be described below with reference to the accompanying drawings.
Fig. 1 is a flowchart illustrating a method for testing a frame rate of a depth camera according to an embodiment of the present invention, and as shown in fig. 1, the method for testing a frame rate of a depth camera according to the present invention includes the following steps:
step S1: arranging a back plate with scales, arranging a depth camera towards the back plate, and enabling the back plate to be located in an imaging visual field of the camera;
step S2: placing an object on the upper edge of the back plate, and enabling the object to fall freely;
and step S3: controlling the depth camera to continuously acquire images of the object, and determining a descending distance difference H of the object according to the Nth frame of image and the Mth frame of image;
and step S4: inputting the descent distance H into a preset formula H =1/2gT 2 The time difference T is calculated, and a frame rate, frame rate = (M-N)/T, is calculated according to the time difference T.
Fig. 2 is a schematic diagram of a frame rate testing method for a depth camera according to an embodiment of the present invention, where as shown in fig. 2, the object is a tennis ball; the tennis ball is clamped by the tennis ball clamp holder;
the tennis ball holder and the camera are connected with a signal source for synchronization. The signal source may employ a switching signal.
In a variation of the invention, the tennis ball holder and the camera are connected to a controller; the controller is configured to send a synchronization control signal to the tennis ball holder and the depth camera.
FIG. 4 is a schematic diagram of a depth camera according to an embodiment of the present invention, as shown in FIG. 4, the depth camera includes a processor module, a light projector, an infrared camera, and an RGB camera;
the light projector for projecting structured light toward a target;
the infrared camera is used for collecting an infrared image of a target and receiving the structured light reflected by the target to generate a structured light pattern;
the RGB camera is used for acquiring RGB images of the target;
the processor module is used for reconstructing according to the structured light pattern to generate a depth image of the target;
acquiring the object image by the RGB camera or the infrared camera to determine a frame rate of the object depth camera.
In an embodiment of the present invention, as shown in fig. 4, when the depth camera provided by the present invention is used, an infrared structured light image may be collected after structured light is projected toward a target by a structured light projector, an infrared image may be collected after floodlight is projected toward a target by a floodlight projector, and an RGB image of the target may be collected by an RGB camera. Therefore, the frame rate of the RGB camera or the infrared camera is tested, and the frame rate of the depth camera can be known. Wherein, the infrared camera adopts 940nm infrared camera.
In an embodiment of the present invention, the infrared camera includes an optical imaging lens and a light sensor;
the optical imaging lens is used for enabling the light which is transmitted through the optical imaging lens to enter the light sensor;
the light sensor is used for receiving the structured light reflected by the target object and generating a structured light pattern according to the structured light.
In the embodiment of the present invention, in order to filter background noise, a narrow band filter 102 is usually installed in the optical imaging lens, so that the photodetector array can only pass incident collimated light beams with preset wavelengths. The preset wavelength can be the wavelength of the incident collimated light beam, and can also be between 50 nanometers smaller than the incident collimated light beam and 50 nanometers larger than the incident collimated light beam. The photodetector array may be arranged periodically or aperiodically. The light detector array can be a combination of a plurality of single-point light detectors or a sensor chip integrating a plurality of light detectors according to the requirement of the number of discrete collimated light beams. To further optimize the sensitivity of the light detectors, the illumination spot of one discrete collimated light beam on the target may correspond to one or more light detectors. When a plurality of light detectors correspond to the same irradiation light spot, signals of each detector can be communicated through a circuit, so that the light detectors with larger detection areas can be combined.
In the embodiment of the invention, the light detector can adopt a CMOS light sensor, a CCD light sensor or a SPAD light sensor. And the detector end is an infrared detector, and receives the dot matrix light reflected by the target through the infrared detector.
Fig. 3 is a schematic diagram of a frame rate testing apparatus for a depth camera according to an embodiment of the present invention, and as shown in fig. 3, the frame rate testing apparatus for a depth camera according to the present invention includes:
a back plate provided with scales;
an object placed on an upper edge of the back plate to allow the object to fall freely;
a controller for controlling the depth camera to continuously acquire the images of the object, determining a descending distance H of the object according to the Nth frame image and the Mth frame image, and inputting the descending distance H into a preset formula H =1/2gT 2 A time difference T is calculated, and a calculation is made based on the time difference TFrame rate, frame rate = (M-N)/T.
In an embodiment of the present invention, the object is a tennis ball; the tennis ball is clamped by the tennis ball clamp holder;
the controller is used for sending synchronous control signals to the tennis ball holder and the depth camera so as to control the tennis ball holder and the depth camera to operate synchronously.
In an embodiment of the invention, the object is in the shape of a triangular pyramid, a sphere, a cube, a triangle or a trapezoid.
In an embodiment of the present invention, the depth camera includes a processor module, a light projector, an infrared camera, and an RGB camera;
the light projector for projecting structured light toward a target;
the infrared camera is used for collecting an infrared image of a target and receiving the structured light reflected by the target to generate a structured light pattern;
the RGB camera is used for acquiring RGB images of the target;
the processor module is used for reconstructing according to the structured light pattern to generate a depth image of the target;
acquiring the object image by the RGB camera or the infrared camera to determine a frame rate of the object depth camera.
In the embodiment of the invention, when the depth camera provided by the invention is used, an infrared structured light image can be collected after structured light is projected towards a target through the structured light projector, then an infrared image can be collected after floodlight is projected towards the target through the floodlight projector, and finally an RGB image of the target can be collected through the RGB camera. Therefore, the frame rate of the RGB camera or the infrared camera is tested, and the frame rate of the depth camera can be known. Wherein, the infrared camera adopts 940nm infrared camera.
The infrared camera comprises an optical imaging lens and a light sensor;
the optical imaging lens is used for enabling the light which is transmitted through the optical imaging lens to enter the light sensor;
the light sensor is used for receiving the structured light reflected by the target object and generating a structured light pattern according to the structured light.
In the embodiment of the present invention, in order to filter background noise, a narrow band filter 102 is usually installed in the optical imaging lens, so that the photodetector array can only pass incident collimated light beams with preset wavelengths. The preset wavelength can be the wavelength of the incident collimated light beam, and can also be between 50 nanometers smaller than the incident collimated light beam and 50 nanometers larger than the incident collimated light beam. The photodetector array may be in a periodic or aperiodic arrangement. The photodetector array may be a combination of multiple single-point photodetectors or a sensor chip integrating multiple photodetectors, as required by the number of discrete collimated beams. To further optimize the sensitivity of the light detectors, the illumination spot of one discrete collimated light beam on the target may correspond to one or more light detectors. When a plurality of light detectors correspond to the same irradiation light spot, signals of each detector can be communicated through a circuit, so that the light detectors with larger detection areas can be combined.
In the embodiment of the invention, the light detector can adopt a CMOS light sensor, a CCD light sensor or a SPAD light sensor. And the detector end is an infrared detector, and receives the dot matrix light reflected by the target through the infrared detector.
In the embodiment of the invention, an object is placed on the upper edge of a back plate with scales, the object is allowed to fall freely, images in the falling process of the object are continuously collected by controlling a depth camera, the falling distance difference H of the object is determined according to the falling distance of the object displayed by an Nth frame of image and an Mth frame of image, and then the falling distance difference H is determined according to a formula H =1/2gT 2 The time difference T is calculated, the frame rate is determined, the convenient calculation of the frame rate of the depth camera is realized, the frame rate parameters of the depth camera are accurate, and the quality guarantee of the depth camera is realized.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention.
Claims (10)
1. A frame rate testing method of a depth camera is characterized by comprising the following steps:
step S1: arranging a back plate with scales, arranging a depth camera towards the back plate, and enabling the back plate to be located in an imaging visual field of the camera;
step S2: placing an object on the upper edge of the back plate, and enabling the object to fall freely;
and step S3: controlling the depth camera to continuously acquire images of the object, and determining a descending distance difference H of the object according to the Nth frame of image and the Mth frame of image;
and step S4: inputting the descent distance H into a preset formula H =1/2gT 2 The time difference T is calculated, and a frame rate, frame rate = (M-N)/T, is calculated according to the time difference T.
2. The method for testing the frame rate of a depth camera according to claim 1, wherein the object is a tennis ball; the tennis ball is clamped by the tennis ball clamp holder;
the tennis ball holder and the camera are connected with a signal source for synchronization.
3. The method for testing the frame rate of a depth camera according to claim 1, wherein the object is a tennis ball; the tennis ball is clamped by the tennis ball clamp holder;
the tennis ball holder and the camera are connected with a controller; the controller is configured to send a synchronization control signal to the tennis ball holder and the depth camera.
4. The method of claim 1, wherein the depth camera comprises a processor module, a light projector, an infrared camera, and an RGB camera;
the light projector for projecting structured light toward a target;
the infrared camera is used for collecting an infrared image of a target and receiving the structured light reflected by the target to generate a structured light pattern;
the RGB camera is used for acquiring RGB images of the target;
the processor module is used for reconstructing according to the structured light pattern to generate a depth image of the target;
acquiring the object image by the RGB camera or the infrared camera to determine a frame rate of the object depth camera.
5. The method for testing the frame rate of a depth camera according to claim 4, wherein the infrared camera comprises an optical imaging lens and a light sensor;
the optical imaging lens is used for enabling the light which is transmitted through the optical imaging lens to enter the light sensor;
the light sensor is used for receiving the structured light reflected by the target object and generating a structured light pattern according to the structured light.
6. A frame rate testing device of a depth camera is characterized by comprising
A back plate provided with scales;
an object placed on an upper edge of the back plate to allow the object to fall freely;
a controller for controlling the depth camera to continuously acquire the images of the object, determining a descending distance H of the object according to the Nth frame image and the Mth frame image, and inputting the descending distance H into a preset formula H =1/2gT 2 The time difference T is calculated, and a frame rate, frame rate = (M-N)/T, is calculated according to the time difference T.
7. The device for testing the frame rate of a depth camera according to claim 6, wherein the object is a tennis ball; the tennis ball is clamped by the tennis ball clamp holder;
the controller is used for sending synchronous control signals to the tennis ball holder and the depth camera so as to control the tennis ball holder and the depth camera to operate synchronously.
8. The apparatus of claim 6, wherein the object is a triangular pyramid, a sphere, a cube, a triangle, or a trapezoid.
9. The frame rate testing apparatus of claim 6, wherein the depth camera comprises a processor module, a light projector, an infrared camera, and an RGB camera;
the light projector for projecting structured light toward a target;
the infrared camera is used for collecting an infrared image of a target and receiving the structured light reflected by the target to generate a structured light pattern;
the RGB camera is used for acquiring RGB images of the target;
the processor module is used for reconstructing according to the structured light pattern to generate a depth image of the target;
acquiring the object image by the RGB camera or the infrared camera to determine a frame rate of the object depth camera.
10. The device for testing frame rate of a depth camera according to claim 9, wherein the infrared camera comprises an optical imaging lens and a light sensor;
the optical imaging lens is used for enabling the light which is transmitted through the optical imaging lens to enter the light sensor;
the light sensor is used for receiving the structured light reflected by the target object and generating a structured light pattern according to the structured light.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116743984A (en) * | 2023-04-24 | 2023-09-12 | 武汉新朗光电科技有限公司 | Infrared thermal imaging frame rate detection system and application method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116743984A (en) * | 2023-04-24 | 2023-09-12 | 武汉新朗光电科技有限公司 | Infrared thermal imaging frame rate detection system and application method thereof |
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