CN115951335A - Angle resolution testing method and device, electronic equipment and storage medium - Google Patents
Angle resolution testing method and device, electronic equipment and storage medium Download PDFInfo
- Publication number
- CN115951335A CN115951335A CN202211520597.3A CN202211520597A CN115951335A CN 115951335 A CN115951335 A CN 115951335A CN 202211520597 A CN202211520597 A CN 202211520597A CN 115951335 A CN115951335 A CN 115951335A
- Authority
- CN
- China
- Prior art keywords
- point cloud
- angular resolution
- reference points
- laser radar
- detected
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
Landscapes
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention relates to the technical field of laser radars, and provides an angular resolution testing method, an angular resolution testing device, electronic equipment and a storage medium, wherein the method comprises the following steps: acquiring a point cloud array of a target area, wherein the point cloud array is obtained based on a laser signal emitted by a laser radar to be detected; determining a plurality of reference points from the point cloud array, wherein the reference points are located in the same row or the same column; and determining the angular resolution of the laser radar to be detected according to the central position of the laser radar to be detected and the plurality of reference points. According to the embodiment of the invention, the angular resolution of the laser radar to be detected can be efficiently and accurately determined through the central position of the laser radar to be detected and the plurality of reference points determined from the point cloud array.
Description
Technical Field
The invention relates to the technical field of laser radars, in particular to an angular resolution testing method and device, electronic equipment and a storage medium.
Background
The laser radar provides indispensable technical support for technical upgrading in the industries of intelligent rail transit, intelligent civil aviation, intelligent shipping, vehicle-road coordination and automatic driving, unmanned aerial vehicles, robots, material level detection, security protection, ioT (Internet of Things) and the like.
The angular resolution is one of the main performance parameters of the laser radar, and more details of an object can be detected by higher angular resolution, so that stable sensing input is provided for an application algorithm. How to accurately test the angular resolution of the lidar is an urgent problem to be solved by those skilled in the art.
Disclosure of Invention
The invention aims to provide an angular resolution testing method, an angular resolution testing device, electronic equipment and a storage medium, which can accurately test the angular resolution of a laser radar.
Embodiments of the invention may be implemented as follows:
in a first aspect, the present invention provides a method for angular resolution testing, the method comprising:
acquiring a point cloud array of a target area, wherein the point cloud array is obtained based on a laser signal emitted by a laser radar to be detected;
determining a plurality of reference points from the point cloud array, wherein the plurality of reference points are located in the same row or the same column;
and determining the angular resolution of the laser radar to be detected according to the central position of the laser radar to be detected and the reference points.
In an optional embodiment, the determining the angular resolution of the laser radar to be detected according to the central position of the laser radar to be detected and the reference points includes:
acquiring the number of the reference points;
calculating an angle value of an included angle between a first line segment formed by connecting the center position and the first reference point and a second line segment formed by connecting the center position and the second reference point;
and calculating the angular resolution according to the angle value and the number of the reference points.
In an alternative embodiment, the step of acquiring a point cloud array of a target area comprises:
acquiring a plurality of point cloud data generated based on a laser signal emitted by the laser radar to be detected;
clustering the plurality of point cloud data to obtain at least one point cloud data set, wherein each point cloud data set corresponds to one plane, and the point cloud data in the same point cloud data set belong to the same plane;
determining a target plane from at least one of said planes;
determining an area in a preset selection frame in the target plane as the target area, and obtaining a point cloud array of the target area according to point cloud data in the target area.
In an alternative embodiment, the step of determining a target plane from at least one of the planes comprises:
calculating a normal vector of each of the planes;
and determining a plane of the normal vector parallel to the X axis of the coordinate system of the laser radar to be detected as the target plane.
In an optional embodiment, the point cloud array includes multiple frames of point cloud arrays, each frame of point cloud array includes multiple reference points located in the same row or the same column, and the step of determining the angular resolution of the lidar to be measured according to the central position of the lidar to be measured and the multiple reference points includes:
determining the corresponding angular resolution of each frame according to the central position of the laser radar to be detected and a plurality of reference points of the point cloud array of each frame;
and calculating the average value of the angular resolution corresponding to all the frames to obtain the angular resolution of the laser radar to be detected.
In an optional implementation manner, the step of calculating an average value of the angular resolutions corresponding to all the frames to obtain the angular resolution of the laser radar to be detected further includes:
and calculating the variance of the angular resolution corresponding to all the frames, and analyzing the dispersion degree of the angular resolution corresponding to all the frames according to the variance.
In an optional embodiment, if the plurality of reference points are located in the same column, the angular resolution of the laser radar to be detected is a horizontal angular resolution, and if the plurality of reference points are located in the same row, the angular resolution of the laser radar to be detected is a vertical angular resolution.
In a second aspect, the present invention provides an angular resolution testing apparatus, comprising:
the acquisition module is used for acquiring a point cloud array of a target area, wherein the point cloud array is obtained based on a laser signal emitted by a laser radar to be detected;
the determining module is used for determining a plurality of reference points from the point cloud array, wherein the reference points are positioned in the same row or the same column;
the determining module is further configured to determine the angular resolution of the laser radar to be detected according to the central position of the laser radar to be detected and the plurality of reference points.
In an optional embodiment, the plurality of reference points include a first reference point and a second reference point located at end points of a same row or a same column, and the determining module is specifically configured to:
acquiring the number of the reference points;
calculating an angle value of an included angle between a first line segment formed by connecting the center position and the first reference point and a second line segment formed by connecting the center position and the second reference point;
and calculating the angular resolution according to the angular value and the number of the reference points.
In an optional embodiment, the obtaining module is specifically configured to:
acquiring a plurality of point cloud data generated based on a laser signal emitted by the laser radar to be detected;
clustering the plurality of point cloud data to obtain at least one point cloud data set, wherein each point cloud data set corresponds to one plane, and the point cloud data in the same point cloud data set belong to the same plane;
determining a target plane from at least one of said planes;
determining an area in a preset selection frame in the target plane as the target area, and obtaining a point cloud array of the target area according to point cloud data in the target area.
In an alternative embodiment, the point cloud array includes a plurality of frames of point cloud arrays, each frame of point cloud array includes a plurality of reference points located in a same row or a same column, and the determining module is configured to:
determining the angular resolution corresponding to each frame according to the central position of the laser radar to be detected and a plurality of reference points of the point cloud array of each frame;
and calculating the average value of the angular resolution corresponding to all the frames to obtain the angular resolution of the laser radar to be detected.
In an optional embodiment, the determining module is further specifically configured to:
and calculating the variance of the angular resolution corresponding to all the frames so as to analyze the dispersion degree of the angular resolution corresponding to all the frames according to the variance.
In a third aspect, the present invention provides an electronic device comprising a processor and a memory, the memory being configured to store a program, and the processor being configured to implement the angular resolution testing method according to any one of the preceding embodiments when executing the program.
In a fourth aspect, the present invention provides a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the angular resolution testing method according to any one of the preceding embodiments.
Compared with the prior art, the method can accurately determine the angular resolution of the laser radar to be detected through the central position of the laser radar to be detected and the plurality of reference points determined from the point cloud array.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is an exemplary diagram of an application scenario provided in an embodiment of the present invention.
Fig. 2 is a block diagram of an electronic device according to an embodiment of the present invention.
Fig. 3 is a first flowchart illustrating an angular resolution testing method according to an embodiment of the present invention.
FIG. 4 is an exemplary diagram of a point cloud array of a target area.
Fig. 5 is a flowchart illustrating a method for testing angular resolution according to an embodiment of the present invention.
Fig. 6 is an exemplary diagram of a normal vector of a target plane according to an embodiment of the present invention.
Fig. 7 is an exemplary diagram of a preset selection box and a target area according to an embodiment of the present invention.
Fig. 8 is a flowchart illustrating a method for testing angular resolution according to an embodiment of the present invention.
Fig. 9 is an exemplary diagram of angle values provided by an embodiment of the present invention.
Fig. 10 is a flowchart illustrating a method for testing angular resolution according to an embodiment of the present invention.
FIG. 11 is a block diagram illustrating an exemplary embodiment of an angular resolution testing apparatus.
An icon: 10-an electronic device; 11-a processor; 12-a memory; 13-a bus; 14-a communication interface; 20-laser radar; 100-angular resolution test device; 110-an acquisition module; 120-determination module.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined or explained in subsequent figures.
In the description of the present invention, it should be noted that, if the terms "upper", "lower", "inner", "outer", etc. are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings or the orientation or positional relationship which the product of the present invention is used to usually place, it is only for convenience of description and simplification of the description, but it is not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
Furthermore, the appearances of the terms "first," "second," and the like, if any, are only used to distinguish one description from another and are not to be construed as indicating or implying relative importance.
It should be noted that the features of the embodiments of the present invention may be combined with each other without conflict.
In order to determine the angular resolution of a lidar, which is an important parameter, it is a common practice to: the method comprises the steps of firstly obtaining point cloud data of the laser radar in preset time and laser radar operating parameters of preset frame numbers, then analyzing the point cloud data by using a Matlab tool, and evaluating the resolution of the laser radar according to an analysis result and the operating parameters.
In view of the above, the present embodiments provide a method, an apparatus, an electronic device and a storage medium for testing angular resolution, which are capable of performing efficient testing on the angular resolution of a laser radar, and will be described in detail below.
Referring to fig. 1, fig. 1 is an illustration of an application scenario provided by an embodiment of the present invention, in fig. 1, an electronic device 10 is in communication connection with a laser radar 20, the laser radar 20 emits a laser signal to a wall surface, and generates point cloud data according to a signal reflected by the laser signal, and the electronic device 10 acquires the point cloud data from the laser radar 20 and obtains a point cloud array required by an angular resolution of the laser radar 20 according to the point cloud data. As an implementation manner, in order to reduce the test error as much as possible, the emitting port of the laser radar 20 emitting the laser may be aligned with the center position of the wall surface as much as possible.
The electronic device 10 includes, but is not limited to, a host, a server, a notebook, etc.
Referring to fig. 2, fig. 2 is a block diagram of the electronic device 10 according to an embodiment of the present invention, where the electronic device 10 is used to execute the angular resolution testing method in the present embodiment. Electronic device 10 includes a processor 11, a memory 12, a bus 13, and a communication interface 14. The processor 11 and the memory 12 are connected by a bus 13.
The processor 11 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by instructions in the form of hardware integrated logic circuits or software in the processor 11. The Processor 11 may be a general-purpose Processor including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also DSPs (Digital Signal Processing), ASICs (Application Specific Integrated circuits), FPGAs (Field Programmable Gate arrays) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components.
The memory 12 is used for storing programs, such as the angular resolution testing apparatus in the embodiment of the present invention, the angular resolution testing apparatus 100 includes at least one software functional module which can be stored in the memory 12 in the form of software or firmware (firmware), and the processor 11 executes the programs after receiving the execution instruction to implement the angular resolution testing method in the embodiment of the present invention.
The Memory 12 may include a RAM (Random Access Memory) and may also include a non-volatile Memory (non-volatile Memory). Alternatively, the memory 12 may be a storage device built in the processor 11, or may be a storage device independent of the processor 11.
The bus 13 may be an ISA bus, a PCI bus, an EISA bus, or the like. Fig. 2 is indicated by only one double-headed arrow, but does not indicate only one bus or one type of bus.
Referring to fig. 3, fig. 3 is a first flowchart of an angular resolution testing method according to an embodiment of the present invention, in which the method includes the following steps:
step S101, a point cloud array of a target area is obtained, wherein the point cloud array is obtained based on laser signals emitted by a laser radar to be detected.
In this embodiment, the laser radar to be detected may be the laser radar in fig. 1 or fig. 2, the laser radar to be detected transmits a laser signal through a transmitter, collects a reflected laser signal through a collector, converts the collected laser signal into point cloud data, the electronic device 10 acquires the point cloud data from the laser radar to be detected, the point cloud data includes coordinates of each point, the electronic device 10 may read the point cloud data through software such as Open3D and perform visual display on the point cloud data, the point cloud array of the target area is obtained according to the point cloud data in the target area, and as an implementation manner, the point cloud array of the target area may be obtained by orderly arranging coordinates of points in the target area.
In this embodiment, the electronic device 10 visually displays point cloud data obtained based on a laser signal emitted by a laser radar as a point cloud space, and a user may select an area in the point cloud space with a mouse, or may directly input 4 coordinate positions and select an area in a rectangular area determined by the 4 coordinate positions.
Step S102, a plurality of reference points are determined from the point cloud array, wherein the reference points are located in the same row or the same column.
In this embodiment, the plurality of reference points may be any row or any column in the point cloud array, in order to ensure the test effect, a row or a column with the smallest number of missing points or a row or a column with the smallest number of missing points and more standard arrangement may be selected, please refer to fig. 4, fig. 4 is an exemplary diagram of the point cloud array of the target area, the point cloud array in fig. 4 includes 3 columns in total, and the middle column has the smallest number of missing points and is most standard arrangement, which means that the laser signal corresponding to the middle column is more stable and clear, and the points in the middle column may be used as the reference points.
And step S103, determining the angular resolution of the laser radar to be detected according to the central position of the laser radar to be detected and a plurality of reference points.
In this embodiment, the angular resolution includes a horizontal angular resolution and a vertical angular resolution, and if the plurality of reference points are located in the same column, the determined angular resolution is the horizontal angular resolution, and if the plurality of reference points are located in the same row, the determined angular resolution is the vertical angular resolution.
According to the method provided by the embodiment, the angular resolution of the laser radar to be tested can be automatically and accurately determined through the central position of the laser radar to be tested and the plurality of reference points determined from the point cloud array, so that the automation of the whole process is realized, and the test efficiency is improved.
In this embodiment, because the laser signal is not ideally transmitted only to the preset area, for example, although the laser radar to be tested is directly facing a certain wall in the room to transmit the laser signal, the laser signal may reach other walls of the room at the same time, and the electronic device 10 acquires point cloud data of all walls where the laser signal reaches, in order to eliminate interference of the point cloud data of other walls and improve the test accuracy, this embodiment further provides an implementation manner of acquiring a point cloud array of a target area, please refer to fig. 5, fig. 5 is a flowchart illustration of the angular resolution test method provided by the embodiment of the present invention, and step S101 includes the following sub-steps:
and a substep S1010 of acquiring a plurality of point cloud data generated based on laser signals emitted by the laser radar to be detected.
In the sub-step S1011, a plurality of point cloud data are clustered to obtain at least one point cloud data set, each point cloud data set corresponds to a plane, and point cloud data in the same point cloud data set belong to the same plane.
In this embodiment, as an implementation manner, a RAndom SAmple Consensus (RAndom SAmple Consensus) algorithm may be adopted to cluster the plurality of point cloud data, the plurality of point cloud data are divided into at least one point cloud data group, each point cloud data group includes a plurality of point cloud data, the point cloud data in the same point cloud data group belong to the same plane, and at least one plane is finally obtained.
In sub-step S1012, a target plane is determined from at least one plane.
In this embodiment, the target plane is a plane over-directed by the laser radar to be detected to emit laser, and since the laser radar emits laser signals over-directed to the target plane, the laser signals of the target plane are more stable and clearer, and the angular resolution of the laser radar to be detected calculated based on the point cloud data of the target plane is more accurate. One implementation of determining the target plane may be:
firstly, calculating a normal vector of each plane;
in this embodiment, for any plane, the normal vector of any target point in the plane may be used as the normal vector of the plane, for any target point, two non-parallel vectors are constructed by using the neighboring point of the target point in the point cloud array of the plane, and the normal vector of the target point is determined according to the non-parallel vectors.
And secondly, determining a plane with the normal vector parallel to the X axis of the coordinate system of the laser radar to be detected as a target plane.
It should be noted that, the above is only one implementation manner of determining the target plane, and in fact, the target plane may also be determined by other manners such as pre-designation and random selection, for example, a plane is randomly selected from at least one plane as the target plane, and for example, a plane with more comprehensive point cloud data information is selected from at least one plane as the target plane.
In this embodiment, the coordinate system of the laser radar to be measured is an xyz three-dimensional coordinate system or an xy two-dimensional coordinate system established with the laser emission port of the laser radar to be measured as the origin of the coordinate system. Referring to fig. 6, fig. 6 is an exemplary diagram of a normal vector of a target plane according to an embodiment of the present invention, where x, y, and z of the coordinate system are shown in fig. 6, and the normal vector of the target plane is parallel to x.
And a substep S1013, determining a region in the preset selection frame in the target plane as a target region, and obtaining a point cloud array of the target region according to the point cloud data in the target region.
In this embodiment, the target area may be the same as an area in the preset selection frame, or may be a partial area in the preset selection frame, if an edge line of the target plane is not in the preset selection frame, at this time, the area in the preset selection frame is the target area, and if at least one edge line of the target plane is in the preset selection frame, at this time, an area where the area in the preset selection frame and the target plane are overlapped is the target area, please refer to fig. 7, fig. 7 is an exemplary diagram of the preset selection frame and the target area provided by the embodiment of the present invention, and in fig. 7, for the target plane 1, the target area is the same as the area in the preset selection frame, that is, an area with a slash background color exists in the target plane 1. For the target plane 2, the area inside the preset selection frame is an area inside a dashed line frame, and the target area is an area where the area inside the preset selection frame overlaps the target plane 2, that is, an area where a slash background exists in the target plane 2.
In this embodiment, the point cloud data of the target area includes coordinates of each point, and the point cloud data is arranged in sequence according to the coordinates of each point in the target area to obtain a point cloud array of the target area.
According to the method provided by the embodiment, the target area can be automatically determined according to the specified preset selection frame, so that the point cloud array of the target area is determined, the point cloud efficiency of the target area is improved, and the angular resolution test efficiency is improved.
Referring to fig. 8, fig. 8 is a third flowchart of a method for testing angular resolution according to an embodiment of the present invention, where step S103 includes the following sub-steps:
substep S103-10, obtaining the number of a plurality of reference points;
in this embodiment, the plurality of reference points include a first reference point and a second reference point located at end points of the same row or the same column, and when the plurality of reference points are located at the same row, the first reference point and the second reference point are reference points of two end points of the row, and when the plurality of reference points are located at the same column, the first reference point and the second reference point are reference points of two end points of the column, respectively.
And a substep S103-11 of calculating an angle value of an angle between a first line segment connecting the center position and the first reference point and a second line segment connecting the center position and the second reference point.
In this embodiment, please refer to fig. 9 for describing the angle value more clearly, fig. 9 is an exemplary diagram of the angle value provided by the embodiment of the present invention, in fig. 9, a first line segment is connected between a first reference point and a central position, a second line segment is connected between a second reference point and the central position, and the angle value between the first line segment and the second line segment is the angle value.
In this embodiment, the angle value may be calculated according to the coordinates of the first reference point, the coordinates of the second reference point, and the coordinates of the center position, for example, taking the reference points as the same column, the first reference point is the maximum value a of the y-axis coordinate of the reference point in the column, and the second reference point is the minimum value of the y-axis coordinate of the reference point in the columnAnd b is the value, the angle value is theta, and the calculation formula of the angle value is as follows:
and a substep S103-12 of calculating the angular resolution according to the angular value and the number of the plurality of reference points.
In this embodiment, angular resolution = angle value/number of reference points.
In the method provided by the embodiment, the angle value between the first line segment connected by the first reference point and the center position and the second line segment connected by the second reference point and the center position is utilized, so that the calculation mode of the angle value is simple and has higher reference value, and finally, the accuracy and the efficiency of the tested angular resolution are higher.
In an actual application scenario, a laser signal is difficult to fluctuate, and in order to eliminate the fluctuation interference as much as possible, the embodiment further uses a multi-frame point cloud array to calculate the angular resolution, please refer to fig. 10, fig. 10 is a flowchart of a fourth exemplary example of the angular resolution testing method provided by the embodiment of the present invention, and step S103 includes the following sub-steps:
and a substep S103-20, determining the corresponding angular resolution of each frame according to the central position of the laser radar to be detected and a plurality of reference points of the point cloud array of each frame.
In this embodiment, the point cloud array includes a plurality of frames of point cloud arrays, each frame of point cloud array includes a plurality of reference points located in the same row or the same column, and the angular resolution corresponding to each frame is described in detail in the above step S101, and the sub-steps S1010 to S1013, S102, S103, and the sub-steps S103-10 to S103-12, and is not described herein again.
And a substep S103-21, calculating the average value of the angular resolutions corresponding to all the frames to obtain the angular resolution of the laser radar to be detected.
In this embodiment, as an implementation manner, a frame number may be preset, for example, the frame number is 100 frames, a point cloud array of 100 frames is obtained, for each frame, a plurality of reference points in the point cloud array are used to calculate an angular resolution corresponding to the reference point, that is, each frame corresponds to one angular resolution, and then the angular resolutions of 100 frames are averaged to obtain the angular resolution of the laser radar to be detected, so that the influence of laser fluctuation on the angular resolution is reduced, and the accuracy of the angular resolution test is improved.
In this embodiment, in order to analyze the angular resolution more accurately so as to obtain the test data of the angular resolution of the laser radar to be tested with a higher reference value, and perform targeted optimization on the laser radar to be tested according to the test data, the embodiment further provides an implementation manner for analyzing the discrete degree of the angular resolution of multiple frames:
and calculating the variance of the angular resolution corresponding to all the frames so as to analyze the dispersion degree of the angular resolution corresponding to all the frames according to the variance.
It should be noted that, in order to facilitate the overall analysis of the test data, on the basis of the automatic test angular resolution provided in this embodiment, the angular resolution corresponding to each frame may be determined in real time, and the software library such as numpy is used to perform mathematical calculation and analysis, and the calculation result and the analysis result are sent to the terminal to be displayed, so that the tester can further analyze the calculation result and the analysis result. Data calculation and analysis includes, but is not limited to, calculating a mean or variance of the angular resolution for a preset number of frames, etc.
In order to perform the corresponding steps in the above embodiments and various possible embodiments, an implementation of the angular resolution testing apparatus is given below. Referring to fig. 11, fig. 11 is a block diagram illustrating an angular resolution testing apparatus 100 according to an embodiment of the invention. It should be noted that the basic principle and the resulting technical effect of the angular resolution testing apparatus 100 provided in this embodiment are the same as those of the above embodiments, and for the sake of brief description, no reference is made to this embodiment.
The angular resolution test apparatus 100 includes an acquisition module 110 and a determination module 120.
The obtaining module 110 is configured to obtain a point cloud array of a target area, where the point cloud array is obtained based on a laser signal emitted by a laser radar to be detected.
In an optional embodiment, the obtaining module 110 is specifically configured to: acquiring a plurality of point cloud data generated based on a laser signal emitted by a laser radar to be detected; clustering a plurality of point cloud data to obtain at least one point cloud data group, wherein each point cloud data group corresponds to one plane, and the point cloud data in the same point cloud data group belong to the same plane; determining a target plane from the at least one plane; and determining an area in the preset selection frame in the target plane as a target area, and obtaining a point cloud array of the target area according to the point cloud data in the target area.
In an alternative embodiment, the obtaining module 110 is specifically configured to, when configured to determine the target plane from the at least one plane: calculating a normal vector of each plane; and determining a plane with the normal vector parallel to the X axis of the coordinate system of the laser radar to be detected as a target plane.
A determining module 120, configured to determine a plurality of reference points from the point cloud array, where the plurality of reference points are located in the same row or the same column.
The determining module 120 is further configured to determine an angular resolution of the laser radar to be detected according to the central position of the laser radar to be detected and the plurality of reference points.
In an alternative embodiment, the multiple reference points include a first reference point and a second reference point located at end points of the same row or the same column, and the determining module 120 is specifically configured to: acquiring the number of a plurality of reference points; an angle value of an angle between a first line segment connecting the center position and the first reference point and a second line segment connecting the center position and the second reference point is calculated.
By utilizing the angle value between the first line segment connected by the first reference point and the central position and the second line segment connected by the second reference point and the central position, the calculation mode of the angle value is simple and has higher reference value, and finally, the accuracy and the efficiency of the tested angular resolution are higher.
In an alternative embodiment, the point cloud array includes a plurality of frames of point cloud arrays, each frame of point cloud array includes a plurality of reference points located in the same row or the same column, and the determining module 120 is further specifically configured to: determining the corresponding angular resolution of each frame according to the central position of the laser radar to be detected and a plurality of reference points of the point cloud array of each frame; and calculating the average value of the angular resolution corresponding to all the frames to obtain the angular resolution of the laser radar to be detected.
In an alternative embodiment, the determining module 120 is further configured to: and calculating the variance of the angular resolution corresponding to all the frames so as to analyze the dispersion degree of the angular resolution corresponding to all the frames according to the variance.
In an optional embodiment, in the angular resolution testing apparatus 100, if the plurality of reference points are located in the same column, the angular resolution of the laser radar to be tested is a horizontal angular resolution, and if the plurality of reference points are located in the same row, the angular resolution of the laser radar to be tested is a vertical angular resolution.
An embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the angular resolution testing method in the foregoing embodiments.
In summary, embodiments of the present invention provide a method and an apparatus for testing angular resolution, an electronic device, and a storage medium, where the method includes: acquiring a point cloud array of a target area, wherein the point cloud array is obtained based on a laser signal emitted by a laser radar to be detected; determining a plurality of reference points from the point cloud array, wherein the reference points are located in the same row or the same column; and determining the angular resolution of the laser radar to be detected according to the central position of the laser radar to be detected and the plurality of reference points. Compared with the prior art, the method and the device have the advantage that the angular resolution of the laser radar to be detected can be efficiently and accurately determined through the central position of the laser radar to be detected and the plurality of reference points determined from the point cloud array.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are also within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (13)
1. A method of angular resolution testing, the method comprising:
acquiring a point cloud array of a target area, wherein the point cloud array is obtained based on a laser signal emitted by a laser radar to be detected;
determining a plurality of reference points from the point cloud array, wherein the plurality of reference points are located in the same row or the same column;
and determining the angular resolution of the laser radar to be detected according to the central position of the laser radar to be detected and the reference points.
2. The method of claim 1, wherein the plurality of reference points comprise a first reference point and a second reference point located at end points of a same row or a same column, and the determining the angular resolution of the lidar under test based on the central position of the lidar under test and the plurality of reference points comprises:
acquiring the number of the reference points;
calculating an angle value of an included angle between a first line segment formed by connecting the center position and the first reference point and a second line segment formed by connecting the center position and the second reference point;
and calculating the angular resolution according to the angular value and the number of the reference points.
3. The angular resolution testing method of claim 1, wherein the step of acquiring the point cloud array of the target area comprises:
acquiring a plurality of point cloud data generated based on a laser signal emitted by the laser radar to be detected;
clustering the plurality of point cloud data to obtain at least one point cloud data set, wherein each point cloud data set corresponds to one plane, and the point cloud data in the same point cloud data set belong to the same plane;
determining a target plane from at least one of said planes;
determining an area in a preset selection frame in the target plane as the target area, and obtaining a point cloud array of the target area according to point cloud data in the target area.
4. The angular resolution testing method of claim 3, wherein said step of determining a target plane from at least one of said planes comprises:
calculating a normal vector of each of the planes;
and determining a plane parallel to the normal vector and the X axis of the coordinate system of the laser radar to be detected as the target plane.
5. The method of claim 1, wherein the point cloud array comprises a plurality of frames of point cloud arrays, each frame of point cloud array comprises a plurality of reference points located on a same row or a same column, and the step of determining the angular resolution of the lidar under test according to the central position of the lidar under test and the plurality of reference points comprises:
determining the angular resolution corresponding to each frame according to the central position of the laser radar to be detected and a plurality of reference points of the point cloud array of each frame;
and calculating the average value of the angular resolution corresponding to all the frames to obtain the angular resolution of the laser radar to be detected.
6. The angular resolution testing method of claim 5, wherein the step of calculating the average value of the angular resolution corresponding to all the frames to obtain the angular resolution of the lidar under test further comprises:
and calculating the variance of the angular resolution corresponding to all the frames so as to analyze the dispersion degree of the angular resolution corresponding to all the frames according to the variance.
7. The method according to claim 1, wherein the angular resolution of the lidar to be tested is a horizontal angular resolution if the plurality of reference points are located in a same column, and is a vertical angular resolution if the plurality of reference points are located in a same row.
8. An angular resolution testing apparatus, comprising:
the acquisition module is used for acquiring a point cloud array of a target area, wherein the point cloud array is obtained based on a laser signal emitted by a laser radar to be detected;
the determining module is used for determining a plurality of reference points from the point cloud array, wherein the reference points are positioned in the same row or the same column;
the determining module is further configured to determine the angular resolution of the laser radar to be detected according to the central position of the laser radar to be detected and the plurality of reference points.
9. The angular resolution testing apparatus of claim 8, wherein the plurality of reference points include a first reference point and a second reference point located at end points of a same row or a same column, and the determining module is specifically configured to:
acquiring the number of the reference points;
calculating an angle value of an included angle between a first line segment formed by connecting the center position and the first reference point and a second line segment formed by connecting the center position and the second reference point;
and calculating the angular resolution according to the angular value and the number of the reference points.
10. The angular resolution testing apparatus of claim 8, wherein the obtaining module is specifically configured to:
acquiring a plurality of point cloud data generated based on a laser signal emitted by the laser radar to be detected;
clustering the plurality of point cloud data to obtain at least one point cloud data set, wherein each point cloud data set corresponds to one plane, and the point cloud data in the same point cloud data set belong to the same plane;
determining a target plane from at least one of said planes;
determining an area in a preset selection frame in the target plane as the target area, and obtaining a point cloud array of the target area according to point cloud data in the target area.
11. The angular resolution testing apparatus of claim 8, wherein the point cloud array comprises a plurality of frames of point cloud arrays, each frame of point cloud array comprising a plurality of reference points located in a same row or a same column, the determining module is configured to:
determining the angular resolution corresponding to each frame according to the central position of the laser radar to be detected and a plurality of reference points of the point cloud array of each frame;
and calculating the average value of the angular resolution corresponding to all the frames to obtain the angular resolution of the laser radar to be detected.
12. An electronic device comprising a processor and a memory, the memory storing a program, the processor being configured to implement the angular resolution testing method of any one of claims 1-7 when the program is executed.
13. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the angular resolution testing method of any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211520597.3A CN115951335A (en) | 2022-11-29 | 2022-11-29 | Angle resolution testing method and device, electronic equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211520597.3A CN115951335A (en) | 2022-11-29 | 2022-11-29 | Angle resolution testing method and device, electronic equipment and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115951335A true CN115951335A (en) | 2023-04-11 |
Family
ID=87288189
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211520597.3A Pending CN115951335A (en) | 2022-11-29 | 2022-11-29 | Angle resolution testing method and device, electronic equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115951335A (en) |
-
2022
- 2022-11-29 CN CN202211520597.3A patent/CN115951335A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10497111B2 (en) | Information processing apparatus and method of selecting viewpoint for measuring object, and measuring system | |
| CN110176078B (en) | Method and device for labeling training set data | |
| CN114488099A (en) | Laser radar coefficient calibration method and device, electronic equipment and storage medium | |
| CN113704116A (en) | Data processing method, device, electronic equipment and medium for automatic driving vehicle | |
| CN111897660B (en) | Model deployment method, model deployment device and terminal equipment | |
| CN112558027A (en) | Radar verification method, device, equipment and storage medium | |
| CN111337910A (en) | Radar inspection method and device | |
| CN112985867B (en) | Steering engine testing method, device, equipment and storage medium | |
| CN115951335A (en) | Angle resolution testing method and device, electronic equipment and storage medium | |
| CN117252837A (en) | Data processing method and device for wafer test, medium and electronic equipment | |
| CN111815552A (en) | Workpiece detection method and device, readable storage medium and terminal equipment | |
| US11709192B2 (en) | Electromagnetic environment analysis system, electromagnetic environment analysis method, and non-transitory computer-readable medium | |
| CN114840101A (en) | Electromagnetic touch input method and device, electronic equipment and storage medium | |
| CN114545377A (en) | Laser radar calibration method and device | |
| CN110909668B (en) | Target detection method and device, computer readable storage medium and electronic equipment | |
| CN117437602B (en) | Dual-layer data calibration method, device, equipment and readable storage medium | |
| CN111880182A (en) | Meteorological environment data analysis method and system, storage medium and radar | |
| US20190328157A1 (en) | Inspection system, information collection apparatus, inspection method, information collection method, and non-transitory storage medium | |
| CN111062540A (en) | Reflector layout checking method, device, equipment and storage medium | |
| CN112287951B (en) | Data output method, device, medium and computing equipment based on image analysis | |
| CN113643358B (en) | External parameter calibration method, device, storage medium and system of camera | |
| CN111398961B (en) | Method and apparatus for detecting obstacles | |
| CN115830249B (en) | Three-dimensional scanning method, three-dimensional measuring method, three-dimensional scanning system and electronic device | |
| CN114998426B (en) | Robot ranging method and device | |
| CN117148295A (en) | Radar calibration visual verification method, radar calibration visual verification device, computer equipment and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |