CN109191516A - The rotation AA method, apparatus and readable storage medium storing program for executing of structure optical mode group - Google Patents
The rotation AA method, apparatus and readable storage medium storing program for executing of structure optical mode group Download PDFInfo
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- CN109191516A CN109191516A CN201810892884.4A CN201810892884A CN109191516A CN 109191516 A CN109191516 A CN 109191516A CN 201810892884 A CN201810892884 A CN 201810892884A CN 109191516 A CN109191516 A CN 109191516A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/13—Edge detection
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N9/00—Details of colour television systems
- H04N9/12—Picture reproducers
- H04N9/31—Projection devices for colour picture display, e.g. using electronic spatial light modulators [ESLM]
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/50—Depth or shape recovery
- G06T7/521—Depth or shape recovery from laser ranging, e.g. using interferometry; from the projection of structured light
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Abstract
The invention discloses a kind of rotation AA method, apparatus of structure optical mode group and readable storage medium storing program for executing.The rotation AA method of the structure optical mode group includes: step 1: the structured light projection device is projected structure light spot on projection plane, the structure light video camera head is obtained into structure light image to projection plane photographs, wherein, the photosurface of the light-emitting surface of the structured light projection device and the structure light video camera head is each parallel to the projection plane；Step 2: in the structure light image of acquisition, calculating the angle between an at least hot spot edge line for structure hot spot and the image border straight line of structure light image；Step 3: the fixed structured light projection device or structure light video camera head, the structure light video camera head or structured light projection device are adjusted according to calculated angle, corrects the relative rotation between the light-emitting axis of the structured light projection device and the entering light axis of the structure light video camera head.Rotation AA method can eliminate the optical axis relative rotation between structured light projection device and structure light video camera head in structure optical mode group.
Description
Technical field
The present invention relates to the rotation AA method, apparatus of structure optical arena more particularly to a kind of structure optical mode group and readable deposit
Storage media.
Background technique
As Apple Inc. uses structured light technique on mobile phone for the first time, made on intelligent terminal using structure optical mode group
Recognition of face, 3D sensing etc. will be the developing direction of mainstream.Structure optical mode group includes structured light projection device and structure light camera shooting
Head, the structured light projection device are used to project the structure light by coding to object, and the structure light video camera head is used for quilt
It takes the photograph object shooting and obtains structure light image, the image processor of rear end is again decoded structure light image according to image algorithm, obtains
To the depth information of object.
It theoretically, should be equal between the light-emitting axis of the structured light projection device and the entering light axis of the structure light video camera head
Row, but due to making tolerance and design error etc., inevitably there is tilt problem in the structure optical mode group, right
The tilt problem of structure optical mode group carries out after AA correction, it was found that there are Rotation, i.e., the hair of the described structured light projection device
There are an opposite rotation angles between optical axis and the entering light axis of the structure light video camera head.
Summary of the invention
In order to solve above-mentioned the deficiencies in the prior art, the present invention provides a kind of rotation AA method, apparatus of structure optical mode group
And readable storage medium storing program for executing.Rotation AA method can be eliminated between structured light projection device and structure light video camera head in structure optical mode group
Optical axis relative rotation.
The technical problems to be solved by the invention are achieved by the following technical programs:
A kind of rotation AA method of structure optical mode group, structure optical mode group includes structured light projection device and structure light video camera head, step
Include:
Step 1: the structured light projection device being projected into structure light spot on projection plane, by the structure light video camera head to projection
Plane photographs obtain structure light image, wherein the sense of the light-emitting surface of the structured light projection device and the structure light video camera head
Smooth surface is each parallel to the projection plane；
Step 2: in the structure light image of acquisition, calculating at least a hot spot edge line and the structure light image of structure hot spot
Image border straight line between angle；
Step 3: the fixed structured light projection device or structure light video camera head adjust the structure light according to calculated angle and take the photograph
As head or structured light projection device, correct between the light-emitting axis of the structured light projection device and the entering light axis of the structure light video camera head
Relative rotation.
Further, step 2 includes:
Step 2.1: calculating an at least hot spot edge line；
Step 2.2: according to a calculated at least hot spot edge line, calculating at least a hot spot edge line and image border
Angle between straight line.
Further, step 2.1 includes:
Step 2.1.1: binaryzation is carried out to structure light image, forms binary image；
Step 2.1.2: in binary image, at least two-value between binaryzation bright area and binaryzation dark areas is calculated
Change edge line, as hot spot edge line.
Further, step 2.1.1 includes:
Step 2.1.1.1: an at least value region is chosen on structure hot spot；
Step 2.1.1.2: according to all value regions chosen, average brightness is calculated；
Step 2.1.1.3: using calculated average brightness as threshold value, binaryzation is carried out to structure light image.
Further, in step 2.1.2, before calculating binaryzation edge line, first binaryzation bright area is carried out
Image expansion, then image completion is carried out to the interior zone of binaryzation bright area.
Further, it in step 2.1.2, before carrying out image completion to the interior zone of binaryzation bright area, first obtains
The interior zone of binaryzation bright area.
Further, the method for the interior zone of acquisition binaryzation bright area includes:
A. in binaryzation bright area, binaryzation bright spot farthest from from 0 grade of four sides up and down point diffraction respectively is calculated；
B. using where calculated binaryzation bright spot horizontal straight line and/or vertical straight line as frame, obtain binaryzation bright area
Interior zone.
Further, in step 2, to calculate an at least edge by edge detection algorithm and line detection algorithm straight
Line.
A kind of rotation AA device of structure optical mode group, the memory including processor and with processor electrical connection,
The computer program executed for the processor is stored in the memory, when the processor executes the computer program,
Carry out the step 2 in the rotation AA method of above-mentioned structure optical mode group.
A kind of readable storage medium storing program for executing, stores the computer program executed for processor, and the computer program is described
When processor executes, the step 2 in the rotation AA method of above-mentioned structure optical mode group is carried out.
The invention has the following beneficial effects: rotation AA methods by structure light image, calculating the structure light
Angle between the hot spot edge of spot and image border detects the structured light projection device and structure light in the structure optical mode group
Optical axis relative rotation angle between camera, with eliminate the structured light projection device light-emitting axis and the structure light video camera head
Entering light axis between relative rotation.
Detailed description of the invention
Fig. 1 is the step block diagram of the rotation AA method of structure optical mode group provided by the invention；
Fig. 2 is the schematic diagram of the detection platform of the rotation AA of structure optical mode group provided by the invention；
Fig. 3 is the schematic diagram for the structure light image that the shooting of structure light video camera head obtains；
Fig. 4 is the schematic diagram that an at least value region is chosen on structure hot spot；
Fig. 5 is the schematic diagram of the binary image after structure light image binaryzation；
Fig. 6 is the schematic diagram of the binary image after image expansion；
Fig. 7 is the schematic diagram of the binary image after image completion.
Specific embodiment
The present invention will be described in detail with reference to the accompanying drawings and examples.
Embodiment one
As shown in Figure 1, a kind of rotation AA method of structure optical mode group, structure optical mode group include structured light projection device 101 and structure
Light video camera head 102, step include:
Step 1: as shown in Fig. 2, the structured light projection device 101 is projected structure light spot 105 on projection plane 103, by institute
It states structure light video camera head 102 and obtains structure light image 104 as shown in Figure 3 to 103 photographs of projection plane, wherein the knot
The photosurface of the light-emitting surface of structure light projectors 101 and the structure light video camera head 102 is each parallel to the projection plane 103；
It should include an at least hot spot edge for the structure hot spot 105 in the step 1, in the structure light image 104 of acquisition,
The structure light video camera head 102 of FOV one big can be selected come the 101 composed structure optical mode group of structured light projection device of arranging in pairs or groups, institute
The FOV for stating structure light video camera head 102 is greater than the FOV of the structured light projection device 101, in the structure light image 104 described so just
It include the opposite at least two hot spot edges of the structure hot spot 105.Rotation AA device is for being connected to the structure light camera shooting
First 102, the structured light projection device is calculated by built-in rotation AA algorithm after reading the structure light image 104
Relative rotation angle between 101 light-emitting axis and the entering light axis of the structure light video camera head 102.
The projection plane 103 can be, but not limited to as projection screen, and the rotation AA device can be, but not limited to be a
People's computer.
Step 2: in the structure light image 104 of acquisition, calculate at least hot spot edge line of structure hot spot 105 with
Angle between the image border straight line of structure light image 104；
In the step 2, if the image border straight line of the hot spot edge line and selection that calculate is the same side or opposite side, two
Person theoretically should be parallel relation, angle is 0 °, if the image border straight line of the hot spot edge line and selection that calculate is adjacent
Side, then the two theoretically should be vertical relation, angle is 90 °.
The step 2 specifically includes:
Step 2.1: calculating an at least hot spot edge line；
In the step 2.1, an at least hot spot edge line is calculated by edge detection algorithm and line detection algorithm, specifically
, an at least hot spot edge for the structure hot spot 105 is first detected using edge detection algorithm, is then calculated by straight-line detection
Method carries out straight-line detection to the hot spot edge detected, then constant pixel distance is chosen near the hot spot edge line detected
Several bright spots be fitted, calculate glossing up edge line equation.The edge detection algorithm preferably uses canny operator,
The line detection algorithm preferably uses hough to convert.
The step 2.1 specifically includes:
Step 2.1.1: binaryzation is carried out to structure light image 104, forms binary image 104A as shown in Figure 5；
In binary conversion treatment, brightness value can be greater than threshold using the average brightness of whole structure light image 104 as threshold value
The brightness value of all pixels point of value is disposed as 255, forms binaryzation bright spot, and brightness value is less than all pixels point of threshold value
Brightness value is disposed as 0, forms binaryzation dim spot.Region in binary image 104A, where the structure hot spot 105 of script
It will form binaryzation bright area 105A, and a large amount of binaryzation phaeodiums be distributed with, the region outside the structure hot spot 105 of script will form
Binaryzation dark areas 105B.
In order to reduce the quantity of the binaryzation phaeodium in binaryzation bright area 105A, the essence that detection calculates edge line is improved
Degree, it is preferable that step 2.1.1 includes:
Step 2.1.1.1: as shown in figure 4, choosing an at least value region 106 on structure hot spot 105；
In step 2.1.1.1, the selection in value region 106 can be grasped on the rotation AA device by testing staff
It chooses, it can also be on the rotation AA device to the chosen position and choosing in the value region 106 with a structure light mould group
It takes size to be preset, is chosen automatically by the rotation AA device.
Value region 106 can be partially comprising the region outside the structure hot spot 105, but cannot only include the structure light
Region outside spot 105, and the chosen position in value region 106 is better closer to the edge of the structure hot spot 105.
Step 2.1.1.2: according to all value regions 106 chosen, average brightness is calculated；
In step 2.1.1.2, according to the brightness value of all pixels point in all value regions 106, it is average to calculate brightness
Value.
Step 2.1.1.3: using calculated average brightness as threshold value, binaryzation is carried out to structure light image 104.
Step 2.1.2: in binary image 104A, binaryzation bright area 105A and binaryzation dark areas 105B are calculated
Between an at least binaryzation edge line, as hot spot edge line.
Identical as hot spot edge line in step 2.1.2, binaryzation edge line is also to pass through edge detection algorithm
It is obtained with line detection algorithm.
Preferably, in step 2.1.2, before calculating binaryzation edge line, as shown in fig. 6, first to binaryzation
Bright area 105A carries out image expansion, as shown in fig. 7, carrying out image to the interior zone 105A1 of binaryzation bright area 105A again
Filling.
It is bright that image expansion can be such that the boundary between binaryzation bright area 105A and binaryzation dark areas 105B is more clear
Aobvious, image completion can remove most of binaryzation phaeodium in binaryzation bright area 105A, improve to binaryzation edge line
The precision of detection calculating is carried out, Fill Color can be white.
In step 2.1.2, before carrying out image completion to the interior zone 105A1 of binaryzation bright area 105A, first obtain
Take the interior zone 105A1 of binaryzation bright area 105A.
Specifically, the method for obtaining the interior zone 105A1 of binaryzation bright area 105A includes:
A. it in binaryzation bright area 105A, calculates bright from from 0 grade of the four sides up and down farthest binaryzation of point diffraction respectively
Point；
0 grade of point diffraction corresponds to 0 grade of diffraction grating of optical center of the structured light projection device 101, shows as the structure light
The maximum pixel of brightness value, can be, but not limited to before binaryzation in spot 105, first lead in the structure light image 104
Comparison brightness value or image binaryzation are crossed to find determination, this is not described in detail for existing algorithm.
Required binaryzation bright spot can be calculated by coordinate method and be obtained, specifically, as shown in fig. 7, in binary image
Rectangular coordinate system XY is established on 104A, the coordinate value of more each binaryzation bright spot calculates separately out the X of X value Yu 0 grade of point diffraction
Difference between difference between value minimum and maximum two binaryzation bright spots and Y value and the Y value of 0 grade of point diffraction is maximum
With the smallest two binaryzation bright spots, so that it may obtain the binaryzation bright spot farthest from from 0 grade of four sides up and down point diffraction.By
In same binaryzation bright spot either unilateral from 0 grade point diffraction is farthest, it is also possible to adjacent two sides from 0 grade point diffraction most
Far, therefore the quantity of finally obtained binaryzation bright spot is 2-4.
B. using where calculated binaryzation bright spot horizontal straight line and/or vertical straight line as frame, obtain binaryzation clear zone
The interior zone 105A1 of domain 105A.
Using from the vertical straight line where the farthest binaryzation bright spot of from 0 grade of left side point diffraction as left frame, will be from right side from 0
Vertical straight line where the farthest binaryzation bright spot of grade point diffraction is as left frame, the binaryzation farthest from 0 grade of point diffraction from upside
Horizontal straight line conduct of the horizontal straight line as upper side frame, where the binaryzation bright spot farthest from from 0 grade of downside point diffraction where bright spot
Lower frame obtains the interior zone 105A1.
Step 2.2: according to a calculated at least hot spot edge line, calculating at least a hot spot edge line and image
Angle between edge line.
Hot spot edge line in the step 2.2 is replaced with binaryzation edge line.
Step 3: the fixed structured light projection device 101 or structure light video camera head 102 adjust institute according to calculated angle
Structure light video camera head 102 or structured light projection device 101 are stated, the light-emitting axis and the structure of the structured light projection device 101 are corrected
Relative rotation between the entering light axis of light video camera head 102.
In the step 3, using the center light-emitting axis of the structured light projection device 101 as rotary shaft, the structure is rotated
Light projectors 101, alternatively, rotating the structure light using the center entering light axis of the structure light video camera head 102 as rotary shaft and taking the photograph
As head 102.
Rotation AA method is by structure light image 104, calculating the hot spot edge and image of the structure hot spot 105
Angle between edge detects between structured light projection device 101 and structure light video camera head 102 in the structure optical mode group
Optical axis relative rotation angle, to eliminate the light-emitting axis of the structured light projection device 101 and the entering light of the structure light video camera head 102
Relative rotation between axis.
Embodiment two
A kind of rotation AA device of structure optical mode group, the memory including processor and with processor electrical connection are described
The computer program executed for the processor is stored in memory, which is characterized in that the processor executes the computer
When program, the step 2 in the rotation AA method of structure optical mode group described in embodiment one is carried out.
Embodiment three
A kind of readable storage medium storing program for executing stores the computer program executed for processor, and the computer program is by the processing
When device executes, the step 2 in the rotation AA method of structure optical mode group described in embodiment one is carried out.
Embodiments of the present invention above described embodiment only expresses, the description thereof is more specific and detailed, but can not
Therefore limitations on the scope of the patent of the present invention are interpreted as, as long as skill obtained in the form of equivalent substitutions or equivalent transformations
Art scheme should all be fallen within the scope and spirit of the invention.
Claims (10)
1. a kind of rotation AA method of structure optical mode group, structure optical mode group includes structured light projection device and structure light video camera head,
It is characterized in that, step includes:
Step 1: the structured light projection device being projected into structure light spot on projection plane, by the structure light video camera head to projection
Plane photographs obtain structure light image, wherein the sense of the light-emitting surface of the structured light projection device and the structure light video camera head
Smooth surface is each parallel to the projection plane；
Step 2: in the structure light image of acquisition, calculating at least a hot spot edge line and the structure light image of structure hot spot
Image border straight line between angle；
Step 3: the fixed structured light projection device or structure light video camera head adjust the structure light according to calculated angle and take the photograph
As head or structured light projection device, correct between the light-emitting axis of the structured light projection device and the entering light axis of the structure light video camera head
Relative rotation.
2. the rotation AA method of structure optical mode group according to claim 1, which is characterized in that step 2 includes:
Step 2.1: calculating an at least hot spot edge line；
Step 2.2: according to a calculated at least hot spot edge line, calculating at least a hot spot edge line and image border
Angle between straight line.
3. the rotation AA method of structure optical mode group according to claim 2, which is characterized in that step 2.1 includes:
Step 2.1.1: binaryzation is carried out to structure light image, forms binary image；
Step 2.1.2: in binary image, at least two-value between binaryzation bright area and binaryzation dark areas is calculated
Change edge line, as hot spot edge line.
4. the rotation AA method of structure optical mode group according to claim 3, which is characterized in that step 2.1 includes:
Step 2.1.1.1: an at least value region is chosen on structure hot spot；
Step 2.1.1.2: according to all value regions chosen, average brightness is calculated；
Step 2.1.1.3: using calculated average brightness as threshold value, binaryzation is carried out to structure light image.
5. the rotation AA method of structure optical mode group according to claim 3 or 4, which is characterized in that in step 2.1.2,
Before calculating binaryzation edge line, image expansion, then the inside to binaryzation bright area first are carried out to binaryzation bright area
Region carries out image completion.
6. the rotation AA method of structure optical mode group according to claim 5, which is characterized in that in step 2.1.2, to two
Before the interior zone of value bright area carries out image completion, the interior zone of binaryzation bright area is first obtained.
7. the rotation AA method of structure optical mode group according to claim 5, which is characterized in that obtain binaryzation bright area
The method of interior zone includes:
A. in binaryzation bright area, binaryzation bright spot farthest from from 0 grade of four sides up and down point diffraction respectively is calculated；
B. using where calculated binaryzation bright spot horizontal straight line and/or vertical straight line as frame, obtain binaryzation bright area
Interior zone.
8. the rotation AA method of structure optical mode group according to claim 1 to 3, which is characterized in that in step 2,
An at least edge line is calculated by edge detection algorithm and line detection algorithm.
9. a kind of rotation AA device of structure optical mode group, the memory including processor and with processor electrical connection, institute
State the computer program for storing in memory and executing for the processor, which is characterized in that the processor executes the calculating
When machine program, the step 2 in the rotation AA method of structure optical mode group described in any one of claims 1-8 is carried out.
10. a kind of readable storage medium storing program for executing stores the computer program executed for processor, which is characterized in that the computer
When program is executed by the processor, carry out in the rotation AA method of structure optical mode group described in any one of claims 1-8
Step 2.
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| CN112198669A (en) * | 2019-07-08 | 2021-01-08 | 三赢科技（深圳）有限公司 | Structured light projection module, depth camera and electronic device |
| CN113315897A (en) * | 2021-05-20 | 2021-08-27 | 江西欧迈斯微电子有限公司 | AA method, test scale, AA equipment, camera module and electronic equipment |
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