CN108429908A - A kind of test method of camera module, device, equipment and medium - Google Patents
A kind of test method of camera module, device, equipment and medium Download PDFInfo
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- CN108429908A CN108429908A CN201810623938.7A CN201810623938A CN108429908A CN 108429908 A CN108429908 A CN 108429908A CN 201810623938 A CN201810623938 A CN 201810623938A CN 108429908 A CN108429908 A CN 108429908A
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Abstract
The present invention discloses a kind of test method of camera module, device, equipment and medium, method：By the first image of camera module photographic subjects figure, plane where target figure is parallel with the sensor surface of camera module, and the first image includes the first imaging point of the target point on target figure；Camera module is rotated into predetermined angle；The second image of target figure is obtained by postrotational shooting module shooting, the second image includes the second imaging point of the target point on target figure；According to the position of position and the second imaging point on the second image of the first imaging point on the first image, the optical axis of the lens of camera module and the angle of Pivot axle are determined.Whether method, apparatus, equipment and medium provided by the invention are difficult to accurately judge the lens axis of camera module perpendicular to sensor surface to solve manual-alignment in the prior art, the low problem of existing alignment precision realizes the technique effect for improving alignment precision.
Description
Technical field
The present invention relates to camera technology field more particularly to a kind of test method of camera module, device, equipment and Jie
Matter.
Background technology
The optical axis of lens and the vertical extent of sensor surface are to evaluate the weight of camera module quality in camera module
Want factor.Especially for dual camera or multi-cam module, the lens axis of each camera module needs stringent put down
Row, and the parallel of optical axis is realized often by the vertical of the lens axis for ensureing single camera and sensor surface,
If can ensure, the optical axis of single camera and sensor surface are vertical as far as possible, it will be able to improve the optical axis of camera module
The depth of parallelism.
Currently, ensure the lens axis of single camera and as the vertical as possible method of sensor surface mainly by
Manual-alignment installation is carried out during mounted lens to realize, however the error of manual-alignment is larger, it is difficult to accurate to judge thoroughly
Whether perpendicular to sensor surface, alignment precision is very low for mirror optical axis.
As it can be seen that whether manual-alignment in the prior art is difficult to accurately judge the lens axis of camera module perpendicular to sensing
Device surface has that alignment precision is low.
Invention content
In view of the above problems, it is proposed that the present invention overcoming the above problem in order to provide one kind or solves at least partly
State test method, device, equipment and the medium of the camera module of problem.
In a first aspect, a kind of test method of camera module, including：
The first image for obtaining target figure is shot by the camera module, plane where the target figure and the camera shooting
The sensor surface of module is parallel, and described first image includes the first imaging point, and first imaging point is the mesh on target figure
Imaging of the punctuate in described first image；
The camera module is rotated preset angle by the normal for crossing central point using the sensor surface as Pivot axle
Degree；
The second image of the target figure is obtained by the postrotational shooting module shooting, second image includes
Second imaging point, second imaging point are imaging of the target point on second image；
According to position of first imaging point in described first image and second imaging point in second figure
As upper position, the angle of the optical axis and the Pivot axle of the lens of the camera module is determined.
Optionally, the predetermined angle is 180 degree.
Optionally, the position according to first imaging point in described first image and second imaging point are described
Position on second image determines the angle of the optical axis and the Pivot axle of the lens of the camera module, including：According to
Position and second imaging point position on second image of first imaging point in described first image,
Determine the position of virtual point；Wherein, the virtual point is when assuming that the optical axis and the angle of the Pivot axle are 0,
Imaging point of the target point in described first image or on second image；According to the position of the virtual point, really
Make the angle of the optical axis and the Pivot axle.
Optionally, when the predetermined angle is 180 degree, according to position of first imaging point in described first image
It sets and position of second imaging point on second image, determines the position of virtual point, including：According to described
Position of two imaging points on second image, determines position of second mirror point in described first image, wherein institute
State position coordinates of second imaging point on second image and position of second mirror point in described first image
Coordinate is identical；According to second mirror point, the second symmetric points are determined in described first image；Second symmetric points and institute
State central symmetry of second mirror point based on described first image；With the midpoint of second symmetric points and first imaging point
As the virtual point；Alternatively, the position according to first imaging point in described first image, determines the first mirror point
Position on second image, wherein position coordinates of first imaging point in described first image and described the
Position coordinates of one mirror point on second image are identical；According to first mirror point, on second image really
Fixed first symmetric points；First symmetric points and central symmetry of first mirror point based on second image；With described
The midpoint of first symmetric points and second imaging point is as the virtual point.
Optionally, when the predetermined angle is 180 degree, according to position of first imaging point in described first image
It sets and position of second imaging point on second image, determines the position of virtual point, including：According to described
Position of two imaging points on second image, determines position of second mirror point in described first image, wherein institute
State position coordinates of second imaging point on second image and position of second mirror point in described first image
Coordinate is identical；Primary vector adds secondary vector, obtains third vector, wherein the starting point of the primary vector is described first
The terminal at the midpoint of image, the primary vector is first imaging point, and the starting point of the secondary vector is second mirror
Picture point, the terminal of the secondary vector are the midpoint of described first image, and the starting point of the third vector is described first image
Midpoint；Using the midpoint between the midpoint of described first image and the terminal of third vector as the virtual point；Alternatively,
According to position of first imaging point in described first image, position of first mirror point on second image is determined
It sets, wherein position coordinates of first imaging point in described first image are with first mirror point in second figure
As upper position coordinates are identical；4th vector obtains six-way amount plus the 5th vector, wherein the starting point of the 4th vector
Terminal for the midpoint of second image, the 4th vector is second imaging point, and the starting point of the 5th vector is
The terminal of first mirror point, the 5th vector is the midpoint of second image, and the starting point of the six-way amount is institute
State the midpoint of the second image；Using the midpoint between the midpoint and the terminal of the six-way amount of second image as the void
Quasi- point.
Optionally, when the virtual point is the first virtual point that the target point is imaged in described first image, institute
The position according to the virtual point is stated, determines the angle of the optical axis and the Pivot axle, including：According to described first
The position of the position of first virtual point and first imaging point, determines the optical axis and the rotation center on image
The angle of axis；When the virtual point is the second virtual point that the target point is imaged on second image, the basis
The angle of the optical axis and the Pivot axle is determined in the position of the virtual point, including：According on second image
The position of the position of second virtual point and second imaging point, determines the folder of the optical axis and the Pivot axle
Angle.
Optionally, according to the position of the position of first virtual point and first imaging point in described first image,
Determine the angle of the optical axis and the Pivot axle, including：According to first virtual point in described first image
The position of position and first imaging point determines the pixel number being spaced between first virtual point and first imaging point
Amount；According to the effective focal length of the pixel quantity, the sensor corresponding Pixel Dimensions and the lens, the light is determined
The angle of axis and the central shaft；According to the position of second virtual point on second image and second imaging point
The angle of the optical axis and the Pivot axle is determined in position, including：It is virtual according on second image described second
The position of the position and second imaging point of point, determines the picture being spaced between second virtual point and second imaging point
Prime number amount；According to the effective focal length of the pixel quantity, the sensor corresponding Pixel Dimensions and the lens, institute is determined
State the angle of optical axis and the central shaft.
Optionally, when the pixel quantity include in the X-axis direction first virtual point and first imaging point it
Between the pixel quantity Δ x that is spaced, and the pixel that is spaced between first virtual point and first imaging point in the Y-axis direction
When amount Δ y, according to the effective focal length of the pixel quantity, the sensor corresponding Pixel Dimensions and the lens, determine
Go out the angle of the optical axis and the central shaft, including：According to formula θ x=arctan (Δ x*p/EFL), determine in shooting institute
When stating the first image, the optical axis and the X-axis angle value θ x in the projection of angle to X-axis of the central shaft；According to formula θ y=
Arctan (Δ y*p/EFL) determines when shoot described first image, the projection of angle of the optical axis and the central shaft to Y
Y-axis angle value θ y on axis, wherein p is the corresponding Pixel Dimensions of the sensor, and EFL is the effective focal length of the lens；When
The pixel quantity includes the pixel quantity Δ being spaced between second virtual point and second imaging point in the X-axis direction
X ', and be spaced between second virtual point and second imaging point in the Y-axis direction pixel quantity Δ y ' when, according to institute
The effective focal length for stating pixel quantity, the sensor corresponding Pixel Dimensions and the lens, determine the optical axis with it is described
The angle of central shaft, including：According to formula θ x '=arctan (Δ x ' * p/EFL), determine when shooting second image, institute
State optical axis and the X-axis angle value θ x ' in the projection of angle to X-axis of the central shaft；According to formula θ y '=arctan (Δ y ' * p/
EFL), determine when shooting second image, the optical axis and the Y-axis angle in the projection of angle to Y-axis of the central shaft
Value θ y ', wherein p is the corresponding Pixel Dimensions of the sensor, and EFL is the effective focal length of the lens.
Second aspect provides a kind of test device of camera module, including：
First taking module, for shooting the first image for obtaining target figure, the target figure by the camera module
Place plane is parallel with the sensor surface of the camera module, and described first image includes the first imaging point, the first one-tenth described
Picture point is imaging of the target point in described first image on target figure；
Rotary module, for crossing the normal of central point using the sensor surface as Pivot axle, by the camera shooting mould
Group rotation predetermined angle；
Second taking module, the second figure for obtaining the target figure by the postrotational shooting module shooting
Picture, second image include the second imaging point, second imaging point be the target point on second image at
Picture；
Determining module is used for the position in described first image and second imaging point according to first imaging point
Position on second image determines the angle of the optical axis and the Pivot axle of the lens of the camera module.
The third aspect, provides a kind of electronic equipment, including memory, processor and storage on a memory and can handled
The computer program run on device, the processor realize the either a program in first aspect when executing described program.
Fourth aspect provides a kind of computer readable storage medium, is stored thereon with computer program, which is handled
The either a program in first aspect is realized when device executes.
The technical solution provided in the embodiment of the present invention, has at least the following technical effects or advantages：
Test method, device, equipment and the medium of camera module provided in an embodiment of the present invention, setting target figure with it is described
The sensor surface of camera module is parallel, and first shooting obtains the first image of target figure, then with the center of the sensor surface
Axis is after axle center rotates the camera module predetermined angle, and shooting obtains the second image of the target figure, and makes the two width figure
Imaging point as including target point on the target figure, with by the target point in the front and back two images of rotation
The position of imaging point accurately determines the angle of the lens axis of the camera module and the central shaft of the sensor surface, from
And the relative position of the lens and the sensor surface can be targetedly readjusted according to determining angle, raising pair
Quasi- precision is low, and then improves the assembly qualified rate of camera module.
Above description is only the general introduction of technical solution of the present invention, in order to better understand the technical means of the present invention,
And can be implemented in accordance with the contents of the specification, and in order to allow above and other objects of the present invention, feature and advantage can
It is clearer and more comprehensible, below the special specific implementation mode for lifting the present invention.
Description of the drawings
By reading the detailed description of hereafter preferred embodiment, various other advantages and benefit are common for this field
Technical staff will become clear.Attached drawing only for the purpose of illustrating preferred embodiments, and is not considered as to the present invention
Limitation.And throughout the drawings, the same reference numbers will be used to refer to the same parts.In the accompanying drawings：
Fig. 1 is the flow chart of the test method of camera module in the embodiment of the present invention；
Fig. 2 is the schematic diagram of the test method of camera module in the embodiment of the present invention；
Fig. 3 is the schematic diagram of the first image in the embodiment of the present invention；
Fig. 4 is the schematic diagram of the second image in the embodiment of the present invention；
Fig. 5 is the structural schematic diagram of device in the embodiment of the present invention；
Fig. 6 is the structural schematic diagram of electronic equipment in the embodiment of the present invention；
Fig. 7 is the structural schematic diagram of storage medium in the embodiment of the present invention；
Fig. 8 is lens axis and angle and offset direction of the Pivot axle in three dimensions in the embodiment of the present invention
Schematic diagram.
Specific implementation mode
The exemplary embodiment of the disclosure is more fully described below with reference to accompanying drawings.Although showing the disclosure in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
It is limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
Completely it is communicated to those skilled in the art.
Embodiment one
A kind of test method of camera module is present embodiments provided, referring to FIG. 1, Fig. 1 is to be taken the photograph in the embodiment of the present invention
As the flow chart of the test method of module, including：
Step S101 shoots the first image for obtaining target figure by camera module, plane where target figure and the camera shooting
The sensor surface of module is parallel, and the first image includes the first imaging point, which is that the target point on target figure exists
Imaging on first image；
Step S102, the normal for crossing central point using sensor surface rotate the camera module default as Pivot axle
Angle；
Step S103 obtains the second image of target figure by postrotational shooting module shooting, and the second image includes mesh
Second imaging point of punctuate, second imaging point are imaging of the target point on the second image；
Step S104, according to the position of position and the second imaging point on the second image of the first imaging point on the first image
It sets, determines the optical axis of the lens of camera module and the angle of Pivot axle.
It should be noted that the method that the present embodiment is provided can be implemented by pre-set test device, it should
Test device can be with as shown in Fig. 2, 1 place planes of goal-selling Figure 20 be parallel with the sensor surface 202 of camera module, camera shooting
The lens 203 of module are labeled with target point between target Figure 20 1 and sensor surface 202 on target Figure 20 1.Specific
In implementation process, camera module can be set and be placed on a rotatable platform, by the way that camera module base and target figure is arranged
201 it is parallel ensure that target Figure 20 1 is parallel with sensor surface 202, and the normal that sensor surface 202 crosses central point is set
With the rotation center overlapping of axles of rotating platform.It is of course also possible to camera module is set in a rotary shaft, sensor surface
The normal and rotation overlapping of axles of central point are crossed, this is not restricted.
Before introducing specific implementation step, optical axis and sensor surface central shaft that the present embodiment determines lens are first introduced
The principle of angle：
Ensure sensor surface it is parallel with target figure on the basis of, if the optical axis of lens not with Pivot axle weight
It closes, is then deposited between the crosspoint that the crosspoint that the optical axis of lens generates on target figure and Pivot axle generate on target figure
In departure, according to the departure, during target figure can determine that optical axis and rotate at a distance from sensor, in conjunction with trigonometric function
The angle of mandrel.
In the following, the specific implementation step of the test method of camera module provided in this embodiment is discussed in detail in conjunction with Fig. 1 and Fig. 2
Suddenly：
First, step S101 is executed, the first image for obtaining target figure is shot by camera module, it is flat where the target figure
Face is parallel with the sensor surface of camera module, and the first image includes the first imaging point, which is on target figure
The imaging of target point on the first image.
In the embodiment of the present application, it is contemplated that the angle of lens axis and sensor surface central shaft is often smaller, is
Improve the accuracy of determining angle, the area of the target point of label need it is small as possible so that target point is on the first image
The size of first imaging point of imaging is close to a pixel.
Then, step S102 is executed, the normal for crossing central point using sensor surface revolves camera module as Pivot axle
Turn predetermined angle.
It in specific implementation process, needs that accurate rotating device is arranged, to ensure that camera module can be with sensor surface
The normal for crossing center is that Pivot axle is rotated.
For singly taking the photograph module, in view of camera module processing accuracy, can using the central shaft of camera module base as
The central shaft of sensor surface, further, it is contemplated that the diversity of pedestal form Design can also be molded in camera module base
When, sensor surface center corresponding position on pedestal is measured in advance, it is then corresponding in the setting in this position of pedestal
Alignment mark, follow-up when carrying out camera module test, center using the alignment mark as sensor surfaces is directed at rotation center
Axis.
For taking the photograph module, the sensor surface center of each module corresponding position on pedestal can be measured in advance more
It sets, corresponding alignment mark is then correspondingly arranged on the pedestal of each module, when subsequently carrying out camera module test, Mei Gemo
Center using the alignment mark on its pedestal as sensor surfaces is directed at Pivot axle to group respectively.
In the embodiment of the present application, the predetermined angle can be 30 degree, 45 degree, 90 degree, 180 degree, 270 degree, 310 degree etc.
Arbitrary predetermined angle, this is not restricted.
Further, it is contemplated that when the predetermined angle is 180 degree, merely since the aiming spot that rotation generates changes
Component can be easy to obtain by central symmetry principle, in follow-up calculate, can concentrate on consideration merely due to light shaft offset
Caused aiming spot change component, subsequent angle determination of being more convenient for, the calculation amount of reduction angle determination that can be larger,
Therefore it is preferred that the predetermined angle is 180 degree.
Next, executing step S103, the second image of the target figure is obtained by postrotational shooting module shooting,
Second image includes the second imaging point of target point.
In the embodiment of the present application, the first imaging point is the image for the target point that shooting obtains before shooting module rotation, the
Two imaging points are the image for the target point that acquisition is shot after shooting module rotation.
For example：
Assuming that be labeled with target point A on target figure in advance, camera module obtains shown in Fig. 3 the by step S101 shootings
One image, the first imaging point P1 on the first image is the imaging points of target point A on the first image；According still further to step S102
The camera module is rotated, is then shot according to step S103 and obtains the second image shown in Fig. 4, the second one-tenth on the second image
Picture point P2 is imaging points of the target point A on the second image.
Subsequently, step S104 is executed, according to first imaging point position on the first image and the second imaging point
Position on second image, determines the optical axis of the lens of camera module and the angle of central shaft.
It specifically, can be using any image in the first image and the second image as benchmark image, by another width figure
As the imaging point of upper target point corresponds in benchmark image, to calculate the angle of emergent shaft and Pivot axle, below with
For benchmark image is respectively the first image and the second image, to be described in detail：
The first, the image on the basis of described first image.
It needs first according to first imaging point position on the first image and the second imaging point on the second image
Determine the position of the first virtual point on the first image in position, wherein the first virtual point is to assume optical axis and Pivot axle
Angle when being 0, the point that target point is imaged on the first image；Further according to the position and first of the first virtual point on the first image
The position of imaging point determines the angle of emergent shaft and Pivot axle.
The specific calculating side of the method for determination and optical axis and the angle of Pivot axle of the first virtual point is introduced separately below
Method.
In specific implementation process, the predetermined angle of camera module rotation is different, it is determined that the method for virtual point also not phase
Together, herein by taking predetermined angle is 180 degree as an example, the method determining virtual point is discussed in detail：
For the method for determination of the first virtual point, determine that principle is：It is deviated when optical axis exists relative to Pivot axle
When, lens axis and the postrotational lens axis of 180 degree before 180 degree rotation are that be based on rotation center axisymmetric.Only with saturating
For the position of mirror in three dimensions, it is assumed that the position before lens rotation is first position, and position after rotating is the
Two positions.If lens are adjustable, in the case where sensing station is constant, lens are adjusted from first position to the second position,
Then at this time since the change in location component that 180 degree rotation generates will not exist, adjust front and back target point on a sensor
Two imaging points should be based on the described first virtual point symmetry, and the position difference between two imaging points is since light shaft offset is produced
Raw change in location component.And as previously described, because the change in location component that rotation generates can when rotation angle is 180 degree
To be obtained by central symmetry principle.When the position for merging the change in location component for considering light shaft offset and 180 degree rotation generation becomes
When changing component, it is assumed that the mirror point of the second imaging point on the first image is the second mirror point, i.e., the second mirror point is in the first figure
As upper relative position is identical as relative position of second imaging point on the second image.Second symmetric points are that the second mirror point exists
Central symmetry point on first image.It is symmetrical about the first virtual point then between same first imaging point of the second symmetric points.Therefore
Only require to obtain the second symmetric points position, the midpoint of line is the first virtual point between the first imaging point.
The method of determination of first virtual point is illustrated with reference to Fig. 3 and Fig. 4：
First determine positions of the first symmetric points S1 on second image.Specifically, first being existed according to the second imaging point P2
The positions of the second mirror point M2 on the first image are determined, wherein the second imaging point P2 exists in position on second image
Position coordinates on second image are identical as the position coordinates of the second mirror point M2 on the first image.Then, according to the second mirror
Picture point M2 determines the second symmetric points S2 on the first image；Second mirror point M2 and the second symmetric points S2 is based on first figure
The central symmetry of picture；
Then, virtual about first in view of the second symmetric points S2 and the first imaging point P1 as principle above illustrates
Point V1 is symmetrical arranged, therefore using the midpoint of the second symmetric points S2 and the first imaging point P1 as the first virtual point V1.
It will be appreciated by those of ordinary skill in the art that in a particular embodiment, can also be become by simple flow sequence
It changes, first finds out central symmetry points of the second imaging point P2 on the second image, the mirror image of central symmetry point on the first image
Point is the second symmetric points S2.
Certainly, in specific implementation process, the first virtual point can also be determined using other modes, for example, please referring to Fig.3
And Fig. 4, first the position according to the second imaging point P2 on the second image, determines the positions of the second mirror point M2 on the first image
It sets；Then, using the central point O1 of the first image as starting point, the first imaging point P1 is terminal, as primary vector O1P1, with second
Mirror point M2 is starting point, and the central point O1 of the first image is terminal, as secondary vector M2O1；By vector operation first to
It measures and adds secondary vector M2O1 on O1P1, third vector O1O2 ' is obtained, in the terminal O2 ' and the first image of third vector
As the first virtual point V1, this is not restricted, also will not enumerate at midpoint between heart point O1.
For the circular of the angle of optical axis and Pivot axle, Computing Principle is：According to the first virtual point
Position and the position of the first imaging point can determine lens axis and Pivot axle (such as the sensor institute in given plane
In plane) deviation, according to the deviation and the given plane at a distance from optical center of lens, you can determined by tangent relationship
The angle of emergent shaft and Pivot axle.
Specifically, lens axis given plane intersection point and Pivot axle between the intersection point of given plane deviation
Distance, be equal to assume to give plane to lens centre distance be equal to imaging plane to lens centre apart from when it is first virtual
The distance between point and the first imaging point.
It in the embodiment of the present application, can be according to biography if calculating the angle so that sensor surface is given plane
The corresponding Pixel Dimensions of sensor accurately determine lens axis and the deviation of Pivot axle on the sensor surface, to carry
High computational accuracy.The method for calculating the angle with reference to Fig. 2 introductions with sensor surface is given plane：
First determine the pixel quantity Δ x being spaced between the virtual point V1 and the first imaging point P1 described in the X-axis direction, and
The pixel quantity Δ y being spaced between the first virtual point V1 and the first imaging point P1 in the Y-axis direction, wherein first is virtual
The coordinate of pixel V1 is (x, y), and the coordinate of the first imaging point P1 is (x1, y1), Δ x=x1-x, Δ y=y1-y, wherein is sat
Mark be the coordinate recorded by pixel quantity, X-axis and Y-axis for sensor surface random two-dimensional reference axis in the plane, with
Convenient for determining the specific offset direction of lens axis in solid space；
Then, it according to formula θ x=arctan (Δ x*p/EFL), determines when shooting the first image, in optical axis and rotation
The projection of angle of mandrel to X-axis X-axis angle value θ x in the plane determined according to formula θ y=arctan (Δ y*p/EFL)
When shooting the first image, the projection of angle of optical axis and Pivot axle to Y-axis Y-axis angle value θ y in the plane, wherein
P is the corresponding Pixel Dimensions of sensor, and EFL is the effective focal length of lens.In specific implementation process, when camera assembly assembles
It is EFL at a distance from sensor surface that optical center of lens, which can be arranged, i.e. EFL is optical center of lens at a distance from sensor surface.
As shown in figure 8, calculated θ x and θ y characterize lens axis 801 and Pivot axle 802 in three dimensions
Angle and offset direction.
It certainly, can also be by by an image and the second image magnification and target figure etc. in specific implementation process
After ratio, the angle is calculated so that plane where target figure is given plane, at this point, lens axis and central shaft are in sensor sheet
Deviation on face can be obtained by preset physical coordinates, it is preferred that it is identified with physical coordinates on target figure, it can
Directly to go out corresponding position according to image recognition.Target figure can also measure acquisition at a distance from lens, then same based on just
It cuts relationship and can determine the lens axis and angle and offset direction of the central shaft in three dimensions, do not limit herein
System, also will not enumerate.
Second, the image on the basis of the second image.
Need the position of position and the second imaging point on the second image first according to the first imaging point on the first image
It sets, determines position of second virtual point on the second image, wherein the second virtual point is to assume optical axis and Pivot axle
When angle is 0, point that target point is imaged on the second image；Then, according to the position of the second virtual point on the second image and
The location determination of two imaging points goes out the angle of the optical axis and the central shaft.
By taking predetermined angle is 180 degree as an example, the specific method for determining the second virtual point is：According to the first imaging point first
Determine position of first mirror point on the second image in position on image, wherein the first imaging point is on the first image
Position coordinates are identical as position coordinates of first mirror point on the second image；Then, according to the first mirror point, in the second image
The first symmetric points of upper determination；The central symmetry of first symmetric points and the first mirror point based on the second image；Again with the first symmetric points
Midpoint with the second imaging point is as the second virtual point.
Determine the principle and step base of the method for the second virtual point and the aforementioned method that the first virtual point is determined in the first
This is identical, in order to illustrate the succinct of book, is not repeated herein.
Specifically the method for calculating optical axis and the angle of Pivot axle is：According to the position of the second virtual point on the second image
With the position of the second imaging point, the pixel number being spaced between the second virtual point and second imaging point in the X-axis direction is determined
Δ x ' is measured, and the pixel quantity Δ y ' being spaced between the second virtual point and second imaging point in the Y-axis direction；Further according to public affairs
Formula θ x '=arctan (Δ x ' * p/EFL) determine when shooting the second image, the projection of angle of optical axis and Pivot axle to X
X-axis angle value θ x ' on axis；According to formula θ y '=arctan (Δ y ' * p/EFL), determine when shooting the second image, optical axis
With the Y-axis angle value θ y ' in the projection of angle to Y-axis of Pivot axle, wherein p is the corresponding Pixel Dimensions of sensor, EFL
For the effective focal length of lens.
The principle and step of the method for calculating angle and the method for aforementioned calculating angle in the first are essentially identical, in order to say
Bright book it is succinct, be not repeated herein.
In specific implementation process, when rotation angle is the other angles except 180 degree, above-mentioned principle can also be used, with
The imaging point of target point on another piece image is corresponded in benchmark image as benchmark image, determines vacation by piece image
If lens axis and the angle of Pivot axle are 0, the virtual point that target point is imaged on benchmark image, to calculate
Mirror optical axis determines optical axis and rotation in the deviation with the intersection point of given plane and Pivot axle and the intersection point of given plane
Turn the angle of central shaft, this is not restricted.
After describing specific implementation step provided in this embodiment, for the ease of understanding the detailed of the present embodiment on the whole
It is thin to execute step, below using the rotation angle as 180 degree, on the basis of second image for image, come in conjunction with Fig. 3, Fig. 4
Completely illustrate this method：
First, the first image of Fig. 3 and the second image of Fig. 4 are obtained according to step S101- steps S103, on the first image
There is the first imaging point P1, has the second imaging point P2 on the second image；
Then, with specific reference to the first imaging point P1, positions of the first mirror point M1 on the second image is determined.Further according to
First mirror point M1 determines the first symmetric points S1 on the second image；
Using the midpoint of the first symmetric points S1 and the second imaging point P2 as the second virtual point V2；
Then, it is given plane with sensor surface, first determines the second virtual point V2 described in the X-axis direction and the second one-tenth
The pixel quantity Δ x ' being spaced between picture point P2, and in the Y-axis direction between the second virtual point V2 and the second imaging point P2
The pixel quantity Δ y ' at interval, wherein the coordinate of the second virtual point V2 is (x ', y '), the coordinate of the second imaging point P2 be (x2,
Y2), Δ x '=x2-x ', Δ y '=y2-y ', wherein coordinate is the coordinate recorded by pixel quantity, and X-axis and Y-axis are sensing
Device surface random two-dimensional reference axis in the plane；
Next, according to formula θ x '=arctan (Δ x ' * p/EFL), determine when shooting the second image, optical axis and rotation
Turn the projection of angle of central shaft to X-axis X-axis angle value θ x ' in the plane, according to formula θ y '=arctan (Δ y ' * p/
EFL), determine when shooting the second image, the projection of angle of optical axis and Pivot axle to Y-axis Y-axis angle in the plane
Value θ y ', wherein p is the corresponding Pixel Dimensions of sensor, and EFL is the effective focal length of lens.
Specifically, mesh is arranged in the test method of camera module provided in an embodiment of the present invention, device, equipment and medium
Mark on a map parallel with the sensor surface of camera module, first shooting obtain target figure the first image, then with sensor surface excessively in
The normal of the heart is after axle center rotates camera module predetermined angle, and shooting obtains the second image of target figure, and makes the two images
Include the imaging point of the target point on target figure, with the position of the imaging point by target point in the front and back two images of rotation
The angle for setting the optical axis and Pivot axle of the lens accurately to determine camera module, so as to be directed to according to determining angle
Property the relative position for readjusting lens and sensor surface, improve alignment precision it is low, and then improve camera module assembly
Qualification rate.
In specific implementation process, test method provided in this embodiment can also take the photograph module or take the photograph mould more applied to double
Group.Can be that each module of singly taking the photograph is subjected to optical axis and the test of Pivot axle angle using test method provided in this embodiment
After correction, then by multiple module group assemblings of singly taking the photograph module is taken the photograph or takes the photograph more to be double；Can also be first assemble it is double take the photograph or take the photograph more module,
Optical axis and the test of Pivot axle angle and correction are carried out to each module of singly taking the photograph therein again.By ensureing single camera
Optical axis and center sensor normal overlap as far as possible, come improve after assembling double to take the photograph module parallel with the optical axis for more taking the photograph module
Degree.
Based on same inventive concept, the embodiment of the present invention additionally provides the corresponding device of method in embodiment one, sees implementation
Example two.
Embodiment two
As shown in figure 5, a kind of test device of camera module is provided, including：
First taking module 501, for shooting the first image for obtaining target figure, the target by the camera module
Figure where plane it is parallel with the sensor surface of the camera module, described first image include the first imaging point, described first
Imaging point is imaging of the target point in described first image on target figure；
Rotary module 502, for crossing the normal of central point using the sensor surface as Pivot axle, by the camera shooting
Module rotates predetermined angle；
Second taking module 503, for obtaining the second of the target figure by the postrotational shooting module shooting
Image, second image include the second imaging point, and second imaging point is the target point on second image
Imaging；
Determining module 504, for according to position of first imaging point in described first image and the second one-tenth described
Position of the picture point on second image, determines the folder of the optical axis and the Pivot axle of the lens of the camera module
Angle.
By the device that the embodiment of the present invention two is introduced, filled used by the method to implement the embodiment of the present invention one
It sets, so based on the method that the embodiment of the present invention one is introduced, the affiliated personnel in this field can understand the concrete structure of the device
And deformation, so details are not described herein.Device used by the method for every embodiment of the present invention one belongs to the present invention and is intended to
The range of protection.
Based on same inventive concept, the embodiment of the present invention additionally provides the corresponding electronic equipment of method in embodiment one, sees
Embodiment three.
Embodiment three
As shown in fig. 6, the present embodiment provides a kind of electronic equipment, including memory 610, processor 620 and it is stored in
On reservoir 610 and the computer program 611 that can be run on processor 620, the processor 620 execute the computer program
Following steps are realized when 611：
The first image for obtaining target figure is shot by the camera module, plane where the target figure and the camera shooting
The sensor surface of module is parallel, and described first image includes the first imaging point, and first imaging point is the mesh on target figure
Imaging of the punctuate in described first image；
The camera module is rotated preset angle by the normal for crossing central point using the sensor surface as Pivot axle
Degree；
The second image of the target figure is obtained by the postrotational shooting module shooting, second image includes
Second imaging point, second imaging point are imaging of the target point on second image；
According to position of first imaging point in described first image and second imaging point in second figure
As upper position, the angle of the optical axis and the Pivot axle of the lens of the camera module is determined.
In embodiments of the present invention, it may be implemented when the processor 620 executes the computer program 611 of the invention real
Apply any embodiment in example one.
By the electronic equipment that the embodiment of the present invention three is introduced, used by the method to implement the embodiment of the present invention one
Equipment, so based on the method that the embodiment of the present invention one is introduced, the affiliated personnel in this field can understand the specific knot of the equipment
Structure and deformation, so details are not described herein.Equipment used by the method for every embodiment of the present invention one belongs to institute of the present invention
The range to be protected.
Based on same inventive concept, the embodiment of the present invention additionally provides the corresponding storage medium of method in embodiment one, sees
Example IV.
Example IV
The present embodiment provides a kind of computer readable storage mediums 700, as shown in fig. 7, being stored thereon with computer program
711, which is characterized in that the computer program 711 realizes following steps when being executed by processor：
The first image for obtaining target figure is shot by the camera module, plane where the target figure and the camera shooting
The sensor surface of module is parallel, and described first image includes the first imaging point, and first imaging point is the mesh on target figure
Imaging of the punctuate in described first image；
The camera module is rotated preset angle by the normal for crossing central point using the sensor surface as Pivot axle
Degree；
The second image of the target figure is obtained by the postrotational shooting module shooting, second image includes
Second imaging point, second imaging point are imaging of the target point on second image；
According to position of first imaging point in described first image and second imaging point in second figure
As upper position, the angle of the optical axis and the Pivot axle of the lens of the camera module is determined.
In specific implementation process, when which is executed by processor, the embodiment of the present invention one may be implemented
Middle any embodiment.
The technical solution provided in the embodiment of the present invention, has at least the following technical effects or advantages：
Test method, device, equipment and the medium of camera module provided in an embodiment of the present invention, setting target figure with it is described
The sensor surface of camera module is parallel, and first shooting obtains the first image of target figure, then with the center of the sensor surface
Axis is after axle center rotates the camera module predetermined angle, and shooting obtains the second image of the target figure, and makes the two width figure
Imaging point as including target point on the target figure, with by the target point in the front and back two images of rotation
The position of imaging point accurately determines the angle of the lens axis of the camera module and the central shaft of the sensor surface, from
And the relative position of the lens and the sensor surface can be targetedly readjusted according to determining angle, raising pair
Quasi- precision is low, and then improves the assembly qualified rate of camera module.
Algorithm and display be not inherently related to any certain computer, virtual system or miscellaneous equipment provided herein.
Various general-purpose systems can also be used together with teaching based on this.As described above, it constructs required by this kind of system
Structure be obvious.In addition, the present invention is not also directed to any certain programmed language.It should be understood that can utilize various
Programming language realizes the content of invention described herein, and the description done above to language-specific is to disclose this hair
Bright preferred forms.
In the instructions provided here, numerous specific details are set forth.It is to be appreciated, however, that the implementation of the present invention
Example can be put into practice without these specific details.In some instances, well known method, structure is not been shown in detail
And technology, so as not to obscure the understanding of this description.
Similarly, it should be understood that in order to simplify the disclosure and help to understand one or more of each inventive aspect,
Above in the description of exemplary embodiment of the present invention, each feature of the invention is grouped together into single implementation sometimes
In example, figure or descriptions thereof.However, the method for the disclosure should be construed to reflect following intention：It is i.e. required to protect
Shield the present invention claims the more features of feature than being expressly recited in each claim.More precisely, as following
Claims reflect as, inventive aspect is all features less than single embodiment disclosed above.Therefore,
Thus the claims for following specific implementation mode are expressly incorporated in the specific implementation mode, wherein each claim itself
All as a separate embodiment of the present invention.
It will be understood by those skilled in the art that can adaptively be changed simultaneously to the module in the equipment in embodiment
And they are arranged in the one or more equipment different from the embodiment.It can be the module or unit or group in embodiment
Part is combined into a module or unit or component, and can be divided into multiple submodule or subelement or subgroup in addition
Part.Other than such feature and/or at least some of process or unit exclude each other, any combinations may be used
To all features disclosed in this specification (including adjoint claim, abstract and attached drawing) and such disclosed any side
All processes or unit of method or equipment are combined.Unless expressly stated otherwise, this specification (including want by adjoint right
Ask, make a summary and attached drawing) disclosed in each feature can be replaced by providing the alternative features of identical, equivalent or similar purpose.
In addition, it will be appreciated by those of skill in the art that although some embodiments in this include institute in other embodiments
Including certain features rather than other feature, but the combination of the feature of different embodiment means to be in the scope of the present invention
Within and form different embodiments.For example, in the following claims, embodiment claimed it is arbitrary it
One mode can use in any combination.
The all parts embodiment of the present invention can be or soft with what is run on the one or more processors with hardware realization
Part module is realized, or is realized with combination thereof.It will be appreciated by those skilled in the art that microprocessor can be used in practice
Device either digital signal processor (DSP) come realize in device according to the ... of the embodiment of the present invention, electronic equipment some or it is complete
The some or all functions of portion's component.The present invention be also implemented as a part for executing method as described herein or
The equipment or program of device (for example, computer program and computer program product) of person's whole.It is such to realize the present invention's
Program can may be stored on the computer-readable medium, or can be with the form of one or more signal.Such signal
It can download and obtain from internet website, either provide on carrier signal or provide in any other forms.
It should be noted that the present invention will be described rather than limits the invention for above-described embodiment, and ability
Field technique personnel can design alternative embodiment without departing from the scope of the appended claims.In the claims,
Any reference mark between bracket should not be configured to limitations on claims.Word "comprising" does not exclude the presence of not
Component or step listed in the claims.Word "a" or "an" before component does not exclude the presence of multiple such
Component.The present invention can be by means of including the hardware of several different components and being come by means of properly programmed computer real
It is existing.In the unit claims listing several devices, several in these devices can be by the same hardware branch
To embody.The use of word first, second, and third does not indicate that any sequence.These words can be explained and be run after fame
Claim.
Claims (11)
1. a kind of test method of camera module, which is characterized in that including：
The first image for obtaining target figure is shot by the camera module, plane where the target figure and the camera module
Sensor surface it is parallel, described first image include the first imaging point, first imaging point be target figure on target point
Imaging in described first image；
The camera module is rotated predetermined angle by the normal for crossing central point using the sensor surface as Pivot axle；
The second image of the target figure is obtained by the postrotational shooting module shooting, second image includes second
Imaging point, second imaging point are imaging of the target point on second image；
According to position of first imaging point in described first image and second imaging point on second image
Position, determine the angle of the optical axis and the Pivot axle of the lens of the camera module.
2. the method as described in claim 1, the predetermined angle is 180 degree.
3. the method for claim 1, wherein position according to first imaging point in described first image and institute
Position of second imaging point on second image is stated, determines the optical axis of the lens of the camera module and the rotation center
The angle of axis, including：
According to position of first imaging point in described first image and second imaging point on second image
Position, determine the position of virtual point；Wherein, the virtual point is to assume the angle of the optical axis and the Pivot axle
When being 0, imaging point of the target point in described first image or on second image；
According to the position of the virtual point, the angle of the optical axis and the Pivot axle is determined.
4. method as claimed in claim 3, wherein when the predetermined angle is 180 degree, existed according to first imaging point
The position of position and second imaging point on second image in described first image, determines the position of virtual point
It sets, including：
According to position of second imaging point on second image, determine the second mirror point in described first image
Position, wherein position coordinates of second imaging point on second image and second mirror point are described the
Position coordinates on one image are identical；According to second mirror point, the second symmetric points are determined in described first image；It is described
Second symmetric points and the central symmetry of second mirror point based on described first image；With second symmetric points and described
The midpoint of one imaging point is as the virtual point；
Alternatively,
According to position of first imaging point in described first image, determine the first mirror point on second image
Position, wherein position coordinates of first imaging point in described first image and first mirror point are described the
Position coordinates on two images are identical；According to first mirror point, the first symmetric points are determined on second image；It is described
First symmetric points and central symmetry of first mirror point based on second image；With first symmetric points and described
The midpoint of two imaging points is as the virtual point.
5. method as claimed in claim 3, wherein when the predetermined angle is 180 degree, existed according to first imaging point
The position of position and second imaging point on second image in described first image, determines the position of virtual point
It sets, including：
According to position of second imaging point on second image, determine the second mirror point in described first image
Position, wherein position coordinates of second imaging point on second image and second mirror point are described the
Position coordinates on one image are identical；Primary vector adds secondary vector, obtains third vector, wherein the primary vector
Starting point is the midpoint of described first image, and the terminal of the primary vector is first imaging point, and the secondary vector rises
Point is second mirror point, and the terminal of the secondary vector is the midpoint of described first image, the starting point of the third vector
For the midpoint of described first image；Using the midpoint between the midpoint of described first image and the terminal of third vector as institute
State virtual point；
Alternatively,
According to position of first imaging point in described first image, determine the first mirror point on second image
Position, wherein position coordinates of first imaging point in described first image and first mirror point are described the
Position coordinates on two images are identical；4th vector obtains six-way amount plus the 5th vector, wherein the 4th vector
Starting point is the midpoint of second image, and the terminal of the 4th vector is second imaging point, and the 5th vector rises
Point is first mirror point, and the terminal of the 5th vector is the midpoint of second image, the starting point of the six-way amount
For the midpoint of second image；Using the midpoint between the midpoint and the terminal of the six-way amount of second image as institute
State virtual point.
6. method as claimed in claim 3：
It is described according to the void when the virtual point is the first virtual point that the target point is imaged in described first image
The position of quasi- point, determines the angle of the optical axis and the Pivot axle, including：According in described first image described
The position of the position of one virtual point and first imaging point, determines the angle of the optical axis and the Pivot axle；
It is described according to the void when the virtual point is the second virtual point that the target point is imaged on second image
The position of quasi- point, determines the angle of the optical axis and the Pivot axle, including：According on second image described
The position of the position of two virtual points and second imaging point, determines the angle of the optical axis and the Pivot axle.
7. method as claimed in claim 6：
According to the position of the position of first virtual point and first imaging point in described first image, the light is determined
The angle of axis and the Pivot axle, including：According to the position of first virtual point in described first image and described
The position of one imaging point determines the pixel quantity being spaced between first virtual point and first imaging point；According to described
The effective focal length of pixel quantity, the sensor corresponding Pixel Dimensions and the lens, determine the optical axis with it is described in
The angle of mandrel；
According to the position of the position of second virtual point and second imaging point on second image, the light is determined
The angle of axis and the Pivot axle, including：According to the position of second virtual point on second image and described
The position of two imaging points determines the pixel quantity being spaced between second virtual point and second imaging point；According to described
The effective focal length of pixel quantity, the sensor corresponding Pixel Dimensions and the lens, determine the optical axis with it is described in
The angle of mandrel.
8. the method for claim 7, wherein
When the pixel quantity includes the pixel being spaced between first virtual point and first imaging point in the X-axis direction
Amount Δ x, and be spaced between first virtual point and first imaging point in the Y-axis direction pixel quantity Δ y when, root
According to the effective focal length of the pixel quantity, the sensor corresponding Pixel Dimensions and the lens, determine the optical axis with
The angle of the central shaft, including：
It according to formula θ x=arctan (Δ x*p/EFL), determines when shooting described first image, the optical axis and the center
X-axis angle value θ x in the projection of angle to X-axis of axis；According to formula θ y=arctan (Δ y*p/EFL), determine described in shooting
When the first image, the optical axis and the Y-axis angle value θ y in the projection of angle to Y-axis of the central shaft, wherein p is the biography
The corresponding Pixel Dimensions of sensor, EFL are the effective focal length of the lens；
When the pixel quantity includes the pixel being spaced between second virtual point and second imaging point in the X-axis direction
Amount Δ x ', and be spaced between second virtual point and second imaging point in the Y-axis direction pixel quantity Δ y ' when,
According to the effective focal length of the pixel quantity, the sensor corresponding Pixel Dimensions and the lens, the optical axis is determined
With the angle of the central shaft, including：
According to formula θ x '=arctan (Δ x ' * p/EFL), determine when shoot second image, the optical axis and it is described in
X-axis angle value θ x ' in the projection of angle to X-axis of mandrel；According to formula θ y '=arctan (Δ y ' * p/EFL), determination is being clapped
When taking the photograph second image, the Y-axis angle value θ y ' in the projection of angle to Y-axis of the optical axis and the central shaft, wherein p is
The corresponding Pixel Dimensions of the sensor, EFL are the effective focal length of the lens.
9. a kind of test device of camera module, which is characterized in that including：
First taking module, for shooting the first image for obtaining target figure, the target figure place by the camera module
Plane is parallel with the sensor surface of the camera module, and described first image includes the first imaging point, first imaging point
For imaging of the target point on target figure in described first image；
Rotary module, the normal for crossing central point using the sensor surface revolve the camera module as Pivot axle
Turn predetermined angle；
Second taking module, the second image for obtaining the target figure by the postrotational shooting module shooting, institute
It includes the second imaging point to state the second image, and second imaging point is imaging of the target point on second image；
Determining module, the position being used for according to first imaging point in described first image and second imaging point are in institute
The position on the second image is stated, determines the angle of the optical axis and the Pivot axle of the lens of the camera module.
10. a kind of electronic equipment, including memory, processor and storage are on a memory and the calculating that can run on a processor
Machine program, which is characterized in that the processor realizes following steps when executing described program：
The first image for obtaining target figure is shot by the camera module, plane where the target figure and the camera module
Sensor surface it is parallel, described first image include the first imaging point, first imaging point be target figure on target point
Imaging in described first image；
The camera module is rotated predetermined angle by the normal for crossing central point using the sensor surface as Pivot axle；
The second image of the target figure is obtained by the postrotational shooting module shooting, second image includes second
Imaging point, second imaging point are imaging of the target point on second image；
According to position of first imaging point in described first image and second imaging point on second image
Position, determine the angle of the optical axis and the Pivot axle of the lens of the camera module.
11. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is by processor
Following steps are realized when execution：
The first image for obtaining target figure is shot by the camera module, plane where the target figure and the camera module
Sensor surface it is parallel, described first image include the first imaging point, first imaging point be target figure on target point
Imaging in described first image；
The camera module is rotated predetermined angle by the normal for crossing central point using the sensor surface as Pivot axle；
The second image of the target figure is obtained by the postrotational shooting module shooting, second image includes second
Imaging point, second imaging point are imaging of the target point on second image；
According to position of first imaging point in described first image and second imaging point on second image
Position, determine the angle of the optical axis and the Pivot axle of the lens of the camera module.
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| CN110838147B (en) * | 2019-10-25 | 2022-07-05 | 深圳信息职业技术学院 | Camera module detection method and device |
| CN111220360A (en) * | 2020-01-03 | 2020-06-02 | 歌尔股份有限公司 | Method and device for testing resolution of camera module |
| CN111380459A (en) * | 2020-03-19 | 2020-07-07 | 昆山丘钛微电子科技有限公司 | Method for measuring center point of chip and method for measuring offset of center point of chip |
| CN111425696A (en) * | 2020-03-31 | 2020-07-17 | 北京博清科技有限公司 | Camera positioning system and camera positioning method |
| CN111425696B (en) * | 2020-03-31 | 2021-12-10 | 北京博清科技有限公司 | Camera positioning system and camera positioning method |
| CN112254672A (en) * | 2020-10-15 | 2021-01-22 | 天目爱视（北京）科技有限公司 | Height-adjustable's intelligent 3D information acquisition equipment |
| CN112254672B (en) * | 2020-10-15 | 2022-02-15 | 天目爱视（北京）科技有限公司 | Height-adjustable's intelligent 3D information acquisition equipment |
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