CN109949306A - Reflecting face deviation detecting method, terminal device and storage medium - Google Patents
Reflecting face deviation detecting method, terminal device and storage medium Download PDFInfo
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- CN109949306A CN109949306A CN201910262199.8A CN201910262199A CN109949306A CN 109949306 A CN109949306 A CN 109949306A CN 201910262199 A CN201910262199 A CN 201910262199A CN 109949306 A CN109949306 A CN 109949306A
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Abstract
The application is suitable for angle detection technique field, provides a kind of reflecting face deviation detecting method, terminal device and storage medium, wherein the above method includes: acquisition detection image；Detection image is projected to receiving screen comprising target beam and is formed by target hot spot, and comparison light beam is projected to receiving screen and is formed by comparison hot spot；Extract the coordinate of target hot spot and the coordinate of comparison hot spot；The distance between target beam and comparison light beam is calculated, further, the angular deviation of target reflecting surface is calculated.Target hot spot in detection image is to project receiving screen after target reflective surface to be formed by hot spot, includes that using the coordinate of target hot spot the reflection angle of target reflecting surface is calculated in the angle information of target reflecting surface in coordinate information.
Description
Technical field
The application belongs to angle detection technique field more particularly to a kind of reflecting face deviation detecting method, terminal are set
Standby and storage medium.
Background technique
In optical detection apparatus, such as laser radar apparatus, it is usually provided with the reflection unit for changing optical path.Instead
The angle machining accuracy of reflecting surface and the rigging error of reflection unit on injection device, can all influence to believe in optical detection apparatus
Number receiving end received signal quality, to cause detection error.Existing angle detecting method there are detection accuracy difference and
The problems such as detection efficiency is low.
Summary of the invention
In view of this, the embodiment of the present application provides a kind of reflecting face deviation detecting method, terminal device and storage
Medium, to solve the problems such as there are detection accuracy difference and low detection efficiencies in current angle detection technique.
According in a first aspect, the embodiment of the present application provides a kind of reflecting face deviation detecting method, comprising: obtain inspection
Altimetric image；The detection image is projected to receiving screen comprising target beam and is formed by target hot spot, and comparison light beam projection
Comparison hot spot is formed by the receiving screen；The target beam is the light beam exported after target reflective surface, described
Comparison light beam is the light beam exported after the reflection of standard reflection face；The target hot spot is calculated separately according to the detection image
The coordinate of coordinate and the comparison hot spot；According to the coordinate of the coordinate of the target hot spot and the comparison hot spot, described in calculating
The distance between target beam and the comparison light beam；According to the distance between the target beam and the comparison light beam, meter
Calculate the angular deviation of the target reflecting surface.
Reflecting face deviation detecting method provided by the embodiments of the present application, acquisition include comparison hot spot and target hot spot
Detection image extracts target hot spot therein by image procossing and compares the coordinate of hot spot, thus according to angle calculation model
Calculate the angular deviation of target reflecting surface.Since the target hot spot in detection image is exported after target reflective surface
Target beam is formed by hot spot in receiving screen, so that including the angle of reflection of target reflecting surface in the coordinate information of target hot spot
Degree information is solved so as to which the reflection angle of its corresponding target reflecting surface is calculated using the coordinate of target hot spot
The problems such as there are detection accuracy difference and low detection efficiencies in angle detection technique at present.
With reference to first aspect, in some embodiments of the present application, it is described calculated separately according to the detection image it is described
The coordinate of the coordinate of target hot spot and the comparison hot spot, comprising: extract the target hot spot in the detection image respectively
With the comparison hot spot；The image coordinates of corresponding target's center is extracted according to the target hot spot, and according to the comparison light
Spot extracts the image coordinates at corresponding comparison center；According to the image planes of preset coordinate transformation model and the target's center
Coordinate calculates the world coordinates of the target's center；According to the picture of preset coordinate transformation model and the comparison center
Areal coordinate calculates the world coordinates at the comparison center.
Reflecting face deviation detecting method provided by the embodiments of the present application passes through mesh in image procossing recognition detection image
The corresponding target's center of hot spot, and the corresponding comparison center of comparison hot spot are marked, and then calculates target's center and compares center
Image coordinates.There is fixed transformational relation between coordinate system and world coordinate system due to practising physiognomy, by target's center and
The corresponding world coordinates of the two can be calculated in the image coordinates at comparison center, to calculate target reflection for subsequent step
The reflection angle in face provides data and supports.
With reference to first aspect, in some embodiments of the present application, pass through
xi0=xc1+mc(xc2-xc1)+nc(xc3-xc1)
yi0=yc1+mc(yc2-yc1)+nc(yc3-yc1)
Calculate the world coordinates of the target's center；Wherein, (xi0,yi0) be the target's center world coordinates；With
(xc1,yc1)、(xc2,yc2) and (xc3,yc3) it is the triangle that vertex is constituted, to carry out Delaunay triangle to the target hot spot
The triangle comprising the target's center obtained after subdivision, and (xc1,yc1)、(xc2,yc2) and (xc3,yc3) respectively corresponding
The world coordinates of vertex of a triangle；mcAnd ncRespectively coefficient；
Pass through
xj0=x'c1+mc(x'c2-x'c1)+nc(x'c3-x'c1)
yj0=y'c1+mc(y'c2-y'c1)+nc(y'c3-y'c1)
Calculate the world coordinates at the comparison center；Wherein, (xj0,yj0) be the comparison center world coordinates；With
(x'c1,y'c1)、(x'c2,y'c2) and (x'c3,y'c3) it is the triangle that vertex is constituted, to be carried out to the comparison hot spot
The triangle comprising the comparison center obtained after Delaunay Triangulation, and (x'c1,y'c1)、(x'c2,y'c2) and
(x'c3,y'c3) be respectively corresponding vertex of a triangle world coordinates；mcAnd ncRespectively coefficient.
Reflecting face deviation detecting method provided by the embodiments of the present application, gives practise physiognomy coordinate system and world coordinate system
Between transformational relation, by the corresponding formula of the transformational relation, user can be convenient quickly be calculated target's center and
The world coordinates at comparison center is supported to provide data for the reflection angle that subsequent step calculates target reflecting surface.
With reference to first aspect, in some embodiments of the present application, the coordinate according to the target hot spot and described
The coordinate for comparing hot spot, calculates the distance between the target beam and the comparison light beam, comprising: according to the target's center
World coordinates, calculate the fitting a straight line of the target beam；According to the world coordinates at the comparison center, the comparison is calculated
The fitting a straight line of light beam；According to the fitting a straight line of the fitting a straight line of the target beam and the comparison light beam, the mesh is calculated
Mark the distance between light beam and the comparison light beam.
Reflecting face deviation detecting method provided by the embodiments of the present application can rebuild mesh using Algorithm of fitting a straight line
Light beam and comparison light beam are marked, available distance between the two is further calculated, to calculate target reflection for subsequent step
The reflection angle in face provides data and supports.
With reference to first aspect, in some embodiments of the present application, the fitting a straight line of the target beam is
Y=a1·x+a0
Wherein, a0And a1Respectively coefficient；
It is described comparison light beam fitting a straight line be
Y=a1·x+a′0
Wherein, a'0And a1Respectively coefficient.
Reflecting face deviation detecting method provided by the embodiments of the present application, gives target beam fitting a straight line and comparison
The corresponding equation of light beam fitting a straight line, to allow users to be further calculated according to the equation of the two available between the two
Distance, thus for subsequent step calculate target reflecting surface reflection angle provide data support.
Reflecting face deviation detecting method provided by the embodiments of the present application, passes through
Calculate the distance between the target beam and the comparison light beam；Wherein, Δ h is the target beam and described
Compare the distance between light beam；a0、a1And a'0The fitting a straight line coefficient of the respectively described target beam or the comparison light beam
Fitting a straight line coefficient.
Reflecting face deviation detecting method provided by the embodiments of the present application gives and calculates target beam and comparison light beam
The formula of distance, by the formula, user, which can be convenient, is quickly calculated the distance between target beam and comparison light beam,
It is supported to which the reflection angle for calculating target reflecting surface for subsequent step provides data.
Reflecting face deviation detecting method provided by the embodiments of the present application, passes through
Calculate the angular deviation of the target reflecting surface；Wherein, Δ θ is the angular deviation of the target reflecting surface；Δ h is
The distance between the target beam and the comparison light beam；L is corresponding with the target beam on the target reflecting surface
Reflective spot to the receiving screen distance；Δ H be the target reflecting surface on reflective spot with it is anti-on the standard reflection face
Difference in height between luminous point；Reflective spot on the target reflecting surface is corresponding with the target beam, on the standard reflection face
Reflective spot it is corresponding with the comparison light beam.
Reflecting face deviation detecting method provided by the embodiments of the present application, the angle for giving calculating target reflecting surface are inclined
The formula of difference, by the formula, user can be convenient the angular deviation that target reflecting surface is quickly calculated, and solve at present
The problems such as there are detection accuracy difference and low detection efficiencies in angle detection technique.
According to second aspect, the embodiment of the present application provides a kind of terminal device, comprising: image acquisition units, for obtaining
Take detection image；The detection image is projected to receiving screen comprising target beam and is formed by target hot spot, and comparison light beam
It is projected to the receiving screen and is formed by comparison hot spot；The target beam is the light beam exported after target reflective surface,
The comparison light beam is the light beam exported after the reflection of standard reflection face；Coordinate calculating unit, for according to the detection image
Calculate separately the coordinate of the target hot spot and the coordinate of the comparison hot spot；Metrics calculation unit, for according to the target
The coordinate of the coordinate of hot spot and the comparison hot spot, calculates the distance between the target beam and the comparison light beam；Angle
Computing unit, for calculating the angle of the target reflecting surface according to the distance between the target beam and the comparison light beam
Spend deviation.
According to the third aspect, the embodiment of the present application provides a kind of terminal device, including memory, processor and storage
In the memory and the computer program that can run on the processor, the processor execute the computer program
The step of Shi Shixian such as first aspect or first aspect any embodiment the method.
According to fourth aspect, the embodiment of the present application provides a kind of computer readable storage medium, described computer-readable
Storage medium is stored with computer program, and such as first aspect or first aspect are realized when the computer program is executed by processor
The step of any embodiment the method.
Detailed description of the invention
It in order to more clearly explain the technical solutions in the embodiments of the present application, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only some of the application
Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is the implementation process of a specific example of reflecting face deviation detecting method provided by the embodiments of the present application
Schematic diagram；
Fig. 2 is the structural representation of a specific example of reflecting face error measuring means provided by the embodiments of the present application
Figure；
Fig. 3 is that the structure of another specific example of reflecting face error measuring means provided by the embodiments of the present application is shown
It is intended to；
Fig. 4 is the realization stream of another specific example of reflecting face deviation detecting method provided by the embodiments of the present application
Journey schematic diagram；
Fig. 5 is the structural schematic diagram of a specific example of terminal device provided by the embodiments of the present application；
Fig. 6 is the structural schematic diagram of another specific example of terminal device provided by the embodiments of the present application.
Specific embodiment
In being described below, for illustration and not for limitation, the tool of such as particular system structure, technology etc is proposed
Body details, so as to provide a thorough understanding of the present application embodiment.However, it will be clear to one skilled in the art that there is no these specific
The application also may be implemented in the other embodiments of details.In other situations, it omits to well-known system, device, electricity
The detailed description of road and method, so as not to obscure the description of the present application with unnecessary details.
In order to illustrate technical solution described herein, the following is a description of specific embodiments.
The embodiment of the present application provides a kind of reflecting face deviation detecting method, as shown in Figure 1, the reflecting face is inclined
Difference detection method may comprise steps of:
Step S101: detection image is obtained.Specifically, in detection image receiving screen institute should be projected to comprising target beam
The target hot spot of formation, and comparison light beam are projected to receiving screen and are formed by comparison hot spot.Target beam is to reflect through target
The light beam exported after the reflection of face, comparison light beam are the light beam exported after the reflection of standard reflection face.
In a specific embodiment, reflecting face error measuring means acquisition step shown in Fig. 2 can be passed through
The detection image recorded in S101.In reflecting face error measuring means shown in Fig. 2, target reflection unit 1 includes branch
Frame 11 and target reflecting surface 12, target reflection unit 1 are installed on reflecting face separate-blas estimation dress by the bracket 11 of its own
On the main support 4 set.Specifically, target reflection unit 1 is securable on the mounting plane of the subassembly 43 in main support 4.Mark
Quasi- corner reflecting device 3 is used as angular accuracy contrast standard device, is installed on same mounting plane with target reflection unit 1.Laser
Device 2 is installed on the fixed subcomponent 44 in main support 4, positioned at standard corner reflecting device 3 and target reflection unit 1 just on
Side, output beam can be got to simultaneously on standard reflection device 3 and target reflection unit 1.Main support 4 include bracket base 41,
Bracket support members 42, the fixed subcomponent 43 for fixing target reflection unit 1 and standard corner reflecting device 3, and be used for
The fixed subcomponent 44 of fixed laser 2.Receiving screen 5 is reflected for projecting through target reflection unit 1 and standard corner reflecting device 3
Target beam and comparison light beam afterwards, and the distance of the reflective spot on 5 distance objective reflecting surface 12 of receiving screen is it is known that receiving screen
The distance of reflective spot on 5 criterion distance corner reflecting device, 3 Plays reflecting surface it is also known that.Camera 6 is for acquiring receiving screen 5
Detection image comprising target hot spot and comparison hot spot.It is acquired by reflecting face error measuring means shown in Fig. 2
Detection image in, while including two hot spots, i.e. target hot spot and comparison hot spot.
In another specific embodiment, reflecting face error measuring means acquisition step shown in Fig. 3 can be passed through
The detection image recorded in S101.In reflecting face error measuring means shown in Fig. 3, target reflection unit 1 includes two
A target reflecting surface, i.e. first object reflecting surface 12 ' and the second target reflecting surface 13.Target reflection unit 1 passes through its own
Bracket 11 is installed on the mounting plane of fixed subcomponent 43 of main support 4.Corresponding to target reflection unit 1 in Fig. 3, scheming
In reflecting face error measuring means shown in 3, standard corner reflecting device 3 equally include two standard reflection faces, i.e., first
Standard reflection face 31 and the second standard reflection face 32.Standard corner reflecting device 3 is used as angular accuracy contrast standard device, anti-with target
Injection device 1 is installed on same mounting plane.In reflecting face error measuring means shown in Fig. 3, while being provided with two
A laser, i.e. first laser device 21 and second laser 22.Wherein, first laser device 21 is installed on fixed subcomponent 44,
Positioned at the surface in the first standard reflection face 31 and first object reflecting surface 12 ', output beam can get to the first standard simultaneously
On reflecting surface 31 and first object reflecting surface 12 '；Second laser 22 is installed on fixed subcomponent 45, and it is anti-to be located at the second standard
The underface in face 32 and the second target reflecting surface 13 is penetrated, output beam can get to the second standard reflection face 32 and second of mark simultaneously
On target reflecting surface 13.Bracket 4 includes bracket base 41, bracket support members 42, for fixing target reflection unit 1 and standard
The fixed subcomponent 43 of corner reflecting device 3, the fixed subcomponent 44 for fixing first laser device 21 and for fixing second
The fixed subcomponent 45 of laser 22.Receiving screen 5 is for projecting after target reflection unit 1 and standard corner reflecting device 3 reflect
Target beam and comparison light beam.Wherein, receiving screen 5 is on first object reflecting surface 12 ' and the second target reflecting surface 13
Known to the distance of reflective spot；5 the first standard reflection of distance face 31 of receiving screen and the reflective spot on the second standard reflection face 32 away from
From it is also known that.Camera 6 is used to acquire on receiving screen 5 comprising target hot spot and compares the detection image of hot spot.By shown in Fig. 3
Reflecting face error measuring means detection image collected in, while including four hot spots, i.e. two target hot spots and
Two comparison hot spots.
In Fig. 2 and reflecting face error measuring means shown in Fig. 3, a wordline laser device conduct can be selected respectively
Laser 2, second laser 21 and second laser 22.
It should be noted that can also select other than it can use 6 acquisition testing image of camera with sensitization function
Screen is as receiving screen 5, to can directly acquire by receiving screen 5 and export detection image.The embodiment of the present application is to detection
The specific acquisition method of image is with no restrictions.
Step S102: the coordinate of target hot spot and the coordinate of comparison hot spot are calculated separately according to detection image.It is specific one
In embodiment, as shown in figure 4, can realize the process of step S102 by following sub-step:
Step S1021: the target hot spot and comparison hot spot in detection image are extracted respectively.Specifically, can be to pass through figure
The target hot spot and comparison hot spot in detection image are extracted as segmentation.Preferably, by carrying out binary image to detection image
Segmentation can identify and extract target hot spot therein and comparison hot spot, and detailed process is as follows:
Image binaryzation threshold value t is chosen according to hot spot brightness；Respectively to each grey scale pixel value in detection image
It is compared with binarization threshold t.If grey scale pixel value is greater than binarization threshold t, which is regarded as into target laser image spot
Element or comparison hot spot pixel, record the image coordinates of the pixel.By the comparison of pixel and binarization threshold t, can detect
Two each connected regions, respectively target beam and contrasting detection the light beam corresponding target hot spot in detection image are obtained in image
With comparison hot spot.
Step S1022: the image coordinates of corresponding target's center is extracted according to target hot spot, and is extracted according to comparison hot spot
The image coordinates at corresponding comparison center.
Step S1023: according to the image coordinates of preset coordinate transformation model and target's center, target's center is calculated
World coordinates.Specifically, the world coordinates of target's center can be calculated by formula (1) and formula (2):
xi0=xc1+mc(xc2-xc1)+nc(xc3-xc1) (1)
yi0=yc1+mc(yc2-yc1)+nc(yc3-yc1) (2)
Wherein, (xi0,yi0) be target's center world coordinates.With (xc1,yc1)、(xc2,yc2) and (xc3,yc3) it is vertex
The triangle of composition, to carry out the obtained triangle comprising target's center after Delaunay Triangulation to target hot spot, and
(xc1,yc1)、(xc2,yc2) and (xc3,yc3) be respectively corresponding vertex of a triangle world coordinates；mcAnd ncRespectively coefficient.
Step S1024: according to the image coordinates of preset coordinate transformation model and comparison center, comparison center is calculated
World coordinates.Specifically, the world coordinates at comparison center can be calculated by formula (3) and formula (4):
xj0=x'c1+mc(x'c2-x'c1)+nc(x'c3-x'c1) (3)
yj0=y'c1+mc(y'c2-y'c1)+nc(y'c3-y'c1) (4)
Wherein, (xj0,yj0) be comparison center world coordinates.With (x'c1,y'c1)、(x'c2,y'c2) and (x'c3,y'c3)
For the triangle that vertex is constituted, to carry out the obtained triangle comprising comparison center after Delaunay Triangulation to comparison hot spot
Shape, and (x'c1,y'c1)、(x'c2,y'c2) and (x'c3,y'c3) be respectively corresponding vertex of a triangle world coordinates；mcAnd nc
Respectively coefficient.
Step S103: according to the coordinate of target hot spot and comparison hot spot coordinate, calculate target beam and comparison light beam it
Between distance.In a specific embodiment, as shown in figure 4, can realize the mistake of step S103 by following sub-step
Journey:
Step S1031: according to the world coordinates of target's center, the fitting a straight line of target beam is calculated.Shown in Fig. 2 is anti-
It penetrates in face angle degree error measuring means, (i.e. target beam known to the distance of the reflective spot on 5 distance objective reflecting surface 12 of receiving screen
In a little known to), along with world coordinates (the i.e. another point in target beam for the target's center being calculated in step S102
World coordinates), the principle of straight line is determined according to two o'clock, the corresponding linear equation of target beam can be calculated.Together
The corresponding linear equation of comparison light beam can also be calculated in reason, and details are not described herein.For reflecting face shown in Fig. 3
Error measuring means can calculate separately to obtain two target beams and two to use two o'clock to determine the principle of straight line
The corresponding linear equation of light beam is compared, details are not described herein.
In practical applications, the fitting a straight line of target beam can be the straight line as described in formula (5):
Y=a1·x+a0 (5)
Wherein, a0And a1Respectively coefficient.
Step S1032: according to the world coordinates at comparison center, the fitting a straight line of comparison light beam is calculated.In practical applications,
The fitting a straight line for comparing light beam can be the straight line as described in formula (6):
Y=a1x+a '0 (6)
Wherein, a'0And a1Respectively coefficient.
Step S1033: according to the fitting a straight line of the fitting a straight line of target beam and comparison light beam, target beam and right is calculated
Than the distance between light beam.In practical applications, can by formula (7) calculate target beam and compare light beam between away from
From:
Wherein, Δ h is the distance between target beam and comparison light beam；a0、a1And a'0The respectively fitting of target beam
Straight line coefficient or the fitting a straight line coefficient for comparing light beam.
Step S104: according to the distance between target beam and comparison light beam, the angular deviation of target reflecting surface is calculated.?
In one specific embodiment, the angular deviation of target reflecting surface can be calculated by formula (8):
Wherein, Δ θ is the angular deviation of target reflecting surface；Δ h is the distance between target beam and comparison light beam；L is
On target reflecting surface with target beam at a distance from corresponding reflective spot to receiving screen；Δ H be target reflecting surface on reflective spot with
The difference in height between reflective spot on standard reflection face；Reflective spot on target reflecting surface is corresponding with target beam, standard reflection
Reflective spot on face is corresponding with comparison light beam.
Optionally, after the angular deviation of the step S104 target reflecting surface calculated, as shown in figure 4, can also be further
Add following steps:
Step S105: judge whether the angular deviation of target reflecting surface is greater than or equal to preset angular deviation threshold value.When
When the angular deviation of target reflecting surface is less than preset angular deviation threshold value, judge that the angular accuracy of target reflecting surface is qualified；Work as mesh
When marking the angular deviation of reflecting surface more than or equal to preset angular deviation threshold value, judge that the angular accuracy of target reflecting surface does not conform to
Lattice.
In addition, in Fig. 2 and reflecting face error measuring means shown in Fig. 3, if selecting the conduct of a wordline laser device
Laser 2, second laser 21 and second laser 22 can also spread angle by the hair that formula (9) calculate a wordline laser device
Degree:
Wherein, β is that the hair of a wordline laser device spreads angle；H is laser emitting point to target reflecting surface 12 or the first mesh
Mark the distance of reflecting surface 12 '；W is hot spot minimum length needed for getting to target reflecting surface 12 or first object reflecting surface 12 '.
Reflecting face deviation detecting method provided by the embodiments of the present application, acquisition include comparison hot spot and target hot spot
Detection image extracts target hot spot therein by image procossing and compares the coordinate of hot spot, thus according to angle calculation model
Calculate the angular deviation of target reflecting surface.Since the target hot spot in detection image is exported after target reflective surface
Target beam is formed by hot spot in receiving screen, so that including the angle of reflection of target reflecting surface in the coordinate information of target hot spot
Degree information is solved so as to which the reflection angle of its corresponding target reflecting surface is calculated using the coordinate of target hot spot
The problems such as there are detection accuracy difference and low detection efficiencies in angle detection technique at present.
It should be understood that the size of the serial number of each step is not meant that the order of the execution order in above-described embodiment, each process
Execution sequence should be determined by its function and internal logic, the implementation process without coping with the embodiment of the present application constitutes any limit
It is fixed.
The embodiment of the present application also provides a kind of terminal devices, as shown in figure 5, the terminal device may include: that image is adopted
Collect unit 501, coordinate calculating unit 502, metrics calculation unit 503 and angle calculation unit 504.
Wherein, image acquisition units 501 are for obtaining detection image；Detection image includes that target beam is projected to receiving screen
It is formed by target hot spot, and comparison light beam is projected to receiving screen and is formed by comparison hot spot；Target beam is anti-through target
The light beam exported after the reflection of face is penetrated, comparison light beam is the light beam exported after the reflection of standard reflection face；Its corresponding course of work
It can be found in above method embodiment described in step S101.
Coordinate calculating unit 502 is used to calculate separately the coordinate of target hot spot and the seat of comparison hot spot according to detection image
Mark；Its corresponding course of work can be found in above method embodiment described in step S102.
Metrics calculation unit 503 is used for the coordinate according to the coordinate of target hot spot and comparison hot spot, calculate target beam with
Compare the distance between light beam；Its corresponding course of work can be found in above method embodiment described in step S103.
Angle calculation unit 504 is used to calculate target reflection according to the distance between target beam and the comparison light beam
The angular deviation in face；Its corresponding course of work can be found in above method embodiment described in step S104.
Fig. 6 is the schematic diagram for another terminal device that one embodiment of the application provides.As shown in fig. 6, the end of the embodiment
End equipment 600 includes: processor 601, memory 602 and is stored in the memory 602 and can be in the processor 601
The computer program 603 of upper operation, such as reflecting face separate-blas estimation program.The processor 601 executes the computer
The step in above-mentioned each reflecting face deviation detecting method embodiment, such as step shown in FIG. 1 are realized when program 603
S101 to step S104.Alternatively, the processor 601 realizes above-mentioned each Installation practice when executing the computer program 603
In each module/unit function, such as image acquisition units 501 shown in Fig. 5, coordinate calculating unit 502, metrics calculation unit
503 and angle calculation unit 504 function.
The computer program 603 can be divided into one or more module/units, one or more of moulds
Block/unit is stored in the memory 602, and is executed by the processor 601, to complete the application.It is one or
Multiple module/units can be the series of computation machine program instruction section that can complete specific function, and the instruction segment is for describing
Implementation procedure of the computer program 603 in the terminal device 600.For example, the computer program 603 can be divided
It is cut into synchronization module, summarizing module, obtains module, return module (module in virtual bench).
The terminal device 600 can be the calculating such as desktop PC, notebook, palm PC and cloud server and set
It is standby.The terminal device may include, but be not limited only to, processor 601, memory 602.It will be understood by those skilled in the art that
Fig. 6 is only the example of terminal device 600, does not constitute the restriction to terminal device 600, may include more or more than illustrating
Few component perhaps combines certain components or different components, such as the terminal device can also be set including input and output
Standby, network access equipment, bus etc..
Alleged processor 601 can be central processing unit (Central Processing Unit, CPU), can also be
Other general processors, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
Deng.
The memory 602 can be the internal storage unit of the terminal device 600, such as terminal device 600 is hard
Disk or memory.The memory 602 is also possible to the External memory equipment of the terminal device 600, such as the terminal device
The plug-in type hard disk being equipped on 600, intelligent memory card (Smart Media Card, SMC), secure digital (Secure
Digital, SD) card, flash card (Flash Card) etc..Further, the memory 602 can also both include the terminal
The internal storage unit of equipment 600 also includes External memory equipment.The memory 602 for store the computer program with
And other programs and data needed for the terminal device.The memory 602, which can be also used for temporarily storing, have been exported
Or the data that will be exported.
It is apparent to those skilled in the art that for convenience of description and succinctly, only with above-mentioned each function
Can unit, module division progress for example, in practical application, can according to need and by above-mentioned function distribution by different
Functional unit, module are completed, i.e., the internal structure of described device is divided into different functional unit or module, more than completing
The all or part of function of description.Each functional unit in embodiment, module can integrate in one processing unit, can also
To be that each unit physically exists alone, can also be integrated in one unit with two or more units, it is above-mentioned integrated
Unit both can take the form of hardware realization, can also realize in the form of software functional units.In addition, each function list
Member, the specific name of module are also only for convenience of distinguishing each other, the protection scope being not intended to limit this application.Above system
The specific work process of middle unit, module, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in detail or remembers in some embodiment
The part of load may refer to the associated description of other embodiments.
Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is implemented in hardware or software, the specific application and design constraint depending on technical solution.Professional technician
Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed
Scope of the present application.
In embodiment provided herein, it should be understood that disclosed device/terminal device and method, it can be with
It realizes by another way.For example, device described above/terminal device embodiment is only schematical, for example, institute
The division of module or unit is stated, only a kind of logical function partition, there may be another division manner in actual implementation, such as
Multiple units or components can be combined or can be integrated into another system, or some features can be ignored or not executed.Separately
A bit, shown or discussed mutual coupling or direct-coupling or communication connection can be through some interfaces, device
Or the INDIRECT COUPLING or communication connection of unit, it can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, each functional unit in each embodiment of the application can integrate in one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated module/unit be realized in the form of SFU software functional unit and as independent product sale or
In use, can store in a computer readable storage medium.Based on this understanding, the application realizes above-mentioned implementation
All or part of the process in example method, can also instruct relevant hardware to complete, the meter by computer program
Calculation machine program can be stored in a computer readable storage medium, the computer program when being executed by processor, it can be achieved that on
The step of stating each embodiment of the method.Wherein, the computer program includes computer program code, the computer program
Code can be source code form, object identification code form, executable file or certain intermediate forms etc..Computer-readable Jie
Matter may include: can carry the computer program code any entity or device, recording medium, USB flash disk, mobile hard disk,
Magnetic disk, CD, computer storage, read-only memory (ROM, Read-Only Memory), random access memory (RAM,
Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..It should be noted that described
The content that computer-readable medium includes can carry out increasing appropriate according to the requirement made laws in jurisdiction with patent practice
Subtract, such as does not include electric carrier signal and electricity according to legislation and patent practice, computer-readable medium in certain jurisdictions
Believe signal.
Embodiment described above is only to illustrate the technical solution of the application, rather than its limitations；Although referring to aforementioned reality
Example is applied the application is described in detail, those skilled in the art should understand that: it still can be to aforementioned each
Technical solution documented by embodiment is modified or equivalent replacement of some of the technical features；And these are modified
Or replacement, the spirit and scope of each embodiment technical solution of the application that it does not separate the essence of the corresponding technical solution should all
Comprising within the scope of protection of this application.
Claims (10)
1. a kind of reflecting face deviation detecting method characterized by comprising
Obtain detection image；The detection image includes that target beam is projected to receiving screen and is formed by target hot spot and right
The receiving screen, which is projected to, than light beam is formed by comparison hot spot；The target beam exports after target reflective surface
Light beam, the comparison light beam are the light beam exported after the reflection of standard reflection face；
The coordinate of the target hot spot and the coordinate of the comparison hot spot are calculated separately according to the detection image；
According to the coordinate of the coordinate of the target hot spot and the comparison hot spot, the target beam and the comparison light beam are calculated
The distance between；
According to the distance between the target beam and the comparison light beam, the angular deviation of the target reflecting surface is calculated.
2. reflecting face deviation detecting method as described in claim 1, which is characterized in that distinguished according to the detection image
Calculate the coordinate of the target hot spot and the coordinate of the comparison hot spot, comprising:
The target hot spot and the comparison hot spot in the detection image are extracted respectively；
According to the target hot spot, the image coordinates of corresponding target's center is extracted, meanwhile, according to the comparison hot spot, extraction pair
The image coordinates at the comparison center answered；
According to the image coordinates of preset coordinate transformation model and the target's center, the world of the target's center is calculated
Coordinate；
According to the image coordinates of preset coordinate transformation model and the comparison center, the world at the comparison center is calculated
Coordinate.
3. reflecting face deviation detecting method as claimed in claim 2, which is characterized in that pass through
xi0=xc1+mc(xc2-xc1)+nc(xc3-xc1)
yi0=yc1+mc(yc2-yc1)+nc(yc3-yc1)
Calculate the world coordinates of the target's center；
Wherein, (xi0,yi0) be the target's center world coordinates；With (xc1,yc1)、(xc2,yc2) and (xc3,yc3) it is vertex structure
At triangle, to carry out the obtained triangle comprising the target's center after Delaunay Triangulation to the target hot spot
Shape, and (xc1,yc1)、(xc2,yc2) and (xc3,yc3) be respectively corresponding vertex of a triangle world coordinates；mcAnd ncRespectively
Coefficient；
Pass through
xj0=x'c1+mc(x'c2-x'c1)+nc(x'c3-x'c1)
yj0=y'c1+mc(y'c2-y'c1)+nc(y'c3-y'c1)
Calculate the world coordinates at the comparison center；
Wherein, (xj0,yj0) be the comparison center world coordinates；With (x'c1,y'c1)、(x'c2,y'c2) and (x'c3,y'c3) be
The triangle that vertex is constituted, to include the comparison center to what is obtained after the comparison hot spot progress Delaunay Triangulation
Triangle, and (x'c1,y'c1)、(x'c2,y'c2) and (x'c3,y'c3) be respectively corresponding vertex of a triangle the world sit
Mark；mcAnd ncRespectively coefficient.
4. reflecting face deviation detecting method as claimed in claim 3, which is characterized in that described according to the target hot spot
Coordinate and it is described comparison hot spot coordinate, calculate the distance between the target beam and the comparison light beam, comprising:
According to the world coordinates of the target's center, the fitting a straight line of the target beam is calculated；
According to the world coordinates at the comparison center, the fitting a straight line of the comparison light beam is calculated；
According to the fitting a straight line of the fitting a straight line of the target beam and the comparison light beam, the target beam and described is calculated
Compare the distance between light beam.
5. reflecting face deviation detecting method as claimed in claim 4, which is characterized in that the fitting of the target beam is straight
Line is
Y=a1·x+a0
Wherein, a0And a1Respectively coefficient；
It is described comparison light beam fitting a straight line be
Y=a1·x+a'0
Wherein, a'0And a1Respectively coefficient.
6. reflecting face deviation detecting method as claimed in claim 5, which is characterized in that pass through
Calculate the distance between the target beam and the comparison light beam；
Wherein, Δ h is the distance between the target beam and the comparison light beam；a0、a1And a'0The respectively described target light
The fitting a straight line coefficient of the fitting a straight line coefficient of beam or the comparison light beam.
7. such as reflecting face deviation detecting method described in any one of claims 1 to 6, which is characterized in that pass through
Calculate the angular deviation of the target reflecting surface；
Wherein, Δ θ is the angular deviation of the target reflecting surface；Δ h is between the target beam and the comparison light beam
Distance；L is on the target reflecting surface at a distance from reflective spot to the receiving screen corresponding with the target beam；Δ H is institute
State the difference in height between the reflective spot on the reflective spot and the standard reflection face on target reflecting surface；On the target reflecting surface
Reflective spot it is corresponding with the target beam, the reflective spot on the standard reflection face is corresponding with the comparison light beam.
8. a kind of terminal device characterized by comprising
Image acquisition units, for obtaining detection image；The detection image is projected to receiving screen comprising target beam and is formed
Target hot spot, and comparison light beam is projected to the receiving screen and is formed by comparison hot spot；The target beam is through target
The light beam exported after reflective surface, the comparison light beam are the light beam exported after the reflection of standard reflection face；
Coordinate calculating unit, for calculating separately the coordinate and the comparison hot spot of the target hot spot according to the detection image
Coordinate；
Metrics calculation unit, for calculating the target according to the coordinate of the target hot spot and the coordinate of the comparison hot spot
The distance between light beam and the comparison light beam；
Angle calculation unit, for it is anti-to calculate the target according to the distance between the target beam and the comparison light beam
Penetrate the angular deviation in face.
9. a kind of terminal device, including memory, processor and storage are in the memory and can be on the processor
The computer program of operation, which is characterized in that the processor realizes such as claim 1 to 7 when executing the computer program
The step of any one the method.
10. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists
In when the computer program is executed by processor the step of any one of such as claim 1 to 7 of realization the method.
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