CN117629106A - Multi-reference-surface structure target device, preparation method and testing method thereof - Google Patents
Multi-reference-surface structure target device, preparation method and testing method thereof Download PDFInfo
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Abstract
The invention discloses a multi-reference-surface structure target device, a preparation method and a testing method thereof, wherein the preparation method comprises the following steps: acquiring a basic geometry of the multi-reference surface structure target device; sequentially cutting and filling the basic geometric body twice to form a multi-reference-surface structural body target device; the multi-reference surface structure target device comprises a front depth module, a standard depth module and a rear depth module, wherein each module corresponds to 3 view reference planes comprising a 3-view camera system. The invention can improve the test efficiency and reduce the artificial influence. Through image analysis and test parameter evaluation, the invention can judge whether the imaging performance and the depth of field capability are qualified or not, and different application requirements are met. Advantages of the invention include improved test efficiency and reduced human error, and suitability for performance evaluation of 3-angle camera systems.
Description
Technical Field
The invention belongs to the technical field of multi-angle measurement and stereoscopic vision, and particularly relates to a multi-reference-surface structure target device, a preparation method and a testing method thereof.
Background
The 3-angle imaging technology for measuring the three-dimensional object morphology is a method for acquiring three-dimensional object morphology information by utilizing images or videos of a plurality of angles. The three-dimensional model of the object can be reconstructed by fusing information of a plurality of visual angles through computer vision and image processing technology. The multi-angle imaging technology is widely applied in the fields of industry, medicine, virtual reality and the like.
For the characteristic test technology of a single-camera imaging system, various standard test methods based on a planar target are relatively mature. The characterization test for a multi-camera imaging system includes 2 parts of content:
one is to perform individual characterization tests on each camera imaging system independently,
and secondly, testing multi-angle imaging measurement characteristics of a multi-path camera overlapping view field space.
Aiming at the problem of performing independent characteristic test on each camera imaging system, the traditional method generally uses a multi-axis adjusting seat structure to adjust a plane target to be perpendicular to the optical axis of each camera in sequence and set a working distance, and then performs shooting test. The number of repeated processes is increased along with the increase of the number of cameras, and mainly the process of setting the geometric relationship between the target and the cameras is a manual adjustment process, which is relatively complicated and has a plurality of artificial influence factors.
Disclosure of Invention
The invention aims to provide a multi-reference-surface structure target device, a preparation method and a testing method thereof, which can simultaneously provide 3 standard reference surfaces for each path of camera system, count 9 reference surfaces in total and provide an absolute coordinate reference system structure for being matched with a camera structure tool for installation.
In order to achieve the above object, the present invention provides a method for manufacturing a multi-reference-surface structure target device, comprising:
acquiring a basic geometry of the multi-reference surface structure target device based on optical parameters of a 3-view camera system;
drawing a first cutting line based on a preset reference point in the basic geometric body, and cutting the basic geometric body for the first time by using the first cutting line to obtain an initial front depth-of-field module and an initial standard depth-of-field module; wherein the initial front depth of field module comprises: an initial front depth of field working face of two 90 ° orthogonal view angles, the initial standard depth of field module comprising: two initial standard depth of field working surfaces which are half the distance from the front depth of field reference surface to the depth of field of the camera;
drawing a second cutting line based on the reference point, and performing second cutting on the initial front depth-of-field module and the initial standard depth-of-field module after the first cutting by utilizing the second cutting line to obtain a front depth-of-field module and a standard depth-of-field module which comprise a front depth-of-field reference plane and a standard depth-of-field reference plane of the 3-path camera;
And filling the front depth-of-field module and the standard depth-of-field module after the second cutting for the first time to obtain an initial rear depth-of-field module, wherein the initial rear depth-of-field module comprises: a reference plane of the rear depth of field corresponding to the 2-path orthogonal camera;
filling the initial rear depth of field module for the second time to obtain a rear depth of field module, thereby forming the multi-reference plane structure target device; the front depth-of-field module, the standard depth-of-field module and the rear depth-of-field module in the multi-reference-plane structure target device all correspond to 3 view reference planes comprising a 3-view camera system.
Optionally, the optical parameters of the 3-view camera system include: 2 view angle parameters in a view field, a front depth of field distance, a rear depth of field distance, and a 3 view camera system; wherein the 2 view angle included angle parameters include: the camera A and the camera B form a plane angle, the camera C and the camera A and the camera B form an included angle between planes, and the camera C is centered.
Optionally, the basic geometry of the multi-reference surface structure target device is: an initial geometry based on an cube; two adjacent surfaces of the regular cube are used as depth of field reference surfaces, and one vertex intersected by three adjacent edges is used as a reference coordinate axis of coordinates in a sampling space.
Optionally, performing a first cut on the basic geometry comprises:
drawing a first cutting line on two adjacent surfaces preset in the basic geometric body, and cutting with preset depth based on the first cutting line to obtain the initial front depth field module and the initial standard depth field module;
the initial front depth of field module includes: two initial front depth of field reference planes and; the initial standard depth of field module comprises: two initial standard depth of field reference planes;
the drawing method of the first cutting line comprises the following steps: drawing 2 orthogonal central lines of the surface of the geometric body on two adjacent surfaces, intersecting the central lines of the surface of the geometric body, wherein the cutting lines on each adjacent surface comprise two connected wiring sections, one line section is from the central line of the surface of the geometric body to the side length center, the other line section is from the central line of the surface of the geometric body to the side length center, the positions of the line sections deviate from the center of the side by a preset distance, a preset angle is formed between the line sections and the central line, and the effect of the preset angle is that a trimming structure is formed after cutting;
the cutting line divides the surface of the geometric body into two parts with different sizes, and cuts off the part with small area;
the two orthogonal planes of the basic geometric body with the trimming structures are the initial front depth of field reference planes respectively, and the two orthogonal cross sections without the trimming structures are the initial standard depth of field reference planes respectively.
Optionally, performing the second cutting includes:
drawing a second cutting line on a diagonal section of the basic geometric body after the first cutting, and performing a second cutting on the basic geometric body after the first cutting based on the second cutting line to acquire the front depth-of-field module, the standard depth-of-field module and a reference plane for supplementing a structure;
drawing the second cutting line includes:
drawing line segments by taking the geometric center point of the basic geometric body and the center point of the diagonal line intersecting the two initial front depth-of-field reference planes as starting points respectively, wherein in a first quadrant, the two line segments intersect at one point to form a right angle;
drawing a line segment in a second quadrant by taking a geometric center point of the basic geometric body as a starting point, intersecting the line segment with the upper edge at a point, making a line segment downwards and vertically from the intersecting point, horizontally turning to draw the line segment again through a first preset length, and finishing drawing of a second cutting line; the line segment is drawn by making a line segment downwards and vertically from the intersection point, and then horizontally turning to draw the line segment by a first preset length, and a horizontal plane and a vertical plane of the cut L-shaped structure are the reference planes for supplementing the structure;
Cutting to obtain a third front depth of field reference surface based on the first preset line segment, and cutting to obtain a third standard depth of field reference surface based on the second preset line segment; the first preset line segment is: a line segment from the center point of the diagonal to the right-angle intersection point in the first quadrant; the two preset line segments are as follows: a line segment from the geometric center point of the basic geometry to the point where the upper edges intersect in the second quadrant.
Optionally, performing the first padding includes:
filling a structural body with an orthogonal plane for the reference plane for supplementing the structure to form the initial rear depth-of-field module, and forming a rear depth-of-field reference plane corresponding to the 2 paths of orthogonal cameras on the initial rear depth-of-field module through a half depth-of-field distance relation;
wherein the structural body with orthogonal surfaces is: a prismatic body with an equilateral right triangle cross section, wherein a flat base is connected with one cross section of the prismatic body; two orthogonal planes of the prism body are the rear depth of field reference planes; the flat base is used for adapting to an L-shaped structure reserved after secondary cutting, the width of the flat base is equal to that of the triangular hypotenuse with the equilateral right angle of the cross section of the prism, and the plane of the flat base is tightly adhered to two intersecting surfaces of the L-shaped structure.
Optionally, performing the second padding includes:
cutting off a right-angle structure positioning reference surface on the first filled initial rear depth of field module, filling a flat plate structure for the cut structure position, forming a rear depth of field reference surface of a third path of 45-degree camera based on the filled flat plate structure through a half depth of field distance relation, and forming the rear depth of field module;
cutting off a right angle structure positioning reference plane includes:
and taking the end point of the third path of standard depth of field reference surface closest to the initial back depth of field module as a starting point, making a vertical line of the third path of standard depth of field reference surface downwards, taking the end point of the vertical line of the half depth of field as a starting point, drawing a first preset vertical line of the half depth of field downwards, wherein a tangential plane corresponding to the first preset vertical line is the third path of back depth of field reference surface, the length of the first preset vertical line is the width of the filled flat structure, making a second preset vertical line at the end point of the first preset vertical line and then cutting the last edge of the structure after the first filling, and thus forming the positioning of right-angle cutting, and cutting based on the positioned line segment to finish the cutting of the positioning reference surface of the right-angle structure.
In order to achieve the above object, the present invention also provides a method for preparing a multi-reference surface structure target device based on the multi-reference surface structure target device.
In order to achieve the above object, the present invention further provides a calibration test method for a 3-view camera system based on a multi-reference-plane structure target device, comprising:
pasting a plurality of windmill circles and checkerboard targets with black and white intervals on a multi-reference-surface structure target device;
performing adaptive positioning on the multi-reference-surface structure target device and a 3-view camera system, so that a tri-rectangular vertex of the multi-reference-surface structure target device is positioned at a preset reference coordinate point in a view field space;
acquiring a test image based on camera shooting parameters of the 3-view camera system and windmill circles and checkerboard targets with black and white intervals;
calculating a spatial frequency response based on black and white edges in the test image, and calculating geometric distortion based on a chessboard or lattice in the test image;
based on the comparison between the spatial frequency response and the geometric distortion and the preset spatial frequency response and the preset geometric distortion, the evaluation and judgment of the imaging performance of the 3-view camera system are completed, and based on a preset function, the evaluation and judgment of the depth of field capability of the imaging of the 3-view camera system are carried out.
Optionally, the evaluating and judging the imaging performance of the 3-view camera system includes:
presetting a space frequency response qualification threshold and a geometric distortion qualification threshold;
when the calculated spatial frequency response and geometric distortion accord with a preset spatial frequency response qualification threshold and geometric distortion qualification threshold, judging that the spatial frequency response and the distortion performance are qualified;
the evaluation and judgment of the depth of field capability of the 3-view camera system comprises the following steps:
calculating an average value of the spatial frequency response on each plane based on the preset function, wherein the preset function is as follows:
if it isAnd->When the depth of field is judged to be qualified;
wherein SFR i,k SFR (Spatial Frequency Response) is the spatial frequency response, n is the number of attached SFR test targets, SFR i,k,j For the spatial frequency response on a specific reference plane, i= { front, std, back } is used to represent the front depth of field, the standard depth of field and the rear depth of field, k= {1, 2, …, 9} represents the sequence number of the reference change, n represents the number of SFR test targets stuck on the reference plane, and SFR front,k SFR as the kth target test result on the front depth of field reference plane std,k DOF (DOF) for the kth target test result on the standard depth of field reference plane th For (DOF abbreviation stands for Depth of Field), corner mark th stands for threshold value threshold) the Depth of Field spatial frequency response qualifying threshold, SFR back,k Is the kth target test result on the reference plane of the rear depth of field.
The invention has the following beneficial effects:
the invention provides a multi-reference surface structure target device prepared by a preparation method of the multi-reference surface structure target device, which comprises the following steps: the front depth of field module, standard depth of field module and back depth of field module, wherein every module all includes 3 visual angle reference planes that correspond 3 visual angle camera system, can realize 3 visual angle camera system's quick calibration test, eliminate the artificial influence factor in the manual positioning adjustment process.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application, illustrate and explain the application and are not to be construed as limiting the application. In the drawings:
FIG. 1 is a schematic diagram of a multi-view sampling space effect formed by overlapping fields of view of three cameras according to an embodiment of the present invention;
fig. 2 is a schematic view effect diagram of the pasting plane target in the viewing angle directions of 3 cameras according to the embodiment of the invention;
FIG. 3 is a schematic view of a multi-reference-plane structure semitransparent 3D effect according to an embodiment of the present invention at view angle 1;
FIG. 4 is a schematic view of a multi-reference-plane structure semitransparent 3D effect of view 2 according to an embodiment of the present invention;
FIG. 5 is a schematic illustration of the effect of drawing a cutting line on one face of a cube in accordance with an embodiment of the present invention;
FIG. 6 is a schematic view showing the effect of cutting lines drawn on the adjacent surface according to an embodiment of the present invention;
FIG. 7 is a schematic view showing the effect of the first cutting according to the embodiment of the present invention;
FIG. 8 is a schematic drawing of a cutting line on a diagonal cross-section of a cube in accordance with an embodiment of the invention;
FIG. 9 is a schematic illustration of the effect of drawing cutting lines on a diagonal cross-section of a cube according to an embodiment of the present invention;
FIG. 10 is a schematic view showing the effect of the second cutting according to the embodiment of the present invention;
FIG. 11 is a schematic diagram showing the effect of the positioning line of the reference plane of the rear depth of field according to the embodiment of the present invention, wherein the depth of field is increased by 2 orthogonal viewing directions;
FIG. 12 is a schematic view of 3D effects of a 1 st padding structure according to an embodiment of the present invention;
FIG. 13 is a schematic view illustrating the effect of the positioning line of the reference plane of the rear depth of field according to the depth of field distance supplementing the 3 rd viewing angle direction according to the embodiment of the present invention;
FIG. 14 is a schematic view of 3D effect of a 2 nd pad structure according to an embodiment of the present invention;
FIG. 15 is a schematic view effect diagram of three camera views corresponding to a multi-reference-plane structure target according to an embodiment of the present invention;
FIG. 16 is a schematic view of a structural body with reference coordinate axis component according to an embodiment of the present invention;
FIG. 17 is a schematic view of reference axis components of an embodiment of the present invention;
fig. 18 is a schematic diagram showing the effect of the center reference point of the structure for 3-way camera image position alignment adjustment according to the embodiment of the present invention.
Detailed Description
It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer executable instructions, and that although a logical order is illustrated in the flowcharts, in some cases the steps illustrated or described may be performed in an order other than that illustrated herein.
The embodiment firstly provides a preparation method of a multi-reference-surface structure target device, which comprises the following steps:
step 1, acquiring a basic geometrical body of a multi-reference-surface structure body target device based on optical parameters of a 3-view camera system;
step 2, presetting a reference point; the reference points include: a coordinate reference origin and a sampling space reference center point;
And 3, cutting and filling the basic geometric body in sequence based on the reference point to obtain the multi-reference-surface structural body target device.
Wherein, step 1 is realized based on the following steps:
in this embodiment, the design of the multi-reference surface structure target device is related to the angle between the multi-angle cameras, and the design requirement satisfies the condition:
the multi-reference-surface structure for the characteristic test of the 3-angle snowflake camera system designed in the embodiment has the following geometric dimension relation adapted to the optical parameters of the 3-angle snowflake imaging system:
the 3 cameras have the same optical parameters:
condition 1: the field of view, fov=h_fov x v_fov=141 mm x 103mm,
condition 2: front depth of field distance d1, rear depth of field distance d2, d1=d2=dof/2=50mm,
condition 3: 2 view angle parameters in 3 camera system:
condition 3.1: the plane angle θ—ca2cb=90° formed by the camera a and camera B viewing angles,
condition 3.2: camera C is centered and forms an angle θ_cc2pab=45° with the camera a and camera B viewing angles between planes.
According to the parameters, the design of the structure body can achieve the design goal in a cutting or filling mode on the basis of basic geometry, and the specific process is as follows:
Selecting a basic geometry of the initial model of the structure;
from the condition 1 and the condition 2, it can be known that the depth-of-field distance is d1+d2=100 mm;
from condition 3.1, it can be known that there are 2 cameras 90 degrees orthogonal.
Thus, the geometry may be designed by first taking an orthocube as the initial geometry, and constructing multiple facets on an orthocube basis. The side length of the initial cube is set to dc=100 mm.
Basic meaning of the initial model is that a cube with a side length of 100 mm:
a) Because there are 2 cameras that are 90 degrees orthogonal and 2 adjacent faces of the cube are 90 degrees, two adjacent faces can be directly used as front reference faces of depth of field.
B) The cube has 3 orthogonal face intersection structures, that is, three faces intersect at one vertex to serve as reference coordinate axes for coordinates in the sampling space.
Wherein, step 2 is realized based on the following steps:
this example sets up 2 key reference points on a cube with an initial side length of 100 mm:
coordinate key reference point PA: one corner of the cube, namely three adjacent edges, is selected to intersect at one vertex to serve as a reference origin PA of coordinates in a sampling space, and the three adjacent edges are correspondingly formed into three coordinate axes X, Y and Z respectively. Let Z axis be vertical axis, then X and Y are orthogonal axes on horizontal plane, let X axis and Y axis be parallel to optical axis of 2 cameras forming 90 degrees orthogonal respectively.
Sampling a spatial reference center point PB: the geometric center of the cube is selected as the sampling space reference center point.
Determining key reference points; wherein, the key reference points include: a coordinate reference origin and a sampling space reference center point; the center reference point is used for representing the center of the sampling space; the coordinate reference point is a translation of the center reference point and extends 3 coordinate axes, and is used for providing reference coordinates for the target in the sampling space (ensuring that the pixel coordinates of the target in 3 camera view angles can be unified into space distance coordinates and the coordinate values are positive values).
Reference points function in the design of structures:
1. the center reference point is the reference point when the cutting line is drawn. In the drawing of the cutting line, the drawing is performed centering on the center reference point. Including the drawing of the 1 st cut and the 2 nd cut lines.
2. The coordinate reference points are determined by selecting a cube structure for cutting. The coordinate reference point is a translation point of the center reference point, and cutting is performed by selecting a cube structure, namely, the position relationship between the coordinate reference point and the center reference point is determined, and the relationship between the center point and the corner point of the cube is determined. The coordinate reference point is half the depth of field distance that the center reference point translates in all 3 orthogonal axis directions.
Wherein, step 3 is realized based on the following steps:
in this embodiment, the cutting and filling of the basic geometry in sequence comprises the steps of:
drawing a first cutting line based on a sampling space reference center point, and performing first cutting on the basic geometric body by combining the first cutting line with a coordinate reference origin to obtain an initial front depth-of-field module and an initial standard depth-of-field module; wherein, the initial front depth of field module includes: an initial front depth of field working face of two 90 ° orthogonal view angles, the initial standard depth of field module comprising: two initial standard depth of field working surfaces which are half the distance from the front depth of field reference surface to the depth of field of the camera;
drawing a second cutting line based on a sampling space reference center point, and performing second cutting on the initial front depth-of-field module and the initial standard depth-of-field module after the first cutting by utilizing the second cutting line and combining a coordinate reference origin to obtain a front depth-of-field module and a standard depth-of-field module which comprise a front depth-of-field reference surface and a standard depth-of-field reference surface of the 3-path camera;
and filling the front depth of field module and the standard depth of field module after the second cutting for the first time to obtain an initial rear depth of field module, wherein the initial rear depth of field module comprises: a reference plane of the rear depth of field corresponding to the 2-path orthogonal camera;
Filling the initial rear depth of field module for the second time to obtain the rear depth of field module, so as to form a multi-reference-surface structure body target device; the front depth-of-field module, the standard depth-of-field module and the rear depth-of-field module in the multi-reference-plane structure target device all correspond to 3 view reference planes comprising a 3-view camera system.
Still further, the 1 st cut:
because 2 adjacent surfaces of the cube can be used as reference surfaces before depth of field, a line is drawn on the 2 adjacent surfaces correspondingly for cutting, and the cutting depth is controlled to be 50mm, so that the standard depth of field reference surface can be obtained.
The scribing method is as follows, 2 orthogonal central lines of the surface of the cube are firstly drawn and intersected at the center of the square surface, and the drawing is shown by a dotted line. The cutting line is formed by two connected connection sections, one line section is from the center of the square to the center of the side length, the other line section is from the center of the square to the opposite side, and the positions of the line sections deviate from the center of the opposite side by a certain distance so as to form an angle with the center line. The small angle exists between the second line segment and the first line segment, so that a trimming structure is formed after cutting, the edge profile is shown as the intersection of the two line segments, the intersection point is a center point, the center point is shown in the form of the intersection of the edges, the distance and the angle of the center point are not strictly required, and the distance and the angle can be set to be about 10 degrees.
The cutting line divides the square into 2 parts, the area of 1 part is larger than 1/2, and the other part is smaller than 1/2.
Cutting was performed according to the cutting line, and a portion having an area smaller than 1/2 was cut until the cutting depth reached 50 mm. Symmetrical cutting is performed on 2 adjacent surfaces, as shown in fig. 5 and 6, and the effect after the first cutting is shown in fig. 7.
After the first cutting, the cube is structurally divided into 2 parts, and the first part is a front depth-of-field module, wherein the front depth-of-field module comprises two adjacent orthogonal planes of a cutting line drawn by the cube and is used as a front depth-of-field reference plane of a 2-path orthogonal camera. The second part is a standard depth of field module, and two orthogonal planes which are half the distance (50 mm) from the front depth of field reference plane to the depth of field of the camera are formed and used as standard depth of field reference planes.
The cutting line is composed of 2 intersecting line segments, so that a center point inside the cube can be structurally represented as a center reference point after cutting.
Still further, the 2 nd cut:
after the second cutting, a front depth of field reference surface and a standard depth of field reference surface of the 3 rd path camera are respectively formed on the front depth of field module and the standard depth of field module on the basis of the first cutting.
The second cutting line needs to be drawn on the diagonal cross section of the cube, which is a rectangle with a short side of 100 and a long side of 100 multiplied by root number 2.
This is because the 3 rd angle camera is located in the middle of the 2 orthogonal 90 ° cameras and is at a 45 ° angle to the two camera view planes. This view is exactly in line with the direction of the diagonal section of the cube where the side length of the 2 just-described adjacent faces intersects.
The cutting line drawing effect of this time is as follows:
in addition to the center point as a key reference point, the point at which the horizontal centerline intersects the anterior edge is used as a second key reference point. Drawing a line segment by taking two reference points as starting points, wherein the line segment forms an angle of 45 degrees with a horizontal central line. In the first quadrant, two line segments intersect at a point forming a 90 ° right angle.
And drawing a line segment in a second quadrant by taking the central line as a starting point, intersecting the line segment with the upper edge at a point, vertically drawing the line segment downwards from the point, horizontally turning to draw the line segment at the position with the length of 40mm, and forming an L-shaped right angle as a reference plane structure of a subsequent supplementary adding structure. Drawing a cutting line on a diagonal section of the cube as shown in fig. 8; the effect of drawing a cutting line on a diagonal section of a cube, as shown in fig. 9;
so far, the cutting lines of the front depth of field reference surface and the standard reference surface corresponding to the 3 rd visual angle camera are drawn. The effect after the second cutting is shown in fig. 10.
Further, the first padding:
after 2 cuts, the construction of the front depth of field reference plane and the standard depth of field reference plane for 3 views was completed.
However, the back depth reference plane may be implemented by filling the structural plane.
The top view after 2 cuts is given below as shown in fig. 11, with the front depth of field reference and the standard depth of field reference of 2 orthogonal 90 view cameras represented by thick dashed line segments.
The 2 back depth of field reference planes that need to be added are represented by black line segments.
The front depth of field reference plane, the standard depth of field reference plane and the rear depth of field reference plane are sequentially separated by 50mm.
Since one reference plane for the supplemental structure is preserved during the second cut, the 2 post depth of field reference plane structure corresponding to the 90 ° orthogonality can be designed as follows, as shown in fig. 12. And determining the relation between two 90-degree orthogonal plane structures of the rear depth reference plane and the structure body through the adaptation of the rear depth reference plane and the reserved reference plane.
A structural body with orthogonal surfaces is filled for the first time, and a rear depth of field reference surface corresponding to 2 paths of orthogonal cameras is formed in position through a half depth of field distance relation; where the positions refer to the positions of two bold black solid line segments intersecting at a right angle in fig. 11, fig. 11 is a top view from top to bottom, and the dashed line segments intersecting at the other two right angles in fig. 11 are a front depth of view reference plane and a standard depth of view reference plane, respectively.
The supplementary structure is shown in fig. 12, and is that an equilateral right triangle prism with a plane base structure is provided, two orthogonal planes of the equilateral right triangle prism are functional reference planes, namely a rear depth of field reference plane, the equilateral right triangle prism comprises 2 geometric parameters, the length c of the hypotenuse of the section right triangle and the height h of the prism are properly selected and determined by matching with the field of view range of a camera, and the length and the height of the hypotenuse of the right triangle can exceed the field of view, but the test is not influenced. The bottom plate base is used for adapting the L-shaped structure reserved during the second cutting, the length of the bottom plate is determined by the half depth-of-field distance relation shown in fig. 11, the width of the bottom plate is equal to the hypotenuse of the equilateral right triangle with the prismatic section, and the thickness is proper. The plane of the bottom flat plate is tightly adhered to two intersecting surfaces of the L-shaped structure.
Further, the second padding:
a side view is given below as shown in fig. 13, with the bold line segment representing the front depth of view reference plane and the standard depth of view reference plane for the 3 rd camera view. The reference plane of the rear depth of field can be cut to form a reference plane of a filling structure, and the reference plane of the rear depth of field is 50mm away from the reference plane of the standard depth of field as indicated by a thick and dashed line segment in the figure.
The filling structure of the rear depth of field reference surface of the 3 rd camera view angle can adopt a strip-shaped plate, and the center of the strip-shaped plate is contacted with the filling structure reference surface (black line segment) formed by cutting in fig. 14.
The second filling structure is a flat plate structure, and a rear depth of field reference surface of the 3 rd path 45 degree camera is formed on the position through a half depth of field distance relation.
The first and second filled parts together form a third part of the structure, namely the rear depth of field reference surface module.
More specifically: the specific steps of the second filling include: filling a flat plate structure, and forming a rear depth of field reference surface of a 3 rd path 45 degree camera on the position of a thick black virtual line segment in fig. 13 by half depth of field distance relation, as shown in fig. 13, wherein fig. 13 is a side view. Filling of the flat plate structure is achieved by cutting off a right-angle structure positioning reference surface on the structure in the previous step, and then tightly bonding the complementary plane and the right-angle positioning reference surface. The position of the right angle structure for cutting is shown in fig. 13, the end point of the thick black real line segment of the standard reference surface is used for making a vertical line (a dot-dash line), the length of the vertical line is half depth of field (50 mm) and intersects with the final edge of the structure, the vertical line (the thick black dotted line) of the dot-dash line is drawn again from the intersection point, namely the positioning line of the reference surface for rear depth of field, the length of the thick black virtual line segment is the width of the supplement plane, the width can be set to be about 25mm according to the requirement, the application can be met, and the end point of the thick black virtual line segment is used for making the vertical line again and intersecting with the final edge of the structure, so that the positioning of the right angle cutting is formed. Mainly, the distance between the thick dotted line and the thick black line segment of the front standard reference surface is ensured to be half depth of field (50 mm), and other positioning relations can be properly adjusted. The length and the width of the flat plate which is supplemented at this time are determined according to the width of the field of view of the camera, and the flat plate cannot be shot beyond the field of view, but the test is not influenced, the function is not influenced by the thickness, and the flat plate is suitable.
Also described in this embodiment are: the connection between the filling structure and the original structure;
because the filling structure is positioned by the contact of the reference surface, the connection mode with the original structure can be realized by the following modes:
1) And (3) pasting, namely selecting applicable glue to bond according to the processing materials.
2) 3D prints, and the structure can form an integrated structure in the design drawing, and is directly formed by 3D printing.
3) Screw connection, the screw hole can be processed on the reference plane to above-mentioned structure, adopts screw connection.
The connection in 3 above is a relatively simple and efficient connection, and any other connection that ensures the geometric relationship of the structure may be used.
And the following is an additional description of the reference plane function and the center reference point function in this embodiment:
1) The structure body has a multi-reference-plane structure, and can provide 3 reference planes for each view angle of a required 3-view-angle camera system, a front depth of field reference plane, a standard depth of field reference plane and a rear depth of field reference plane, wherein the distance between every two reference planes is 50mm.
Reference plane function:
the front depth of field reference plane, the standard depth of field reference plane, the rear depth of field reference plane provides the reference plane of 3 distance depth positions respectively. The method can be used in combination with the pasting of functional targets, such as pasting of windmill pictures, checkerboards and other functional targets, and can be used for simultaneous shooting analysis of imaging performance parameters of multiple fields.
2) The structure body has key reference points
Key reference point a: center reference point:
in 3 views, the center reference point is at the center of the field:
function of center reference point:
the purpose of this reference point is field of view alignment. By adjusting the posture positions of the camera system such as translation, pitching and the like, the center reference points of the structural bodies seen from 3 visual angles are all positioned at the center of the visual field, and the deviation error is within the receiving range, so that the multi-visual field imaging can be considered to be matched and aligned.
Key reference point B: coordinate reference points:
function of coordinate reference points:
the intersection point of the corner structures with three intersecting surfaces reserved at the bottom of the structure body can be used as a coordinate reference point, and the intersection point can be used as a rectangular coordinate reference origin when three-dimensional coordinates are reconstructed for 3-angle imaging.
The coordinate reference points can be used with suitable coordinate members in the following modes as shown in fig. 16 and 17, and the structure is used for performing performance test shooting on the 3-view camera system. And a coordinate piece can be matched at the coordinate reference point at the bottom of the rear part, the coordinate piece has coordinate axis indicating structural characteristics, and the coordinate piece of a black line in the lower drawing effectively displays two directions of an X axis and a Y axis.
The structure is removed from the field of view after the test is completed and the coordinate members may remain in the field of view. The coordinate member can be used as an indication of the coordinate direction and scale throughout the subsequent photographing application.
As shown in fig. 4, the present embodiment also proposes a multi-reference surface structure target device prepared based on a preparation method of the multi-reference surface structure target device, which is used for imaging of a 3-view camera system, the device comprising: the system comprises a front depth-of-field module, a standard depth-of-field module and a rear depth-of-field module;
the front depth-of-field module, the standard depth-of-field module and the rear depth-of-field module are sequentially connected along the symmetry axis, and the symmetry axes of the front depth-of-field module, the standard depth-of-field module and the rear depth-of-field module are overlapped; each camera in the 3-view camera system presents a standard depth image, a front depth image and a rear depth image through the front depth module, the standard depth module and the rear depth module.
The front depth of field, the standard depth of field and the rear depth of field are 3 modules, and each module corresponds to a 3-view camera system and has 3 view reference planes.
Angular relationship between reference surfaces:
each reference plane is perpendicular to the optical axis of the corresponding camera, and the angular relationship between the reference planes is determined by the angular relationship between the optical axes of the 3-way cameras. The structural design given in this embodiment is designed with 2 paths of orthogonal 90 degrees, and the 3 rd path and the orthogonal 2 paths of planes form an included angle of 45 degrees. When the angle between the optical axes of the 3-way camera changes, the angular relationship between the reference planes of the structure targets also corresponds to the same change.
Distance relationship between reference surfaces:
the distance between the 3 modules corresponding to the front depth of field, the standard depth of field and the rear depth of field and the reference plane of the 1-path camera visual angle is half of the depth of field of the camera. The structure design given in this embodiment is designed with a depth of field of 100mm, i.e. half the depth of field for a distance between 3 reference planes with 1 camera view: 50mm.
The junction of the 2 modules of the front depth of field and the standard depth of field includes a center reference point such that the center of the camera image at the 3 perspectives of the standard depth of field module corresponds to the reference point.
The structure has a coordinate reference point that is a position where the center reference point translates half the depth of field of the camera in three orthogonal dimensions, while the structure has 3 orthogonal edge structures at the reference point, which is the intersection of the 3 orthogonal edges. The method has the effects of providing a reference origin and a reference coordinate axis for the imaging sampling space, and simultaneously ensuring that the sampling space is positioned in a first quadrant of a coordinate system, and the target coordinate in the sampling space is a positive value.
The multi-reference plane structure body has 1 three-orthogonal plane structure as a coordinate system reference plane structure (a corner structure of a cube), can be used for realizing rigid conversion structural relation between camera coordinates and absolute reference coordinates, and can be used for fixed assembly for determining the position geometric relation of a camera.
The field of view parameters of the multi-reference surface structure adaptation include in particular:
(1) The 3-angle imaging system can be represented by 2 viewing angle included angle parameters:
the plane angle formed by the visual angles of camera a and camera b is theta ab Camera c is used as a centering camera, and the included angle between the camera c and the view angle forming plane of camera a and camera b is theta c . The parameters of use of the targets in this example are: θ ab ＝90°
θ c ＝45°
(2) 3 angles of a 3-angle imaging system employ the same field of view (FOV) and depth of field (DOF):
the applicable parameters of the target in this embodiment are respectively:
FOV＝H_FOV×V_FOV[140mm×100mm]
dof=100 mm, then the front depth of field distance d1, the rear depth of field distance d2, d1=d2=dof/2=50 mm.
The embodiment also provides a calibration test method of the 3-view camera system based on the multi-reference-plane structure target device, which comprises the following steps:
step one: and (3) pasting a plurality of black-white windmill circles and checkerboard targets at proper positions on 9 planes of the target device, wherein the pasting effect is shown by referring to fig. 2.
Step two: the target and the camera system are positioned in an adapting way through measurement or a special tool, so that the three right-angle vertex of the target is positioned at a preset reference coordinate point in the visual field space.
Step three: and 3, acquiring proper imaging effects by camera shooting parameters (such as gain, exposure and the like) of the angle camera system, and shooting and storing images of a target device pasted with the test standard pattern. The 3-camera sampling space is shown in fig. 1.
Step four: according to ISO12233 and ISO17850, the Spatial Frequency Response (SFR) is calculated from black and white edges in the image, and the Geometric Distortion (GD) is calculated from a checkerboard or lattice in the image.
Step five: according to SFR i,k,j And GD i,k,j And (3) carrying out evaluation and judgment on imaging performance. Where i is a corner mark of different plane sequence numbers, i= { front, std, back }, respectively representing a front depth plane, a standard plane and a rear depth plane.
k is 3 imaging angle numbers. k= { left, mid, right }, respectively represent left view, middle view, and right view.
j is serial number of different positions in plane, and each plane has n test points.
Set SFR th And GD th A spatial frequency response pass threshold and a geometric distortion pass threshold, respectively.
SFR (Small form factor pluggable) i,k,j >SFR th And GD (graphics device) i,k,j <GD th When the spatial frequency response and distortion performance are considered acceptable.
SFR of note th Setting according to actual application requirements;
for example, SFR is provided th ＝[email protected]/P,GD th ＝0.4％
Step six: and evaluating and judging the depth of field capability of 3 visual angle imaging.
9 sets of calculations can be made from 9 planes of the target. And judging the depth of field according to the SFR. First, the average value of each plane is calculated by SFR at a plurality of places on the plane, and the average value is calculated according to the following formula:
thenAnd->And considering that the depth of field is qualified.
Injection of DOF th Setting according to practical application requirements, for example, setting as DOF th ＝0.6。
The effect of the structure center reference point for 3-way camera image position alignment adjustment is shown in fig. 18. The embodiment can effectively solve the problems of artificial influence and long adjustment process time in a shooting test mode after the multi-axis adjustment seat is adopted to be perpendicular to the optical axis of each camera in sequence through the adjustment of the plane targets and the adjustment of the working distance in the traditional multi-angle camera characteristic test method. By adopting the mode of the multi-reference-surface structure body related to the embodiment, the test can be assembled quickly, and the artificial influence factors in the manual positioning and adjusting process are eliminated.
The foregoing is merely a preferred embodiment of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the technical scope of the present application should be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A method of making a multi-reference surface structure target device, comprising:
acquiring a basic geometrical body of the multi-reference-surface structure body target device based on optical parameters of the 3-view camera system;
Drawing a first cutting line based on a preset reference point in the basic geometric body, and cutting the basic geometric body for the first time by using the first cutting line to obtain an initial front depth-of-field module and an initial standard depth-of-field module; wherein the initial front depth of field module comprises: an initial front depth of field working face of two 90 ° orthogonal view angles, the initial standard depth of field module comprising: two initial standard depth of field working surfaces which are half the distance from the front depth of field reference surface to the depth of field of the camera;
drawing a second cutting line based on the reference point, and performing second cutting on the initial front depth-of-field module and the initial standard depth-of-field module after the first cutting by utilizing the second cutting line to obtain a front depth-of-field module and a standard depth-of-field module which comprise a front depth-of-field reference plane and a standard depth-of-field reference plane of the 3-path camera;
and filling the front depth-of-field module and the standard depth-of-field module after the second cutting for the first time to obtain an initial rear depth-of-field module, wherein the initial rear depth-of-field module comprises: a reference plane of the rear depth of field corresponding to the 2-path orthogonal camera;
filling the initial rear depth of field module for the second time to obtain a rear depth of field module, thereby forming the multi-reference plane structure target device; the front depth-of-field module, the standard depth-of-field module and the rear depth-of-field module in the multi-reference-plane structure target device all correspond to 3 view reference planes comprising a 3-view camera system.
2. The method of preparing a multi-reference-surface structure target device of claim 1, wherein the optical parameters of the 3-view camera system comprise: 2 view angle parameters in a view field, a front depth of field distance, a rear depth of field distance, and a 3 view camera system; wherein the 2 view angle included angle parameters include: the camera A and the camera B form a plane angle, the camera C and the camera A and the camera B form an included angle between planes, and the camera C is centered.
3. The method of preparing a multi-reference surface structure target device of claim 1, wherein the basic geometry of the multi-reference surface structure target device is: an initial geometry based on an cube; two adjacent surfaces of the regular cube are used as depth of field reference surfaces, and one vertex intersected by three adjacent edges is used as a reference coordinate axis of coordinates in a sampling space.
4. The method of making a multi-reference surface structure target device of claim 1, wherein performing a first cut on the base geometry comprises:
drawing a first cutting line on two adjacent surfaces preset in the basic geometric body, and cutting with preset depth based on the first cutting line to obtain the initial front depth field module and the initial standard depth field module;
The initial front depth of field module includes: two initial front depth of field reference planes and; the initial standard depth of field module comprises: two initial standard depth of field reference planes;
the drawing method of the first cutting line comprises the following steps: drawing 2 orthogonal central lines of the surface of the geometric body on two adjacent surfaces, intersecting the central lines of the surface of the geometric body, wherein the cutting lines on each adjacent surface comprise two connected wiring sections, one line section is from the central line of the surface of the geometric body to the side length center, the other line section is from the central line of the surface of the geometric body to the side length center, the positions of the line sections deviate from the center of the side by a preset distance, a preset angle is formed between the line sections and the central line, and the effect of the preset angle is that a trimming structure is formed after cutting;
the cutting line divides the surface of the geometric body into two parts with different sizes, and cuts off the part with small area;
the two orthogonal planes of the basic geometric body with the trimming structures are the initial front depth of field reference planes respectively, and the two orthogonal cross sections without the trimming structures are the initial standard depth of field reference planes respectively.
5. The method of making a multi-reference surface structure target device of claim 4, wherein performing the second cut comprises:
Drawing a second cutting line on a diagonal section of the basic geometric body after the first cutting, and performing a second cutting on the basic geometric body after the first cutting based on the second cutting line to acquire the front depth-of-field module, the standard depth-of-field module and a reference plane for supplementing a structure;
drawing the second cutting line includes:
drawing line segments by taking the geometric center point of the basic geometric body and the center point of the diagonal line intersecting the two initial front depth-of-field reference planes as starting points respectively, wherein in a first quadrant, the two line segments intersect at one point to form a right angle;
drawing a line segment in a second quadrant by taking a geometric center point of the basic geometric body as a starting point, intersecting the line segment with the upper edge at a point, making a line segment downwards and vertically from the intersecting point, horizontally turning to draw the line segment again through a first preset length, and finishing drawing of a second cutting line; the line segment is drawn by making a line segment downwards and vertically from the intersection point, and then horizontally turning to draw the line segment by a first preset length, and a horizontal plane and a vertical plane of the cut L-shaped structure are the reference planes for supplementing the structure;
cutting to obtain a third front depth of field reference surface based on the first preset line segment, and cutting to obtain a third standard depth of field reference surface based on the second preset line segment; the first preset line segment is: a line segment from the center point of the diagonal to the right-angle intersection point in the first quadrant; the two preset line segments are as follows: a line segment from the geometric center point of the basic geometry to the point where the upper edges intersect in the second quadrant.
6. The method of preparing a multi-reference surface structure target device of claim 5, wherein performing a first fill comprises:
filling a structural body with an orthogonal plane for the reference plane for supplementing the structure to form the initial rear depth-of-field module, and forming a rear depth-of-field reference plane corresponding to the 2 paths of orthogonal cameras on the initial rear depth-of-field module through a half depth-of-field distance relation;
wherein the structural body with orthogonal surfaces is: a prismatic body with an equilateral right triangle cross section, wherein a flat base is connected with one cross section of the prismatic body; two orthogonal planes of the prism body are the rear depth of field reference planes; the flat base is used for adapting to an L-shaped structure reserved after secondary cutting, the width of the flat base is equal to that of the triangular hypotenuse with the equilateral right angle of the cross section of the prism, and the plane of the flat base is tightly adhered to two intersecting surfaces of the L-shaped structure.
7. The method of preparing a multi-reference surface structure target device of claim 6, wherein performing a second fill comprises:
cutting off a right-angle structure positioning reference surface on the first filled initial rear depth of field module, filling a flat plate structure for the cut structure position, forming a rear depth of field reference surface of a third path of 45-degree camera based on the filled flat plate structure through a half depth of field distance relation, and forming the rear depth of field module;
Cutting off a right angle structure positioning reference plane includes:
and taking the end point of the third path of standard depth of field reference surface closest to the initial back depth of field module as a starting point, making a vertical line of the third path of standard depth of field reference surface downwards, taking the end point of the vertical line of the half depth of field as a starting point, drawing a first preset vertical line of the half depth of field downwards, wherein a tangential plane corresponding to the first preset vertical line is the third path of back depth of field reference surface, the length of the first preset vertical line is the width of the filled flat structure, making a second preset vertical line at the end point of the first preset vertical line and then cutting the last edge of the structure after the first filling, and thus forming the positioning of right-angle cutting, and cutting based on the positioned line segment to finish the cutting of the positioning reference surface of the right-angle structure.
8. A multi-reference surface structure target device, characterized in that it is prepared based on the method for preparing a multi-reference surface structure target device according to any one of claims 1 to 7.
9. A method of calibration testing of a 3-view camera system based on a multi-reference surface structure target device, wherein the method of testing comprises applying a multi-reference surface structure target device of claim 8:
Pasting a plurality of windmill circles and checkerboard targets with black and white intervals on a multi-reference-surface structure target device;
performing adaptive positioning on the multi-reference-surface structure target device and a 3-view camera system, so that a tri-rectangular vertex of the multi-reference-surface structure target device is positioned at a preset reference coordinate point in a view field space;
acquiring a test image based on camera shooting parameters of the 3-view camera system and windmill circles and checkerboard targets with black and white intervals;
calculating a spatial frequency response based on black and white edges in the test image, and calculating geometric distortion based on a chessboard or lattice in the test image;
based on the comparison between the spatial frequency response and the geometric distortion and the preset spatial frequency response and the preset geometric distortion, the evaluation and judgment of the imaging performance of the 3-view camera system are completed, and based on a preset function, the evaluation and judgment of the depth of field capability of the imaging of the 3-view camera system are carried out.
10. The method for calibration testing of a 3-view camera system based on a multi-reference surface structure targeting device of claim 9,
the evaluation and judgment of the imaging performance of the 3-view camera system comprises:
Presetting a space frequency response qualification threshold and a geometric distortion qualification threshold;
when the calculated spatial frequency response and geometric distortion accord with a preset spatial frequency response qualification threshold and geometric distortion qualification threshold, judging that the spatial frequency response and the distortion performance are qualified;
the evaluation and judgment of the depth of field capability of the 3-view camera system comprises the following steps:
calculating an average value of the spatial frequency response on each plane based on the preset function, wherein the preset function is as follows:
if it isAnd->When the depth of field is judged to be qualified;
wherein SFR i,k Representing the spatial frequency response, SFR i,k,j For the spatial frequency response on a specific reference plane, i= { front, std, back } is used to represent the front depth of field, the standard depth of field and the rear depth of field, k= {1, 2, …, 9} represents the sequence number of the reference change, n represents the number of SFR test targets stuck on the reference plane, and SFR front,k SFR as the kth target test result on the front depth of field reference plane std,k DOF (DOF) for the kth target test result on the standard depth of field reference plane th SFR (Small form-factor correction) for depth of field spatial frequency response qualification threshold back,k Is the kth target test result on the reference plane of the rear depth of field.
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