Method and apparatus for testing depth camera light sensor eccentricity

Abstract

The application provides a kind of depth camera light sensor eccentricity test method and device, comprising: marking the center position of the depth camera imaging field of view;At least one target is set, the depth camera is rotated by carousel control, so that the imaging center point of the target is located on the median line of the imaging field of view;Control the depth camera first clockwise rotate alpha degree to make the imaging center point of the target located on the side boundary of the imaging field of view, then control the depth camera first counterclockwise rotate 2 alpha degree;Determine the pixel value between the imaging center point of the target and the other side boundary of the imaging field of view, determine the eccentricity value of the light sensor according to the pixel value.The depth camera is driven by carousel in the application, and the eccentricity value of the light sensor is calculated by cooperating with the target in the imaging field of view of the depth camera, which realizes the calculation of the eccentricity value of the light sensor more simply and easily.

Description

TECHNICAL FIELD

[0001] The present application relates to a depth camera, in particular, to a depth camera light sensor eccentricity testing method and device. BACKGROUND

[0002] As a brand-new technology, 3D depth vision has appeared in consumer products such as mobile phones, motion games, and payments, and gradually penetrated into new fields such as security and automatic driving. With the continuous progress of hardware technology and the continuous optimization of algorithm and software level, the accuracy, precision and actual scene use range of 3D depth vision have been greatly improved.

[0003] The main schemes currently used by 3D depth vision are binocular stereo vision, 3D structured light and TOF scheme.

[0004] In order to achieve better depth reconstruction effect, it is necessary to ensure that the optical center deviation of the module is controlled within a certain range. However, at present, in order to test the eccentricity of the light sensor, relatively complex and expensive instruments are needed, so there is an urgent need for a simple way to quickly and accurately test the eccentricity of the light sensor of the depth camera. SUMMARY

[0005] In view of the defects in the prior art, the purpose of the present application is to provide a depth camera light sensor eccentricity testing method and device.

[0006] The depth camera light sensor eccentricity testing method provided by the present application comprises the following steps:

[0007] Step S1: marking the center position of the imaging field of view of the depth camera;

[0008] Step S2: setting at least one target, rotating the depth camera by a turntable to make the imaging center point of the target located on the median line of the imaging field of view;

[0009] Step S3: controlling the depth camera to rotate clockwise by α degrees first to make the imaging center point of the target located on one side boundary of the imaging field of view, and then controlling the depth camera to rotate counterclockwise by 2α degrees first.

[0010] Step S4: determining the pixel value between the imaging center point of the target and the other side boundary of the imaging field of view, and determining the eccentricity value of the light sensor according to the pixel value.

[0011] Preferably, the number of targets is two, and the two targets are located on the same horizontal line.

[0012] Preferably, the target is one of a triangle, a pentagon, a cross, a rhombus or a hexagon.

[0013] Preferably, the depth camera comprises a light projector, an infrared camera and a processor module;

[0014] a light projector configured to project structured light to a target;

[0015] an infrared camera configured to receive the structured light reflected by the target to generate a structured light pattern;

[0016] a processor module configured to reconstruct a depth image of the target according to the structured light pattern.

[0017] Preferably, the infrared camera comprises an optical imaging lens and a photosensor;

[0018] the optical imaging lens is configured to allow structured light to pass through the optical imaging lens and enter the photosensor;

[0019] the photosensor is configured to receive structured light reflected by the target object and generate a structured light pattern according to the structured light.

[0020] The depth camera photosensor eccentricity testing device provided by the application comprises a turntable, a target and a controller module;

[0021] the turntable is configured to drive the depth camera to rotate;

[0022] the target is configured to be arranged in the imaging field of view of the depth camera;

[0023] the controller module is configured to control the depth camera to rotate through the turntable, so that the imaging center point of the target is located on the median line of the imaging field of view, control the depth camera to rotate clockwise by α degrees first, so that the imaging center point of the target is located on one side boundary of the imaging field of view, then control the depth camera to rotate counterclockwise by 2α degrees first, determine the pixel value between the imaging center point of the target and the other side boundary of the imaging field of view, and determine the eccentricity value of the photosensor according to the pixel value.

[0024] Preferably, the number of the targets is two, and the two targets are located on the same horizontal line.

[0025] Preferably, the target is one of a triangle, a pentagon, a cross, a rhombus or a hexagon.

[0026] Preferably, the depth camera comprises a light projector, an infrared camera and a processor module;

[0027] a light projector configured to project structured light to a target;

[0028] an infrared camera configured to receive the structured light reflected by the target to generate a structured light pattern;

[0029] A processor module is configured to generate a depth image of the target according to the structured light pattern.

[0030] Preferably, the infrared camera comprises an optical imaging lens and a light sensor.

[0031] The optical imaging lens is configured to allow the structured light to pass through the optical imaging lens and enter the light sensor.

[0032] The light sensor is configured to receive the structured light reflected by the target object and generate a structured light pattern according to the structured light.

[0033] Compared with the prior art, the present application has the following advantages:

[0034] In the present application, the depth camera is driven to rotate by a rotating disc, and the eccentricity of the light sensor is calculated only when the target is in the imaging field of view of the depth camera, so that the calculation of the eccentricity of the light sensor is more simple and easy to realize, and the deviation of the calculation result of the eccentricity can be ensured to be within the pixel level. BRIEF DESCRIPTION OF DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of the provided drawings. Other features, objects and advantages of the present application will become more apparent through reading the following detailed description of the non-limiting embodiments with reference to the accompanying drawings:

[0036] Figure 1 A step flow chart of the depth camera light sensor eccentricity test method in the embodiments of the present application;

[0037] Figure 2 A schematic diagram of the depth camera light sensor eccentricity test method in the embodiments of the present application;

[0038] Figure 3 A schematic diagram of the depth camera light sensor eccentricity test device in the embodiments of the present application;

[0039] Figure 4 A working principle schematic diagram of the depth camera in the embodiments of the present application; and

[0040] Figure 5 A structural schematic diagram of the infrared camera in the embodiments of the present application.

[0041] In the drawings:

[0042] 1 is a depth camera; 2 is a rotating disc; 3 is a target. DETAILED DESCRIPTION

[0043] The application will be described in detail below with specific embodiments. The following examples will help those skilled in the art to further understand the application, but do not limit the application in any form. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the application. These are within the scope of protection of the application.

[0044] It should be noted that when an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element. In addition, the connection can be for fixing or for circuit communication.

[0045] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the embodiments of the application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the application.

[0046] In addition, the terms "first", "second", are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the embodiments of the application, the meaning of "a plurality of" is two or more, unless otherwise explicitly specified.

[0047] Figure 1 For the step flow chart of the depth camera light sensor eccentricity test method in the embodiments of the application, Figure 2 For the schematic diagram of the depth camera light sensor eccentricity test method in the embodiments of the application, as shown in Figure 1 、 Figure 2 The depth camera light sensor eccentricity test method provided by the application includes the following steps:

[0048] Step S1: Marking the center position of the imaging field of view of the depth camera;

[0049] Step S2: Setting at least one target, rotating the depth camera by a turntable to make the imaging center point of the target located on the median line of the imaging field of view;

[0050] Step S3: controlling the depth camera to rotate clockwise by α degrees first so that the imaging center point of the target is located on one side boundary of the imaging field of view, and then controlling the depth camera to rotate counterclockwise by 2α degrees first;

[0051] Step S4: determining the pixel value between the imaging center point of the target and the other side boundary of the imaging field of view, and determining the eccentricity value of the light sensor according to the pixel value.

[0052] In the embodiment of the present application, the number of the targets is two, and the two targets are located on the same horizontal line.

[0053] The target is one of a triangle, a pentagon, a cross, a diamond, or a hexagon.

[0054] In the embodiment of the present application, the depth camera comprises a light projector, an infrared camera, and a processor module.

[0055] The light projector is configured to project structured light to the target.

[0056] The infrared camera is configured to receive the structured light reflected by the target to generate a structured light pattern.

[0057] The processor module is configured to reconstruct the structured light pattern to generate a depth image of the target.

[0058] The floodlight projector is configured to project a floodlight to the target.

[0059] In the embodiment of the present application, as shown in Figure 4 When the depth camera provided by the present application is used, the infrared camera can be used to capture a background image first, then the structured light projector can be used to project structured light to the target to capture an infrared structured light image, and finally the floodlight projector can be used to project a floodlight to the target to capture an infrared image. The infrared camera uses a 940nm infrared camera. The floodlight projector uses an LED light source.

[0060] Figure 5 The structural diagram of the infrared camera in the embodiment of the present application is shown in Figure 5 In the embodiment of the present application, the infrared camera comprises an optical imaging lens 101 and a light sensor 103.

[0061] The optical imaging lens 101 is configured to make the structured light passing through the optical imaging lens enter the light sensor 103.

[0062] The light sensor 103 is configured to receive the structured light reflected by the target object and generate a structured light pattern according to the structured light.

[0063] In the embodiment of the present application, in order to filter background noise, a narrow-band filter 102 is usually installed in the optical imaging lens, so that the light detector array can only pass the incident collimated light beam of a preset wavelength. The preset wavelength can be the wavelength of the incident collimated light beam, or can be between 50 nanometers less than the wavelength of the incident collimated light beam and 50 nanometers greater than the wavelength of the incident collimated light beam. The light detector array can be arranged periodically or non-periodically. According to the requirement of the number of discrete collimated light beams, the light detector array can be a combination of multiple single-point light detectors or a sensor chip integrating multiple light detectors. In order to further optimize the sensitivity of the light detector, the illumination spot of a discrete collimated light beam on the target can correspond to one or more light detectors. When multiple light detectors correspond to the same illumination spot, the signals of each detector can be connected through a circuit, so as to be combined into a light detector with a larger detection area.

[0064] In the embodiment of the present application, the light detector can adopt a CMOS light sensor, a CCD light sensor or a SPAD light sensor. The detector end is an infrared detector, which receives the dot matrix light reflected by the target.

[0065] Figure 3 A schematic diagram of a depth camera light sensor eccentricity testing device in the embodiment of the present application is shown in FIG. 1, which comprises a turntable, a target and a controller module. Figure 3 The depth camera light sensor eccentricity testing device provided by the present application comprises a turntable, a target and a controller module.

[0066] The turntable is configured to drive the depth camera to rotate.

[0067] The target is arranged in the imaging field of view of the depth camera.

[0068] The controller module is configured to control the depth camera to rotate through the turntable, so that the imaging center point of the target is located on the median line of the imaging field of view, control the depth camera to rotate clockwise by α degrees first, so that the imaging center point of the target is located on one side boundary of the imaging field of view, then control the depth camera to rotate counterclockwise by 2α degrees first, determine the pixel value between the imaging center point of the target and the other side boundary of the imaging field of view, and determine the eccentricity value of the light sensor according to the pixel value.

[0069] In the embodiment of the present application, the number of the targets is two, and the two targets are located on the same horizontal line. The target can be one of a triangle, a pentagon, a cross, a rhombus or a hexagon.

[0070] In the embodiment of the present application, the depth camera comprises a light projector, an infrared camera and a processor module.

[0071] The light projector is configured to project structured light to the target.

[0072] The infrared camera is configured to receive the structured light reflected by the target to generate a structured light pattern.

[0073] The processor module is configured to reconstruct the depth image of the target according to the structured light pattern.

[0074] In the embodiment of the present application, when the depth camera is used, the background image can be first captured by the infrared camera, then the infrared structured light image can be captured after the structured light is projected to the target by the structured light projector, and finally the infrared image can be captured after the floodlight is projected to the target by the floodlight projector. The infrared camera can be a 940nm infrared camera. The floodlight projector can be an LED light source.

[0075] In the embodiment of the present application, the infrared camera comprises an optical imaging lens and a light sensor.

[0076] The optical imaging lens is configured to make the structured light pass through the optical imaging lens and enter the light sensor.

[0077] The light sensor is configured to receive the structured light reflected by the target object and generate a structured light pattern according to the structured light.

[0078] In the embodiment of the present application, in order to filter the background noise, a narrow-band filter 102 is usually installed in the optical imaging lens, so that the light detector array can only pass the incident collimated light beam with a preset wavelength. The preset wavelength can be the wavelength of the incident collimated light beam, or can be between 50nm less than the wavelength of the incident collimated light beam and 50nm greater than the wavelength of the incident collimated light beam. The light detector array can be arranged periodically or non-periodically. According to the requirement of the number of discrete collimated light beams, the light detector array can be a combination of multiple single-point light detectors or a sensor chip integrated with multiple light detectors. In order to further optimize the sensitivity of the light detector, the illumination spot of a discrete collimated light beam on the target can correspond to one or more light detectors. When multiple light detectors correspond to the same illumination spot, the signals of each detector can be connected through a circuit, so as to be combined into a light detector with larger detection area.

[0079] In the embodiment of the present application, the light detector can adopt a CMOS light sensor, a CCD light sensor or a SPAD light sensor. The detector end is an infrared detector, which receives the dot array light reflected by the target.

[0080] In the embodiment of the present application, the depth camera is driven to rotate by the turntable, and the eccentricity of the light sensor is calculated only when the target is in the imaging field of view of the depth camera, so that the calculation of the eccentricity of the light sensor is realized more simply and easily, and the deviation of the calculation result of the eccentricity can be ensured within the pixel level.

[0081] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the difference from other embodiments. The same or similar parts between the various embodiments can be referred to each other. The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to the embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

[0082] The specific embodiments of the present application are described above. It should be understood that the present application is not limited to the specific embodiments described above, and various modifications or changes can be made by those skilled in the art within the scope of the claims, which does not affect the essential content of the present application.

Claims

1. A method of testing a depth camera light sensor for eccentricity, the method comprising: The method comprises the following steps: Step S1: marking the center position of the imaging field of view of the depth camera; Step S2: setting at least one target, controlling the depth camera to rotate through a turntable, and making the imaging center point of the target located on the median line of the imaging field of view; Step S3: controlling the depth camera to rotate clockwise by α degrees first to make the imaging center point of the target located on one side boundary of the imaging field of view, and then controlling the depth camera to rotate counterclockwise by 2α degrees first; Step S4: determining the pixel value between the imaging center point of the target and the other side boundary of the imaging field of view, and determining the eccentricity value of the light sensor according to the pixel value.

2. The method of claim 1, wherein, The number of the targets is two, and the two targets are located on the same horizontal line.

3. The method of claim 1, wherein, The target is one of a triangle, a pentagon, a cross, a diamond, or a hexagon.

4. The method of claim 1, wherein, The depth camera comprises a light projector, an infrared camera, and a processor module; The light projector is used for projecting structured light to a target; The infrared camera is used for receiving the structured light reflected by the target to generate a structured light pattern; The processor module is used for reconstructing to generate a depth image of the target according to the structured light pattern.

5. The method of claim 4, wherein, The infrared camera comprises an optical imaging lens and a light sensor; The optical imaging lens is used for making the structured light pass through the optical imaging lens to enter the light sensor; The light sensor is used for receiving the structured light reflected by the target object and generating a structured light pattern according to the structured light.

6. A depth camera light sensor eccentricity testing apparatus, comprising: The method comprises a turntable, a target, and a controller module; The turntable is used for driving the depth camera to rotate; The target is used for being arranged in the imaging field of view of the depth camera; The controller module is used for controlling the depth camera to rotate through the turntable, making the imaging center point of the target located on the median line of the imaging field of view, controlling the depth camera to rotate clockwise by α degrees first to make the imaging center point of the target located on one side boundary of the imaging field of view, and then controlling the depth camera to rotate counterclockwise by 2α degrees first, determining the pixel value between the imaging center point of the target and the other side boundary of the imaging field of view, and determining the eccentricity value of the light sensor according to the pixel value.

7. The depth camera light sensor eccentricity test apparatus of claim 6, wherein, The number of the targets is two, and the two targets are located on the same horizontal line.

8. The depth camera light sensor eccentricity test apparatus of claim 6, wherein, The target is one of a triangle, a pentagon, a cross, a diamond, or a hexagon.

9. The depth camera light sensor eccentricity test apparatus of claim 6, wherein, The depth camera comprises a light projector, an infrared camera, and a processor module; The light projector is used for projecting structured light to a target; The infrared camera is used for receiving the structured light reflected by the target to generate a structured light pattern; The processor module is used for reconstructing to generate a depth image of the target according to the structured light pattern.

10. The depth camera light sensor eccentricity test apparatus of claim 9, wherein, The infrared camera comprises an optical imaging lens and a light sensor; The optical imaging lens is used for making the structured light pass through the optical imaging lens to enter the light sensor; The light sensor is used for receiving the structured light reflected by the target object and generating a structured light pattern according to the structured light.

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