A 3D camera 3D calibration effect evaluation method and computer storage medium

Abstract

The present invention discloses a 3D calibration effect evaluation method of a 3D camera and a computer storage medium, belonging to the field of image processing, the method comprising: S100: setting a display screen, displaying a black and white checkered picture on the display screen; S200: setting a 3D camera, the 3D camera having two identical CMOS image sensors and lenses, shooting two black and white checkered pictures through the two identical CMOS image sensors and lenses; S300: performing image processing and superposition on the two shot black and white checkered pictures, and outputting the superimposed pictures to the display screen; S400: judging whether the effect of 3D calibration reaches the expected value based on the superimposed pictures displayed on the display screen. The present invention superimposes the images of the two image sensors in real time and observes the black and white checkered pictures, without waiting for a long time, thereby improving the accuracy and timeliness of the 3D calibration effect evaluation.

Description

Technical Field

[0001] The present invention relates to the technical field of 3D calibration, and more particularly to a 3D calibration effect evaluation method of a 3D camera and a computer storage medium. Background Art

[0002] 3D cameras, including ordinary 3D cameras and 3DVR cameras, have strict requirements for the alignment of two images. If the vertical gap is too large, the viewer's comfort will be greatly reduced. If the horizontal gap is too large, it will affect the 3D depth perception. Therefore, 3D cameras usually need to be calibrated. The calibration method usually includes optical calibration and software system calibration. After the calibration is completed, usually only the software evaluation of the algorithm can be performed. If you want to evaluate the actual effect, you can only watch 3D videos on a device that supports 3D video playback and make a subjective evaluation. This not only makes it impossible to accurately measure the effect of the calibration, but also greatly limits the viewing device.

[0003] In the prior art, a high-precision afterimage test method disclosed in Patent No. 202210946151.0 uses a black and white checkerboard to judge the afterimage of the display, but mainly uses the switching of black and white images and gray images to calculate the brightness difference. The test steps need to last for several hours. The method is complicated and the effect is not intuitive enough, which affects the timeliness of the 3D calibration effect evaluation.

[0004] Therefore, how to provide a 3D calibration effect evaluation method and a computer storage medium for a 3D camera that can solve the above problems is an issue that those skilled in the art need to solve urgently. Summary of the invention

[0005] In view of this, the present invention provides a 3D calibration effect evaluation method for a 3D camera and a computer storage medium, which improves the accuracy and timeliness of 3D calibration effect evaluation and solves the technical problems existing in the above-mentioned prior art.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] A 3D calibration effect evaluation method for a 3D camera comprises the following steps:

[0008] S100: Setting the display screen to display a black and white grid picture on the display screen;

[0009] S200: Setting a 3D camera, wherein the 3D camera has two identical CMOS image sensors and lenses, and shoots two black and white grid images through the two identical CMOS image sensors and lenses;

[0010] S300: performing image processing and superimposing on the two black and white grid images shot, and outputting the superimposed images to a display screen;

[0011] S400: Determine whether the 3D calibration effect meets expectations based on the superimposed image displayed on the display screen.

[0012] Preferably, the checkerboard of the black and white checkered picture displayed on the display screen is 5x3 grids, and the number of length and width grids remains an odd number (2n+1).

[0013] Preferably, setting up the 3D camera includes: setting two identical CMOS image sensors and lenses on the same horizontal plane; and the lenses in each group are perpendicular to the corresponding CMOS image sensor.

[0014] Preferably, S300 includes:

[0015] Calculate the coordinate pixel values ​​of the two black and white grid images output at time T:

[0016] I dst(x, y) = (255 – I src1(x, y) + I src2(x, y) ) / 2;

[0017] In the formula, I src1(x, y) is the pixel value of the first path coordinate at time T, I src2(x, y) is the pixel value of the second path coordinate at time T, I dst(x, y) is the coordinate pixel value output at time T;

[0018] Based on the coordinate pixel value output at time T, two black and white grid superimposed images are obtained and output to the display screen.

[0019] Preferably, S400 includes: judging whether the effect of the 3D calibration reaches expectations through the overlap of the superimposed images displayed on the display screen.

[0020] Preferably, judging whether the effect of 3D calibration reaches expectations by the overlap of the superimposed images displayed on the display screen includes:

[0021] If the 3x3 grid in the middle of the superimposed image of the two black and white grids is pure gray, and there are no black and white stripes between the grids, the overlap requirement is met and the 3D calibration effect is as expected;

[0022] If black and white stripes appear between the 3x3 grids in the middle of the superimposed image of the two black and white grids, the overlap requirement is not met, the 3D calibration effect does not meet the expectation, and the 3D calibration needs to be repeated.

[0023] A computer storage medium stores a computer program, which, when executed by a processor, implements the steps of a method for evaluating a 3D calibration effect of a 3D camera.

[0024] Through the above technical solutions, it can be known that compared with the prior art, the present invention discloses a 3D calibration effect evaluation method for a 3D camera and a computer storage medium. The present invention superimposes the images of the left and right CIS in real time and observes the black and white checkerboard picture without waiting for a long time. Moreover, the present invention can accurately identify whether the 3D calibration meets the requirements on a 2D screen. Compared with only being able to watch 3D videos on devices that support 3D video playback, the accuracy of the 3D calibration effect evaluation is improved. At the same time, compared with the cumulative duration method of the prior art, the timeliness of the 3D calibration effect evaluation is improved, which is convenient for users of 3D cameras to judge whether the 3D calibration of the camera meets expectations. At the same time, it is also convenient for users of 3D cameras to dynamically adjust the effect of 3D calibration and optimize the effect of 3D calibration. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0026] Figure 1 It is a schematic diagram of the method flow of the present invention;

[0027] Figure 2 is a schematic structural diagram of a 3D camera of the present invention;

[0028] Figure 3 A schematic diagram of the positions of a 3D camera and a display screen of the present invention;

[0029] Figure 4 A schematic diagram of a black and white grid image displayed on a display screen of the present invention;

[0030] Figure 5 This is a schematic diagram showing a better 3D calibration effect of the present invention;

[0031] Figure 6 It is a schematic diagram showing that the 3D calibration effect of the present invention is poor. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] The purpose of the present invention is to provide a 3D calibration effect evaluation method of a 3D camera and a computer storage medium, the method comprising: S100: setting a display screen, displaying a black and white grid picture on the display screen; S200: setting a 3D camera, the 3D camera having two identical CMOS image sensors and lenses, shooting two black and white grid pictures through the two identical CMOS image sensors and lenses; S300: performing image processing and superposition on the two shot black and white grid pictures, and outputting the superposition picture to the display screen; S400: judging whether the effect of 3D calibration reaches the expected effect based on the superposition picture displayed on the display screen. A solution is provided to improve the accuracy and timeliness of 3D calibration effect evaluation.

[0034] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0035] Embodiment 1:

[0036] See also Figure 1 The embodiment of the present invention discloses a 3D calibration effect evaluation method of a 3D camera, comprising the following steps:

[0037] S100: Setting the display screen to display a black and white grid picture on the display screen;

[0038] S200: Set up a 3D camera. The 3D camera has two identical CMOS image sensors and lenses. Two black and white grid images are captured by the two identical CMOS image sensors and lenses.

[0039] S300: performing image processing and superimposing on the two black and white grid images shot, and outputting the superimposed images to a display screen;

[0040] S400: Determine whether the 3D calibration effect meets expectations based on the superimposed image displayed on the display screen.

[0041] In a specific embodiment, the checkerboard of the black and white checkered picture displayed on the display screen is 5x3 grids, and the number of length and width grids remains an odd number (2n+1).

[0042] In a specific embodiment, setting up the 3D camera includes: setting two identical CMOS image sensors and lenses on the same horizontal plane; and the lenses in each group are perpendicular to the corresponding CMOS image sensor.

[0043] In a specific embodiment, S300 includes:

[0044] Calculate the coordinate pixel values ​​of the two black and white grid images output at time T:

[0045] I dst(x, y) = (255 – I src1(x, y) + Isrc2(x, y) ) / 2;

[0046] In the formula, I src1(x, y) is the pixel value of the first path coordinate at time T, I src2(x, y) is the pixel value of the second path coordinate at time T, I dst(x, y) is the coordinate pixel value output at time T;

[0047] Based on the coordinate pixel value output at time T, two black and white grid superimposed images are obtained and output to the display screen.

[0048] In a specific embodiment, S400 includes: judging whether the effect of 3D calibration reaches expectations through the overlap of superimposed images displayed on the display screen.

[0049] In a specific embodiment, judging whether the effect of 3D calibration reaches the expected result by the overlap of the superimposed images displayed on the display screen includes:

[0050] If the 3x3 grid in the middle of the superimposed image of the two black and white grids is pure gray, and there are no black and white stripes between the grids, the overlap requirement is met and the 3D calibration effect is as expected;

[0051] If black and white stripes appear between the 3x3 grids in the middle of the superimposed image of the two black and white grids, the overlap requirement is not met, the 3D calibration effect does not meet the expectation, and the 3D calibration needs to be repeated.

[0052] A computer storage medium stores a computer program, which, when executed by a processor, implements the steps of a method for evaluating a 3D calibration effect of a 3D camera.

[0053] Embodiment 2:

[0054] This embodiment provides a 3D camera having two identical CMOS image sensors (abbreviated as CIS) and lenses. The two CMOS image sensors are in the same horizontal plane, and the lenses are perpendicular to the CIS. Assume that the center distance between the two CIS is x mm, that is, the parallax is x mm, see Figure 2 shown.

[0055] In this embodiment, a display screen is placed in front of the camera at a distance of y meters, and a black and white grid test pattern is displayed on the display screen. Figure 3 shown.

[0056] In a specific embodiment, the center distance between the two CIS of the camera is 65 mm, and the test chart is placed in front of the camera 2 meters away. At this time, the center point position of the two CIS outputs on the test chart is also 65 mm apart.

[0057] In a specific embodiment, the black and white checkered picture (test image) displayed on the display screen is a square black and white checkerboard, the minimum checkerboard is 5x3 grids, the length and width of the grids are kept odd (2n+1), and the side length of each grid is m millimeters. For an example of a black and white checkered picture (test image) displayed on the display screen, see Figure 4 shown.

[0058] In a specific embodiment, the length of the side m = x / 2, or it may be slightly less than x / 2, and the approximate range of m is: [x / 2, x / 2*0.95]. (Note: The scenario where m is less than x / 2 is mainly because the camera parallax x is fixed at the factory, but the user wants a smaller parallax)

[0059] In a specific embodiment, after the test environment is prepared, it is also necessary to process the two black and white grid images taken by the 3D camera and output them to a viewable display screen so that users can view the actual effect.

[0060] Specifically, the 3D camera processes two images:

[0061] Suppose the pixel value of the first CIS at the coordinate (x, y) at time T is I src1(x, y) , the pixel value of the second CIS is I src2(x, y) , then the pixel value I of the coordinate (x, y) output at time T dst(x, y) It is the average value of the first channel after inversion and the second channel, that is:

[0062] I dst(x, y) = (255 – I src1(x, y) + I src2(x, y) ) / 2;

[0063] The output screen will show a superposition of two CIS images. Users can judge whether the 3D calibration effect meets expectations by observing the degree of overlap of the checkerboard images of the superimposed images.

[0064] Specifically, since the algorithm for superimposing the images of the two CIS channels has high real-time performance, the user can fine-tune the parameters of a single or two CIS channels and see the superimposed image effect after the parameters are modified in real time, thereby optimizing the parameters of the 3D calibration.

[0065] In a specific embodiment, on a mainstream Camera SoC platform, two CIS superimposed images are output, and the actual measurement can reach 1080P 30FPS, which can meet the real-time viewing effect. For 1080P CIS, the two channels can be directly output. For CIS higher than 1080P, such as 4K CIS, the 1080P images of the two CIS can be obtained by scaling down proportionally.

[0066] In a specific embodiment, the effect of superposition is shown in Figure 5-6 As shown, because the test pattern does not cover the entire CIS screen, but only the center part of the screen, the superposition effect mainly only needs to be seen in the middle part of the test pattern.

[0067] Specifically, if the 3D calibration is optimal, the 3x3 grid in the middle should be nearly pure gray, with no obvious black and white stripes between the grids, such as Figure 5 :

[0068] Specifically, if black and white stripes appear on the left, right, top, and bottom, it means that the 3D calibration is not adjusted to the optimal parameters and needs to be re-calibrated. Figure 6 .

[0069] The implementation environment requires that the test chessboard be placed directly in front of the camera's central axis and horizontally with the camera. The test chessboard should be evenly illuminated, with no special light source requirements.

[0070] In a specific embodiment, the present invention is used in the factory verification link of an actual 3D camera product to verify whether the 3D calibration parameters of the 3D camera meet the factory requirements, and improve the accuracy and timeliness of the 3D calibration effect evaluation.

[0071] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0072] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A 3D calibration effect evaluation method for a 3D camera, characterized in that: The following steps are involved: S100: Setting the display screen to display a black and white grid picture on the display screen; S200: Setting a 3D camera, wherein the 3D camera has two identical CMOS image sensors and lenses, and shoots two black and white grid images through the two identical CMOS image sensors and lenses; S300: performing image processing and superimposing on the two black and white grid images shot, and outputting the superimposed images to a display screen; S400: judging whether the effect of the 3D calibration reaches expectations based on the superimposed image displayed on the display screen; The 3D camera is further configured as follows: two identical CMOS image sensors and lenses are configured on the same horizontal plane; the lens in each group is perpendicular to the corresponding CMOS image sensor; S300 includes: Calculate the coordinate pixel values ​​of the two black and white grid images output at time T: I dst(x, y) = (255 – I src1(x, y) + I src2(x, y) ) / 2; In the formula, I src1(x, y) is the pixel value of the first path coordinate at time T, I src2(x, y) is the pixel value of the second path coordinate at time T, I dst(x, y) is the coordinate pixel value output at time T; Based on the coordinate pixel value output at time T, a superimposed image of two black and white grids is obtained and output to the display screen; S400 includes: judging whether the effect of 3D calibration reaches the expected result through the overlap of the superimposed images displayed on the display screen, specifically including: If the 3x3 grid in the middle of the superimposed image of the two black and white grids is pure gray, and there are no black and white stripes between the grids, the overlap requirement is met and the 3D calibration effect is as expected; If black and white stripes appear between the 3x3 grids in the middle of the superimposed image of the two black and white grids, the overlap requirement is not met, the 3D calibration effect does not meet the expectation, and the 3D calibration needs to be repeated.

2. The 3D calibration effect evaluation method of a 3D camera according to claim 1, characterized in that: The black and white checkerboard displayed on the screen has 5x3 grids.

3. A computer storage medium, characterized in that: The computer storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the 3D calibration effect evaluation method for a 3D camera according to any one of claims 1 to 2 are implemented.

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