Method and device for verifying dual-view lens

Abstract

The invention discloses a verification method and device for a double-view lens, and the method comprises the steps: taking a circular array with the same diameter in the center of a large-view lens as a central circular array, and carrying out the distortion verification of the large-view lens based on the central circular array and a preset standard distance; the standard circles are arranged at the four quadrant positions and the center position of the standard lens respectively, and measurement information of the corresponding positions of the standard circles is obtained respectively; performing pixel verification of the standard lens based on the measurement information of the corresponding position; the same circular array with the same diameter is measured through the large-view-field lens and the standard lens, the first circle center coordinate and the second circle center coordinate of the same circular array with the same diameter are obtained, composite verification is carried out based on the first circle center coordinate and the second circle center coordinate, distortion verification is carried out on the large-view-field lens, pixel verification is carried out on the standard lens, and the circular array with the same diameter is obtained. And the large-view-field lens and the standard lens are subjected to composite verification, so that the image distortion problem of the double-view-field lens is avoided, and the measurement precision of the double-view-field lens is improved.

Description

Technical Field

[0001] The present application relates to the technical field of lens calibration, and more specifically, to a calibration method and device for a dual-field lens. Background Art

[0002] The application of digital image processing technology is becoming more and more common and in-depth. Many companies have begun to use a combination of dual-field lens structures, including wide-field lens and standard lens. However, both lenses will produce image distortion when shooting products, and image distortion will lead to measurement deviation.

[0003] Therefore, how to provide a calibration method and device for a dual-field lens to improve the measurement accuracy of the dual-field lens by correcting the image distortion of the dual-field lens is a technical problem that needs to be solved at present. Summary of the invention

[0004] The present invention provides a dual-field lens calibration method and device, which are used to solve the technical problem that the dual-field lens in the prior art has large errors in the measurement results due to the existence of image distortion, and is applied to an imager including a large-field lens and a standard lens. The method comprises:

[0005] Setting a plurality of circular arrays with the same diameter, and spreading the circular arrays with the same diameter over the field of view of the wide field of view lens;

[0006] The circular array with the same diameter at the center position of the wide field of view lens is used as the central circular array, and the position data of other circular arrays with the same diameter other than the central circular array are determined based on the central circular array and a preset standard distance, and the distortion calibration of the wide field of view lens is performed based on the position data;

[0007] A standard circle having a diameter equal to a preset standard diameter is set, the standard circle is set at the center position of the standard lens, first measurement information of the standard circle is obtained, and the standard circle is respectively set at four quadrants of the standard lens, and second measurement information, third measurement information, fourth measurement information and fifth measurement information of the standard circle are respectively obtained;

[0008] Perform pixel calibration of a standard lens based on the first measurement information, the second measurement information, the third measurement information, the fourth measurement information, and the fifth measurement information;

[0009] The same circular array with the same diameter is measured respectively by the wide field of view lens and the standard lens to obtain the first center coordinate and the second center coordinate of the same circular array with the same diameter, and a composite calibration is performed based on the first center coordinate and the second center coordinate.

[0010] In some specific embodiments, a plurality of circular arrays with the same diameter are set, and the circular arrays with the same diameter are spread over the field of view of the wide field of view lens, specifically:

[0011] A calibration gauge of the circular array with the same diameter is placed on the machine platform corresponding to the imager, and the circular array with the same diameter in the calibration gauge is spread over the field of view of the wide field of view lens.

[0012] In some specific embodiments, a circular array with the same diameter at the center of a wide field of view lens is used as a central circular array, and position data of other circular arrays with the same diameter outside the central circular array are determined based on the central circular array and a preset standard distance, and distortion calibration of the wide field of view lens is performed based on the position data, specifically:

[0013] The circle array with the same diameter at the center position of the wide field of view lens is regarded as the central circle array, the row where the central circle array is located is regarded as the central row, and the column where the central circle array is located is regarded as the central column;

[0014] Using a preset standard distance as a unit interval, measuring the other circular arrays except the central circular array in order from left to right and from top to bottom to obtain the position information of each circular array;

[0015] Determining the distortion calibration parameters and distortion points of the wide field of view lens based on the position information of each circular array;

[0016] Determine the measurement coordinates of the distortion point, and obtain the result coordinates of the distortion point based on the measurement coordinates and the distortion calibration parameters;

[0017] The measured coordinates of the distortion points are corrected to the result coordinates to complete the distortion calibration of the wide field of view lens.

[0018] In some specific embodiments, the measured coordinates of the distortion point are determined, and the result coordinates of the distortion point are obtained based on the measured coordinates and the distortion calibration parameters, specifically:

[0019] Determine the distortion rate of the distortion point based on the first formula and the measured coordinates;

[0020] Determining result coordinates of the distortion point based on the second formula and the distortion rate;

[0021] The first formula is specifically:

[0022] DX=X*(K1*X^2+K2*Y^2)+X*C1;

[0023] DY=Y*(K1*X^2+K2*Y^2)+Y*C2;

[0024] The second formula is specifically:

[0025] OutputX = X + DX;

[0026] OutputY=Y+DY;

[0027] Among them, K1, K2, C1, and C2 are all the distortion calibration parameters, X is the measured coordinate of the distortion point in the X-axis direction, Y is the measured coordinate of the distortion point in the Y-axis direction, DX is the distortion rate of the distortion point in the X-axis direction, DY is the distortion rate of the distortion point in the Y-axis direction, OutputX is the result coordinate of the distortion point on the X-axis, and OutputY is the result coordinate of the distortion point on the Y-axis.

[0028] In some specific embodiments, a standard circle with a preset standard diameter is set, the standard circle is set at the center of the standard lens, and first measurement information of the standard circle is obtained. The standard circle is set at four quadrants of the standard lens, and second measurement information, third measurement information, fourth measurement information, and fifth measurement information of the standard circle are obtained, specifically:

[0029] Place the calibration gauge of the standard lens on the machine platform corresponding to the imager, and use any circle in the calibration gauge of the standard lens as the standard circle;

[0030] The standard circle is set at the center position of the standard lens to obtain first measurement information of the standard circle, wherein the first measurement information includes first size information and first position information of the standard circle;

[0031] Setting the standard circle at a position close to a right angle in the first quadrant, and measuring second measurement information of the standard circle at this time, wherein the second measurement information includes second size information and second position information of the standard circle;

[0032] Setting the standard circle at a position close to a right angle in the second quadrant, and measuring third measurement information of the standard circle at this time, wherein the third measurement information includes third size information and third position information of the standard circle;

[0033] Setting the standard circle at a position close to a right angle in the third quadrant, and measuring fourth measurement information of the standard circle at this time, wherein the fourth measurement information includes fourth size information and fourth position information of the standard circle;

[0034] Setting the standard circle at a position close to a right angle in the fourth quadrant, and measuring fifth measurement information of the standard circle at this time, wherein the fifth measurement information includes fifth size information and fifth position information of the standard circle;

[0035] Determine a ratio of a pixel distance to a standard distance based on the first measurement information, the second measurement information, the third measurement information, the fourth measurement information, and the fifth measurement information;

[0036] The standard lens is pixel-calibrated based on the ratio of the pixel distance to the standard distance.

[0037] In some specific embodiments, the ratio of the pixel distance to the standard distance is determined based on the first measurement information, the second measurement information, the third measurement information, the fourth measurement information, and the fifth measurement information, specifically:

[0038] Determine the total actual length based on a third formula and the first measurement information, the second measurement information, the third measurement information, the fourth measurement information and the fifth measurement information;

[0039] Determine a total pixel length based on a fourth formula and the first measurement information, the second measurement information, the third measurement information, the fourth measurement information, and the fifth measurement information;

[0040] Determine the ratio of the pixel distance to the standard distance based on the fifth formula, the total actual length and the total pixel length;

[0041] Wherein, the third formula is specifically:

[0042]

[0043] Wherein, SumLenth is the total actual length, CircleDist n is the distance between the centers of each two adjacent circles in the process of measuring the standard circle five times, and CircleDiameter n is the diameter of each circle in the process of measuring the standard circle five times;

[0044] Wherein, the fourth formula is specifically:

[0045]

[0046] Wherein, SumPixel is the total pixel length, CircleDistPixel n is the pixel distance between the centers of each two adjacent circles in the process of measuring the standard circle five times, and CircleDiameterPixel n is the pixel diameter of each circle in the process of measuring the standard circle five times;

[0047] Wherein, the fifth formula is:

[0048] Scale = SumPixel / SumLength;

[0049] Wherein, Scale is the ratio of the pixel distance to the standard distance.

[0050] In some specific embodiments, the same circular array with the same diameter is measured by the wide field of view lens and the standard lens respectively, and the first center coordinate and the second center coordinate of the same circular array with the same diameter are obtained respectively, and a composite calibration is performed based on the first center coordinate and the second center coordinate, specifically:

[0051] The same circular array with the same diameter is measured respectively by the wide field of view lens and the standard lens;

[0052] Obtain the abscissa and ordinate of the first center of the same circle array with the same diameter under the wide field of view lens;

[0053] Obtaining the abscissa and ordinate of the second center of the same circular array with the same diameter under the standard lens;

[0054] Calculate a first error between the abscissa of the first circle center and the abscissa of the second circle center and a second error between the ordinate of the first circle center and the ordinate of the second circle center respectively;

[0055] When both the first error and the second error are smaller than the preset error value, the composite calibration of the wide field of view lens and the standard lens is completed.

[0056] Accordingly, the present invention also proposes a dual-field lens calibration device, which is applied to an imager including a large-field lens and a standard lens, and the device comprises:

[0057] A circular array setting module, used for setting a plurality of circular arrays with the same diameter, and spreading the circular arrays with the same diameter over the field of view of the wide field of view lens;

[0058] A distortion calibration module, used to use a circular array with the same diameter at the center position of the wide field of view lens as a central circular array, and determine the position data of other circular arrays with the same diameter outside the central circular array based on the central circular array and a preset standard distance, and perform distortion calibration of the wide field of view lens based on the position data;

[0059] A standard circle measurement module, used to set a standard circle with a preset standard diameter, set the standard circle at the center of the standard lens, obtain first measurement information of the standard circle, and respectively set the standard circle at four quadrants of the standard lens, and respectively obtain second measurement information, third measurement information, fourth measurement information and fifth measurement information of the standard circle;

[0060] A pixel verification module, configured to perform pixel verification of a standard lens based on the first measurement information, the second measurement information, the third measurement information, the fourth measurement information, and the fifth measurement information;

[0061] The composite calibration module is used to measure the same circular array with the same diameter through the wide field of view lens and the standard lens respectively, obtain the first center coordinate and the second center coordinate of the same circular array with the same diameter respectively, and perform composite calibration based on the first center coordinate and the second center coordinate.

[0062] Accordingly, the present invention further proposes a computing device, comprising:

[0063] Memory and processor;

[0064] The memory is used to store computer executable instructions, and the processor is used to execute the computer executable instructions. When the computer executable instructions are executed by the processor, the steps of the dual-field lens calibration method described in any one of the above items are implemented.

[0065] Accordingly, the present invention further proposes a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the steps of the dual-field lens calibration method as described in any one of the above items.

[0066] By applying the above technical scheme, a calibration method for a dual-field lens is proposed, the method comprising: setting a plurality of circular arrays with the same diameter, and spreading the circular arrays with the same diameter over the field of view of the wide-field lens; taking the circular array with the same diameter at the center position of the wide-field lens as the central circular array, and determining the position data of other circular arrays with the same diameter outside the central circular array based on the central circular array and a preset standard distance, and performing distortion calibration of the wide-field lens based on the position data; setting a standard circle with a diameter of a preset standard diameter, setting the standard circle at the center position of the standard lens, obtaining first measurement information of the standard circle, and respectively setting the standard circle at the four quadrants of the standard lens, and respectively obtaining the distortion information of the standard circle. the second measurement information, the third measurement information, the fourth measurement information and the fifth measurement information of the standard circle; performing pixel calibration of the standard lens based on the first measurement information, the second measurement information, the third measurement information, the fourth measurement information and the fifth measurement information; respectively measuring the same circular array with the same diameter by the wide field of view lens and the standard lens, respectively obtaining the first center coordinates and the second center coordinates of the same circular array with the same diameter, performing composite calibration based on the first center coordinates and the second center coordinates, performing distortion calibration on the wide field of view lens, performing pixel calibration on the standard lens, and performing composite calibration on the wide field of view lens and the standard lens at the same time, so as to avoid the image distortion problem existing in the dual field of view lens and improve the measurement accuracy of the dual field of view lens. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0068] Figure 1 is a result schematic diagram of an imaging device provided by an embodiment of the present application;

[0069] Figure 2 is a flow chart of a dual-field lens calibration method provided in an embodiment of the present application;

[0070] Figure 3 It is a structural schematic diagram of a dual-field lens calibration device provided in an embodiment of the present application;

[0071] Figure 4 It is a structural block diagram of a computing device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0072] Many specific details are described in the following description to facilitate a full understanding of this specification. However, this specification can be implemented in many other ways than those described herein, and those skilled in the art can make similar generalizations without violating the connotation of this specification, so this specification is not limited to the specific implementation disclosed below.

[0073] The terms used in one or more embodiments of this specification are only for the purpose of describing specific embodiments, and are not intended to limit one or more embodiments of this specification. The singular forms of "a" and "the" used in one or more embodiments of this specification and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used in one or more embodiments of this specification refers to and includes any or all possible combinations of one or more associated listed items.

[0074] It should be understood that although the terms first, second, etc. may be used to describe various information in one or more embodiments of this specification, this information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of one or more embodiments of this specification, the first may also be referred to as the second, and similarly, the second may also be referred to as the first. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0075] First, the terms involved in one or more embodiments of this specification are explained.

[0076] Imager: An instrument composed of a ruler system, image detection system, drive control system and software system. It is a non-contact measurement instrument suitable for thin-walled, soft and small-sized parts.

[0077] Wide field of view lens: This lens is a wide-angle lens with a large field of view and a long depth of field.

[0078] Standard lens: The structure is similar to the wide field of view lens, but with different viewing angle and focal length.

[0079] like Figure 2 As shown, the present application proposes a dual-field lens calibration method, which is applied to an imager including a large-field lens and a standard lens. The method comprises the following steps:

[0080] Step S101, setting a plurality of circular arrays with the same diameter, and spreading the circular arrays with the same diameter over the field of view of the wide field of view lens.

[0081] In this embodiment, the dual-viewing lens is as follows Figure 1 The method shown is installed on the imager, and the wide field of view lens and the standard lens are facing the machine platform, and several circular arrays with the same diameter are set on the machine platform. The diameter size of the circular array with the same diameter can be flexibly set according to the specific application needs. The circular array with the same diameter must at least cover the entire field of view of the wide field of view lens.

[0082] In order to cover the entire field of view of the wide field of view lens with a same diameter circular array, in some embodiments of the present application, a plurality of circular arrays with the same diameter are set, and the circular arrays with the same diameter are covered in the field of view of the wide field of view lens, specifically:

[0083] A calibration gauge of the circular array with the same diameter is placed on the machine platform corresponding to the imager, and the circular array with the same diameter in the calibration gauge is spread over the field of view of the wide field of view lens.

[0084] In this embodiment, a calibration gauge is used to achieve the purpose of covering the entire field of view of the wide field of view lens with a circular array of the same diameter. The specific operation is to place the calibration gauge of the circular array of the same diameter on the machine platform and make the circular array of the same diameter cover the entire field of view of the wide field of view lens.

[0085] Step S102, taking the circular array with the same diameter at the center position of the wide field of view lens as the central circular array, and determining the position data of other circular arrays with the same diameter outside the central circular array based on the central circular array and a preset standard distance, and performing distortion calibration of the wide field of view lens based on the position data.

[0086] In this embodiment, the distortion check of the wide field of view lens is implemented by using the Rationa lVue public software. When performing the distortion check, firstly, a circle at the center position of a circular array with the same diameter used for the check is selected from the wide field of view lens, which is recorded as the central circular array. The Rationa lVue public software is used to measure other circular arrays with the same diameter other than the central circular array with the central circular array as the center and the standard distance as the unit interval to obtain the position data of each circular array with the same diameter. The wide field of view lens is subjected to the distortion check by using the position data.

[0087] In order to perform distortion calibration on a wide field of view lens, in some embodiments of the present application, a circular array with the same diameter at the center position of the wide field of view lens is used as a central circular array, and based on the central circular array and a preset standard distance, position data of other circular arrays with the same diameter outside the central circular array are determined, and distortion calibration of the wide field of view lens is performed based on the position data, specifically as follows:

[0088] The circle array with the same diameter at the center position of the wide field of view lens is regarded as the central circle array, the row where the central circle array is located is regarded as the central row, and the column where the central circle array is located is regarded as the central column;

[0089] Using a preset standard distance as a unit interval, measuring the other circular arrays except the central circular array in order from left to right and from top to bottom to obtain the position information of each circular array;

[0090] Determining the distortion calibration parameters and distortion points of the wide field of view lens based on the position information of each circular array;

[0091] Determine the measurement coordinates of the distortion point, and obtain the result coordinates of the distortion point based on the measurement coordinates and the distortion calibration parameters;

[0092] The measured coordinates of the distortion points are corrected to the result coordinates to complete the distortion calibration of the wide field of view lens.

[0093] In this embodiment, the number of rows m, the number of columns n of the same diameter circular array and the standard distance between two same diameter circular arrays are pre-entered, wherein the row and column where the center circle is located are the center row / center column, m is the number of rows above / below the center row of the circular array to be verified, and n is the number of columns to the left / right of the center column of the circular array to be verified, so the total number of rows of the circular array used for verification is 2*m+1, and the total number of columns of the circular array is 2*n+1. It should be noted that the size of m and n can be determined by the user according to actual conditions, so the different values ​​of m or n do not affect the protection scope of this application.

[0094] In this embodiment, with the center circle as the center of the circular array for verification, the circular arrays are automatically measured one by one from the upper left corner of the circular array, from left to right, and from top to bottom, with the standard distance as the unit interval, to obtain the position information of each circular array. Furthermore, the distortion verification parameters K1, K2, C1, and C2 can be obtained through the position data of each circle in the circular array and the number of rows m, the number of columns n, and the standard distance of the circular array.

[0095] In this embodiment, based on the position information of each circular array, it is possible to know which circular array centers are distortion points, and the measured coordinates of the distortion points can be known. The result coordinates of the distortion points can be determined by measuring the coordinates and the distortion calibration parameters. The result coordinates are ideal coordinates when the distortion points are not distorted. Therefore, after calculating the result coordinates, the measured coordinates of the distortion points are corrected to the result coordinates to complete the distortion calibration of the wide field of view lens.

[0096] In this embodiment, the distortion calibration of the wide field of view lens can be automatically performed by pre-setting the same diameter circular array and the parameters of the same diameter circular array (number of rows, number of columns and preset standard distance), thereby improving the detection accuracy and reliability of the dual field of view lens.

[0097] In order to obtain the result coordinates of the distortion point, in some embodiments of the present application, the measured coordinates of the distortion point are determined, and the result coordinates of the distortion point are obtained based on the measured coordinates and the distortion calibration parameters, specifically:

[0098] Determine the distortion rate of the distortion point based on the first formula and the measured coordinates;

[0099] Determining result coordinates of the distortion point based on the second formula and the distortion rate;

[0100] The first formula is specifically:

[0101] DX=X*(K1*X^2+K2*Y^2)+X*C1;

[0102] DY=Y*(K1*X^2+K2*Y^2)+Y*C2;

[0103] The second formula is specifically:

[0104] OutputX = X + DX;

[0105] OutputY=Y+DY;

[0106] Among them, K1, K2, C1, and C2 are all the distortion calibration parameters, X is the measured coordinate of the distortion point in the X-axis direction, Y is the measured coordinate of the distortion point in the Y-axis direction, DX is the distortion rate of the distortion point in the X-axis direction, DY is the distortion rate of the distortion point in the Y-axis direction, OutputX is the result coordinate of the distortion point on the X-axis, and OutputY is the result coordinate of the distortion point on the Y-axis.

[0107] Step S103, setting a standard circle with a diameter equal to a preset standard diameter, setting the standard circle at the center position of the standard lens, obtaining first measurement information of the standard circle, and setting the standard circle at four quadrants of the standard lens respectively, and obtaining second measurement information, third measurement information, fourth measurement information and fifth measurement information of the standard circle respectively.

[0108] In this embodiment, the size of the preset standard diameter can be flexibly set according to specific application needs. The standard circle is set at the center position and other four quadrant positions of the standard lens, and the corresponding parameters are measured at each position to obtain the first measurement information, second measurement information, third measurement information, fourth measurement information and fifth measurement information of the standard circle.

[0109] In order to obtain the first measurement information, the second measurement information, the third measurement information, the fourth measurement information and the fifth measurement information of the standard circle, in some embodiments of the present application, a standard circle with a diameter of a preset standard diameter is set, the standard circle is set at the center position of the standard lens, the first measurement information of the standard circle is obtained, and the standard circle is respectively set at the four quadrants of the standard lens, and the second measurement information, the third measurement information, the fourth measurement information and the fifth measurement information of the standard circle are respectively obtained, specifically:

[0110] Place the calibration gauge of the standard lens on the machine platform corresponding to the imager, and use any circle in the calibration gauge of the standard lens as the standard circle;

[0111] The standard circle is set at the center position of the standard lens to obtain first measurement information of the standard circle, wherein the first measurement information includes first size information and first position information of the standard circle;

[0112] Setting the standard circle at a position close to a right angle in the first quadrant, and measuring second measurement information of the standard circle at this time, wherein the second measurement information includes second size information and second position information of the standard circle;

[0113] Setting the standard circle at a position close to a right angle in the second quadrant, and measuring third measurement information of the standard circle at this time, wherein the third measurement information includes third size information and third position information of the standard circle;

[0114] Setting the standard circle at a position close to a right angle in the third quadrant, and measuring fourth measurement information of the standard circle at this time, wherein the fourth measurement information includes fourth size information and fourth position information of the standard circle;

[0115] Setting the standard circle at a position close to a right angle in the fourth quadrant, and measuring fifth measurement information of the standard circle at this time, wherein the fifth measurement information includes fifth size information and fifth position information of the standard circle;

[0116] Determine a ratio of a pixel distance to a standard distance based on the first measurement information, the second measurement information, the third measurement information, the fourth measurement information, and the fifth measurement information;

[0117] The standard lens is pixel-calibrated based on the ratio of the pixel distance to the standard distance.

[0118] In this embodiment, the same circle is measured five times. The circle measured once is located at the center of the lens, and the circles measured four times are located at the four quadrants of the lens. After the measurement is completed, the size and position of the circle are obtained, and the software will automatically calculate the ratio (Scale) of the pixel size and the actual size. This ratio can be used for size conversion (using pixel size to convert actual size, and using actual size to convert pixel size), and it also has the function of correcting pixel error and dynamic error.

[0119] In order to obtain the ratio of the pixel distance to the standard distance, in some embodiments of the present application, the ratio of the pixel distance to the standard distance is determined based on the first measurement information, the second measurement information, the third measurement information, the fourth measurement information, and the fifth measurement information, specifically:

[0120] Determine the total actual length based on a third formula and the first measurement information, the second measurement information, the third measurement information, the fourth measurement information and the fifth measurement information;

[0121] Determine a total pixel length based on a fourth formula and the first measurement information, the second measurement information, the third measurement information, the fourth measurement information, and the fifth measurement information;

[0122] Determine the ratio of the pixel distance to the standard distance based on the fifth formula, the total actual length and the total pixel length;

[0123] Wherein, the third formula is specifically:

[0124]

[0125] Wherein, SumLenth is the total actual length, CircleDist n is the distance between the centers of each two adjacent circles in the process of measuring the standard circle five times, and CircleDiameter n is the diameter of each circle in the process of measuring the standard circle five times;

[0126] Wherein, the fourth formula is specifically:

[0127]

[0128] Wherein, SumPixel is the total pixel length, CircleDistPixel n is the pixel distance between the centers of each two adjacent circles in the process of measuring the standard circle five times, and CircleDiameterPixel n is the pixel diameter of each circle in the process of measuring the standard circle five times;

[0129] Wherein, the fifth formula is:

[0130] Scale = SumPixel / SumLength;

[0131] Wherein, Scale is the ratio of the pixel distance to the standard distance.

[0132] Step S104: performing pixel calibration of a standard lens based on the first measurement information, the second measurement information, the third measurement information, the fourth measurement information, and the fifth measurement information.

[0133] Step S105, measuring the same circular array with the same diameter by using the wide field of view lens and the standard lens respectively, obtaining the first center coordinate and the second center coordinate of the same circular array with the same diameter respectively, and performing a composite calibration based on the first center coordinate and the second center coordinate.

[0134] In this embodiment, after completing the distortion verification and pixel verification, a composite verification is performed on the wide field of view lens and the standard lens. The wide field of view lens and the standard lens are respectively used to measure the same circular array with the same diameter, and an error analysis is performed on the two measurement results. The composite verification is then performed on the error analysis results.

[0135] In order to achieve composite calibration, in some embodiments of the present application, the same circular array with the same diameter is measured by the wide field of view lens and the standard lens respectively;

[0136] Obtain the abscissa and ordinate of the first center of the same circle array with the same diameter under the wide field of view lens;

[0137] Obtaining the abscissa and ordinate of the second center of the same circular array with the same diameter under the standard lens;

[0138] Calculate a first error between the abscissa of the first circle center and the abscissa of the second circle center and a second error between the ordinate of the first circle center and the ordinate of the second circle center respectively;

[0139] When both the first error and the second error are smaller than the preset error value, the composite calibration of the wide field of view lens and the standard lens is completed.

[0140] In this embodiment, the wide-field lens collects the horizontal coordinate and vertical coordinate of the first circle center corresponding to the first circle center, and the standard lens collects the horizontal coordinate and vertical coordinate of the second circle center corresponding to the second circle center, and error analysis is performed on the horizontal coordinate and the vertical coordinate respectively. When both errors are less than the preset error value, it indicates that the composite verification is successful. If any one of them is greater than the preset error value, it is necessary to adjust the verification to ensure that both errors are less than the preset error value.

[0141] Furthermore, the composite verification process is implemented by the following formula:

[0142] DX=BigX-StandardX;

[0143] DY=BigY-StandardY;

[0144] DX, DY: offset of the large lens relative to the small lens;

[0145] BigX, BigY: coordinates of the center of the circle measured by the large lens;

[0146] StandardX, StandardY: coordinates of the center of the circle measured by the standard lens;

[0147] Among them, StandardX, StandardY: coordinates of the standard lens measurement point;

[0148] BigX, BigY: coordinates of the measurement point of the large lens.

[0149] By applying the above technical scheme, a calibration method for a dual-field lens is proposed, the method comprising: setting a plurality of circular arrays with the same diameter, and spreading the circular arrays with the same diameter over the field of view of the wide-field lens; taking the circular array with the same diameter at the center position of the wide-field lens as the central circular array, and determining the position data of other circular arrays with the same diameter outside the central circular array based on the central circular array and a preset standard distance, and performing distortion calibration of the wide-field lens based on the position data; setting a standard circle with a diameter of a preset standard diameter, setting the standard circle at the center position of the standard lens, obtaining first measurement information of the standard circle, and respectively setting the standard circle at the four quadrants of the standard lens, and respectively obtaining the distortion information of the standard circle. the second measurement information, the third measurement information, the fourth measurement information and the fifth measurement information of the standard circle; performing pixel calibration of the standard lens based on the first measurement information, the second measurement information, the third measurement information, the fourth measurement information and the fifth measurement information; respectively measuring the same circular array with the same diameter by the wide field of view lens and the standard lens, respectively obtaining the first center coordinates and the second center coordinates of the same circular array with the same diameter, performing composite calibration based on the first center coordinates and the second center coordinates, performing distortion calibration on the wide field of view lens, performing pixel calibration on the standard lens, and performing composite calibration on the wide field of view lens and the standard lens at the same time, so as to avoid the image distortion problem existing in the dual field of view lens and improve the measurement accuracy of the dual field of view lens.

[0150] The present application also provides a dual-viewing lens calibration device, such as Figure 3 As shown, it is applied to an imager including a wide field of view lens and a standard lens, and the device includes:

[0151] The circular array setting module 301 is used to set a plurality of circular arrays with the same diameter, and to spread the circular arrays with the same diameter over the field of view of the wide field of view lens;

[0152] The distortion verification module 302 is used to use the same diameter circle array at the center position of the wide field of view lens as the central circle array, and determine the position data of other same diameter circle arrays outside the central circle array based on the central circle array and a preset standard distance, and perform distortion verification of the wide field of view lens based on the position data;

[0153] The standard circle measurement module 303 is used to set a standard circle with a diameter of a preset standard diameter, set the standard circle at the center position of the standard lens, obtain first measurement information of the standard circle, and respectively set the standard circle at four quadrants of the standard lens, and respectively obtain second measurement information, third measurement information, fourth measurement information and fifth measurement information of the standard circle;

[0154] A pixel verification module 304, configured to perform pixel verification of a standard lens based on the first measurement information, the second measurement information, the third measurement information, the fourth measurement information, and the fifth measurement information;

[0155] The composite calibration module 305 is used to measure the same circular array with the same diameter through the wide field of view lens and the standard lens respectively, obtain the first center coordinate and the second center coordinate of the same circular array with the same diameter respectively, and perform composite calibration based on the first center coordinate and the second center coordinate.

[0156] Figure 4 The block diagram of a computing device 500 according to an embodiment of the present specification is shown. The components of the computing device 500 include but are not limited to a memory 510 and a processor 520. The processor 520 is connected to the memory 510 via a bus 530, and the database 550 is used to store data.

[0157] The computing device 500 also includes an access device 540 that enables the computing device 500 to communicate via one or more networks 560. Examples of these networks include a public switched telephone network (PSTN), a local area network (LAN), a wide area network (WAN), a personal area network (PAN), or a combination of communication networks such as the Internet. The access device 540 may include one or more of any type of network interface (e.g., a network interface card (NIC)) of wired or wireless, such as an IEEE 802.11 wireless local area network (WLAN) wireless interface, a world-wide interoperability for microwave access (Wi-MAX) interface, an Ethernet interface, a universal serial bus (USB) interface, a cellular network interface, a Bluetooth interface, and a near field communication (NFC).

[0158] In one embodiment of the present specification, the above components of the computing device 500 and Figure 4 Other components not shown in the figure may also be connected to each other, for example, via a bus. It should be understood that Figure 4The computing device structure block diagram shown is only for the purpose of illustration, and is not intended to limit the scope of this specification. Those skilled in the art can add or replace other components as needed.

[0159] The computing device 500 may be any type of stationary or mobile computing device, including a mobile computer or mobile computing device (e.g., a tablet computer, a personal digital assistant, a laptop computer, a notebook computer, a netbook, etc.), a mobile phone (e.g., a smart phone), a wearable computing device (e.g., a smart watch, smart glasses, etc.), or other types of mobile devices, or a stationary computing device such as a desktop computer or a personal computer (PC). The computing device 500 may also be a mobile or stationary server.

[0160] The processor 520 is used to execute the following computer executable instructions, which implement the steps of the above power management method when executed by the processor. The above is a schematic scheme of a computing device of this embodiment. It should be noted that the technical solution of the computing device and the technical solution of the above power management method belong to the same concept, and the details of the technical solution of the computing device that are not described in detail can be found in the description of the technical solution of the above power management method.

[0161] An embodiment of the present specification further provides a computer-readable storage medium storing computer-executable instructions, which can implement the steps of the above power management method when executed by a processor.

[0162] The above is a schematic scheme of a computer-readable storage medium of this embodiment. It should be noted that the technical scheme of the storage medium and the technical scheme of the power management method described above are of the same concept, and the details not described in detail in the technical scheme of the storage medium can be found in the description of the technical scheme of the power management method described above.

[0163] An embodiment of the present specification further provides a computer program, wherein when the computer program is executed in a computer, the computer is caused to execute the steps of the above power management method.

[0164] The above is an illustrative solution of a computer program of this embodiment. It should be noted that the technical solution of the computer program and the technical solution of the power management method described above are of the same concept, and the details not described in detail in the technical solution of the computer program can be found in the description of the technical solution of the power management method described above.

[0165] The above is a description of a specific embodiment of the specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0166] The computer instructions include computer program codes, which may be in source code form, object code form, executable files or some intermediate forms, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the computer-readable medium may be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0167] It should be noted that, for the above-mentioned method embodiments, for the sake of simplicity of description, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the embodiments of this specification are not limited by the order of the actions described, because according to the embodiments of this specification, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the embodiments of this specification.

[0168] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0169] The preferred embodiments of this specification disclosed above are only used to help explain this specification. The optional embodiments do not describe all the details in detail, nor do they limit the invention to only the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of the embodiments of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the embodiments of this specification, so that technicians in the relevant technical field can well understand and use this specification. This specification is only limited by the claims and their full scope and equivalents.

Claims

1. A method for calibrating a dual-field lens, characterized in that: Applied to an imager including a wide-viewing-field lens and a standard lens, the method comprises: Setting a plurality of circular arrays with the same diameter, and spreading the circular arrays with the same diameter over the field of view of the wide field of view lens; The circular array with the same diameter at the center position of the wide field of view lens is used as the central circular array, and the position data of other circular arrays with the same diameter other than the central circular array are determined based on the central circular array and a preset standard distance, and the distortion calibration of the wide field of view lens is performed based on the position data; A standard circle having a diameter equal to a preset standard diameter is set, the standard circle is set at the center position of the standard lens, first measurement information of the standard circle is obtained, and the standard circle is respectively set at four quadrants of the standard lens, and second measurement information, third measurement information, fourth measurement information and fifth measurement information of the standard circle are respectively obtained; Perform pixel calibration of a standard lens based on the first measurement information, the second measurement information, the third measurement information, the fourth measurement information, and the fifth measurement information; The same circular array with the same diameter is measured respectively by the wide field of view lens and the standard lens to obtain the first center coordinate and the second center coordinate of the same circular array with the same diameter, and a composite calibration is performed based on the first center coordinate and the second center coordinate.

2. The method according to claim 1, characterized in that A plurality of circular arrays with the same diameter are set, and the circular arrays with the same diameter are spread over the field of view of the wide field of view lens, specifically: A calibration gauge of the circular array with the same diameter is placed on the machine platform corresponding to the imager, and the circular array with the same diameter in the calibration gauge is spread over the field of view of the wide field of view lens.

3. The method according to claim 1, characterized in that The circular array with the same diameter at the center position of the wide field of view lens is used as the central circular array, and the position data of other circular arrays with the same diameter other than the central circular array are determined based on the central circular array and the preset standard distance, and the distortion calibration of the wide field of view lens is performed based on the position data, specifically: The circle array with the same diameter at the center position of the wide field of view lens is regarded as the central circle array, the row where the central circle array is located is regarded as the central row, and the column where the central circle array is located is regarded as the central column; Using a preset standard distance as a unit interval, measuring the other circular arrays except the central circular array in order from left to right and from top to bottom to obtain the position information of each circular array; Determining the distortion calibration parameters and distortion points of the wide field of view lens based on the position information of each circular array; Determine the measurement coordinates of the distortion point, and obtain the result coordinates of the distortion point based on the measurement coordinates and the distortion calibration parameters; The measured coordinates of the distortion points are corrected to the result coordinates to complete the distortion calibration of the wide field of view lens.

4. The method according to claim 3, characterized in that Determine the measurement coordinates of the distortion point, and obtain the result coordinates of the distortion point based on the measurement coordinates and the distortion calibration parameters, specifically: Determine the distortion rate of the distortion point based on the first formula and the measured coordinates; Determining result coordinates of the distortion point based on the second formula and the distortion rate; The first formula is specifically: DX=X*(K1*X^2+K2*Y^2)+X*C1; DY=Y*(K1*X^2+K2*Y^2)+Y*C2; The second formula is specifically: OutputX = X + DX; OutputY=Y+DY; Among them, K1, K2, C1, and C2 are all the distortion calibration parameters, X is the measured coordinate of the distortion point in the X-axis direction, Y is the measured coordinate of the distortion point in the Y-axis direction, DX is the distortion rate of the distortion point in the X-axis direction, DY is the distortion rate of the distortion point in the Y-axis direction, OutputX is the result coordinate of the distortion point on the X-axis, and OutputY is the result coordinate of the distortion point on the Y-axis.

5. The method according to claim 1, characterized in that A standard circle having a diameter of a preset standard diameter is set, and the standard circle is set at the center position of the standard lens to obtain first measurement information of the standard circle, and the standard circle is respectively set at four quadrant positions of the standard lens, and second measurement information, third measurement information, fourth measurement information and fifth measurement information of the standard circle are respectively obtained, specifically: Place the calibration gauge of the standard lens on the machine platform corresponding to the imager, and use any circle in the calibration gauge of the standard lens as the standard circle; The standard circle is set at the center position of the standard lens to obtain first measurement information of the standard circle, wherein the first measurement information includes first size information and first position information of the standard circle; Setting the standard circle at a position close to a right angle in the first quadrant, and measuring second measurement information of the standard circle at this time, wherein the second measurement information includes second size information and second position information of the standard circle; Setting the standard circle at a position close to a right angle in the second quadrant, and measuring third measurement information of the standard circle at this time, wherein the third measurement information includes third size information and third position information of the standard circle; Setting the standard circle at a position close to a right angle in the third quadrant, and measuring fourth measurement information of the standard circle at this time, wherein the fourth measurement information includes fourth size information and fourth position information of the standard circle; Setting the standard circle at a position close to a right angle in the fourth quadrant, and measuring fifth measurement information of the standard circle at this time, wherein the fifth measurement information includes fifth size information and fifth position information of the standard circle; Determine a ratio of a pixel distance to a standard distance based on the first measurement information, the second measurement information, the third measurement information, the fourth measurement information, and the fifth measurement information; The standard lens is pixel-calibrated based on the ratio of the pixel distance to the standard distance.

6. The method according to claim 5, characterized in that The ratio of the pixel distance to the standard distance is determined based on the first measurement information, the second measurement information, the third measurement information, the fourth measurement information, and the fifth measurement information, specifically: Determine the total actual length based on a third formula and the first measurement information, the second measurement information, the third measurement information, the fourth measurement information and the fifth measurement information; Determine a total pixel length based on a fourth formula and the first measurement information, the second measurement information, the third measurement information, the fourth measurement information, and the fifth measurement information; Determine the ratio of the pixel distance to the standard distance based on the fifth formula, the total actual length and the total pixel length; Wherein, the third formula is specifically: Wherein, SumLenth is the total actual length, CircleDist n is the distance between the centers of each two adjacent circles in the process of measuring the standard circle five times, and CircleDiameter n is the diameter of each circle in the process of measuring the standard circle five times; Wherein, the fourth formula is specifically: Wherein, SumPixel is the total pixel length, CircleDistPixeln is the pixel distance between the centers of each two adjacent circles in the process of measuring the standard circle five times, and CircleDiameterPixeln is the pixel diameter of each circle in the process of measuring the standard circle five times; Wherein, the fifth formula is: Scale = SumPixel / SumLength; Wherein, Scale is the ratio of the pixel distance to the standard distance.

7. The method according to claim 1, characterized in that The same circular array with the same diameter is measured by the wide field lens and the standard lens respectively, and the first center coordinate and the second center coordinate of the same circular array with the same diameter are obtained respectively. A composite calibration is performed based on the first center coordinate and the second center coordinate, specifically as follows: The same circular array with the same diameter is measured respectively by the wide field of view lens and the standard lens; Obtain the abscissa and ordinate of the first center of the same circle array with the same diameter under the wide field of view lens; Obtaining the abscissa and ordinate of the second center of the same circular array with the same diameter under the standard lens; Calculate a first error between the abscissa of the first circle center and the abscissa of the second circle center and a second error between the ordinate of the first circle center and the ordinate of the second circle center respectively; When both the first error and the second error are smaller than the preset error value, the composite calibration of the wide field of view lens and the standard lens is completed.

8. A dual-field lens calibration device, characterized in that: Applicable to an imager including a wide-viewing-field lens and a standard lens, the device comprises: A circular array setting module, used for setting a plurality of circular arrays with the same diameter, and spreading the circular arrays with the same diameter over the field of view of the wide field of view lens; A distortion calibration module, used to use a circular array with the same diameter at the center position of the wide field of view lens as a central circular array, and determine the position data of other circular arrays with the same diameter outside the central circular array based on the central circular array and a preset standard distance, and perform distortion calibration of the wide field of view lens based on the position data; A standard circle measurement module, used to set a standard circle with a preset standard diameter, set the standard circle at the center of the standard lens, obtain first measurement information of the standard circle, and respectively set the standard circle at four quadrants of the standard lens, and respectively obtain second measurement information, third measurement information, fourth measurement information and fifth measurement information of the standard circle; A pixel verification module, configured to perform pixel verification of a standard lens based on the first measurement information, the second measurement information, the third measurement information, the fourth measurement information, and the fifth measurement information; The composite calibration module is used to measure the same circular array with the same diameter through the wide field of view lens and the standard lens respectively, obtain the first center coordinate and the second center coordinate of the same circular array with the same diameter respectively, and perform composite calibration based on the first center coordinate and the second center coordinate.

9. A computing device, characterized in that include: Memory and processor; The memory is used to store computer executable instructions, and the processor is used to execute the computer executable instructions. When the computer executable instructions are executed by the processor, the steps of the dual-field lens calibration method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium storing computer-executable instructions, wherein the computer-executable instructions, when executed by a processor, implement the steps of the dual-field lens calibration method according to any one of claims 1 to 7.

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