CN103083089A - Virtual scale method and system of digital stereo-micrography system - Google Patents
Virtual scale method and system of digital stereo-micrography system Download PDFInfo
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- CN103083089A CN103083089A CN2012105835840A CN201210583584A CN103083089A CN 103083089 A CN103083089 A CN 103083089A CN 2012105835840 A CN2012105835840 A CN 2012105835840A CN 201210583584 A CN201210583584 A CN 201210583584A CN 103083089 A CN103083089 A CN 103083089A
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Abstract
The invention provides a virtual scale method of a digital stereo-micrography system. The virtual scale method of the digital stereo-micrography system comprises obtaining a threshold interval of depth of field of a microscopy system; tracking a surgical instrument in a first path image of a three-dimension (3D) image by a tracking algorithm, and obtaining a surgical instrument area of the first path image; taking the surgical instrument area of the first path image as a template, judging similarity of a second path image, and obtaining a surgical instrument area of a second path image with the surgical instrument area of the second path image with the highest similarity; confirming optical parallax of the surgical instrument according to the surgical instrument area of the first path image and the second instrument area of the second path image, and then confirming the depth of the surgical instrument from a microscope objective lens; if the depth is in the threshold interval of depth of field, the depth is marked. The invention further provides a virtual scale system. The virtual scale system can accurately confirm the depth of the surgical instrument in the 3D image, and effectively improves safety and reliability of the surgery process.
Description
Technical field
The present invention relates to digital three-dimensional micro-image technical field, particularly relate to a kind of virtual scale method of digital three-dimensional microscopic system, and a kind of virtual measuring scale system of digital three-dimensional microscopic system.
Background technology
Present 3D digital optical micro-system is installed beam splitter on traditional Stereo microscope, the optical signalling of microscope collection is told two-way, the optical signalling of beam splitter being told by the CCD on industrial camera or CMOS photo-sensitive cell transfers digital signal to, again by data-interface on industrial camera with image data transmission on computer or monitor, thereby make the observer break away from constraint to the optics eyepiece.The 3D digital optical micro-system has two imaging components and parts side by side, by at the different observed objects of visual angle Real-time Collection, with the binocular image that obtains after treatment, can produce 3D rendering, forms stereoscopic vision.
Although the 3D digital optical micro-system can be realized the 3D stereoeffect, the three-dimension space image of fine definition is provided, traditional 3D digital optical micro-system can't be realized the accurate measurement of object relative position in 3D rendering.And in operation process, the depth of operating theater instruments position is extremely important, can only observe 3D rendering by the operator and come its degree of depth of perception by experience, the safety and reliability of operation process is not high, therefore need badly and can accurately determine the degree of depth of operating theater instruments in the 3D analysis of digital microscopy images, the technology of virtual scale is provided for the digital three-dimensional microscopic system.
Summary of the invention
Based on this, the invention provides definite method and system of the operating theater instruments degree of depth in a kind of 3D analysis of digital microscopy images, can accurately determine the degree of depth of operating theater instruments in microscopic system, for the digital three-dimensional microscopic system provides a virtual scale, effectively improve the safety and reliability of operation process.
A kind of virtual scale method of digital three-dimensional microscopic system comprises the steps:
Obtain the depth of field threshold interval of microscopic system;
Follow the trail of the operating theater instruments in first via image in 3D rendering by tracing algorithm, obtain the operating theater instruments zone of first via image;
Take the operating theater instruments zone of described first via image as template, the second road image is carried out the similarity judgement, obtain the operating theater instruments zone with the highest the second road image of the operating theater instruments Regional Similarity of described first via image;
According to the operating theater instruments zone of described first via image and the operating theater instruments zone of described the second road image, determine the parallax of described operating theater instruments, then determine that according to described parallax described operating theater instruments is apart from the degree of depth of microscope objective;
If the described degree of depth indicates the described degree of depth in described depth of field threshold interval.
A kind of virtual measuring scale system of digital three-dimensional microscopic system comprises acquisition module, tracing module, judge module, depth module and sign module;
Described acquisition module is used for determining the depth of field threshold interval of microscopic system;
Described tracing module obtains the operating theater instruments zone of first via image for the operating theater instruments of following the trail of by tracing algorithm in 3D rendering first via image;
Described judge module is used for operating theater instruments zone take described first via image as template, and the second road image is carried out the similarity judgement, obtains the operating theater instruments zone with the highest the second road image of the operating theater instruments Regional Similarity of described first via image;
Described depth module is used for determining the parallax of operating theater instruments, then determining that according to described parallax described operating theater instruments is apart from the degree of depth of microscope objective according to the operating theater instruments zone of first via image and the operating theater instruments zone of the second road image;
Described sign module is used for obtaining the depth of field threshold interval of described microscopic system, if the described degree of depth indicates the described degree of depth in described depth of field threshold interval.
The virtual scale method and system of above-mentioned digital three-dimensional microscopic system, in order to improve the accuracy of operation technique, on the basis of using the operating theater instruments of tracing algorithm in tracking one road image wherein, determine again the position of operating theater instruments in another road image by template matching, determine the degree of depth of operating theater instruments and indicate according to the coordinate difference of the position of operating theater instruments in the two-way image, for the digital three-dimensional microscopic system provides a virtual scale, can remind quantitatively the position of operator's operating theater instruments, improve the safety of operation process, thereby assist the operator to complete operation; Reliability and degree of accuracy that the present invention has improved operation process greatly by depth information is provided, the complexity of the simplification operation process of while maximum possible, minimizing operator's workload; The present invention can be from the motion tracking operating theater instruments, and the depth value result is accurate; The present invention also can be used for teaching process to the quantitative prompting of the operating theater instruments degree of depth in addition, is conducive to the operation that the student grasps operating theater instruments fast.
Description of drawings
Fig. 1 is the virtual scale method schematic flow sheet in one embodiment of digital three-dimensional microscopic system of the present invention.
Fig. 2 is the virtual measuring scale system structural representation in one embodiment of digital three-dimensional microscopic system of the present invention.
The specific embodiment
Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited to this.
As shown in Figure 1, be the virtual scale method schematic flow sheet in one embodiment of digital three-dimensional microscopic system of the present invention, comprising:
S11, obtain the depth of field threshold interval of microscopic system;
The image-forming principle of 3D rendering is respectively same object to be taken by the two-way picture pick-up device, the left figure that the two-way Duplication that obtains is higher and right figure, again left figure and right figure are processed this 3D rendering of rear generation, in the present invention, the first via image of indication and the second road image are left figure and the right figure that consists of described 3D rendering, when utilizing the present invention that 3D rendering is processed, when first via image referred to left figure, the second road image referred to right figure; When first via image referred to right figure, the second road image referred to left figure.
The depth of field (depth of field, DOF) is one and is described in the space, can know the distance range of imaging.When camera lens is gathered in by certain of photography thing when a bit, the object on this point just can clearly be tied picture.Scenery before and after this point in certain limit because naked eyes can't be discovered, also can record comparatively clearly.That is to say, the definition range of lens shooting scenery has certain limit, and camera lens this records to such an extent that the scope by photography thing depth of " comparatively clear " just is the depth of field.
In this step, by field depth is set, guarantee that the degree of depth of operating theater instruments is determined in field depth, thereby guarantee the accuracy of scalpel depth value; In a preferred embodiment, the step of the depth of field threshold interval of described definite microscopic system specifically comprises:
1a, receive in the 3D rendering of input nearest area image and most remote areas image apart from microscope objective;
The operator can watch the 3D rendering of current shooting under the 3D of 3D digital optical micro-system preview mode, determine the field depth of this 3D rendering on described 3D rendering, inputs it apart from nearest area image and the most remote areas image of microscope objective.
1b, ask for algorithm by depth map and ask for respectively the depth map of described nearest area image and the depth map of described most remote areas image;
After getting nearest area image and most remote areas image, can ask for algorithm by depth map and try to achieve depth map corresponding to described nearest area image and most remote areas image;
Wherein, due to 3D rendering by the two-way image construction, the nearest area image that obtains comprises nearest area image in first via image and the nearest area image in the second road image accordingly, and the most remote areas image also comprises most remote areas image in first via image and the most remote areas image in the second road image;
Two groups of images that comprise according to nearest area image ask for by depth map the depth map that algorithm generates nearest area image, in like manner generate the depth map of most remote areas image.
1c, obtain the degree of depth maximum in the depth map of deep minimum in the depth map of described nearest area image and described most remote areas image;
1d, according to described degree of depth maximum and described deep minimum, obtain described depth of field threshold interval.
According to two groups of depth maps that step 1b obtains, read the degree of depth maximum in the depth map of deep minimum in the depth map of described nearest area image and described most remote areas image, consist of described depth of field threshold interval by degree of depth maximum and deep minimum.
S12, follow the trail of the operating theater instruments in first via image in described 3D rendering by tracing algorithm, obtain the operating theater instruments zone of first via image;
The picture charge pattern algorithm be used for to follow the tracks of is determined the position of image jobbie, and the present invention is by track algorithm, when operating theater instruments moves, utilizes this algorithm to continue Real-time Obtaining operating theater instruments zone in image in the image;
In a preferred embodiment, describedly follow the trail of the operating theater instruments in first via image in described 3D rendering by tracing algorithm, the step that obtains the operating theater instruments zone of first via image is specially:
Obtain the color histogram of described operating theater instruments, then by the camshift algorithm, the operating theater instruments in described first via image is followed the tracks of, generate the operating theater instruments zone of first via image;
Image in the stereomicroscopy system, the color characteristic of operating theater instruments is generally comparatively obvious, the camshift algorithm can be obtained good tracking effect under simple background, the consideration color histogram that this algorithm is simple, time complexity is low, the operating theater instruments that is particularly suitable in operation process is followed the tracks of, therefore by obtaining the color histogram of operating theater instruments in image, the camshift algorithm can be followed the tracks of the operating theater instruments in described first via image according to this color histogram, generates the operating theater instruments zone of first via image.
S13, take the operating theater instruments zone of described first via image as template, the second road image is carried out the similarity judgement, obtain the operating theater instruments zone with the highest the second road image of the operating theater instruments Regional Similarity of described first via image;
In a preferred embodiment, this step specifically can comprise:
3a, the first nodal point in operating theater instruments zone of determining described first via image and the coordinate of described first nodal point;
3b, determine the second central point in the second road image, centered by described the second central point, intercept the region of search in the second road image, wherein, the coordinate of described the second central point is identical with the coordinate of described first nodal point, and the length of the region of search of described the second road image and width are greater than length and the width in the operating theater instruments zone of described first via image;
3c, take the operating theater instruments zone of described first via image as template, each pixel in the region of search of described the second road image is carried out the similarity judgement, the quadratic sum method of correlation poor according to zero-mean generates the operating theater instruments zone of described the second road image;
By the operating theater instruments zone of the first via image that generates in step S12, carry out template matching in this step S13, obtain the operating theater instruments zone in the second road image;
At first by the operating theater instruments zone of described first via image, obtain this regional central point, be designated as described first nodal point, then obtain the coordinate of first nodal point; Coordinate according to first nodal point, search point corresponding with the coordinate of first nodal point in the second road image, be designated as the second central point, centered by the second central point, intercepting one region of search in the second road image, the length of the region of search in the second road image and width must be greater than length and the width in the operating theater instruments zone of described first via image, and namely the coverage of region of search is greater than the coverage in the operating theater instruments zone of first via image; With the operating theater instruments zone of first via image, the quadratic sum algorithm poor according to zero-mean carries out template matching to the region of search in the second road image, obtains the operating theater instruments zone of the second road image;
Wherein, the computational methods of the poor quadratic sum method of correlation of described zero-mean are as follows:
In formula, R (x, y) is the result of template matching, is the operating theater instruments zone of described the second road image; M (u, v) represents template image, is the operating theater instruments zone of described first via image;
The average of expression template image pixel, (u, v) refers to the coordinate of certain pixel in template; S is image to be matched, is the region of search in described the second road image; (x, y) is intercept and the centre coordinate image block template same size from image,
Average for this image block pixel;
With template image, be that template matching is carried out in the operating theater instruments zone of first via image and the region of search that intercepts from the second road image, to the sort result that obtains, obtain minimum template matching results and be R (x ', y '), coordinate (x', y') namely is considered to the position at operating theater instruments place in the second road image.
S14, according to the operating theater instruments zone of the operating theater instruments of first via image zone and the second road image, determine the parallax of described operating theater instruments, then determine that according to described parallax described operating theater instruments is apart from the degree of depth of microscope objective;
In a preferred embodiment, this step specifically can comprise:
4a, according to the operating theater instruments of described the second road image zone, determine the abscissa of central point in the operating theater instruments zone of described the second road image;
4b, the central point abscissa in the operating theater instruments zone of the central point abscissa in the operating theater instruments zone of described first via image and described the second road image is subtracted each other, obtain the parallax of described operating theater instruments;
4c, according to the degree of depth of described disparity computation operating theater instruments;
Parallax is to observe from two points that certain distance is arranged the direction difference that same target produces; See two angles between point from target, be called the parallax of these two points;
The central point abscissa d in the operating theater instruments zone of the first image
1, the operating theater instruments that has obtained the second road image from step S13 is regional, determines the abscissa d of the central point that this is regional
2, the parallax of operating theater instruments is p=d
1-d
2Again according to the degree of depth of disparity computation scalpel:
The depth calculation formula is:
Wherein, l is viewing distance, and e is two spacings.The adult is generally 65mm, and p is parallax, and v is the degree of depth of changing the time, because l and e are known constant, so just can obtain the degree of depth of scalpel by parallax.
If the described degree of depth of S15 indicates the described degree of depth in described depth of field threshold interval;
The degree of depth that obtains of judgement whether in described depth of field threshold interval, if, the signable described degree of depth; If not, show current operating theater instruments not in the field depth of microscopic system, the definition of operating theater instruments is lower, and the depth value degree of accuracy that calculates is not high, it is not shown.
Further illustrate the present invention below by a specific embodiment.
Switch to the 3D preview mode with calibrating the complete 3D microscopic system of debugging, the operator selects in 3D rendering nearest zone and most remote areas from microscope objective by observation, intercepts respectively the rectangular area of corresponding 300*300 size at left figure and right figure;
Corresponding two zones use depth map to ask for algorithm, obtain the depth map in nearest zone and the depth map of most remote areas; Read the degree of depth maximum in depth map corresponding to deep minimum in depth map corresponding to nearest zone and most remote areas;
Deep minimum and degree of depth maximum are consisted of described depth of field threshold interval;
Obtain the color histogram of described operating theater instruments, then by the camshift algorithm, the operating theater instruments in described left figure is followed the tracks of, generate the operating theater instruments zone of left figure, this zone is of a size of 40*40;
The zone of following the trail of with left figure is as template, the center point coordinate regional according to this, centered by this coordinate, the zone of intercepting 60*200 is as right graph search zone in right figure, and wherein this searches that plain zone should cover accordingly and greater than the zone of the operating theater instruments in left figure; Seek the position of mating most with template in right graph search zone, obtain the abscissa of this position; The central point abscissa in the operating theater instruments zone of the central point abscissa in the operating theater instruments zone of left figure and right figure is subtracted each other, obtain the parallax of operating theater instruments, obtain the degree of depth of operating theater instruments according to disparity computation;
Judge that this degree of depth in depth of field threshold interval, indicates this depth value.
Accordingly, as shown in Figure 2, the present invention also provides a kind of virtual measuring scale system of digital three-dimensional microscopic system, comprises acquisition module 21, tracing module 22, judge module 23, depth module 24 and indicates module 25;
Described acquisition module 21 is used for obtaining the depth of field threshold interval of microscopic system;
In this module, by field depth is set, guarantee that the degree of depth of operating theater instruments is determined in field depth, thereby guarantee the accuracy of scalpel depth value; In a preferred embodiment, described determination module specifically comprises receiver module, asks for module, depth value module and composition module;
Described receiver module is used for receiving the described 3D rendering of input apart from nearest area image and the most remote areas image of microscope objective;
The operator can watch the 3D rendering of current shooting under the 3D of 3D digital optical micro-system preview mode, determine the field depth of this microscopic system on described 3D rendering, inputs it apart from nearest area image and the most remote areas image of microscope objective.
The described module of asking for is asked for respectively the depth map of described nearest area image and the depth map of described most remote areas image for asking for algorithm by depth map;
After getting nearest area image and most remote areas image, can ask for algorithm by depth map and try to achieve depth map corresponding to described nearest area image and most remote areas image;
Wherein, due to 3D rendering by the two-way image construction, the nearest area image that obtains comprises nearest area image in first via image and the nearest area image in the second road image accordingly, and the most remote areas image also comprises most remote areas image in first via image and the most remote areas image in the second road image;
Two groups of images that comprise according to nearest area image ask for by depth map the depth map that algorithm generates nearest area image, in like manner generate the depth map of most remote areas image.
Described depth value module is used for obtaining the degree of depth maximum in the depth map of the deep minimum of depth map of described nearest area image and described most remote areas image;
Described composition module is used for according to described degree of depth maximum and described deep minimum, consists of described depth of field threshold interval
According to two groups of depth maps asking for the module acquisition, read the degree of depth maximum in the depth map of deep minimum in the depth map of described nearest area image and described most remote areas image, consist of described depth of field threshold interval by degree of depth maximum and deep minimum.
Described tracing module 22 obtains the operating theater instruments zone of first via image for the operating theater instruments of following the trail of by tracing algorithm in 3D rendering first via image;
The picture charge pattern algorithm be used for to follow the tracks of is determined the position of image jobbie, and the present invention is by track algorithm, when operating theater instruments moves, utilizes this algorithm to continue Real-time Obtaining operating theater instruments zone in image in the image;
In a preferred embodiment, described tracing module specifically is used for obtaining the color histogram of described operating theater instruments, then by the camshift algorithm, the operating theater instruments in described first via image is followed the tracks of, and generates the operating theater instruments zone of first via image;
Image in the stereomicroscopy system, the color characteristic of operating theater instruments is generally comparatively obvious, the camshift algorithm can be obtained good tracking effect under simple background, the consideration color histogram that this algorithm is simple, time complexity is low, the operating theater instruments that is particularly suitable in operation process is followed the tracks of, therefore by obtaining the color histogram of operating theater instruments in image, the camshift algorithm can be followed the tracks of the operating theater instruments in described first via image according to this color histogram, generates the operating theater instruments zone of first via image.
Described judge module 23 is used for operating theater instruments zone take described first via image as template, and the second road image is carried out the similarity judgement, obtains the operating theater instruments zone with the highest the second road image of the operating theater instruments Regional Similarity of described first via image;
In a preferred embodiment, described judge module 23 specifically comprises determination module, interception module and template judge module;
Described determination module be used for to be determined the first nodal point in operating theater instruments zone of described first via image and the coordinate of described first nodal point;
Described interception module is for the second central point of determining at the second road image, centered by described the second central point, intercept the region of search of the second road image, wherein, the coordinate of described the second central point is identical with the coordinate of described first nodal point, and the length of the region of search in described the second road image and width are greater than length and the width in the operating theater instruments zone of described first via image;
Described template judge module is used for operating theater instruments zone take described first via image as template, each pixel in the region of search of described the second road image is carried out the similarity judgement, and the quadratic sum method of correlation poor according to zero-mean generates the operating theater instruments zone of described the second road image;
By the operating theater instruments zone of the first via image of generation in tracing module 22, carry out template matching in this template, obtain the operating theater instruments zone in the second road image;
At first by the operating theater instruments zone of described first via image, obtain this regional central point, be designated as described first nodal point, then obtain the coordinate of first nodal point; Coordinate according to first nodal point, search point corresponding with the coordinate of first nodal point in the second road image, be designated as the second central point, centered by the second central point, intercepting one region of search in the second road image, the length of the region of search in the second road image and width must be greater than length and the width in the operating theater instruments zone of described first via image, and namely the coverage of region of search is greater than the coverage in the operating theater instruments zone of first via image; With the operating theater instruments zone of first via image, the quadratic sum algorithm poor according to zero-mean carries out template matching to the region of search in the second road image, obtains the operating theater instruments zone of the second road image;
Wherein, the computational methods of the poor quadratic sum algorithm of described zero-mean are as follows:
In formula, R (x, y) is the result of template matching, is the operating theater instruments zone of described the second road image; M (u, v) represents template image, is the operating theater instruments zone of described first via image;
The average of expression template image, (u, v) refers to the coordinate of certain pixel in template; S is image to be matched, is the region of search in described the second road image; (x, y) is intercept and the centre coordinate image block template same size from image,
Average for this image block;
With template image, be that template matching is carried out in the operating theater instruments zone of first via image and the region of search that intercepts from the second road image, to the sort result that obtains, obtain minimum template matching results and be R (x ', y'), coordinate (x', y') namely is considered to the position at operating theater instruments place in the second road image.
Described depth module 24 is used for determining the parallax of operating theater instruments, then determining that according to described parallax described operating theater instruments is apart from the degree of depth of microscope objective according to the operating theater instruments zone of first via image and the operating theater instruments zone of the second road image;
In a preferred embodiment, described depth module specifically comprises center point coordinate module, parallax module and computing module:
Described center point coordinate module is used for the operating theater instruments zone according to described the second road image, determines the abscissa of central point in the operating theater instruments zone of described the second road image;
Described parallax module is used for the central point abscissa in the operating theater instruments zone of the central point abscissa in the operating theater instruments zone of described first via image and described the second road image is subtracted each other, and obtains the parallax of described operating theater instruments;
Described computing module is used for the degree of depth according to the described operating theater instruments of described disparity computation;
Parallax is to observe from two points that certain distance is arranged the direction difference that same target produces; See two angles between point from target, be called the parallax of these two points;
The central point abscissa d in the operating theater instruments zone of the first image
1, according to the operating theater instruments zone of the second road image, determine the abscissa d of the central point that this is regional
2, the parallax of operating theater instruments is p=d
1-d
2Again according to the degree of depth of disparity computation scalpel:
The depth calculation formula is:
Wherein, l is viewing distance, and e is two spacings.The adult is generally 65mm, and p is parallax, and v is the degree of depth of changing the time, because l and e are known constant, so just can obtain the degree of depth of scalpel by parallax.
If described sign module 25 is used for the described degree of depth in described depth of field threshold interval, indicate the described degree of depth;
The degree of depth that obtains of judgement whether in described depth of field threshold interval, if, the signable described degree of depth; If not, show current operating theater instruments not in the field depth of microscopic system, the definition of operating theater instruments is lower, and the depth value degree of accuracy that calculates is not high, it is not shown.
The virtual scale method and system of digital three-dimensional microscopic system of the present invention, in order to improve the accuracy of operation technique, on the basis of using the operating theater instruments of tracing algorithm in tracking one road image wherein, determine again the position of operating theater instruments in another road image by template matching, determine the degree of depth of operating theater instruments and indicate according to the coordinate difference of the position of operating theater instruments in the two-way image, for the digital three-dimensional microscopic system provides virtual scale, can remind quantitatively the position of operator's operating theater instruments, improve the safety of operation process, thereby assist the operator to complete operation; Reliability and degree of accuracy that the present invention has improved operation process greatly by depth information is provided, the complexity of the simplification operation process of while maximum possible, minimizing operator's workload; The present invention can be from the motion tracking operating theater instruments, and the depth value result is accurate; The present invention also can be used for teaching process to the quantitative prompting of the operating theater instruments degree of depth in addition, is conducive to the operation that the student grasps operating theater instruments fast.
The above embodiment has only expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but can not therefore be interpreted as the restriction to the scope of the claims of the present invention.Should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (10)
1. the virtual scale method of a digital three-dimensional microscopic system, is characterized in that, comprises the steps:
Obtain the depth of field threshold interval of microscopic system;
Follow the trail of the operating theater instruments in first via image in 3D rendering by tracing algorithm, obtain the operating theater instruments zone of first via image;
Take the operating theater instruments zone of described first via image as template, the second road image is carried out the similarity judgement, obtain the operating theater instruments zone with the highest the second road image of the operating theater instruments Regional Similarity of described first via image;
According to the operating theater instruments zone of described first via image and the operating theater instruments zone of described the second road image, determine the parallax of described operating theater instruments, then determine that according to described parallax described operating theater instruments is apart from the degree of depth of microscope objective;
If the described degree of depth indicates the described degree of depth in described depth of field threshold interval.
2. the virtual scale method of digital three-dimensional microscopic system according to claim 1, is characterized in that, the described step of obtaining the depth of field threshold interval of microscopic system specifically comprises:
Receive in the described 3D rendering of input nearest area image and most remote areas image apart from microscope objective;
Ask for algorithm by depth map and ask for respectively the depth map of described nearest area image and the depth map of described most remote areas image;
Obtain the degree of depth maximum in the depth map of deep minimum in the depth map of described nearest area image and described most remote areas image;
According to described degree of depth maximum and described deep minimum, consist of described depth of field threshold interval.
3. the virtual scale method of digital three-dimensional microscopic system according to claim 1, it is characterized in that, describedly follow the trail of the operating theater instruments in first via image in described 3D rendering by tracing algorithm, the step that obtains the operating theater instruments zone of first via image is specially:
Obtain the color histogram of described operating theater instruments, then by the camshift algorithm, the operating theater instruments in described first via image is followed the tracks of, generate the operating theater instruments zone of first via image.
4. definite method of the virtual scale of digital three-dimensional microscopic system according to claim 3, it is characterized in that, described operating theater instruments zone take described first via image is as template, the the second road image is carried out similarity judgement, obtains specifically comprising with the step in the operating theater instruments zone of the highest the second road image of the operating theater instruments Regional Similarity of described first via image:
Determine the first nodal point in operating theater instruments zone of described first via image and the coordinate of described first nodal point;
Determine the second central point in the second road image, centered by described the second central point, intercept the region of search of the second road image, wherein, the coordinate of described the second central point is identical with the coordinate of described first nodal point, and the length of the region of search in described the second road image and width are greater than length and the width in the operating theater instruments zone of described first via image;
Take the operating theater instruments zone of described first via image as template, each pixel in the region of search of described the second road image is carried out the similarity judgement, the quadratic sum method of correlation poor according to zero-mean generates the operating theater instruments zone of described the second road image.
5. the virtual scale method of digital three-dimensional microscopic system according to claim 4, it is characterized in that, described according to the operating theater instruments zone of first via image and the operating theater instruments zone of the second road image, determine the parallax of operating theater instruments, then determine that according to described parallax described operating theater instruments specifically comprises apart from the step of the degree of depth of microscope objective:
According to the operating theater instruments of described the second road image zone, determine the abscissa of central point in the operating theater instruments zone of described the second road image;
The central point abscissa in the operating theater instruments zone of the central point abscissa in the operating theater instruments zone of described first via image and described the second road image is subtracted each other, obtain the parallax of described operating theater instruments;
The degree of depth according to the described operating theater instruments of described disparity computation.
6. the virtual measuring scale system of a digital three-dimensional microscopic system, is characterized in that, comprises acquisition module, tracing module, judge module, depth module and sign module;
Described acquisition module is used for determining microscopic system depth of field threshold interval;
Described tracing module obtains the operating theater instruments zone of first via image for the operating theater instruments of following the trail of by tracing algorithm in 3D rendering first via image;
Described judge module is used for operating theater instruments zone take described first via image as template, and the second road image is carried out the similarity judgement, obtains the operating theater instruments zone with the highest the second road image of the operating theater instruments Regional Similarity of described first via image;
Described depth module is used for determining the parallax of operating theater instruments, then determining that according to described parallax described operating theater instruments is apart from the degree of depth of microscope objective according to the operating theater instruments zone of first via image and the operating theater instruments zone of the second road image;
Described sign module is used for obtaining described microscopic system depth of field threshold interval, if the described degree of depth indicates the described degree of depth in described depth of field threshold interval.
7. the virtual measuring scale system of digital three-dimensional microscopic system according to claim 6, is characterized in that, described acquisition module comprises receiver module, asks for module, depth value module and composition module;
Described receiver module is used for receiving the described 3D rendering of input apart from nearest area image and the most remote areas image of microscope objective;
The described module of asking for is asked for respectively the depth map of described nearest area image and the depth map of described most remote areas image for asking for algorithm by depth map;
Described depth value module is used for obtaining the degree of depth maximum in the depth map of the deep minimum of depth map of described nearest area image and described most remote areas image;
Described composition module is used for according to described degree of depth maximum and described deep minimum, consists of described depth of field threshold interval.
8. the virtual measuring scale system of digital three-dimensional microscopic system according to claim 6, it is characterized in that, described tracing module specifically is used for obtaining the color histogram of described operating theater instruments, by the camshift algorithm, the operating theater instruments in described first via image is followed the tracks of again, generate the operating theater instruments zone of first via image.
9. the virtual measuring scale system of digital three-dimensional microscopic system according to claim 8, is characterized in that, described judge module specifically comprises determination module, interception module and template judge module;
Described determination module be used for to be determined the first nodal point in operating theater instruments zone of described first via image and the coordinate of described first nodal point;
Described interception module is for the second central point of determining at the second road image, centered by described the second central point, intercept the region of search of the second road image, wherein, the coordinate of described the second central point is identical with the coordinate of described first nodal point, and the length of the region of search in described the second road image and width are greater than length and the width in the operating theater instruments zone of described first via image;
Described template judge module is used for operating theater instruments zone take described first via image as template, each pixel in the region of search of described the second road image is carried out the similarity judgement, and the quadratic sum method of correlation poor according to zero-mean generates the operating theater instruments zone of described the second road image.
10. the virtual measuring scale system of digital three-dimensional microscopic system according to claim 9, is characterized in that, described depth module specifically comprises center point coordinate module, parallax module and computing module:
Described center point coordinate module is used for the operating theater instruments zone according to described the second road image, determines the abscissa of central point in the operating theater instruments zone of described the second road image;
Described parallax module is used for the central point abscissa in the operating theater instruments zone of the central point abscissa in the operating theater instruments zone of described first via image and described the second road image is subtracted each other, and obtains the parallax of described operating theater instruments;
Described computing module is used for the degree of depth according to the described operating theater instruments of described disparity computation.
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