CN103327245A - Automatic focusing method of infrared imaging system - Google Patents
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- CN103327245A CN103327245A CN2013102234108A CN201310223410A CN103327245A CN 103327245 A CN103327245 A CN 103327245A CN 2013102234108 A CN2013102234108 A CN 2013102234108A CN 201310223410 A CN201310223410 A CN 201310223410A CN 103327245 A CN103327245 A CN 103327245A
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Abstract
The invention discloses an automatic focusing method of an infrared imaging system. The automatic focusing method includes the steps of judging whether the focusing operation is needed or not, calculating the image stretching coefficient and selecting a focusing window if the focusing operation is needed, then obtaining infrared image data, conducting gray stretching on the infrared image data through the calculated image stretching coefficient, saving data after the gray stretching is carried out on the data in the focusing window in a focusing window matrix, using the focusing window matrix to calculate evaluation function values, judging whether the current focusing position is the best focusing position or not according to the evaluation function values, finishing the focusing process if the current focusing position is the best focusing position, otherwise adjusting a lens and executing the steps again. The automatic focusing method of the infrared imaging system gives considerations to characteristics of infrared imaging system imaging and automatic focusing, overcomes the shortcoming of the infrared image low signal-to-noise ratio, and is stable in focusing process and high in work efficiency.
Description
Technical field
The present invention relates to the infrared imaging system field, especially relate to a kind of Atomatic focusing method of infrared imaging system.
Background technology
Since entering digital age, the focusing mode is developed into for the passive type of digital imagery focusing mode by traditional active focusing.In passive focus process, by analyze, relatively camera lens is in the information of different focus position acquisition image data, thereby determine best focusing position.Although for the existing comparatively ripe research of general digital picture focusing, not more detailed discussion of focusing for infrared image.
Be different from general digital picture focusing, infrared imaging image when imaging has the characteristics of low signal-to-noise ratio, therefore when realizing, the method for the infrared imaging system of considering to have automatic focusing function need to consider following problem: at first, infrared image need to carry out the stretching of gradation of image so that being applicable to human eye watches when imaging, therefore will consider that the formation method of infrared image own is on the impact of focusing method when design infrared image Atomatic focusing method; Secondly, the infrared image signal to noise ratio is low, has the problem of noise jamming during imaging, and the existence of noise can affect the stability of focus process; At last, need the efficient of consideration method, satisfy the requirement that shows in real time.
Summary of the invention
One of purpose of the present invention provides that a kind of focus process is stable, the Atomatic focusing method of the infrared imaging system of high efficiency.
The disclosed technical scheme of the embodiment of the invention comprises:
A kind of Atomatic focusing method of infrared imaging system is provided, has it is characterized in that, having comprised: judged whether the operation of need to focusing, when needs are focused operation, carry out the following step:
Steps A: computed image drawing coefficient;
Step B: select focusing window, and set up the focusing window matrix;
Step C: carry out imaging with described infrared imaging system, obtain infrared picture data, and described infrared picture data is carried out nonuniformity correction;
Step D: the described infrared picture data of carrying out behind the nonuniformity correction is carried out Denoising disposal;
Step e: the described infrared picture data after using the described image stretch coefficient calculate to Denoising disposal is carried out gray scale and is stretched, and will be arranged in described focusing window carrying out the described infrared picture data after the gray scale stretching be saved to described focusing window matrix;
Step F: the described infrared picture data after the gray scale stretching has been carried out in demonstration;
Step G: in described focusing window matrix substitution focusing evaluation function, calculate evaluation function numerical value;
Step H: judge whether best focusing position of current focusing position according to described evaluation function numerical value; When current location is best focusing position, finish focus process; When current focusing position was not best focusing position, then adjustable lens re-executed step C to step H.
Further, the described operation that judges whether to focus comprises: when described infrared imaging system starts imaging process, when infrared imaging system described in the imaging process receives customer requirements and focuses the instruction of operation or after described infrared imaging system is passed through the predetermined time interval, and the operation of need to focusing.
Further, described steps A comprises:
Obtain a frame infrared image;
To each pixel gray value of a described frame infrared image according to sorting from small to large, and the gray value of numerical value maximum and the last gray value of numerical value minimum in K gray value in J gray value before obtaining; Perhaps, to each pixel gray value of a described frame infrared image according to sorting from big to small, and the gray value of numerical value minimum and the last gray value of numerical value maximum in J gray value in K gray value before obtaining; Wherein J and K are natural numbers;
The minimum target gray value that is stretched to according to the gray value of numerical value minimum in the gray value of numerical value maximum in the described J gray value, the described K gray value, maximum target gray value that expection is stretched to and expection calculates described image stretch coefficient.
Further, described step B comprises: select to be positioned at center, the width of viewfinder window and highly be respectively the length of view area and 5% zone of width is described focusing window.
Further, described step C comprises: obtain the nonuniformity correction parameter; With described nonuniformity correction parameter described infrared picture data is carried out nonuniformity correction.
Further, described step D comprises: described infrared picture data is carried out medium filtering.
Further, when judgement does not need to focus operation, carry out normal infrared imaging process with described infrared imaging system.
The Atomatic focusing method of the infrared imaging system in the embodiments of the invention has been considered infrared imaging system imaging and the characteristics of automatically focusing, and has overcome the problem of infrared image low signal-to-noise ratio, and focus process is stable, high efficiency.
Description of drawings
Fig. 1 is the schematic flow sheet of Atomatic focusing method of the infrared imaging system of one embodiment of the invention.
Embodiment
Describe below with reference to the accompanying drawings embodiments of the invention in detail.
Fig. 1 has shown the schematic flow sheet of Atomatic focusing method of the infrared imaging system of one embodiment of the invention, below in conjunction with Fig. 1 each step of the Atomatic focusing method of the infrared imaging system of the embodiment of the invention is described in detail.
As shown in Figure 1, in the embodiments of the invention, in step 10, at first judge whether the operation of to focus.When judged result is current when operation of not needing to focus, then forward step 32 to, namely carry out normal infrared imaging process with infrared imaging system; When judged result is that current needs are focused when operation, then carry out each step of auto-focus process described in detail below.
In the embodiments of the invention, judge that the Rule of judgment of the current operation that whether needs to focus can arrange flexibly according to the needs of actual conditions, do not do specific restriction among the present invention.For example, among the embodiment, decision condition can be the operation of need to focusing when infrared imaging system starts imaging process; The perhaps operation of need to focusing when infrared imaging system in the imaging process receives customer requirements and focuses the instruction of operation; Perhaps behind infrared imaging system process predetermined time interval, namely need the operation of focusing.
Certainly, easily understand, those skilled in the art also can be set in the operation of focusing under other condition that needs.
When judgement in the step 10 need to be focused operation, beginning execution in step 12.In step 12, calculate current image stretch coefficient.In the embodiments of the invention, calculated after the image stretch coefficient, this image stretch coefficient namely is " locked ", and namely in the process of the current automatic focusing of carrying out, will use this image stretch coefficient, until current auto-focus process is finished always.
Can use any suitable computational methods computed image drawing coefficient in the embodiments of the invention.For example, among the embodiment, the computed image drawing coefficient can comprise:
At first, obtain a frame infrared image.
Then, each pixel gray value to this frame infrared image, according to sorting from small to large, and the gray value of numerical value maximum in J gray value before obtaining (i.e. J gray value of positive number in from small to large the arrangement) (being designated as Min) and the last gray value of numerical value minimum in K gray value (i.e. K gray value reciprocal in from small to large the arrangement) (being designated as Max).
Here, also can sort to obtain Min and Max according to mode from big to small, at this moment, obtain before gray value (i.e. K gray value of positive number in from big to small the arrangement) (being Max) and the last gray value of numerical value maximum in J minimum gradation value (i.e. J gray value reciprocal in from big to small the arrangement) (being Min) of numerical value minimum in K maximum gradation value.Here, J and K are natural numbers.
Here, J and K impact in the image stretch process and the parameter of getting for fear of picture noise, and their value is empirical value, for example can be about 30 value.
Then, the minimum target gray value (being designated as ImgMin) that is stretched to according to the gray value Max of numerical value minimum in gray value Min, the K gray value of numerical value maximum in J the gray value, expection and expect maximum target gray value (being designated as ImgMax) the computed image drawing coefficient that is stretched to.For example, among the embodiment, image stretch coefficient S, O
SCan be calculated according to the following formula:
S=ImgMax/(Max-Min)；
O
S=ImgMin-S×Min。
In step 14, select suitable focusing window, and set up the focusing window matrix.Focusing window can be according to the actual conditions flexible choice.For example, in one embodiment of the present of invention, can select to be positioned at center, the width of viewfinder window and highly be respectively the length of view area and 5% zone of width as focusing window.Certainly, also can select as required other zone that is fit to as focusing window.
Here, the focusing window matrix is used for storing the gray value of the regional interior pixel of the focusing window of selecting.
In the embodiments of the invention, the order between step 12 and the step 14 is restriction not.
In step 16, carry out imaging with infrared imaging system, obtain infrared picture data.Here, carry out the process that detailed process that imaging obtains infrared picture data can be the infrared imaging commonly used with infrared imaging system, be not described in detail in this.After obtaining infrared picture data, further the infrared picture data that obtains is carried out nonuniformity correction.
Infrared picture data is carried out the heterogeneity that nonuniformity correction refers to use nonuniformity correction parameter correction infrared picture data.Therefore, infrared picture data is carried out nonuniformity correction and comprise step: obtain the nonuniformity correction parameter; With the nonuniformity correction parameter that obtains infrared picture data is carried out nonuniformity correction.
Usually, the nonuniformity correction parameter is used for proofreading and correct the heterogeneity of infrared imaging system, can precompute and store, and be directly to call when carrying out infrared imaging.The nonuniformity correction parameter can be calculated according to the infrared imaging system infrared image that imaging obtains under single low temperature and single hot environment.
For example, among the embodiment, nonuniformity correction parameter G(i, j) and O(i, j) can calculate according to following method:
Wherein
,
Be respectively the infrared imaging system infrared picture data that imaging obtains under single low temperature and single hot environment, M, N are respectively line number and the columns of infrared focal plane detector array in the infrared imaging system, are the natural number greater than 0.(i, j) is the coordinate of pixel.
If the image before the nonuniformity correction is I, the image behind the nonuniformity correction is Inew, and I (i, j), Inew (i, j) is respectively the value of pixel (i, j), then the nonuniformity correction for each pixel (i, j) can carry out according to following formula:
Inew(i,j)=G(i,j)×I(i,j)+O
G(i,j)。
In addition, in step 18, can also carry out denoising to the infrared picture data of having carried out nonuniformity correction.In the step 18, the method for denoising can be any suitable Infrared Image Denoising method.For example, among the embodiment, the method for denoising can be used the method for medium filtering, namely gathers the multiframe infrared picture data, for each pixel, uses the intermediate value of the gray value at this pixel place in the multiframe infrared picture data as the gray value of this pixel.
Then, in step 20, carry out gray scale and stretch carrying out infrared picture data after the denoising with the image stretch coefficient of aforementioned " locking ", the image stretch coefficient that namely calculates in the step 12.
In one embodiment of the present of invention, for example, with image stretch coefficient S, O
SInfrared picture data after the denoising is carried out gray scale to stretch and can carry out according to following formula:
I
Stretch(i, j)=I (i, j) * S+O
S
I wherein
Stretch(i, j) is the infrared picture data after gray scale stretches, and (i, j) is the coordinate of pixel in the infrared picture data.
After gray scale stretches, the infrared picture data that is arranged in focusing window in the infrared picture data after the gray scale stretching is saved in the focusing window matrix, that is to say, use the gray scale stretching gray value afterwards of the pixel of the infrared picture data that is positioned at focusing window to fill this focusing window matrix.
In the embodiments of the invention, can also comprise step display, will carry out gray scale stretching infrared picture data afterwards and show.This step display is carried out in step 22.
In step 20, filled after the focusing window matrix, in the step 24, can use this focusing window matrix that the focusing result is estimated.For example, in the focusing evaluation function that the substitution of focusing window matrix can be fit to, calculate evaluation function numerical value, this evaluation function numerical value is the tolerance to current focusing effect.
In the step 24, focusing evaluation function can be any suitable focusing evaluation function.For example, Sobel operator, neighbours territory Laplce, eight neighborhood Laplces, Gaussian Laplce (LoG) etc.
For example, among the embodiment, focusing evaluation function can calculate according to following method:
Corresponding lens location P, according to the above-mentioned formula result of calculation of substitution, said focusing window is determined in step 14 herein with all pixel numbers in the focusing window under this image space, wherein, m
L, m
RBe focusing window X-direction left end, right-hand member coordinate figure; n
T, n
BBe focusing window Y direction top, bottom coordinate figure; I(i, j) be the data that pixel (i, j) is located in the focusing window.
Calculated after the evaluation function numerical value, in step 28, this evaluation function numerical value is judged, when if current location is best focusing position, the servomotor of then controlling infrared imaging system moves to best focusing position, finish auto-focus process, focusing is finished, and carries out normal infrared imaging (being step 32); When if current location is not best focusing position, adjustable lens then, then re-execute step 16, step 18, step 20, step 22, step 26 and step 28, so repeatedly carry out, until result of determination is that current location is best focusing position in step 28.
When evaluation function numerical value is maximum, mean that current focusing position is best focusing position.Here seeking the peaked method of evaluation function can be any suitable determination methods, and common method comprises: traversal search method, Fibonacci method, Fibonacci method, function approximation method and climbing method etc.
For example, among the embodiment, can seek in accordance with the following methods the peaked position of evaluation function:
Preset first before the beginning and finish step-length n
0, then camera lens from the starting position with initial step length n(n n
0) mobile, whenever move and move a step data substitution focusing evaluation function in the focusing window, calculate also record result, and this result and the result of last record are compared: if the result is greater than result then continue with step-length n moving lens according to former direction last time; If it is the mobile focusing of this time the maximum value of function that the result, then illustrates previous step less than the last registration result, at this moment reduce step-length and according to the rightabout moving lens.Repeat above-mentioned steps until moving step length is reduced to default step-length n
0And move for the last time, this time obtain focusing position of functional value maximum is exactly best focusing position
Like this, through aforesaid each step, can realize the automatic focusing function of infrared imaging system.
In the embodiments of the invention, in step 10, when judged result is current when operation of not needing to focus, then forward step 32 to, namely carry out normal infrared imaging process with infrared imaging system.Here, carrying out normal infrared imaging process with infrared imaging system can be common infrared imaging process in this area, for example comprise and obtain infrared image, infrared image is carried out nonuniformity correction, calculating or upgrades drawing coefficient, infrared image is carried out gray scale stretches, shows infrared image etc. step, be not described in detail in this.
The Atomatic focusing method of the infrared imaging system in the embodiments of the invention has been considered infrared imaging system imaging and the characteristics of automatically focusing, and has overcome the problem of infrared image low signal-to-noise ratio, and focus process is stable, high efficiency.
Abovely describe the present invention by specific embodiment, but the present invention is not limited to these specific embodiments.It will be understood by those skilled in the art that and can also make various modifications to the present invention, be equal to replacement, change etc., these conversion all should be within protection scope of the present invention as long as do not deviate from spirit of the present invention.In addition, the different embodiment of above many places described " embodiment " expression can certainly be with its all or part of combination in one embodiment.
Claims (7)
1. the Atomatic focusing method of an infrared imaging system is characterized in that, comprising:
Judge whether the operation of need to focusing, when needs are focused operation, carry out the following step:
Steps A: computed image drawing coefficient;
Step B: select focusing window, and set up the focusing window matrix;
Step C: carry out imaging with described infrared imaging system, obtain infrared picture data, and described infrared picture data is carried out nonuniformity correction;
Step D: the described infrared picture data of carrying out behind the nonuniformity correction is carried out Denoising disposal;
Step e: the described infrared picture data after using the described image stretch coefficient calculate to Denoising disposal is carried out gray scale and is stretched, and will be arranged in described focusing window carrying out the described infrared picture data after the gray scale stretching be saved to described focusing window matrix;
Step F: the described infrared picture data after the gray scale stretching has been carried out in demonstration;
Step G: in described focusing window matrix substitution focusing evaluation function, calculate evaluation function numerical value;
Step H: judge whether best focusing position of current focusing position according to described evaluation function numerical value; When current location is best focusing position, finish focus process; When current focusing position was not best focusing position, then adjustable lens re-executed step C to step H.
2. method as claimed in claim 1, it is characterized in that: the described operation that judges whether to focus comprises: when described infrared imaging system starts imaging process, when infrared imaging system described in the imaging process receives customer requirements and focuses the instruction of operation or after described infrared imaging system is passed through the predetermined time interval, and the operation of need to focusing.
3. such as the method for claim 1 or 2, it is characterized in that, described steps A comprises:
Obtain a frame infrared image;
To each pixel gray value of a described frame infrared image according to sorting from small to large, and the gray value of numerical value maximum and the last gray value of numerical value minimum in K gray value in J gray value before obtaining; Perhaps, to each pixel gray value of a described frame infrared image according to sorting from big to small, and the gray value of numerical value minimum and the last gray value of numerical value maximum in J gray value in K gray value before obtaining; Wherein J and K are natural numbers;
The minimum target gray value that is stretched to according to the gray value of numerical value minimum in the gray value of numerical value maximum in the described J gray value, the described K gray value, maximum target gray value that expection is stretched to and expection calculates described image stretch coefficient.
4. such as the method for any one in the claims 1 to 3, it is characterized in that, described step B comprises: select to be positioned at center, the width of view area and highly be respectively the length of view area and 5% zone of width is described focusing window.
5. such as the method for any one in the claims 1 to 3, it is characterized in that, described step C comprises:
Obtain the nonuniformity correction parameter;
With described nonuniformity correction parameter described infrared picture data is carried out nonuniformity correction.
6. method as claimed in claim 1 is characterized in that, described step D comprises: described infrared picture data is carried out medium filtering.
7. method as claimed in claim 1 is characterized in that: when judgement does not need to focus operation, carry out normal infrared imaging process with described infrared imaging system.
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| CN105141849A (en) * | 2015-09-21 | 2015-12-09 | 济南中维世纪科技有限公司 | Method and system of improving night vision focus statistics information accuracy |
| CN105845534A (en) * | 2016-03-23 | 2016-08-10 | 浙江东方光学眼镜有限公司 | Automatic focusing method of electron microscope |
| CN106031148A (en) * | 2014-03-21 | 2016-10-12 | 华为技术有限公司 | Imaging device and method for automatic focus in an imaging device as well as a corresponding computer program |
| CN107911599A (en) * | 2017-10-30 | 2018-04-13 | 北京航天福道高技术股份有限公司 | A kind of infrared image overall situation Atomatic focusing method and device |
| CN108156371A (en) * | 2017-12-08 | 2018-06-12 | 北京航天计量测试技术研究所 | A kind of infrared auto-focusing method for fast searching |
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| CN109409321A (en) * | 2018-11-08 | 2019-03-01 | 北京奇艺世纪科技有限公司 | A kind of determination method and device of camera motion mode |
| CN109862270A (en) * | 2019-02-25 | 2019-06-07 | 苏州长风航空电子有限公司 | Real-time automatic focusing method based on FPGA infrared video stream |
| CN110035277A (en) * | 2018-12-20 | 2019-07-19 | 云南师范大学 | A kind of test macro and test method of infrared imaging auto-focusing algorithm |
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