CN103780844A - Time-sharing two-path image acquiring device and calibration method thereof - Google Patents
Time-sharing two-path image acquiring device and calibration method thereof Download PDFInfo
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Abstract
The invention discloses a time-sharing two-path image acquiring device and a calibration method thereof. The time-sharing two-path image acquiring device comprises the components of: a lens, a dividing-to-two prism, a first image sensor, a controller and a second image sensor. The dividing-to-two prism is arranged in an output optical path of the lens and is used for dividing an incident light beam to two sub-light-beams with same light intensity. The first image sensor and the second image sensor are respectively arranged at output light paths of the two sub-light-beams. The controller is connected with the first image sensor and the second image sensor respectively for controlling the first image sensor and the second image sensor to successively perform time-sharing triggering exposure, thereby obtaining object images at different time and achieving an image acquiring frame rate which is twice of that of a single image sensor. The calibration method at least comprises geometric calibration and brightness calibration. The time-sharing two-path image acquiring device and the operating method can remarkably increase image acquiring efficiency and simultaneously ensure image acquiring accuracy. Furthermore the time-sharing two-path image acquiring device has advantages of simple structure and low cost.
Description
Technical field
The invention belongs to acquisition technology field, more specifically, relate to a kind of timesharing two road image collecting device and scaling methods thereof.
Background technology
High-speed photography refers to that camera adopts figure frequency and be greater than for 128 width/seconds, can obtain continuously photographies more than 3 width, and the indispensable instrument that will realize high-speed photography is high-speed camera, high-speed camera is very extensive in scientific research and the application of other numerous areas, be often used as the motion change of record analysis object, the even motion of biologic-organ, microbe, molecule, for example, in particle image velocimetry field, high-speed camera has become indispensable instrument.
Particle Image Velocimetry is the one of image analysis technology, adopt two very short pulsed laser light sources of the time interval to illuminate the flow field of required measurement, utilize high-speed camera that the trace particle in thrown light on flow field is recorded, utilize computer to carry out image processing to obtain the information of the velocity field of trace particle, thus a kind of technology of reflection fluid velocity field.
The imageing sensor of Modern High-Speed camera is generally CCD or cmos device, single image sensor chip to reach the nanosecond time interval to adopt figure frequency price extremely expensive, thereby greatly limited the use of high speed camera.
Summary of the invention
For above defect or the Improvement requirement of prior art, the invention provides a kind of timesharing two road image collecting device and scaling methods thereof, what can effectively solve that single image sensor chip in prior art will reach rank time interval ultrahigh speed nanosecond adopts figure frequency, the technical problem that price is extremely expensive, making to adopt figure frequency obviously improves, guaranteed to adopt the accuracy of figure, and apparatus structure is simple, cost is low simultaneously.
For achieving the above object, according to one aspect of the present invention, provide a kind of timesharing two road image collecting devices, it is characterized in that, comprised camera lens, two points of prisms, the first imageing sensor, controller and second imageing sensors; Described two points of prisms are positioned on the output light path of described camera lens, for incident beam is divided into two beamlets that light intensity is identical, described the first imageing sensor and described the second imageing sensor lay respectively on the output light path of two beamlets, described controller connects respectively described the first imageing sensor and described the second imageing sensor, be used for controlling the timesharing triggering exposure successively of described the first imageing sensor and described the second imageing sensor, to obtain not subject image in the same time, reach the IMAQ frame per second of single image transducer twice.
Preferably, described controller is specifically controlled described the first imageing sensor and the timesharing triggering exposure successively of described the second imageing sensor in the following way: control described the first imageing sensor exposure, elapsed time △ T1, control described the second imageing sensor exposure, elapsed time △ T2 again, controlling described the first imageing sensor exposes again, so repeat above process, wherein, the time that described the first imageing sensor single exposure gathers image is △ t1, the time that described the second imageing sensor single exposure gathers image is △ t2, △ t1< △ T1<T
c1-△ t2,0< △ t2<T
c1-△ t1, T
c1for the cycle of described the first imageing sensor collection image.
Preferably, described two points of prisms are semi-transparent semi-reflecting prism.
Preferably, described the first imageing sensor and described the second imageing sensor are the photosensitive array of digital image sensor chip composition.
According to another aspect of the present invention, a kind of scaling method of timesharing two road image collecting devices is provided, it is characterized in that, at least comprise that geometric calibration and brightness demarcates one of them; Described geometric calibration is specially: before camera lens, place grid or dot matrix scaling board, controlling two imageing sensors exposes and adopts figure, the image of each imageing sensor collection is gone to lens distortion processing and coordinate transform, make same object appear at the same position of all the sensors; Described brightness is demarcated and is specially: control two imageing sensors and expose simultaneously, synchronization photographs two images of same object, take wherein one as standard, other images that brightness are greater than to this image carry out brightness deterioration processing, other images that brightness are less than to this image carry out brightness enhancing processing, then according to grey level histogram intense adjustment, make all image brightness consistent.
Preferably, described geometric calibration is further realized in the following way: take one of them imageing sensor as standard, by the pixel coordinate premultiplication of the sensitive face of another imageing sensor
thereby make same object appear at the same position of all the sensors, wherein, M
1for scaling board and the position relationship of the imageing sensor as standard, M
2for the position relationship of scaling board and another imageing sensor.
In general, the above technical scheme of conceiving by the present invention compared with prior art, has following beneficial effect:
1, adopt the mode of two imageing sensor parallel acquisitions, adopt figure order by what control single image sensor chip, make the exposure interval Nei Caitu of the latter at previous imageing sensor, make to adopt figure increased frequency in the same time cycle, adopting figure frequency is the twice that single image transducer is adopted figure frequency, can realize high speed and the ultrahigh speed collection of image.
2, demarcate by geometric calibration and brightness, realize two to adopt figure picture position corresponding identical with brightness simultaneously, the accuracy that has guaranteed to adopt figure.
3, apparatus structure is simple, realizes same high sample frequency with dual sensor chip structure replacement single-sensor chip structure, and cost obviously reduces.
Accompanying drawing explanation
Fig. 1 is the timesharing two road image collecting device structural representations of the embodiment of the present invention;
Fig. 2 is the control sequential chart of the timesharing two road image collecting device middle controllers of the embodiment of the present invention.
In institute's drawings attached, identical Reference numeral is used for representing identical element or structure, wherein: 1-camera lens, bis-points of prisms of 2-, 3-the first imageing sensor, 4-controller, 5-the second imageing sensor.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.In addition,, in each execution mode of described the present invention, involved technical characterictic just can combine mutually as long as do not form each other conflict.
As shown in Figure 1, the timesharing two road image collecting devices of the embodiment of the present invention comprise camera lens 1, two points of prisms 2, the first imageing sensor 3, controller 4 and second imageing sensors 5.Two points of prisms 2 are positioned on the output light path of camera lens 1, for incident beam is divided into two beamlets that light intensity is equal, the first imageing sensor 3 and the second imageing sensor 5 lay respectively on the output light path of two beamlets, controller 4 connects respectively the first imageing sensor 3 and the second imageing sensor 5, be used for controlling the timesharing triggering exposure successively of two imageing sensors, to obtain not the image of object in the same time, thereby reach the IMAQ frame per second of single image transducer twice, realize high speed and the ultrahigh speed collection of image.
Particularly, two points of prisms 2 are semi-transparent semi-reflecting prism.
Particularly, the first imageing sensor 3 and the second imageing sensor 5 are the photosensitive array of digital image sensor chip composition.
The control sequential chart of controller as shown in Figure 2, is controlled sequential and is comprised two periodic square wave.C1, C2 are respectively the exposure time series figure of the first imageing sensor 3 and the second imageing sensor 5, and C is the exposure time series figure of equivalent single image transducer.Sequencing control flow process is as follows: controller 4 is controlled the first imageing sensor 3 and exposed, elapsed time △ T1, controller 4 is controlled the second imageing sensor 5 and is exposed, elapsed time △ T2 again, controller 4 is controlled the first imageing sensor 3 and is again exposed, so repeat above process, thereby by adopting figure frequency and bring up to the twice of single image transducer, realize the frequency multiplication collection of image.Wherein, the time that the first imageing sensor 3 single exposures gather image is △ t1, and the time that the second imageing sensor 5 single exposures gather image is △ t2, △ t1< △ T1<T
c1-△ t2,0< △ t2<T
c1-△ t1, T
c1it is the cycle that the first imageing sensor 3 gathers image.
The brightness of the image photographing due to two image sensor chips can not be identical, simultaneously because imageing sensor and prism are installed and are had machine error, thereby cause the same piece image photographing to have small translation, Rotation and Zoom conversion, therefore need to demarcate this device in advance, we propose single exposure scaling method as required, realize 2 simultaneously and adopt figure picture position correspondence (geometric calibration) and adopt figure picture brightness identical (brightness demarcation) with 2.
Geometric calibration: place high-precision grid or dot matrix scaling board before camera lens, controller 4 is controlled two imageing sensors and is exposed and adopt figure, the image that each imageing sensor is collected carries out conventional going lens distortion and convert world coordinates to pixel transformation of coordinates, deposit transformational relation corresponding each imageing sensor in computer, when adopt figure next time, carry out same geometric transformation and can guarantee that same object appears at the same position of all cameras.
Specifically realize in the following way:
Be [x to certain 1 j coordinate on scaling board
wj, y
wj, z
wj, 1]
t, correspondence is [u at the pixel coordinate of i imageing sensor sensitive face
ij, v
ij, 1]
t, there is lower relation of plane:
Wherein M
ithe position relationship that represents scaling board and i imageing sensor, can obtain by traditional scaling method.
Take the first imageing sensor 3 as standard, need the picture position that the second imageing sensor 5 is gathered to adjust, make a bit to appear at the same position on the second imageing sensor 5 on object, to (1) formula premultiplication
obtain:
Obtain the point [u on the second imageing sensor 5
2j, v
2j, 1]
tcorrespond to the position of the first imageing sensor 3, realized two identical demarcation in camera camera site.
Brightness is demarcated: control two imageing sensors simultaneously expose (can with the same single exposure of geometric calibration), synchronization photographs two images of same object, take wherein one as standard, other images that brightness is greater than this image carry out brightness deterioration, other images that brightness is less than this image carry out brightness enhancing, to make two image brightness consistent, deposit each image sensor chip luminance transformation relation in computer, when adopt figure next time, carry out same luminance transformation.
Those skilled in the art will readily understand; the foregoing is only preferred embodiment of the present invention; not in order to limit the present invention, all any modifications of doing within the spirit and principles in the present invention, be equal to and replace and improvement etc., within all should being included in protection scope of the present invention.
Claims (6)
1. timesharing two road image collecting devices, is characterized in that, comprise camera lens, two points of prisms, the first imageing sensor, controller and second imageing sensors;
Described two points of prisms are positioned on the output light path of described camera lens, for incident beam is divided into two beamlets that light intensity is equal, described the first imageing sensor and described the second imageing sensor lay respectively on the output light path of two beamlets, described controller connects respectively described the first imageing sensor and described the second imageing sensor, be used for controlling the timesharing triggering exposure successively of described the first imageing sensor and described the second imageing sensor, to obtain not subject image in the same time, reach the IMAQ frame per second of single image transducer twice.
2. timesharing two road image collecting devices as claimed in claim 1, it is characterized in that, described controller is specifically controlled described the first imageing sensor and the timesharing triggering exposure successively of described the second imageing sensor in the following way: control described the first imageing sensor exposure, elapsed time △ T1, control described the second imageing sensor exposure, elapsed time △ T2 again, controlling described the first imageing sensor exposes again, so repeat above process, wherein, the time that described the first imageing sensor single exposure gathers image is △ t1, the time that described the second imageing sensor single exposure gathers image is △ t2, △ t1< △ T1<T
c1-△ t2,0< △ t2<T
c1-△ t1, T
c1for the cycle of described the first imageing sensor collection image.
3. timesharing two road image collecting devices as claimed in claim 1 or 2, is characterized in that, described two points of prisms are semi-transparent semi-reflecting prism.
4. timesharing two road image collecting devices as claimed any one in claims 1 to 3, is characterized in that, described the first imageing sensor and described the second imageing sensor are the photosensitive array of digital image sensor chip composition.
5. a scaling method for timesharing two road image collecting devices, is characterized in that, at least comprises that geometric calibration and brightness demarcates one of them;
Described geometric calibration is specially: before camera lens, place grid or dot matrix scaling board, controlling two imageing sensors exposes and adopts figure, the image of each imageing sensor collection is gone to lens distortion processing and coordinate transform, make same object appear at the same position of all the sensors;
Described brightness is demarcated and is specially: control two imageing sensors and expose simultaneously, synchronization photographs two images of same object, take wherein one as standard, other images that brightness are greater than to this image carry out brightness deterioration processing, other images that brightness are less than to this image carry out brightness enhancing processing, then according to grey level histogram intense adjustment, make all image brightness consistent.
6. the scaling method of timesharing two road image collecting devices as claimed in claim 5, it is characterized in that, described geometric calibration is further realized in the following way: take one of them imageing sensor as standard, by the pixel coordinate premultiplication of the sensitive face of another imageing sensor
thereby make same object appear at the same position of all the sensors, wherein, M
1for scaling board and the position relationship of the imageing sensor as standard, M
2for the position relationship of scaling board and another imageing sensor.
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| CN105571934A (en) * | 2016-01-20 | 2016-05-11 | 清华大学 | Digital-speckle-based aberration correction method for array-type high-speed photography system |
| CN105915813A (en) * | 2016-05-11 | 2016-08-31 | 华中科技大学 | Image acquisition frame rate adaptive adjustment device |
| CN105959521A (en) * | 2016-05-31 | 2016-09-21 | 中国科学院长春光学精密机械与物理研究所 | Method and system for improving image frame frequency based on double-camera system light-splitting imaging |
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| CN107749953A (en) * | 2017-11-17 | 2018-03-02 | 嘉兴学院 | A kind of double camera image based on binocular lens tube increases frequency device and control method |
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