CN107545593A - The Fourier's lamination image space scaling method and device of vision auxiliary - Google Patents

The Fourier's lamination image space scaling method and device of vision auxiliary Download PDF

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CN107545593A
CN107545593A CN201710996547.5A CN201710996547A CN107545593A CN 107545593 A CN107545593 A CN 107545593A CN 201710996547 A CN201710996547 A CN 201710996547A CN 107545593 A CN107545593 A CN 107545593A
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mrow
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image
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刘晓利
李成
汤其剑
彭翔
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Shenzhen University
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Abstract

The present invention is applied to micro-imaging technique field, provide a kind of the Fourier's lamination image space scaling method and device of vision auxiliary, before conventional Fourier lamination is imaged and calculates recovery, the image when LED array for aiding in biocular systems collection to be not disposed under resolving power test target by vision is lighted, combining camera calibrating parameters calculate its first 3 d space coordinate；The 3 d space coordinate at microscopic field of view center is found by pasting the method for circular index point on resolving power test target again；The 3 d space coordinate of LED array when system is in focal position is found then in conjunction with the first 3 d space coordinate and by rotating translation transformation, each LED of illumination region is calculated to the height and LED projection of focal position fit Plane to the transverse and longitudinal coordinate of fit Plane using 3 d space coordinate of the 3 d space coordinate combination LED array at microscopic field of view center in focal position, completes space position calibration；The present invention can avoid the influence that position deviation is brought to restoration result.

Description

The Fourier's lamination image space scaling method and device of vision auxiliary
Technical field
The invention belongs to micro-imaging technique field, more particularly to a kind of Fourier's lamination image space mark of vision auxiliary Determine method and device.
Background technology
Microscope observes smaller object from the invention, for the mankind and provides possibility.Using micro- sem observation sample This when, generally all it is that the position where sample, and then rotation converter are found under low power objective, uses the object lens compared with high magnification numbe To observe the clear details of sample.After low power lens is converted into high power lens, the direct change brought is exactly that observer can The visual field of observation diminishes.In order to solve the contradictory relation between visual field size and resolution ratio, conventional method is exactly to borrow precision Electric platforms realize large area scanning and combine image processing method to realize, but this method needs very accurate scanning And operating process is extremely complex.How to obtain big visual field simultaneously and high-resolution image annoyings many and is engaged in micro- grind always The researcher studied carefully.Breakthrough in this respect should belong to Fourier's lamination imaging technique that someone proposes first simultaneously It is successfully realized big visual field and super-resolution imaging.
Typical Fourier's lamination imaging system is realized on the basis of simple microscope device, programmable with one LED array substitution microscope itself lighting source, by controlling the bright of each LED in LED array secretly to realize to sample This different directions illumination.Under normal circumstances, the image that the LED illumination sample of each opening position obtains is by objective lens numerical hole The imaging results of footpath limitation, its image is there is the high-frequency information of sample loss, and we term it low-resolution image.Fourier Lamination imaging technique is exactly to be believed by lighting each LED on illumination array successively to obtain many comprising sample different angle The low-resolution image of breath, sample is then recovered using synthetic aperture and the method for phase recovery in the Fourier of image This high resolution information.The resolution sizes for the high-definition picture finally rebuild depend on numerical aperture of objective and illumination number It is worth aperture sum, so from this angle, Fourier's lamination imaging technique can break traditions micro objective numerical aperture The limitation in footpath, finally realize big visual field and high-resolution imaging.
The realization of Fourier's lamination imaging technique is different by finding each in high resolution spectrum to be restored Spatial frequency corresponding to the LED of position, the son under relevant position is taken in high resolution spectrum using the numerical aperture of object lens as radius Frequency spectrum aperture, amplitude replacement is done with the low-resolution image gathered under corresponding LED location, realizes phase recovery.
But in traditional Fourier's lamination imaging, the final quality for recovering full resolution pricture is largely by space The influence of LED array position error, it is logical to be embodied in the spatial frequency corresponding to each LED in conventional Fourier lamination Cross and select after a center LED is aligned with microscopic system center, the spatial frequencys of other positions as benchmark out. So once center LED and microscopic system center existence position deviation, may result in the LED locus of whole illumination region all Deviation be present, so center of corresponding each sub-aperture frequency spectrum in high resolution spectrum to be restored is also just inaccurate Really, its phase recovery also is difficult to obtain an accurate result.Therefore, it is just necessary for the preferable result of the quality that is restored Solves the locus offset issue of LED array in Fourier's lamination.
The content of the invention
The present invention provides a kind of the Fourier's lamination image space scaling method and device of vision auxiliary, it is intended to solves tradition LED array is difficult to accurate adjustment with microscopic system center and is aligned in Fourier's lamination imaging optical path, high-definition picture to be restored The problem of Quality Down.
The invention provides a kind of vision auxiliary Fourier's lamination image space scaling method, Fourier's lamination into Image position scaling method applies to Fourier's lamination image space calibration system, and the calibration system includes：Fourier's lamination into As device and vision auxiliary binocular camera, Fourier's lamination imaging device includes micro image collection camera, microscope, load Thing platform, the resolving power test target and LED array for posting circular index point, the resolving power test target is placed on the objective table, described micro- IMAQ camera is located at directly over the objective table, and the LED array be located at objective table underface, and with the loading Plane where platform is parallel, and the vision auxiliary binocular camera includes：Vision aids in left camera and vision aids in right camera, described to regard Feel the front for aiding in left camera, vision to aid in right camera to be located at Fourier's lamination imaging device, methods described includes：
Step S1, utilize the figure for the resolving power test target that circular index point is posted described in micro image collection camera collection Picture, and extract with reference to circular index point extraction algorithm the image pixel in the center of circle of the Circle in Digital Images shape index point of the resolving power test target Coordinate；
Step S2, image is gathered using the micro image collection camera, obtains the microscopic field of view central point of described image Image pixel coordinates, measured using three-coordinate instrument and described post on the resolving power test target of circular index point each constituent element element per one-level Actual physical size coordinate, by establishing the relation between image coordinate system and actual physical size coordinate system, calculate institute State the actual physical size coordinate in the center of circle of microscopic field of view central point and the circular index point；
Step S3, the LED array being not disposed in using vision auxiliary binocular camera collection under the resolving power test target Image when lighting, sat so as to obtain images of each LED in the LED array in the vision aids in binocular camera Mark, institute is calculated by each LED image coordinate and the calibrating parameters for the vision auxiliary binocular camera demarcated in advance State each LED of LED array the first 3 d space coordinate；
Step S4, the resolving power test target of circular index point is posted in focal position using described in vision auxiliary camera collection When image and the LED array being now placed under the resolving power test target image, it is and auxiliary with reference to the vision demarcated in advance The calibrating parameters of binocular camera are helped to calculate 3 d space coordinate of the circular index point center of circle in focal position and do not hidden Second space three-dimensional coordinate of the LED array of gear in focal position；
LED array is obtained in focal position with reference to first 3 d space coordinate and the second space three-dimensional coordinate 3 d space coordinate；
Step S5, according to the 3 d space coordinate in the circular index point center of circle and the microscopic field of view center and circle The relation of the actual physical size coordinate in the center of circle of index point calculates the 3 d space coordinate at the microscopic field of view center；
And utilize space of the 3 d space coordinate at the microscopic field of view center with reference to the LED array in focal position Three-dimensional coordinate calculates each LED of illumination region to the height z and LED projection of focal position fit Plane to fit Plane Transverse and longitudinal coordinate x, y, complete the relatively described resolving power test target of the LED array locus (x, y, z) demarcation；
The calibration result meter of LED array in 3 d space coordinate and illumination region in combination with the microscopic field of view center Calculate position coordinateses of each LED in high resolution spectrum to be restored.
Present invention also offers a kind of Fourier's lamination image space caliberating device of vision auxiliary, Fourier's lamination Image space caliberating device applies to Fourier's lamination image space calibration system, and the calibration system includes：Fourier's lamination Imaging device and vision auxiliary binocular camera, Fourier's lamination imaging device include micro image collection camera, microscope, Objective table, the resolving power test target and LED array for posting circular index point, the resolving power test target are placed on the objective table, described aobvious Micro- IMAQ camera is located at directly over the objective table, and the LED array be located at objective table underface, and with the load Plane where thing platform is parallel, and the vision auxiliary binocular camera includes：Vision aids in left camera and vision aids in right camera, described Vision aids in the front that left camera, vision aid in right camera to be located at Fourier's lamination imaging device, and described device includes：
Image pixel coordinates extraction module, for posting circle marker using described in micro image collection camera collection The image of the resolving power test target of point, and with reference to the Circle in Digital Images shape index point of the circular index point extraction algorithm extraction resolving power test target The center of circle image pixel coordinates；
Actual physical size coordinate calculation module, for using micro image collection camera collection image, obtaining institute The image pixel coordinates of the microscopic field of view central point of image are stated, the resolution for posting circular index point is measured using three-coordinate instrument The actual physical size coordinate of every each constituent element element of one-level on rate plate, by establishing image coordinate system and actual physical size coordinate Relation between system, the actual physical size for calculating the center of circle of the microscopic field of view central point and the circular index point are sat Mark；
First computing module, for the institute being not disposed in using vision auxiliary binocular camera collection under the resolving power test target Image when LED array is lighted is stated, binocular camera is aided in the vision so as to obtain each LED in the LED array In image coordinate, the demarcation for aiding in binocular camera by each LED image coordinate and the vision demarcated in advance joins Number calculates each LED of the LED array the first 3 d space coordinate；
Second computing module, for utilizing the resolving power test target that circular index point is posted described in vision auxiliary camera collection The image of image and the LED array being now placed under the resolving power test target in focal position, and combine what is demarcated in advance The calibrating parameters of the vision auxiliary binocular camera calculate 3 d space coordinate of the circular index point center of circle in focal position And second space three-dimensional coordinate of the LED array not being blocked in focal position；
LED array is obtained in focal position with reference to first 3 d space coordinate and the second space three-dimensional coordinate 3 d space coordinate；
Demarcating module, for the 3 d space coordinate according to the circular index point center of circle and the microscopic field of view center The 3 d space coordinate at the microscopic field of view center is calculated with the relation of the actual physical size coordinate in the center of circle of circular index point；
And utilize space of the 3 d space coordinate at the microscopic field of view center with reference to the LED array in focal position Three-dimensional coordinate calculates each LED of illumination region to the height z and LED projection of focal position fit Plane to fit Plane Transverse and longitudinal coordinate x, y, complete the relatively described resolving power test target of the LED array locus (x, y, z) demarcation；
The calibration result meter of LED array in 3 d space coordinate and illumination region in combination with the microscopic field of view center Calculate position coordinateses of each LED in high resolution spectrum to be restored.
Compared with prior art, beneficial effect is the present invention：The invention provides a kind of Fourier of vision auxiliary to fold Layer image space scaling method and device, method include：Before conventional Fourier lamination is imaged and calculates recovery, pass through what is built The image when LED array that vision auxiliary biocular systems collection is not disposed under resolving power test target is lighted, combining camera calibrating parameters meter Calculate the first 3 d space coordinate of LED array；Again micro- regard is found by pasting the method for circular index point on resolving power test target The 3 d space coordinate at field center；Gather then in conjunction with the first 3 d space coordinate and by rotating translation transformation and finding system and be in The 3 d space coordinate of LED array during burnt position, and gathered using the 3 d space coordinate combination LED array at microscopic field of view center 3 d space coordinate during burnt position calculates each LED of illumination region to the height and LED of focal position fit Plane The transverse and longitudinal coordinate of fit Plane is projected to, completes the space position calibration of LED array relative resolution plate；And further calculate Position coordinateses of each LED in high resolution spectrum to be restored；The present invention is compared with prior art, on the one hand, uses and regards After feeling that auxiliary Fourier lamination imaging carries out location position, it is not necessary to adjust repeatedly again the center of illumination LED array with it is micro- The center of system is aligned, and each corresponding LED locus coordinate can be accurately obtained by calculating, and be substantially reduced The experimentally difficulty of optical path adjusting；On the other hand, the method for aiding in carrying out location position using vision can be reduced in traditional Fu Position deviation present in the imaging of leaf lamination, it is accurate thus to find corresponding LED in high resolution spectrum to be restored Spatial frequency coordinate, and then can obtain than traditional restoration methods more accurately restoration result.
Brief description of the drawings
Fig. 1 is the hardware architecture diagram of Fourier's lamination image space calibration system provided in an embodiment of the present invention；
Fig. 2 is a kind of signal of Fourier's lamination image space scaling method of vision auxiliary provided in an embodiment of the present invention Figure；
Fig. 3 is the signal of image coordinate system provided in an embodiment of the present invention and actual physical size coordinate system computation model Figure；
Fig. 4 is LED array locus and auxiliary through vision in conventional Fourier lamination provided in an embodiment of the present invention imaging Help the contrast schematic diagram of demarcation LED array locus；
Fig. 5 (a) is conventional Fourier lamination imaging method reconstruction resolving power test target result provided in an embodiment of the present invention Schematic diagram；
Fig. 5 (b) is reconstruction resolving power test target result after the demarcation provided in an embodiment of the present invention by vision aided location Schematic diagram；
Fig. 6 (a) is the signal provided in an embodiment of the present invention with conventional Fourier lamination imaging reconstruction human blood cell's result Figure；
Fig. 6 (b) is reconstruction human blood cell's result after the demarcation provided in an embodiment of the present invention by vision aided location Schematic diagram；
Fig. 7 is a kind of module of Fourier's lamination image space caliberating device of vision auxiliary provided in an embodiment of the present invention Schematic diagram.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and It is not used in the restriction present invention.
The invention provides a kind of vision auxiliary Fourier's lamination image space scaling method, Fourier's lamination into Image position scaling method applies to Fourier's lamination image space calibration system, as shown in figure 1, the calibration system includes：Fu In leaf lamination imaging device 1 and vision auxiliary binocular camera 2, Fourier's lamination imaging device 1 includes micro image collection Camera 11, microscope 12 (lower section of micro image collection camera described in figure 11 sequentially show lens 121 and object lens 122), carry Thing platform (not shown), the resolving power test target 13 and LED array 14 for posting circular index point, the resolving power test target 13 are placed in described On objective table, the micro image collection camera 11 is located at directly over the objective table, and the LED array 14 is located at the loading Immediately below platform, and it is parallel with plane where the objective table, and the vision auxiliary binocular camera 2 includes：Vision aids in left camera Right camera is aided in vision, the vision aids in left camera, vision to aid in right camera to be located at Fourier's lamination imaging device Front.
Specifically, in the embodiment of the present invention, the model Olympus BX43 of the use of microscope 12, collocation Olympus flat field apochromatic objectives, object lens magnification are 4 times, numerical aperture 0.1；Carried on the microscope 12 SCMOS cameras, model PCO.edge5.5, resolution sizes 2560*2048, Pixel Dimensions 6.5um*6.5um；It is described Vision auxiliary binocular camera 2 uses Basler cameras, model piA2400-17gc, resolution sizes 2448*2050, pixel Size is 3.45um*3.45um；The vision auxiliary binocular camera uses Computar camera lenses, model M1214-MP2.
Specifically, in the embodiment of the present invention, the resolving power test target 13 uses USAF1951 resolving power test targets.
Specifically, as shown in Fig. 2 Fourier's lamination image space scaling method includes：
Step S1, utilize the figure for the resolving power test target that circular index point is posted described in micro image collection camera collection Picture, and extract with reference to circular index point extraction algorithm the image pixel in the center of circle of the Circle in Digital Images shape index point of the resolving power test target Coordinate；
Specifically, in the step S1, the circular index point extraction algorithm is specially：Utilize canny in image procossing Operator detection circular index point edge image coordinate (x, y) simultaneously fits elliptic equation x2+2Bxy+Cy2+ 2Dx+2Ey+F=0, its Middle parameter B, C, D, E and F are drawn by being fitted, and calculate the image pixel in the center of circle of the Circle in Digital Images shape index point of the resolving power test target Coordinate (x, y) formula is：
Step S2, image is gathered using the micro image collection camera, obtains the microscopic field of view central point of described image Image pixel coordinates, measured using three-coordinate instrument and described post on the resolving power test target of circular index point each constituent element element per one-level Actual physical size coordinate, by establishing the relation between image coordinate system and actual physical size coordinate system, calculate institute State the actual physical size coordinate in the center of circle of microscopic field of view central point and the circular index point；
Specifically, the microscopic field of view central point is referred in the visual field of the image of the micro image collection camera collection The heart.
Fig. 3 is the schematic diagram of image coordinate system and actual physical size coordinate system computation model, specifically, the image of foundation Relation between coordinate system and actual physical size coordinate system is：
x0=xcenter+(u0-ucenter)·dx
y0=ycenter+(v0-vcenter)·dy
xcircle=xcenter+(ucircle-ucenter)·dx
ycircle=ycenter+(vcircle-vcenter)·dy
Wherein, (x0,y0) represent the actual physical size coordinate at microscopic field of view center, (xcircle,ycircle) represent circular mark The actual physical size coordinate in the will point center of circle, (ucenter,vcenter) the center image coordinate of selected image coordinate system is represented, (xcenter,ycenter) the physical size coordinate of selected image coordinate system is represented, the physical size coordinate is obtained by three-coordinate instrument Arrive, (u0,v0) represent microscopic field of view central point image pixel coordinates, (ucircle,vcircle) represent the figure in the circular index point center of circle As pixel coordinate, dx、dyUnit physical size respectively in actual physical size coordinate system on x, y direction.
Step S3, the LED array being not disposed in using vision auxiliary binocular camera collection under the resolving power test target Image when lighting, sat so as to obtain images of each LED in the LED array in the vision aids in binocular camera Mark, institute is calculated by each LED image coordinate and the calibrating parameters for the vision auxiliary binocular camera demarcated in advance State each LED of LED array the first 3 d space coordinate；
Specifically, now the LED array is not disposed under the resolving power test target, so, the LED array is not by loading Platform blocks, and the vision auxiliary binocular camera can collect image when complete LED array is lighted.
Specifically, the advance calibration process of the vision auxiliary binocular camera is that it is double that target is placed in into the vision auxiliary Below mesh camera, the target image under several postures is gathered using vision auxiliary binocular camera, and according to collection Target image calculates the inner parameter and external parameter of the vision auxiliary binocular camera, and the vision auxiliary binocular camera passes through It is respectively f to obtain vision after demarcation to aid in left camera, vision to aid in the effective focal length of right cameralAnd fr, and the vision is auxiliary Left camera, vision is helped to aid in the spin matrix between right cameraAnd translation matrix
Wherein, parameter r1、r2、r3、r4、r5、r6、r7、r8、r9、tx、ty, tz can from the vision aid in binocular camera Obtained in calibration result, camera calibration process is using MATLAB camera calibrations tool box (Camera Calibration Toolbox for MATLAB)。
Specifically, in the step S3, the formula for calculating first 3 d space coordinate is：
X=zXl/fl
Y=zYl/fl
Wherein, (x, y, z) represents each LED the first 3 d space coordinate, (Xl,Yl) represent each LED described The left magazine image coordinate of vision auxiliary, (Xr,Yr) represent that each LED is sat in the right magazine image of vision auxiliary Mark；From the foregoing it will be appreciated that the calibrating parameters of the vision auxiliary binocular camera include：Vision aids in the effective focal length f of left cameral, Vision aids in the effective focal length f of right camerar, in addition to the rotation between the left camera of vision auxiliary and the right camera of vision auxiliary MatrixTranslation matrix
Step S4, the resolving power test target of circular index point is posted in focal position using described in vision auxiliary camera collection When image and the LED array being now placed under the resolving power test target image, it is and auxiliary with reference to the vision demarcated in advance The calibrating parameters of binocular camera are helped to calculate 3 d space coordinate of the circular index point center of circle in focal position and do not hidden Second space three-dimensional coordinate of the LED array of gear in focal position；
LED array is obtained in focal position with reference to first 3 d space coordinate and the second space three-dimensional coordinate 3 d space coordinate；
Specifically, by posting image of the resolving power test target of circular index point in focal position described in collection, so as to Image coordinate of the center of circle of circular index point on to the resolving power test target in the vision aids in binocular camera；By the circle The calibrating parameters of the image coordinate in the center of circle of shape index point and the vision auxiliary binocular camera demarcated in advance calculate circle 3 d space coordinate of the shape index point center of circle in focal position.Meanwhile now it is placed under the resolving power test target by collection The image of LED array, so as to obtain the image coordinate for the LED array do not blocked in the LED array by objective table, by not hidden The calibrating parameters of the image coordinate of the LED array of gear and the vision auxiliary binocular camera demarcated in advance calculate not Second space three-dimensional coordinate of the LED array being blocked in focal position.
Specifically, when being placed in due to the LED array under the resolving power test target, the vision auxiliary camera can only be observed A part for the LED array, a part of image can only obtain 3 d space coordinate a part of in LED array；And the LED When array is not disposed under the resolving power test target under step S3 position and attitudes, all spaces of the LED array can be obtained Three-dimensional coordinate；So, in order to which whole 3 d space coordinates of LED array for obtaining being placed under the resolving power test target will be, it is necessary to will The 3 d space coordinate for the LED array being not disposed under the resolving power test target is transformed under step S4 position and attitudes, its corresponding relation The coordinate relation that S3 corresponds to LED with S4 is exactly found, transformation relation is obtained in rotated and translation.
Specifically, in the step S4, first 3 d space coordinate with reference to described in and the three-dimensional seat of the second space Mark obtains 3 d space coordinate of the LED array in focal position, including：
Spin matrix R is obtained using first 3 d space coordinate and the second space three-dimensional coordinate digital simulation2 With translation matrix T2, and 3 d space coordinate of the LED array in focal position is calculated using equation below：
(X,Y,Z)T=R2·(x,y,z)T+T2
Wherein, (x, y, z) represents the first 3 d space coordinate, and (X, Y, Z) represents second space three-dimensional coordinate.
Step S5, according to the 3 d space coordinate in the circular index point center of circle and the microscopic field of view center and circle The relation of the actual physical size coordinate in the center of circle of index point calculates the 3 d space coordinate at the microscopic field of view center；
And utilize space of the 3 d space coordinate at the microscopic field of view center with reference to the LED array in focal position Three-dimensional coordinate calculates each LED of illumination region to the height z and LED projection of focal position fit Plane to fit Plane Transverse and longitudinal coordinate x, y, complete the relatively described resolving power test target of the LED array locus (x, y, z) demarcation；
The calibration result meter of LED array in 3 d space coordinate and illumination region in combination with the microscopic field of view center Calculate position coordinateses of each LED in high resolution spectrum to be restored.
Specifically, in the step S5, according to microscopic field of view center to the circular index point center of circle (x closed on1,y1,z1) and (x2,y2,z2) actual physics length d1、d2And both coplanarity equation Ax+By+Cz+D=0, calculate microscopic field of view center 3 d space coordinate (x0,y0,z0)；
(x0-x1)2+(y0-y1)2+(z0-z1)2=d1 2
(x0-x2)2+(y0-y2)2+(z0-z2)2=d2 2
Ax0+By0+Cz0+ D=0
Wherein, d1、d2According to the microscopic field of view center calculated and the actual physical size coordinate in the center of circle of circular index point Calculate and obtain；Plane Ax where microscopic field of view center and circular index point0+By0+Cz0+ D=0 passes through the circular index point The 3 d space coordinate fitting in the center of circle is drawn；By solution, three equations can calculate the space three-dimensional at microscopic field of view center above Coordinate (x0,y0,z0)。
Further, using the 3 d space coordinate at the microscopic field of view center with reference to the LED array in focal position When 3 d space coordinate calculate each LED of illumination region to focal position fit Plane Ax0+By0+Cz0+ D=0 height The degree z and abscissa x and ordinate y for projecting to the fit Plane, completes the relatively described resolving power test target of the LED array and gathers Locus (x, y, z) demarcation during burnt position；
Further, coordinate system is established with plane where microscopic field of view center, it is corresponding in height to be restored calculates each LED Spatial frequency in resolution spectrum,
Wherein, (xm,n,ym,n,zm,n) be illumination region in m rows n-th arrange LED vision auxiliary calibrations result, (um,n,vm,n) correspond to position coordinateses of the LED of the row of m rows n-th in high frequency resolution frequency spectrum to be restored.
The invention provides a kind of vision auxiliary Fourier's lamination image space scaling method, carry out Fourier's lamination into Image position is demarcated, because calibration result is calculated by vision auxiliary, this reduces adjust alignment in experiment light path Difficulty；Meanwhile accurate locations of each LED in high resolution spectrum to be restored can be calculated by calibration result, Avoid the influence that position deviation is brought to restoration result.
In order to test a kind of practicality of Fourier's lamination image space scaling method of vision auxiliary proposed by the present invention, We carry out Fourier's lamination experiment with USAF1951 resolving power test targets and human blood cell respectively, and Fig. 4 "+" represents to aid in marking through vision Determine LED array locus, " * " represents LED array locus in the imaging of conventional Fourier lamination；Fig. 5 (a) expressions tradition Fourier's lamination imaging method rebuilds resolving power test target result, and Fig. 5 (b) is represented to rebuild after the demarcation of vision aided location and differentiated The hardened fruit of rate；Fig. 6 (a) expression conventional Fourier lamination imaging reconstruction human blood cell's results, Fig. 6 (b) represent auxiliary by vision Location position is helped to rebuild human blood cell's result afterwards.As can be seen that the Fourier aided in by vision from two groups of Experimental comparisons Reconstructed results after the demarcation of lamination image space can effectively avoid conventional method spatial location from the problem of deviation being present, no Need to adjust light path alignment repeatedly, and improve the Quality of recovery of conventional Fourier lamination imaging simultaneously.
Present invention also offers a kind of Fourier's lamination image space caliberating device of vision auxiliary, Fourier's lamination Image space caliberating device applies to Fourier's lamination image space calibration system, and the calibration system includes：Fourier's lamination Imaging device 1 and vision auxiliary binocular camera 2, Fourier's lamination imaging device 1 include micro image collection camera 11, shown Micro mirror 12 (lower section of micro image collection camera described in figure 11 sequentially show lens 121 and object lens 122), objective table are (in figure Be not shown), post the resolving power test target 13 and LED array 14 of circular index point, the resolving power test target 13 is placed on the objective table, The micro image collection camera 11 is located at directly over the objective table, and the LED array 14 is located at immediately below the objective table, And it is parallel with plane where the objective table, the vision auxiliary binocular camera 2 includes：Vision aids in left camera and vision auxiliary Right camera, the vision aid in the front that left camera, vision aid in right camera to be located at Fourier's lamination imaging device, such as Shown in Fig. 7, described device includes：
Image pixel coordinates extraction module 1, for posting circular mark using described in micro image collection camera collection The image of the resolving power test target of will point, and with reference to the Circle in Digital Images shape mark of the circular index point extraction algorithm extraction resolving power test target The image pixel coordinates in the center of circle of point；
Specifically, in described image pixel coordinate extraction module 1, the circular index point extraction algorithm is specially：Utilize Canny operators detect circular index point edge image coordinate (x, y) and fit elliptic equation x in image procossing2+2Bxy+Cy2+ 2Dx+2Ey+F=0, wherein parameter B, C, D, E and F are drawn by being fitted, and calculate the Circle in Digital Images shape index point of the resolving power test target Image pixel coordinates (x, the y) formula in the center of circle be：
Actual physical size coordinate calculation module 2, for using micro image collection camera collection image, obtaining institute The image pixel coordinates of the microscopic field of view central point of image are stated, the resolution for posting circular index point is measured using three-coordinate instrument The actual physical size coordinate of every each constituent element element of one-level on rate plate, by establishing image coordinate system and actual physical size coordinate Relation between system, the actual physical size for calculating the center of circle of the microscopic field of view central point and the circular index point are sat Mark；
Specifically, in described image pixel coordinate extraction module 2, image coordinate system and the actual physical size coordinate of foundation Relation between system is：
x0=xcenter+(u0-ucenter)·dx
y0=ycenter+(v0-vcenter)·dy
xcircle=xcenter+(ucircle-ucenter)·dx
ycircle=ycenter+(vcircle-vcenter)·dy
Wherein, (x0,y0) represent the actual physical size coordinate at microscopic field of view center, (xcircle,ycircle) represent circular mark The actual physical size coordinate in the will point center of circle, (ucenter,vcenter) the center image coordinate of selected image coordinate system is represented, (xcenter,ycenter) represent the physical size coordinate of selected image coordinate system, (u0,v0) represent microscopic field of view central point figure As pixel coordinate, (ucircle, vcircle) represent the image pixel coordinates in the circular index point center of circle, dx、dyRespectively actual physics chi Unit physical size in very little coordinate system on x, y direction.
First computing module 3, for being not disposed in using vision auxiliary binocular camera collection under the resolving power test target The image when LED array is lighted, binocular phase is aided in the vision so as to obtain each LED in the LED array Image coordinate in machine, by each LED image coordinate and the demarcation for the vision auxiliary binocular camera demarcated in advance Parameter calculates each LED of the LED array the first 3 d space coordinate；
Specifically, in first computing module 3, the formula for calculating first 3 d space coordinate is：
X=zXl/fl
Y=zYl/fl
Wherein, (x, y, z) represents each LED the first 3 d space coordinate, (Xl,Yl) represent each LED described The left magazine image coordinate of vision auxiliary, (Xr,Yr) represent that each LED is sat in the right magazine image of vision auxiliary Mark, the calibrating parameters of the vision auxiliary binocular camera include：Vision aids in the effective focal length f of left cameral, the right phase of vision auxiliary The effective focal length f of machiner, in addition to the spin matrix between the left camera of vision auxiliary and the right camera of vision auxiliaryTranslation matrix
Second computing module 4, for utilizing the resolution ratio that circular index point is posted described in vision auxiliary camera collection The image of image and the LED array that is now placed in the resolving power test target under of the plate in focal position, and combine demarcation in advance The calibrating parameters of vision auxiliary binocular camera calculate space three-dimensional of the circular index point center of circle in focal position and sit It is marked with and second space three-dimensional coordinate in focal position of the LED array that is not blocked；
LED array is obtained in focal position with reference to first 3 d space coordinate and the second space three-dimensional coordinate 3 d space coordinate；
In second computing module 4, the formula for calculating 3 d space coordinate of the LED array in focal position is：
(X,Y,Z)T=R2·(x,y,z)T+T2
Wherein, (x, y, z) represents the first 3 d space coordinate, and (X, Y, Z) represents second space three-dimensional coordinate, spin matrix R2With translation matrix T2It can utilize under two location status of first computing module and second computing module, illumination First 3 d space coordinate corresponding to LED array and second space three-dimensional coordinate digital simulation obtain.
Demarcating module 5, in the 3 d space coordinate according to the circular index point center of circle and the microscopic field of view The space three-dimensional that the relation of the actual physical size coordinate in the center of circle of the heart and circular index point calculates the microscopic field of view center is sat Mark；And utilize space three-dimensional of the 3 d space coordinate at the microscopic field of view center with reference to the LED array in focal position Coordinate calculate each LED of illumination region to focal position fit Plane height z and LED projection to fit Plane horizontal stroke Ordinate x, y, complete locus (x, y, the z) demarcation of the relatively described resolving power test target of the LED array；In combination with described aobvious The calibration result of LED array calculates each LED in height to be restored in the 3 d space coordinate and illumination region of micro- field of view center Position coordinates in resolution spectrum.
Specifically, the demarcating module 5, for according to microscopic field of view center to the circular index point center of circle (x closed on1,y1, z1) and (x2,y2,z2) actual physics length d1、d2And both coplanarity equation Ax+By+Cz+D=0, calculate micro- regard 3 d space coordinate (the x at field center0,y0,z0),
(x0-x1)2+(y0-y1)2+(z0-z1)2=d1 2
(x0-x2)2+(y0-y2)2+(z0-z2)2=d2 2
Ax0+By0+Cz0+ D=0
Wherein, d1、d2According to the microscopic field of view center calculated and the actual physical size coordinate in the center of circle of circular index point Calculate and obtain；Plane Ax where microscopic field of view center and circular index point0+By0+Cz0+ D=0 passes through the circular index point The 3 d space coordinate fitting in the center of circle is drawn；
And utilize space of the 3 d space coordinate at the microscopic field of view center with reference to the LED array in focal position Three-dimensional coordinate calculates each LED of illumination region to focal position fit Plane Ax0+By0+Cz0+ D=0 height z and throwing Shadow to the abscissa x and ordinate y of the fit Plane, complete the LED array relatively the resolving power test target focal position when Locus (x, y, z) demarcation；
Then, coordinate system is established with plane where microscopic field of view center, it is corresponding in high-resolution to be restored calculates each LED Position coordinates in rate frequency spectrum,
Wherein, (xm,n,ym,n,zm,n) be illumination region in m rows n-th arrange LED vision auxiliary calibrations result, (um,n,vm,n) correspond to position coordinateses of the LED of the row of m rows n-th in high frequency resolution frequency spectrum to be restored.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention All any modification, equivalent and improvement made within refreshing and principle etc., should be included in the scope of the protection.

Claims (10)

  1. A kind of 1. Fourier's lamination image space scaling method of vision auxiliary, it is characterised in that Fourier's lamination imaging Position calibration method applies to Fourier's lamination image space calibration system, and the calibration system includes：Fourier's lamination is imaged Device and vision auxiliary binocular camera, Fourier's lamination imaging device include micro image collection camera, microscope, loading Platform, the resolving power test target and LED array for posting circular index point, the resolving power test target are placed on the objective table, the micrograph As collection camera be located at directly over the objective table, the LED array is located at objective table underface, and with the objective table Place plane is parallel, and the vision auxiliary binocular camera includes：Vision aids in left camera and vision to aid in right camera, the vision The front for aiding in left camera, vision to aid in right camera to be located at Fourier's lamination imaging device, methods described include：
    Step S1, using the image for the resolving power test target that circular index point is posted described in micro image collection camera collection, and The image pixel coordinates in the center of circle of the Circle in Digital Images shape index point of the resolving power test target are extracted with reference to circular index point extraction algorithm；
    Step S2, image is gathered using the micro image collection camera, obtains the figure of the microscopic field of view central point of described image As pixel coordinate, the reality for posting each constituent element element per one-level on the resolving power test target of circular index point is measured using three-coordinate instrument Border physical size coordinate, by establishing the relation between image coordinate system and actual physical size coordinate system, calculate described aobvious The actual physical size coordinate in the center of circle of micro- field of view center point and the circular index point；
    Step S3, the LED array being not disposed in using vision auxiliary binocular camera collection under the resolving power test target are lighted When image, so as to obtain each LED in the LED array the vision aid in binocular camera in image coordinate, Calculated by each LED image coordinate and the calibrating parameters for the vision auxiliary binocular camera demarcated in advance described Each LED of LED array the first 3 d space coordinate；
    Step S4, the resolving power test target of circular index point is posted in focal position using described in vision auxiliary camera collection The image of image and the LED array being now placed under the resolving power test target, and it is double with reference to the vision auxiliary demarcated in advance The calibrating parameters of mesh camera calculate 3 d space coordinate of the circular index point center of circle in focal position and are not blocked Second space three-dimensional coordinate of the LED array in focal position；
    Sky of the LED array in focal position is obtained with reference to first 3 d space coordinate and the second space three-dimensional coordinate Between three-dimensional coordinate；
    Step S5, according to the 3 d space coordinate in the circular index point center of circle and the microscopic field of view center and circle marker The relation of the actual physical size coordinate in the center of circle of point calculates the 3 d space coordinate at the microscopic field of view center；
    And utilize space three-dimensional of the 3 d space coordinate at the microscopic field of view center with reference to the LED array in focal position Coordinate calculate each LED of illumination region to focal position fit Plane height z and LED projection to fit Plane horizontal stroke Ordinate x, y, complete locus (x, y, the z) demarcation of the relatively described resolving power test target of the LED array；
    The calibration result of LED array calculates every in 3 d space coordinate and illumination region in combination with the microscopic field of view center Position coordinateses of one LED in high resolution spectrum to be restored.
  2. 2. Fourier's lamination image space scaling method as claimed in claim 1, it is characterised in that in the step S1, institute Stating circular index point extraction algorithm is specially：Circular index point edge image coordinate is detected using canny operators in image procossing (x, y) and fit elliptic equation x2+2Bxy+Cy2+ 2Dx+2Ey+F=0, wherein parameter B, C, D, E and F are drawn by being fitted, and are counted Image pixel coordinates (x, the y) formula for calculating the center of circle of the Circle in Digital Images shape index point of the resolving power test target is：
    <mrow> <mi>x</mi> <mo>=</mo> <mfrac> <mrow> <mi>B</mi> <mi>E</mi> <mo>-</mo> <mi>C</mi> <mi>D</mi> </mrow> <mrow> <mi>C</mi> <mo>-</mo> <msup> <mi>B</mi> <mn>2</mn> </msup> </mrow> </mfrac> </mrow>
    <mrow> <mi>y</mi> <mo>=</mo> <mfrac> <mrow> <mi>B</mi> <mi>D</mi> <mo>-</mo> <mi>E</mi> </mrow> <mrow> <mi>C</mi> <mo>-</mo> <msup> <mi>B</mi> <mn>2</mn> </msup> </mrow> </mfrac> <mo>.</mo> </mrow>
  3. 3. Fourier's lamination image space scaling method as claimed in claim 1, it is characterised in that in the step S2, build Relation between vertical image coordinate system and actual physical size coordinate system is：
    x0=xcenter+(u0-ucenter)·dx
    y0=ycenter+(v0-vcenter)·dy
    xcircle=xcenter+(ucircle-ucenter)·dx
    ycircle=ycenter+(vcircle-vcenter)·dy
    Wherein, (x0,y0) represent the actual physical size coordinate at microscopic field of view center, (xcircle,ycircle) represent circular index point The actual physical size coordinate in the center of circle, (ucenter,vcenter) the center image coordinate of selected image coordinate system is represented, (xcenter,ycenter) represent the physical size coordinate of selected image coordinate system, (u0,v0) represent microscopic field of view central point figure As pixel coordinate, (ucircle,vcircle) represent the image pixel coordinates in the circular index point center of circle, dx、dyRespectively actual physics chi Unit physical size in very little coordinate system on x, y direction.
  4. 4. Fourier's lamination image space scaling method as claimed in claim 1, it is characterised in that in the step S3, meter The formula for calculating first 3 d space coordinate is：
    X=zXl/fl
    Y=zYl/fl
    <mrow> <mi>z</mi> <mo>=</mo> <mfrac> <mrow> <msub> <mi>f</mi> <mi>l</mi> </msub> <mrow> <mo>(</mo> <msub> <mi>f</mi> <mi>r</mi> </msub> <msub> <mi>t</mi> <mi>x</mi> </msub> <mo>-</mo> <msub> <mi>X</mi> <mi>r</mi> </msub> <msub> <mi>t</mi> <mi>z</mi> </msub> <mo>)</mo> </mrow> </mrow> <mrow> <msub> <mi>X</mi> <mi>r</mi> </msub> <mrow> <mo>(</mo> <msub> <mi>r</mi> <mn>7</mn> </msub> <msub> <mi>X</mi> <mi>l</mi> </msub> <mo>-</mo> <msub> <mi>r</mi> <mn>8</mn> </msub> <msub> <mi>Y</mi> <mi>l</mi> </msub> <mo>+</mo> <msub> <mi>f</mi> <mi>l</mi> </msub> <msub> <mi>r</mi> <mn>9</mn> </msub> <mo>)</mo> </mrow> <mo>-</mo> <msub> <mi>f</mi> <mi>r</mi> </msub> <mrow> <mo>(</mo> <msub> <mi>r</mi> <mn>1</mn> </msub> <msub> <mi>X</mi> <mi>l</mi> </msub> <mo>+</mo> <msub> <mi>r</mi> <mn>2</mn> </msub> <msub> <mi>Y</mi> <mi>l</mi> </msub> <mo>+</mo> <msub> <mi>f</mi> <mi>l</mi> </msub> <msub> <mi>r</mi> <mn>3</mn> </msub> <mo>)</mo> </mrow> </mrow> </mfrac> <mo>=</mo> <mfrac> <mrow> <msub> <mi>f</mi> <mi>l</mi> </msub> <mrow> <mo>(</mo> <msub> <mi>f</mi> <mi>r</mi> </msub> <msub> <mi>t</mi> <mi>y</mi> </msub> <mo>-</mo> <msub> <mi>Y</mi> <mi>r</mi> </msub> <msub> <mi>t</mi> <mi>z</mi> </msub> <mo>)</mo> </mrow> </mrow> <mrow> <msub> <mi>Y</mi> <mi>r</mi> </msub> <mrow> <mo>(</mo> <msub> <mi>r</mi> <mn>7</mn> </msub> <msub> <mi>X</mi> <mi>l</mi> </msub> <mo>+</mo> <msub> <mi>r</mi> <mn>8</mn> </msub> <msub> <mi>Y</mi> <mi>l</mi> </msub> <mo>+</mo> <msub> <mi>f</mi> <mi>l</mi> </msub> <msub> <mi>r</mi> <mn>9</mn> </msub> <mo>)</mo> </mrow> <mo>-</mo> <msub> <mi>f</mi> <mi>r</mi> </msub> <mrow> <mo>(</mo> <msub> <mi>r</mi> <mn>5</mn> </msub> <msub> <mi>X</mi> <mi>l</mi> </msub> <mo>+</mo> <msub> <mi>r</mi> <mn>2</mn> </msub> <msub> <mi>Y</mi> <mi>l</mi> </msub> <mo>+</mo> <msub> <mi>f</mi> <mi>l</mi> </msub> <msub> <mi>r</mi> <mn>6</mn> </msub> <mo>)</mo> </mrow> </mrow> </mfrac> <mo>,</mo> </mrow>
    Wherein, (x, y, z) represents each LED the first 3 d space coordinate, (Xl,Yl) represent each LED in the vision The left magazine image coordinate of auxiliary, (Xr,Yr) represent each LED in the right magazine image coordinate of vision auxiliary, institute Stating the calibrating parameters of vision auxiliary binocular camera includes：Vision aids in the effective focal length f of left cameral, the right camera of vision auxiliary Effective focal length fr, in addition to the spin matrix between the left camera of vision auxiliary and the right camera of vision auxiliaryTranslation matrix
    In the step S4, first 3 d space coordinate with reference to described in and the second space three-dimensional coordinate obtain LED battle arrays 3 d space coordinate during focal position is listed in, including：
    Spin matrix R is obtained using first 3 d space coordinate and the second space three-dimensional coordinate digital simulation2And translation Matrix T2, and 3 d space coordinate of the LED array in focal position is calculated using equation below：
    (X,Y,Z)T=R2·(x,y,z)T+T2
    Wherein, (x, y, z) represents the first 3 d space coordinate, and (X, Y, Z) represents second space three-dimensional coordinate.
  5. 5. Fourier's lamination image space scaling method as claimed in claim 1, it is characterised in that in the step S5, root According to microscopic field of view center to the circular index point center of circle (x closed on1,y1,z1) and (x2,y2,z2) actual physics length d1、d2With And both coplanarity equation Ax+By+Cz+D=0, calculate the 3 d space coordinate (x at microscopic field of view center0,y0,z0),
    (x0-x1)2+(y0-y1)2+(z0-z1)2=d1 2
    (x0-x2)2+(y0-y2)2+(z0-z2)2=d2 2
    Ax0+By0+Cz0+ D=0
    Wherein, d1、d2Calculated according to the actual physical size coordinate at the microscopic field of view center and the center of circle of circular index point calculated And obtain；Plane Ax where microscopic field of view center and circular index point0+By0+Cz0+ D=0 passes through the circular index point center of circle 3 d space coordinate fitting draw；
    Sat using space three-dimensional of the 3 d space coordinate at the microscopic field of view center with reference to the LED array in focal position Mark calculates each LED of illumination region to focal position fit Plane Ax0+By0+Cz0+ D=0 height z and project to institute State the abscissa x and ordinate y of fit Plane, complete the LED array relatively the resolving power test target focal position when space Position (x, y, z) is demarcated；
    Coordinate system is established with plane where microscopic field of view center, it is corresponding in high resolution spectrum to be restored to calculate each LED Spatial frequency,
    <mrow> <msub> <mi>u</mi> <mrow> <mi>m</mi> <mo>,</mo> <mi>n</mi> </mrow> </msub> <mo>=</mo> <mo>-</mo> <mfrac> <mrow> <mn>2</mn> <mi>&amp;pi;</mi> </mrow> <mi>&amp;lambda;</mi> </mfrac> <mo>&amp;CenterDot;</mo> <mfrac> <mrow> <msub> <mi>x</mi> <mrow> <mi>m</mi> <mo>,</mo> <mi>n</mi> </mrow> </msub> <mo>-</mo> <msub> <mi>x</mi> <mn>0</mn> </msub> </mrow> <msqrt> <mrow> <msup> <mrow> <mo>(</mo> <msub> <mi>x</mi> <mrow> <mi>m</mi> <mo>,</mo> <mi>n</mi> </mrow> </msub> <mo>-</mo> <msub> <mi>x</mi> <mn>0</mn> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msup> <mrow> <mo>(</mo> <msub> <mi>y</mi> <mrow> <mi>m</mi> <mo>,</mo> <mi>n</mi> </mrow> </msub> <mo>-</mo> <msub> <mi>y</mi> <mn>0</mn> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msup> <msub> <mi>z</mi> <mrow> <mi>m</mi> <mo>,</mo> <mi>n</mi> </mrow> </msub> <mn>2</mn> </msup> </mrow> </msqrt> </mfrac> </mrow>
    <mrow> <msub> <mi>v</mi> <mrow> <mi>m</mi> <mo>,</mo> <mi>n</mi> </mrow> </msub> <mo>=</mo> <mo>-</mo> <mfrac> <mrow> <mn>2</mn> <mi>&amp;pi;</mi> </mrow> <mi>&amp;lambda;</mi> </mfrac> <mo>&amp;CenterDot;</mo> <mfrac> <mrow> <msub> <mi>y</mi> <mrow> <mi>m</mi> <mo>,</mo> <mi>n</mi> </mrow> </msub> <mo>-</mo> <msub> <mi>y</mi> <mn>0</mn> </msub> </mrow> <msqrt> <mrow> <msup> <mrow> <mo>(</mo> <msub> <mi>x</mi> <mrow> <mi>m</mi> <mo>,</mo> <mi>n</mi> </mrow> </msub> <mo>-</mo> <msub> <mi>x</mi> <mn>0</mn> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msup> <mrow> <mo>(</mo> <msub> <mi>y</mi> <mrow> <mi>m</mi> <mo>,</mo> <mi>n</mi> </mrow> </msub> <mo>-</mo> <msub> <mi>y</mi> <mn>0</mn> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msup> <msub> <mi>z</mi> <mrow> <mi>m</mi> <mo>,</mo> <mi>n</mi> </mrow> </msub> <mn>2</mn> </msup> </mrow> </msqrt> </mfrac> </mrow>
    Wherein, (xm,n,ym,n,zm,n) be illumination region in m rows n-th arrange LED vision auxiliary calibrations result, (um,n, vm,n) correspond to position coordinateses of the LED of the row of m rows n-th in high frequency resolution frequency spectrum to be restored.
  6. A kind of 6. Fourier's lamination image space caliberating device of vision auxiliary, it is characterised in that Fourier's lamination imaging Position label means apply to Fourier's lamination image space calibration system, and the calibration system includes：Fourier's lamination is imaged Device and vision auxiliary binocular camera, Fourier's lamination imaging device include micro image collection camera, microscope, loading Platform, the resolving power test target and LED array for posting circular index point, the resolving power test target are placed on the objective table, the micrograph As collection camera be located at directly over the objective table, the LED array is located at objective table underface, and with the objective table Place plane is parallel, and the vision auxiliary binocular camera includes：Vision aids in left camera and vision to aid in right camera, the vision The front for aiding in left camera, vision to aid in right camera to be located at Fourier's lamination imaging device, described device include：
    Image pixel coordinates extraction module, for posting circular index point using described in micro image collection camera collection The image of resolving power test target, and the circle of the Circle in Digital Images shape index point with reference to the circular index point extraction algorithm extraction resolving power test target The image pixel coordinates of the heart；
    Actual physical size coordinate calculation module, for using micro image collection camera collection image, obtaining the figure The image pixel coordinates of the microscopic field of view central point of picture, the resolving power test target for posting circular index point is measured using three-coordinate instrument The actual physical size coordinate of upper constituent element element each per one-level, by establish image coordinate system and actual physical size coordinate system it Between relation, calculate the actual physical size coordinate in the center of circle of the microscopic field of view central point and the circular index point；
    First computing module, described in being not disposed in using vision auxiliary binocular camera collection under the resolving power test target Image when LED array is lighted, so as to obtain each LED in the LED array in the vision aids in binocular camera Image coordinate, the calibrating parameters of binocular camera are aided in by each LED image coordinate and the vision demarcated in advance Calculate each LED of the LED array the first 3 d space coordinate；
    Second computing module, for being gathered using the resolving power test target that circular index point is posted described in vision auxiliary camera collection The image of image and the LED array being now placed under the resolving power test target during burnt position, and with reference to described in demarcating in advance The calibrating parameters of vision auxiliary binocular camera calculate 3 d space coordinate of the circular index point center of circle in focal position and Second space three-dimensional coordinate of the LED array not being blocked in focal position；
    Sky of the LED array in focal position is obtained with reference to first 3 d space coordinate and the second space three-dimensional coordinate Between three-dimensional coordinate；
    Demarcating module, for the 3 d space coordinate according to the circular index point center of circle and the microscopic field of view center and circle The relation of the actual physical size coordinate in the center of circle of shape index point calculates the 3 d space coordinate at the microscopic field of view center；
    And utilize space three-dimensional of the 3 d space coordinate at the microscopic field of view center with reference to the LED array in focal position Coordinate calculate each LED of illumination region to focal position fit Plane height z and LED projection to fit Plane horizontal stroke Ordinate x, y, complete locus (x, y, the z) demarcation of the relatively described resolving power test target of the LED array；
    The calibration result of LED array calculates every in 3 d space coordinate and illumination region in combination with the microscopic field of view center Position coordinateses of one LED in high resolution spectrum to be restored.
  7. 7. Fourier's lamination image space caliberating device as claimed in claim 6, it is characterised in that described image pixel coordinate In extraction module, the circular index point extraction algorithm is specially：Circular index point is detected using canny operators in image procossing Edge image coordinate (x, y) simultaneously fits elliptic equation x2+2Bxy+Cy2+ 2Dx+2Ey+F=0, wherein parameter B, C, D, E and F by Fitting show that image pixel coordinates (x, the y) formula for calculating the center of circle of the Circle in Digital Images shape index point of the resolving power test target is：
    <mrow> <mi>x</mi> <mo>=</mo> <mfrac> <mrow> <mi>B</mi> <mi>E</mi> <mo>-</mo> <mi>C</mi> <mi>D</mi> </mrow> <mrow> <mi>C</mi> <mo>-</mo> <msup> <mi>B</mi> <mn>2</mn> </msup> </mrow> </mfrac> </mrow>
    <mrow> <mi>y</mi> <mo>=</mo> <mfrac> <mrow> <mi>B</mi> <mi>D</mi> <mo>-</mo> <mi>E</mi> </mrow> <mrow> <mi>C</mi> <mo>-</mo> <msup> <mi>B</mi> <mn>2</mn> </msup> </mrow> </mfrac> <mo>.</mo> </mrow>
  8. 8. Fourier's lamination image space caliberating device as claimed in claim 6, it is characterised in that described image pixel coordinate In extraction module, the relation between the image coordinate system and actual physical size coordinate system of foundation is：
    x0=xcenter+(u0-ucenter)·dx
    y0=ycenter+(v0-vcenter)·dy
    xcircle=xcenter+(ucircle-ucenter)·dx
    ycircle=ycenter+(vcircle-vcenter)·dy
    Wherein, (x0,y0) represent the actual physical size coordinate at microscopic field of view center, (xcircle,ycircle) represent circular index point The actual physical size coordinate in the center of circle, (ucenter,vcenter) the center image coordinate of selected image coordinate system is represented, (xcenter,ycenter) represent the physical size coordinate of selected image coordinate system, (u0,v0) represent microscopic field of view central point figure As pixel coordinate, (ucircle,vcircle) represent the image pixel coordinates in the circular index point center of circle, dx、dyRespectively actual physics chi Unit physical size in very little coordinate system on x, y direction.
  9. 9. Fourier's lamination image space caliberating device as claimed in claim 6, it is characterised in that first computing module In, the formula for calculating first 3 d space coordinate is：
    X=zXl/fl
    Y=zYl/fl
    <mrow> <mi>z</mi> <mo>=</mo> <mfrac> <mrow> <msub> <mi>f</mi> <mi>l</mi> </msub> <mrow> <mo>(</mo> <msub> <mi>f</mi> <mi>r</mi> </msub> <msub> <mi>t</mi> <mi>x</mi> </msub> <mo>-</mo> <msub> <mi>X</mi> <mi>r</mi> </msub> <msub> <mi>t</mi> <mi>z</mi> </msub> <mo>)</mo> </mrow> </mrow> <mrow> <msub> <mi>X</mi> <mi>r</mi> </msub> <mrow> <mo>(</mo> <msub> <mi>r</mi> <mn>7</mn> </msub> <msub> <mi>X</mi> <mi>l</mi> </msub> <mo>-</mo> <msub> <mi>r</mi> <mn>8</mn> </msub> <msub> <mi>Y</mi> <mi>l</mi> </msub> <mo>+</mo> <msub> <mi>f</mi> <mi>l</mi> </msub> <msub> <mi>r</mi> <mn>9</mn> </msub> <mo>)</mo> </mrow> <mo>-</mo> <msub> <mi>f</mi> <mi>r</mi> </msub> <mrow> <mo>(</mo> <msub> <mi>r</mi> <mn>1</mn> </msub> <msub> <mi>X</mi> <mi>l</mi> </msub> <mo>+</mo> <msub> <mi>r</mi> <mn>2</mn> </msub> <msub> <mi>Y</mi> <mi>l</mi> </msub> <mo>+</mo> <msub> <mi>f</mi> <mi>l</mi> </msub> <msub> <mi>r</mi> <mn>3</mn> </msub> <mo>)</mo> </mrow> </mrow> </mfrac> <mo>=</mo> <mfrac> <mrow> <msub> <mi>f</mi> <mi>l</mi> </msub> <mrow> <mo>(</mo> <msub> <mi>f</mi> <mi>r</mi> </msub> <msub> <mi>t</mi> <mi>y</mi> </msub> <mo>-</mo> <msub> <mi>Y</mi> <mi>r</mi> </msub> <msub> <mi>t</mi> <mi>z</mi> </msub> <mo>)</mo> </mrow> </mrow> <mrow> <msub> <mi>Y</mi> <mi>r</mi> </msub> <mrow> <mo>(</mo> <msub> <mi>r</mi> <mn>7</mn> </msub> <msub> <mi>X</mi> <mi>l</mi> </msub> <mo>+</mo> <msub> <mi>r</mi> <mn>8</mn> </msub> <msub> <mi>Y</mi> <mi>l</mi> </msub> <mo>+</mo> <msub> <mi>f</mi> <mi>l</mi> </msub> <msub> <mi>r</mi> <mn>9</mn> </msub> <mo>)</mo> </mrow> <mo>-</mo> <msub> <mi>f</mi> <mi>r</mi> </msub> <mrow> <mo>(</mo> <msub> <mi>r</mi> <mn>5</mn> </msub> <msub> <mi>X</mi> <mi>l</mi> </msub> <mo>+</mo> <msub> <mi>r</mi> <mn>2</mn> </msub> <msub> <mi>Y</mi> <mi>l</mi> </msub> <mo>+</mo> <msub> <mi>f</mi> <mi>l</mi> </msub> <msub> <mi>r</mi> <mn>6</mn> </msub> <mo>)</mo> </mrow> </mrow> </mfrac> <mo>,</mo> </mrow>
    Wherein, (x, y, z) represents each LED the first 3 d space coordinate, (Xl,Yl) represent each LED in the vision The left magazine image coordinate of auxiliary, (Xr,Yr) represent each LED in the right magazine image coordinate of vision auxiliary, institute Stating the calibrating parameters of vision auxiliary binocular camera includes：Vision aids in the effective focal length f of left cameral, the right camera of vision auxiliary Effective focal length fr, in addition to the spin matrix between the left camera of vision auxiliary and the right camera of vision auxiliaryTranslation matrix
    In second computing module, the formula for calculating 3 d space coordinate of the LED array in focal position is：
    (X,Y,Z)T=R2·(x,y,z)T+T2
    Wherein, (x, y, z) represents the first 3 d space coordinate, and (X, Y, Z) represents second space three-dimensional coordinate, spin matrix R2With Translation matrix T2To be obtained using first 3 d space coordinate and the second space three-dimensional coordinate digital simulation.
  10. 10. Fourier's lamination image space caliberating device as claimed in claim 6, it is characterised in that the demarcating module, use According to microscopic field of view center to the circular index point center of circle (x closed on1,y1,z1) and (x2,y2,z2) actual physics length d1、 d2And both coplanarity equation Ax+By+Cz+D=0, calculate the 3 d space coordinate (x at microscopic field of view center0,y0,z0),
    (x0-x1)2+(y0-y1)2+(z0-z1)2=d1 2
    (x0-x2)2+(y0-y2)2+(z0-z2)2=d2 2
    Ax0+By0+Cz0+ D=0
    Wherein, d1、d2Calculated according to the actual physical size coordinate at the microscopic field of view center and the center of circle of circular index point calculated And obtain；Plane Ax where microscopic field of view center and circular index point0+By0+Cz0+ D=0 passes through the circular index point center of circle 3 d space coordinate fitting draw；
    And utilize space three-dimensional of the 3 d space coordinate at the microscopic field of view center with reference to the LED array in focal position Coordinate calculates each LED of illumination region to focal position fit Plane Ax0+By0+Cz0+ D=0 height z and project to The abscissa x and ordinate y of the fit Plane, complete the LED array relatively the resolving power test target focal position when sky Between position (x, y, z) demarcate；
    Then, coordinate system is established with plane where microscopic field of view center, it is corresponding in high-resolution to be restored frequency calculates each LED Position coordinates in spectrum,
    <mrow> <msub> <mi>u</mi> <mrow> <mi>m</mi> <mo>,</mo> <mi>n</mi> </mrow> </msub> <mo>=</mo> <mo>-</mo> <mfrac> <mrow> <mn>2</mn> <mi>&amp;pi;</mi> </mrow> <mi>&amp;lambda;</mi> </mfrac> <mo>&amp;CenterDot;</mo> <mfrac> <mrow> <msub> <mi>x</mi> <mrow> <mi>m</mi> <mo>,</mo> <mi>n</mi> </mrow> </msub> <mo>-</mo> <msub> <mi>x</mi> <mn>0</mn> </msub> </mrow> <msqrt> <mrow> <msup> <mrow> <mo>(</mo> <msub> <mi>x</mi> <mrow> <mi>m</mi> <mo>,</mo> <mi>n</mi> </mrow> </msub> <mo>-</mo> <msub> <mi>x</mi> <mn>0</mn> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msup> <mrow> <mo>(</mo> <msub> <mi>y</mi> <mrow> <mi>m</mi> <mo>,</mo> <mi>n</mi> </mrow> </msub> <mo>-</mo> <msub> <mi>y</mi> <mn>0</mn> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msup> <msub> <mi>z</mi> <mrow> <mi>m</mi> <mo>,</mo> <mi>n</mi> </mrow> </msub> <mn>2</mn> </msup> </mrow> </msqrt> </mfrac> </mrow>
    <mrow> <msub> <mi>v</mi> <mrow> <mi>m</mi> <mo>,</mo> <mi>n</mi> </mrow> </msub> <mo>=</mo> <mo>-</mo> <mfrac> <mrow> <mn>2</mn> <mi>&amp;pi;</mi> </mrow> <mi>&amp;lambda;</mi> </mfrac> <mo>&amp;CenterDot;</mo> <mfrac> <mrow> <msub> <mi>y</mi> <mrow> <mi>m</mi> <mo>,</mo> <mi>n</mi> </mrow> </msub> <mo>-</mo> <msub> <mi>y</mi> <mn>0</mn> </msub> </mrow> <msqrt> <mrow> <msup> <mrow> <mo>(</mo> <msub> <mi>x</mi> <mrow> <mi>m</mi> <mo>,</mo> <mi>n</mi> </mrow> </msub> <mo>-</mo> <msub> <mi>x</mi> <mn>0</mn> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msup> <mrow> <mo>(</mo> <msub> <mi>y</mi> <mrow> <mi>m</mi> <mo>,</mo> <mi>n</mi> </mrow> </msub> <mo>-</mo> <msub> <mi>y</mi> <mn>0</mn> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msup> <msub> <mi>z</mi> <mrow> <mi>m</mi> <mo>,</mo> <mi>n</mi> </mrow> </msub> <mn>2</mn> </msup> </mrow> </msqrt> </mfrac> </mrow>
    Wherein, (xm,n,ym,n,zm,n) be illumination region in m rows n-th arrange LED vision auxiliary calibrations result, (um,n, vm,n) correspond to position coordinateses of the LED of the row of m rows n-th in high frequency resolution frequency spectrum to be restored.
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