CN110141800A - A kind of accelerator light carpenters square equipment, scaling method and optical moment ruler generation method - Google Patents
A kind of accelerator light carpenters square equipment, scaling method and optical moment ruler generation method Download PDFInfo
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- CN110141800A CN110141800A CN201910391616.9A CN201910391616A CN110141800A CN 110141800 A CN110141800 A CN 110141800A CN 201910391616 A CN201910391616 A CN 201910391616A CN 110141800 A CN110141800 A CN 110141800A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1048—Monitoring, verifying, controlling systems and methods
- A61N5/1049—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1048—Monitoring, verifying, controlling systems and methods
- A61N5/1049—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam
- A61N2005/1056—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam by projecting a visible image of the treatment field
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Abstract
The present invention provides a kind of accelerator light carpenters square equipment, scaling method and optical moment ruler generation method, it is related to the field of medical instrument technology, the accelerator light carpenters square equipment includes projector, camera, light carpenters square scaling board and light path indicator, projector is used for projecting structural optical mode sequences pattern and light carpenters square pattern, the picture of structure light mode sequences pattern and light carpenters square scaling board that camera is projected for acquired projections instrument, precision of the light carpenters square scaling board for labeling projection instrument and camera and verifying light carpenters square, light path indicator are used to indicate the scale of light carpenters square.Accelerator light carpenters square equipment of the invention can demarcate camera and projector by the method for structure light, to obtain calibrating parameters；Furthermore it is also possible to further generate light carpenters square pattern using acquired calibrating parameters.Accelerator light carpenters square equipment proposed by the invention is easy for installation, and the stated accuracy of scaling method is high, and simplifies light carpenters square calibration process.
Description
Technical field
The present invention relates to the field of medical instrument technology, and in particular to a kind of accelerator light carpenters square equipment, scaling method and light
Carpenter's square generation method.
Background technique
Light carpenters square equipment is a kind of device that distance is indicated in such a way that visible light comparative example ruler is projected, wide
It is general to be applied on clinac.Accelerator light carpenters square equipment can will project to trouble with graduated visible light scale bar
With person, instruction patient skin to radiation source distance and indicate accelerator etc. centers.Accelerator light carpenters square equipment
It is pith indispensable in clinac.
The light carpenters square on major part linear accelerator is by light source, optical mirror slip or organic glass film and light path at present
Indicator three parts composition, principle are to impinge upon to show scale on eyeglass/film using light source, and utilize the light path for being located at head
Indicator indicating graduation.
However, there are shortcomings for the existing light carpenters square based on glass film, for example, the scale manufacture difficulty on film
Height, the precision of scale be not high；Install it is relatively difficult, when installation site is bad on light carpenters square precision influence it is bigger；Calibration process
It is comparatively laborious；The maintenance and maintenance in light carpenters square later period are relatively difficult；Etc..These disadvantages limit the light carpenters square of the type into
One step application.
Summary of the invention
It is an object of the present invention in view of the deficiency of the prior art, a kind of accelerator light carpenters square equipment, mark are provided
Determine method and optical moment ruler generation method, the light carpenters square stated accuracy on accelerator is not high and light carpenters square calibration process is multiple to solve
Miscellaneous problem.
To achieve the above object, technical solution used in the embodiment of the present invention is as follows:
In a first aspect, the embodiment of the invention provides a kind of accelerator light carpenters square equipment, which includes: projector, phase
Machine, light carpenters square scaling board and light path indicator, projector and camera are fixed on the shell of accelerator, and projector is for projecting
Structure light mode sequences pattern and light carpenters square pattern, structure light mode sequences pattern are used for labeling projection instrument and camera, and camera is used
In the picture of structure light mode sequences pattern and light carpenters square scaling board that acquired projections instrument is projected, the setting of light carpenters square scaling board exists
Outside the exit end of accelerator, and the center of light carpenters square scaling board corresponds to the equal centers of accelerator, and light carpenters square is demarcated
Precision of the plate for labeling projection instrument and camera and verifying light carpenters square, light path indicator are arranged in the exit end of accelerator
Portion, the light from light path indicator are projected along the direction parallel with the exit direction of accelerator from exit end, are used to indicate light
The scale of carpenters square.
The accelerator light carpenters square equipment that the embodiment of the present invention proposes is easy for installation, as long as projector and camera are fixed on acceleration
On device, there is no specific requirement to the relative positional relationship between projector and camera.The accelerator light carpenters square equipment can be with
Camera and projector are demarcated by the method for structure light, stated accuracy is high.
Optionally, the two sides of the axis of light carpenters square scaling board are respectively arranged with the chess of the equidistantly distributed of the first predetermined number
Disk grid pattern, for determining the relative positional relationship of light carpenters square scaling board Yu projector and camera.
Optionally, the bargraphs of the equidistantly distributed of the second predetermined number is provided on the axis of light carpenters square scaling board,
For verifying whether light carpenters square meets required precision.
Optionally, light path indicator is arranged on the inner wall of the exit end of accelerator, the light warp from light path indicator
After the reflecting mirror reflection with predetermined angular by the exit end that accelerator is arranged in, along parallel with the exit direction of accelerator
It is projected from exit end in direction.
Optionally, light carpenters square scaling board is hung on the lower section of the prior pointer of accelerator.
By the way that light carpenters square scaling board to be placed under prior pointer, since linear accelerator is usually constructed with prior pointer, no
It needs additionally to make, thus the device structure simplified, and save cost.
Second aspect, the embodiment of the invention provides a kind of scaling method of accelerator light carpenters square equipment, accelerator light away from
Ruler equipment includes camera, projector and light carpenters square scaling board, this method comprises:
It is each at least three first picture by least three first pictures of camera acquisition light carpenters square scaling board
The corresponding smooth carpenters square scaling board of picture is in different postures；
For posture locating for the corresponding smooth carpenters square scaling board of picture each at least three first pictures, lead to respectively
Crossing camera acquired projections has the second picture of light carpenters square scaling board of structure light mode sequences pattern, structure light mode sequences pattern
It is projected by projector；
The position of angle point in the first picture is extracted using predetermined Corner Detection Algorithm, is sat with obtaining the first picture corner location
Mark, the first picture corner location coordinate is the position according to angle point in extracted first picture relative on light carpenters square scaling board
Pattern default practical corner location coordinate and obtain；
It is decoded respectively for second picture corresponding to transverse structure light and vertical structure light, to obtain second picture
Lateral code word and longitudinal code word；
According to lateral code word and longitudinal code word, determine that the projection pattern corner location of projector is sat using homography matrix
Mark, projection pattern corner location coordinate are corresponding with default practical corner location coordinate；
According to the first picture corner location coordinate, practical corner location coordinate and projection pattern corner location coordinate are preset,
And predetermined calibration algorithm is utilized, determines the calibrating parameters of camera and projector.
The calibration process that the embodiment of the present invention proposes is simple and convenient, it is only necessary to which scaling board (for example, gridiron pattern) cooperates projector
Projecting structural optical mode sequences pattern can demarcate system, and stated accuracy is high.
Optionally, described according to lateral code word and longitudinal code word, the projection pattern of projector is determined using homography matrix
Corner location coordinate, comprising:
According to lateral code word and longitudinal code word, local homography matrix is calculated；
Based on local homography matrix, by the projection pattern angle point of projector and the practical angle point phase on light carpenters square scaling board
It is corresponding；
Corresponding projection pattern corner location coordinate is determined based on default practical corner location coordinate.
Optionally, the two sides of the axis of light carpenters square scaling board are respectively arranged with the chess of the equidistantly distributed of the first predetermined number
Disk grid pattern.
Optionally, calibrating parameters include the focal length of camera lens, the distortion of camera lens, the focal length of projector lens, throwing
Geometric transformation between the distortion and camera and projector of shadow instrument camera lens.
The third aspect, the embodiment of the invention provides a kind of optical moment ruler generation methods, raw for accelerator light carpenters square equipment
At optical moment ruler, accelerator light carpenters square equipment includes camera, projector and light carpenters square scaling board, this method comprises:
Light carpenters square scaling board is hung below the prior pointer of accelerator, so that the midpoint of light carpenters square scaling board and accelerator
Equal centers it is corresponding；
The picture of light carpenters square scaling board is acquired by camera, and extracts angle point in picture using default Corner Detection Algorithm
Position, to obtain corresponding position coordinates；
Utilize the calibration of camera and projector that position coordinates and the scaling method according to above-mentioned second aspect obtain
Parameter determines first transformation matrix of the camera relative to light carpenters square scaling board；
According to the first transformation matrix, second transformation matrix of the projector relative to light carpenters square scaling board is determined；
Based on the preset coordinate of the preset on light carpenters square scaling board, the seat of all calibration points on light carpenters square scaling board is determined
Mark；
Calibrating parameters and the second transformation matrix based on projector determine the calibration points on light carpenters square scaling board in projector
Corresponding location point in projected image；
Based on the corresponding location point, light carpenters square pattern is generated in the egative film of projector.
The optical moment ruler generation method that the embodiment of the present invention proposes is convenient for later maintenance, if the position of camera and projector does not have
There is change and focal length does not adjust, then without being demarcated again to camera and projector, it is only necessary to obtain the mark demarcated in advance
Determine parameter, so that it may realize that optical moment ruler generates.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 shows the structural schematic diagram of accelerator light carpenters square equipment provided in an embodiment of the present invention；
Fig. 2 shows the structural schematic diagrams of smooth carpenters square scaling board provided in an embodiment of the present invention；
Fig. 3 and Fig. 4 shows the process signal of the scaling method of accelerator light carpenters square equipment provided in an embodiment of the present invention
Figure；
Fig. 5 shows the flow diagram of smooth carpenters square generation method provided in an embodiment of the present invention；
Fig. 6 shows the schematic diagram of the smooth carpenters square generation method according to the present invention light carpenters square generated for projection.
Appended drawing reference: 101- projector；102- camera；103- light carpenters square scaling board；104- light path indicator；105- reflection
Mirror；106- prior pointer.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Structural light measurement method is arrived by projecting a series of optical stripe (namely structure light mode sequences pattern)
On object, optical stripe information, the method to obtain the three-dimensional coordinate of object then are acquired using camera.Currently, structure flash ranging
Amount system has very high precision in measurement in space, can fully meet the required precision of light carpenters square.
The Medical linear accelerator light carpenters square equipment based on structure light that the embodiment of the invention provides a kind of, as shown in Figure 1,
The equipment specifically includes that projector 101, camera 102, light carpenters square scaling board 103 and light path indicator 104,101 He of projector
Camera 102 is fixed in box, and on the shell loaded on accelerator, projector 101 is used for projecting structural optical mode sequences figure
Case and the light carpenters square pattern ultimately generated, structure light mode sequences pattern are used for labeling projection instrument 101 and camera 102, camera 102
The picture of the structure light mode sequences pattern and light carpenters square scaling board 103 that are projected for acquired projections instrument 101, the calibration of light carpenters square
Plate 103 is arranged in outside the exit end of accelerator, and the center of light carpenters square scaling board 103 corresponds to the equal centre bits of accelerator
It sets, precision of the light carpenters square scaling board 103 for labeling projection instrument 101 and camera 102 and verifying smooth carpenters square generated, light path
Indicator 104 is arranged in inside the exit end of accelerator, and the light from light path indicator 104 is along the exit direction with accelerator
Parallel direction is projected from exit end, is used to indicate the scale of light carpenters square.
Camera 102 can be CCD (charge-coupled device) camera.As shown in Figure 1, light path indicator 104 can be set
On the inner wall of the exit end of accelerator, so that the light from light path indicator 104 is via the exit end that accelerator is arranged in
After reflecting mirror 105 with predetermined angular reflects, projected along the direction parallel with the exit direction of accelerator from exit end.Example
Such as, when the exit direction of light path indicator 104 is vertical with the exit direction of accelerator, reflecting mirror 105 is indicated relative to light path
The exit direction of device 104 is placed in 45° angle, so that the light from light path indicator 104 is after the reflection of reflecting mirror 105 and adds
The exit direction of fast device is parallel.Light carpenters square scaling board 103 can be hung on the lower section of the prior pointer 106 of accelerator so that light away from
The center of ruler scaling board 103 corresponds to the equal centers of accelerator.
The accelerator light carpenters square equipment that the embodiment of the present invention proposes is easy for installation, as long as projector and camera are fixed on acceleration
On device, there is no specific requirement to the relative positional relationship between projector and camera.The accelerator light carpenters square equipment can be with
Camera and projector are demarcated by the method for structure light, stated accuracy is high.Before light carpenters square scaling board is placed in
Under pointer, since linear accelerator is usually constructed with prior pointer, do not need additionally to make, thus the device structure simplified, and
And save cost.
Fig. 2 shows the structural schematic diagrams of smooth carpenters square scaling board provided in an embodiment of the present invention, as shown in Fig. 2, light carpenters square
The two sides of the axis of scaling board 103 are respectively arranged with the chessboard grid pattern of the equidistantly distributed of predetermined number (for example, being 5),
During the calibration process, which is used to determine the opposite position of light carpenters square scaling board 103 Yu projector 101 and camera 102
Set relationship.In addition, the equidistantly distributed (for example, interval 2mm) of predetermined number is provided on the axis of light carpenters square scaling board 103
Bargraphs, after generating light carpenters square, which can be used for verifying whether light carpenters square meets required precision.
The embodiment of the invention also provides a kind of scaling method of accelerator light carpenters square equipment, this method can be used for demarcating
Camera and projector in accelerator light carpenters square equipment.Scaling method provided by the embodiment of the present invention can be used for the present invention
The camera in accelerator light carpenters square equipment and projector provided in above-described embodiment is demarcated.
Below in conjunction with accelerator light carpenters square equipment provided in the above embodiment of the present invention and referring to Fig. 3 and Fig. 4,
To describe the scaling method of projector and camera.It should be appreciated that the calibration pattern on light carpenters square scaling board 103 can be gridiron pattern
Pattern, but not limited to this.For simplicity will be hereinafter illustrated by taking chessboard grid pattern as an example.
In step 401, by camera 102 acquire light carpenters square scaling board 103 at least three first pictures, it is described at least
The corresponding smooth carpenters square scaling board 103 of each picture is in different postures in three the first pictures, that is to say, that at acquisition
In the gridiron pattern picture of at least three different postures, it is generally the case that gridiron pattern picture of the acquisition in 4 to 8 kinds of different postures
?.
In step 402, for locating for the corresponding smooth carpenters square scaling board of picture each at least three first pictures
Posture, have the second picture of the light carpenters square scaling board of structure light mode sequences pattern, structure by camera acquired projections respectively
Optical mode sequence pattern is projected by projector, that is to say, that acquisition projection corresponding with the picture acquired in step 401
There is the gridiron pattern picture of structure light mode sequences pattern.
In step 403, the position of angle point in the first picture is extracted, using predetermined Corner Detection Algorithm to obtain the first figure
Piece corner location coordinate, the first picture corner location coordinate are the positions according to angle point in extracted first picture relative to light
The default practical corner location coordinate of pattern on carpenters square scaling board and obtain, predetermined Corner Detection Algorithm for example can be
Stone-Damiano Tommasi (Shi-Tomasi) Corner Detection Algorithm, and the first picture corner location coordinate can be denoted as
The default practical corner location coordinate of pattern on light carpenters square scaling board can be defined previously as
The angular coordinate is corresponding with the X-comers coordinate obtained by predetermined Corner Detection Algorithm.
In step 404, it is decoded respectively for second picture corresponding to transverse structure light and vertical structure light, with
Obtain the lateral code word and longitudinal code word of second picture.
In step 405, according to lateral code word and longitudinal code word, the projection pattern of projector is determined using homography matrix
Corner location coordinate, projection pattern corner location coordinate is corresponding with default practical corner location coordinate, projection pattern angle point position
Setting coordinate can be denoted as
It will be hereinafter to determining that the projection pattern corner location coordinate of projector is retouched in detail using homography matrix
It states.
In a step 406, according to the first picture corner location coordinate qc, default practical corner location coordinate Q and perspective view
Case corner location coordinate qp, and predetermined calibration algorithm is utilized, determine the calibrating parameters of camera and projector.Pre- calibration herein
Determining algorithm can be that (detailed description of Zhang Zhengyou calibration algorithm is referring to following document: Zhang Z.A for Zhang Zhengyou calibration algorithm
Flexible New Technique for Camera Calibration[J].IEEE Transactions on Pattern
Analysis and Machine Intelligence, 2000,22 (11): 1330-1334), calibrating parameters include camera lens
Focal length Mc, the distortion D of camera lensc, the focal length M of projector lensp, the distortion D of projector lenspAnd camera and projection
Geometric transformation R between instrumentcpAnd Tcp。
The algorithm of Shi-Tomasi Corner Detection used in the demarcation flow of projector and camera is in Fig. 3 and Fig. 4
The innovatory algorithm of Harris (Harris) Corner Detection Algorithm is become by calculating the gray scale that image window translation [u, v] generates
Change E (u, v)
Wherein M is autocorrelation matrix, is defined as follows
W (x, y) indicates window function, I in formulaxAnd IyIndicate image in the derivative in the direction x and y.For two features of M
Value λ1And λ2, Shi-Tomasi algorithm thinks that the smallest characteristic value is depended in the detection of angle point, and angle point discriminant function R is as follows, when
The value of R is more than that certain threshold value then thinks it for angle point:
R=min (λ1, λ2)
Structure light coding in Fig. 3 uses phase shift method, and in the scheme of various codings, phase shift method is a kind of more common
Scaling method has and is extremely widely applied, and provides higher and higher precision.Phase shift method coding mode is as follows:
In(x, y)=I ' (x, y)+I " (x, y) coS [φ (x, y) -2 π/n]
I ' (x, y) is the mean intensity of the point in image, and I " (x, y) is the intensity of point modulation in image, In(x, y) is
Final camera acquired image, n ∈ 1,2 ..., N are phase shifting modes index, and N is the quantity of phase shifting modes picture, φ (x, y)
For the phase of solution.The phase shift method that the present invention uses is 3 step phase shift methods, i.e. the N of above formula is equal to 3.At this point, phase (x, y) can
It is calculated and is obtained by following equation:
It is right that the wide and high both direction institute of projector is solved respectively finally by φ (x, y)/2 π × W and φ (x, y)/2 π × H
The code word answered, wherein W represents the width of projector and H represents the height of projector.
The calculating of the corresponding projection coordinate of corresponding X-comers in Fig. 3 needs to combine local homography matrix
It is solved.The corresponding relationship that code word can not be directly used in projector pixel point and X-comers is obtained from structure light.This
Invention finds this corresponding relationship by solving local homography matrix.For each chessboard grid pattern, pattern week is utilized
The code word enclosed calculates local homography matrix, finally will be on X-comers and projector using these homography matrixes
Pixel is corresponding.The calculating of homography matrix is by minimizing following equation:
Wherein H ∈ R3×3, it is homography matrix；qc=[x, y, 1]TFor the pixel coordinate in checkerboard image, by demarcation flow
Three step of ground obtains；U=[col, row, 1]TTo decode code word obtained.
Then, corresponding by the way that homography matrix can be obtained projector with the pixel coordinate multiplication in checkerboard image
Point.
In conclusion the calibration process that the embodiment of the present invention proposes is simple and convenient, it is only necessary to which scaling board (for example, gridiron pattern) is matched
System can be demarcated by closing projector structure light mode sequences pattern, and stated accuracy is high.
The embodiment of the invention also provides a kind of optical moment ruler generation methods, generate optical moment for accelerator light carpenters square equipment
Ruler, wherein accelerator light carpenters square equipment includes camera, projector and light carpenters square scaling board.The optical moment ruler generation method can answer
Optical moment ruler is generated for accelerator optical moment ruler equipment provided by present invention.
As shown in figure 5, the optical moment ruler generation method is as follows:
In step 501, it is prepared work, light carpenters square scaling board is hung below the prior pointer of accelerator, so that
The midpoint of light carpenters square scaling board is corresponding with the equal centers of accelerator.
In step 502, the picture of light carpenters square scaling board is acquired by camera, and is mentioned using default Corner Detection Algorithm
The position of angle point in picture is taken, to obtain corresponding position coordinates, when finding angle point, equally can use the angle Shi-Tomasi
Point detection algorithm extracts the position of angle point in picture.
In step 503, the provided scaling method acquisition using position coordinates and according to that above embodiment of the present invention
The calibrating parameters M of camera and projectorcAnd Dc, determine first transformation matrix R of the camera relative to light carpenters square scaling boardcAnd Tc.?
In practical application, if having carried out the calibration of camera and projector before, and the position of camera and projector does not change
Become and focal length do not adjust, then obtained calibrating parameters in calibration before can be directly used, without again to camera and
Projector is demarcated.
In step 504, according to the first transformation matrix RcAnd Tc, determine second of projector relative to light carpenters square scaling board
Transformation matrix RpAnd Tp, calculation formula is as follows:
Rp=Rcp·Rc, Tp=Rcp·Tc+Tcp。
In step 505, the preset coordinate based on the preset on light carpenters square scaling board is (for example, light carpenters square can be preset
The coordinate of the central point of scaling board is (0,0)), determine the coordinate of all calibration points on light carpenters square scaling board.
In step 506, (the focal length M of the calibrating parameters based on projectorpWith distortion Dp) and the second transformation matrix, determine light
Calibration points (identified calibration points in step 505) on carpenters square scaling board position corresponding in projector image
Point.
In step 507, it is based on the corresponding location point, light carpenters square pattern is generated in the egative film of projector.It gives birth to
At light carpenters square pattern for projecting, light carpenters square pattern instance is as shown in Figure 6.It optionally, can after light carpenters square being projected
To observe the error between the bargraphs on its axis with light carpenters square scaling board, wanted so that it is determined that whether it meets precision
It asks.
The optical moment ruler generation method that the embodiment of the present invention proposes is convenient for later maintenance, if the position of camera and projector does not have
There is change and focal length does not adjust, then without being demarcated again to camera and projector, it is only necessary to obtain the mark demarcated in advance
Determine parameter, so that it may realize that optical moment ruler generates.
The above embodiments merely illustrate the technical concept and features of the present invention, and its object is to allow ordinary skill people
Member can understand the contents of the present invention and be implemented, it is not intended to limit the scope of the present invention, it is all according to the present invention
Equivalent change or modification made by Spirit Essence, should be covered by the scope of protection of the present invention.
Claims (10)
1. a kind of accelerator light carpenters square equipment characterized by comprising projector, camera, light carpenters square scaling board and light path refer to
Show that device, the projector and the camera are fixed on the shell of accelerator, the projector is used for projection structure optical mode sequence
Column pattern and light carpenters square pattern, the structure light mode sequences pattern is for demarcating the projector and the camera, the phase
Machine is used to acquire the picture of structure light mode sequences pattern and light carpenters square scaling board that the projector is projected, the smooth carpenters square
Scaling board is arranged in outside the exit end of the accelerator, and the center of the smooth carpenters square scaling board corresponds to the accelerator
Equal centers, the smooth carpenters square scaling board is used to demarcate the projector and the camera and verify the essence of light carpenters square
Degree, the light path indicator are arranged in inside the exit end of the accelerator, light edge and institute from the light path indicator
The parallel direction of exit direction for stating accelerator is projected from the exit end, is used to indicate the scale of light carpenters square.
2. accelerator light carpenters square equipment according to claim 1, which is characterized in that the axis of the smooth carpenters square scaling board
Two sides are respectively arranged with the chessboard grid pattern of the equidistantly distributed of the first predetermined number, for determine the smooth carpenters square scaling board with
The relative positional relationship of the projector and the camera.
3. accelerator light carpenters square equipment according to claim 1 or 2, which is characterized in that the axis of the smooth carpenters square scaling board
The bargraphs of the equidistantly distributed of the second predetermined number is provided on line, for verifying whether light carpenters square meets required precision.
4. accelerator light carpenters square equipment according to claim 1, which is characterized in that the light path indicator is arranged described
On the inner wall of the exit end of accelerator, the light from the light path indicator is via the exit end that the accelerator is arranged in
After reflecting mirror reflection with predetermined angular, along the direction parallel with the exit direction of the accelerator from the outgoing end-fire
Out.
5. according to claim 1, accelerator light carpenters square equipment described in any one of 2 or 4, which is characterized in that the smooth carpenters square
Scaling board is hung on the lower section of the prior pointer of the accelerator.
6. a kind of scaling method of accelerator light carpenters square equipment, which is characterized in that the accelerator light carpenters square equipment include camera,
Projector and light carpenters square scaling board, which comprises
At least three first pictures of the smooth carpenters square scaling board are acquired by the camera, at least three first picture
The corresponding smooth carpenters square scaling board of each picture is in different postures；
For posture locating for the corresponding smooth carpenters square scaling board of picture each at least three first picture, lead to respectively
Crossing the camera acquired projections has the second picture of light carpenters square scaling board of structure light mode sequences pattern, the structure optical mode
Sequence pattern is projected by the projector；
The position of angle point in first picture is extracted using predetermined Corner Detection Algorithm, is sat with obtaining the first picture corner location
Mark, the first picture corner location coordinate is the position according to angle point in extracted first picture relative to the light
The default practical corner location coordinate of pattern on carpenters square scaling board and obtain；
It is decoded respectively for second picture corresponding to transverse structure light and vertical structure light, to obtain the cross of second picture
To code word and longitudinal code word；
According to the lateral code word and longitudinal code word, the projection pattern angle point of the projector is determined using homography matrix
Position coordinates, the projection pattern corner location coordinate are corresponding with the default practical corner location coordinate；
According to the first picture corner location coordinate, the default practical corner location coordinate and projection pattern angle point position
Coordinate is set, and utilizes predetermined calibration algorithm, determines the calibrating parameters of the camera and the projector.
7. the scaling method of accelerator light carpenters square equipment according to claim 6, which is characterized in that described according to the cross
To code word and longitudinal code word, the projection pattern corner location coordinate of the projector is determined using homography matrix, comprising:
According to the lateral code word and longitudinal code word, local homography matrix is calculated；
Based on the local homography matrix, by the reality on the projection pattern angle point of the projector and the smooth carpenters square scaling board
Border angle point is corresponding；
Corresponding projection pattern corner location coordinate is determined based on the default practical corner location coordinate.
8. the scaling method of accelerator light carpenters square equipment according to claim 6, which is characterized in that the smooth carpenters square calibration
The two sides of the axis of plate are respectively arranged with the chessboard grid pattern of the equidistantly distributed of the first predetermined number.
9. the scaling method of accelerator light carpenters square equipment according to claim 6, which is characterized in that the calibrating parameters packet
Include the distortion of focal length, camera lens, the focal length of projector lens, the distortion of projector lens and camera and the throwing of camera lens
Geometric transformation between shadow instrument.
10. a kind of optical moment ruler generation method, which is characterized in that generate optical moment ruler, the acceleration for accelerator light carpenters square equipment
Device light carpenters square equipment includes camera, projector and light carpenters square scaling board, which comprises
The smooth carpenters square scaling board is hung below the prior pointer of accelerator, so that the midpoint of the smooth carpenters square scaling board and institute
The equal centers for stating accelerator are corresponding；
The picture of the smooth carpenters square scaling board is acquired by the camera, and extracts the figure using default Corner Detection Algorithm
The position of angle point in piece, to obtain corresponding position coordinates coordinate；
The camera that is obtained using the position coordinates and scaling method according to any one of claims 6 to 9 and
The calibrating parameters of the projector determine first transformation matrix of the camera relative to the smooth carpenters square scaling board；
According to first transformation matrix, second transformation matrix of the projector relative to the smooth carpenters square scaling board is determined；
Based on the preset coordinate of the preset on the smooth carpenters square scaling board, all calibration points on the smooth carpenters square scaling board are determined
Coordinate；
Calibrating parameters and second transformation matrix based on the projector, determine the calibration points on the smooth carpenters square scaling board
The corresponding location point in projector image；
Based on the corresponding location point, light carpenters square pattern is generated in the egative film of the projector.
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| PCT/CN2019/116980 WO2020228274A1 (en) | 2019-05-10 | 2019-11-11 | Accelerator optical distance indicator apparatus, calibration method, and optical distance indicator generation method |
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| WO2020228274A1 (en) * | 2019-05-10 | 2020-11-19 | 苏州雷泰医疗科技有限公司 | Accelerator optical distance indicator apparatus, calibration method, and optical distance indicator generation method |
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| WO2020228274A1 (en) | 2020-11-19 |
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