CN111366104A - Scanning method and device with automatic brightness adjusting function and electronic equipment - Google Patents
Scanning method and device with automatic brightness adjusting function and electronic equipment Download PDFInfo
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- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/2518—Projection by scanning of the object
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/254—Projection of a pattern, viewing through a pattern, e.g. moiré
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Abstract
The embodiment of the invention provides a scanning method, a scanning device and electronic equipment with an automatic brightness adjusting function, wherein the method comprises the following steps: acquiring an object image of a scanned object under the current ambient brightness; calculating the image brightness of the object image according to a preset calculation strategy, and judging whether the image brightness is in a preset brightness range; if the image brightness is within a preset brightness range, calculating a brightness adjustment value of the environment brightness; adjusting the ambient brightness according to the brightness adjustment value and a preset adjustment strategy; and scanning the scanned object based on the adjusted ambient brightness. Therefore, the brightness of the object image can be calculated through the preset calculation strategy, when the brightness needs to be adjusted, the adjustment brightness value of the environment brightness is calculated, the environment brightness is adjusted by combining the preset adjustment strategy, and then the environment brightness suitable for illumination can be provided to finish scanning. The invention can reduce the complexity and cost of the system and improve the image quality and the precision of the scanning system.
Description
Technical Field
The present invention relates to the field of scanning technologies, and in particular, to a scanning method and apparatus with an automatic brightness adjustment function, and an electronic device.
Background
Three-dimensional scanning is a high and new technology integrating light, mechanical, electrical and computer technologies, and is mainly used for scanning the spatial appearance, structure and color of an object to obtain the spatial coordinates of the surface of the object. The three-dimensional scanning can be applied to the fields of aerospace, automobile manufacturing, cultural relic protection, medical treatment, virtual reality, augmented reality and the like. The important significance of the method lies in that the method can convert the three-dimensional information of the object into digital signals which can be directly processed by a Computer, provides a quite convenient means for object digitization, and the measurement result supports various data formats, so that three-dimensional scanning is rapidly developed today in the increasingly popular technologies of Computer Aided Design (CAD), Computer Aided Manufacturing (CAM), Computer Integrated Manufacturing System (CIMS) and the like.
The conventional three-dimensional scanning equipment cannot meet the requirement of complex illumination conditions; the method of adding the light sensor and the lighting module to the scanning system can solve the problem under certain conditions, but increases the cost and the complexity of the system, and the light sensor can only sense the whole brightness of the environment and cannot accurately sense the brightness of a specific area; the method of automatic exposure by the camera can reduce the quality of the acquired pictures.
Disclosure of Invention
The embodiment of the invention provides a scanning method with an automatic brightness adjusting function, which can reduce the complexity and cost of a system and improve the image quality and the precision of a scanning system.
In a first aspect, an embodiment of the present invention provides a scanning method with an automatic brightness adjustment function, where the method includes:
acquiring an object image of a scanned object under the current ambient brightness;
calculating the image brightness of the object image according to a preset calculation strategy, and judging whether the image brightness is in a preset brightness range;
if the image brightness is within a preset brightness range, calculating a brightness adjustment value of the environment brightness;
adjusting the ambient brightness according to the brightness adjustment value and a preset adjustment strategy;
and scanning the scanned object based on the adjusted ambient brightness.
Optionally, the step of calculating the image brightness of the object image according to a preset calculation strategy and determining whether the image brightness is within a preset brightness range includes:
dividing the object image into a plurality of image regions;
calculating the area brightness of each image area according to the preset calculation strategy;
judging whether the brightness of each region is within a preset region brightness range;
counting the number of image areas with the area brightness within a preset area brightness range according to the judgment result;
and judging whether the image brightness is in a preset brightness range or not according to the number of the image areas.
Optionally, the step of calculating the area brightness of each image area according to the preset calculation strategy includes:
converting each image area from an area color image to a corresponding area gray image according to the preset calculation strategy;
calculating the area average value of each area gray level image;
and determining the area brightness of each image area according to the area average value of each area gray level image.
Optionally, the preset brightness range includes a preset over-bright brightness range or a preset over-dark brightness range, and the preset area brightness range includes a preset area over-bright brightness range or a preset area over-dark brightness range; the step of judging whether the image brightness is in a preset brightness range according to the number of the image areas comprises the following steps:
judging whether the number of the image areas meets a preset number threshold value of a preset area over-brightness range or a preset area over-dark brightness range;
if the number of the image areas meets a preset number threshold of a preset area over-brightness range or a preset area over-dark brightness range, determining that the image brightness is within the preset over-brightness range or the preset over-dark brightness range;
and if the number of the images does not meet the preset number threshold of the over-bright brightness range of the preset area or the over-dark brightness range of the preset area, determining that the image brightness is not in the preset over-bright brightness range or the preset over-dark brightness range.
Optionally, the step of dynamically adjusting the ambient brightness according to the brightness adjustment value and a preset adjustment policy includes:
preprocessing the brightness adjustment value to obtain a plurality of level adjustment values;
calculating the adjustment level number of the brightness adjustment value according to the number of the image areas and the preset adjustment strategy;
and dynamically adjusting the ambient brightness according to the adjustment level number.
In a second aspect, an embodiment of the present invention further provides a scanning apparatus with an automatic brightness adjustment function, where the apparatus includes:
the acquisition module is used for acquiring an object image of a scanned object under the current ambient brightness;
the first calculation module is used for calculating the image brightness of the object image according to a preset calculation strategy and judging whether the image brightness is in a preset brightness range or not;
the second calculation module is used for calculating a brightness adjustment value of the environment brightness if the image brightness is within a preset brightness range;
the adjusting module is used for adjusting the ambient brightness according to the brightness adjusting value and a preset adjusting strategy;
and the scanning module is used for scanning the scanned object based on the adjusted ambient brightness.
Optionally, the step of the first calculating module includes:
a dividing unit configured to divide the object image into a plurality of image areas;
the first calculating unit is used for calculating the area brightness of each image area according to the preset calculating strategy;
the first judgment unit is used for judging whether the brightness of each area is within a preset area brightness range;
the counting module is used for counting the number of image areas with the area brightness within a preset area brightness range according to the judgment result;
and the second judging unit is used for judging whether the image brightness is in a preset brightness range according to the number of the image areas.
Optionally, the first computing unit includes:
the conversion subunit is used for converting each image area from an area color image to a corresponding area gray image according to the preset calculation strategy;
the calculating subunit is used for calculating the area average value of each area gray level image;
and the first determining subunit is used for determining the area brightness of each image area according to the area average value of each area gray level image.
In a third aspect, an embodiment of the present invention further provides an electronic device, including: the scanning method with the automatic brightness adjusting function comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the computer program to realize the steps in the scanning method with the automatic brightness adjusting function provided by the embodiment.
In a fourth aspect, the embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps in the scanning method with the automatic brightness adjustment function provided in the above embodiments are performed.
The embodiment of the invention has the following beneficial effects: obtaining an object image of a scanned object under the current ambient brightness; calculating the image brightness of the object image according to a preset calculation strategy, and judging whether the image brightness is in a preset brightness range; if the image brightness is within a preset brightness range, calculating a brightness adjustment value of the environment brightness; adjusting the ambient brightness according to the brightness adjustment value and a preset adjustment strategy; and scanning the scanned object based on the adjusted ambient brightness. Therefore, the brightness of the object image can be calculated through the preset calculation strategy, when the brightness needs to be adjusted, the adjustment brightness value of the environment brightness is calculated, the environment brightness is adjusted by combining the preset adjustment strategy, and then the environment brightness suitable for illumination can be provided to finish scanning. The invention can reduce the complexity and cost of the system and improve the image quality and the precision of the scanning system.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a block diagram of a scanning system according to an embodiment of the present invention;
fig. 2 is a flowchart of a scanning method with an automatic brightness adjustment function according to an embodiment of the present invention;
FIG. 3 is a flow chart of a method provided by step 202 of FIG. 2;
FIG. 4 is a flow chart of one method provided in step 302 in the embodiment of FIG. 3;
FIG. 5 is a flow chart of a method provided in step 204 in an embodiment of the present invention;
FIG. 6 is a schematic diagram of luminance adjustment of a quadratic curve model according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a scanning apparatus with an automatic brightness adjustment function according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of a structure provided by the first computing module in the embodiment of FIG. 7;
FIG. 9 is a schematic diagram of a configuration provided by the first computing unit in the embodiment of FIG. 8;
FIG. 10 is a schematic diagram of an embodiment of an adjustment module;
fig. 11 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the examples of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It is to be understood that, although the terms first, second, etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element of a same type from another. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
To explain the technical solution of the present invention more clearly, as shown in fig. 1, fig. 1 is a diagram of a scanning system architecture provided by an embodiment of the present invention, and the scanning may be three-dimensional scanning. Of course, the scanning may also be one-dimensional scanning, two-dimensional scanning, or multi-dimensional scanning, and the like, as long as the scanning realized by the method is related to the present invention. The three-dimensional scanning system architecture diagram 100 includes a projection module 101, an image acquisition module 104, a data processing module 102, and an illumination module 103. The projection module 101 communicates with the image acquisition module 104 through light-image information, and the image acquisition module 104, the illumination module 103 communicate with the data processing module 102 through signals, which may be electric signals, wired network signals or wireless network signals.
The projection module 101 is used to generate a specific grating stripe and project it onto the surface of the scanned object for acquisition by the image acquisition module 104.
The image capture module 104 may be an electronic device with shooting and data transmission functions, such as a camera, an industrial camera, a mobile phone, and a tablet. For acquiring fringe images projected onto the surface of the scanned object and transmitting the image information to the data processing module 102.
The data Processing module 102 may be a microprocessor, such as a single chip, a GPU (Graphics Processing Unit), a CPU (Central Processing Unit), and the like, for receiving and Processing the image uploaded by the image acquisition module 104, and for controlling the illumination module 103 to control the ambient brightness.
The lighting device is used for lighting a measured object and an environment, and can be an LED lamp and the like. The brightness of the lighting module 103 is hierarchically controllable.
Specifically, the projection module 101 generates a specific grating stripe and projects the specific grating stripe onto the surface of the scanned object, the image acquisition module 104 acquires a stripe image projected onto the surface of the object to be measured and transmits image information to the data processing module 102, and the data processing module 102 calculates point cloud data of the surface of the scanned object by using the stripe image, thereby realizing scanning of the scanned object. The three-dimensional scanning technology can realize non-contact measurement and has the advantages of high speed, high precision and the like. It is challenging to accurately scan the three-dimensional structure of an object under specific environmental conditions (complex surface structure and surface reflection characteristics of the object, varying illumination conditions). Three-dimensional scanning is particularly affected by variations in lighting conditions.
In this embodiment, the data processing module 102 may calculate a brightness level (too bright, too dark, or suitable) of the image under the current illumination condition according to the image information acquired by the image acquisition module 104, and then adjust a brightness current value of the illumination module 103 according to the calculated brightness level to adjust the ambient brightness, thereby achieving the purpose of adjusting the image definition.
It should be noted that the scanning method with the automatic brightness adjustment function provided in the embodiment of the present application is generally executed by the data processing module 102, and accordingly, the diagnosis guide apparatus based on face recognition is generally disposed in the user data processing module 102.
The projection module 101, the image acquisition module 104, the data processing module 102, and the illumination module 103 may select a corresponding shape, size, model, and the like according to a usage scenario (a specific environment).
It should be understood that the number of projection modules 101, image acquisition modules 104, data processing modules 102 and illumination modules 103 in fig. 1 is merely illustrative. There may be any number of projection modules 101, image acquisition modules 104, data processing modules 102, and illumination modules 103, as desired for an implementation.
Referring to fig. 2, fig. 2 is a flowchart of a scanning method with an automatic brightness adjustment function according to an embodiment of the present invention, where the scanning method with the automatic brightness adjustment function includes the following steps:
And the current ambient brightness is the ambient brightness under the current illumination condition. The scanned object may be an object or a part related to the fields of aerospace, automobile manufacturing, cultural relic protection, medical treatment, virtual reality, augmented reality, and the like. For example, in the field of oral treatment in the medical field, the object to be scanned may be a structure of the oral cavity, as explained in large terms. The oral cavity structure of a human is narrow and complex, the internal environment of the mouth is different from one person to another, and implants, prostheses, scanning rods, inlays, tea stains, coffee stains, dental calculus and the like can exist in the oral cavity. By small, implants, prostheses, scanning rods, inlays, tea stains, coffee stains, dental calculus, etc. may all be the object to be scanned.
The object image may be an image acquired by the image acquisition device on the scanned object and uploaded to the data processing module. In the present embodiment, the object image is mainly an image of the oral cavity structure. The object image can be a projection module generating a specific grating stripe and projecting the specific grating stripe onto the surface of the scanned object, and an image acquisition module acquiring the stripe image projected onto the surface of the scanned object.
Specifically, under the current ambient brightness, the projection module projects the scanned object, the image acquisition device can acquire an image of the scanned object and send the acquired object image to the data processing module, so that the data processing module obtains a corresponding object image.
Wherein the image brightness is an image brightness corresponding to the object image. The image brightness is represented by an image brightness value. The image brightness is divided into three brightness ranges, namely an over-bright brightness range (over-bright), an over-dark brightness range (over-dark), and an appropriate brightness range (appropriate). The luminance value range of the over-luminance range may be set to 161-255, the luminance value range of the over-dark luminance range may be set to 0-79, and the luminance value range of the appropriate luminance range may be set to 80-160. In a use scene, the scanning precision of three-dimensional scanning is influenced by the ambient brightness in an over-bright brightness range or an over-dark brightness range, and the scanning precision of three-dimensional scanning is not influenced only when the ambient brightness is in a proper brightness range. The preset brightness range comprises a preset over-brightness range or a preset over-dark brightness range. The preset brightness range is a judgment condition for judging whether the image brightness is an over-bright brightness range (over-bright condition) or an over-dark brightness range (over-bright condition). The luminance value range of the preset over-luminance range may be set to 161-255 and the luminance value range of the preset over-dark luminance range may be set to 0-79.
The preset calculation strategy is a preset weighting formula 1 for calculating the brightness of the image, and the weighting formula 1 is specifically:
Gray(x,y)＝R(x,y)*0.4+G(x,y)*0.25+B(x,y)0.35 equation 1
Wherein, Gray(x,y)Representing the gray value (value range 0-255) corresponding to the pixel of the color image (x, y), R(x,y)、G(x,y)And B(x,y)Respectively representing the gray values (with the value range of 0-255) of the red, green and blue channels corresponding to the pixels of the color image. The color image brightness of the object image is evaluated by formula 1, and the gray values of the red, green or blue images are moderate because their weighting coefficients are not very different. The weighting mode can show a stable effect on the gray scale conversion of various color images.
Specifically, a specific brightness value of the image brightness is obtained through calculation according to formula 1, the image brightness value is compared with a preset over-brightness range, and if the image brightness value falls within the preset over-brightness range, it is determined that the image brightness is within the preset over-brightness range, which means that the image brightness is over-bright and needs to be adjusted. If the image brightness value does not fall within the preset over-brightness range, the image brightness value is compared with the preset over-dark brightness range, and if the image brightness value falls within the preset over-dark brightness range, the image brightness is determined to be within the preset over-dark brightness range, that is, the image brightness is over-dark, and meanwhile, the image brightness needs to be adjusted. Otherwise, the image brightness is just in the proper brightness range, and the image brightness does not need to be adjusted.
In specific implementation, referring to fig. 3, fig. 3 is a flowchart of a method provided in step 202 in fig. 2, and as shown in fig. 3, step 202 specifically includes the steps of:
And step 303, judging whether the brightness of each region is within a preset region brightness range.
And step 304, counting the number of image areas with the area brightness within the preset area brightness range according to the judgment result.
And 305, judging whether the image brightness is in a preset brightness range according to the number of the image areas.
In this embodiment, the number of the image areas of the plurality of image areas may be changed according to actual situations, and the plurality of image areas are described by taking 9 image areas as an example, that is, the object image is divided into 9 image areas. Each image area size may be the same or different. Of course, the object highlight can be divided into other number of image areas according to actual needs.
The area brightness is the brightness of the corresponding area of each image area of the object image. The area brightness is expressed by a brightness value. The brightness of the region is also divided into three brightness ranges, namely, an over-bright brightness range (over-bright region), an over-dark brightness range (over-dark region), and an appropriate brightness range (appropriate region).
The preset area brightness range includes a preset area over-brightness range (area over-brightness condition) or a preset area over-dark brightness range (area over-dark condition). The preset area brightness range is a judgment condition for judging whether the area brightness of the object picture is an area over-brightness range or an area preset area over-dark brightness range. The preset area brightness range is preset, the preset area over-brightness range can be set to 161-255, and the preset area over-dark brightness range can be set to 0-79.
The number of the image areas is the number of the areas with the area brightness within the range of the over-brightness of the preset area, or the number of the areas with the area brightness within the range of the over-dark brightness of the preset area. For example, an object image is divided into 9 image areas, where the area brightness of 5 image areas is within a preset area over-brightness range, the area brightness of 3 image areas is within a preset area over-dark brightness range, and the area brightness of 2 image areas is within an area proper brightness range. Then, the number of the areas with the area brightness in the preset area over-bright brightness range is 5, the number of the areas with the area brightness in the preset area over-dark brightness range is 3, and the number of the areas with the area brightness in the preset area proper brightness range is 2.
Specifically, after the object image is acquired, the object image is divided into a plurality of image regions, and then the region brightness corresponding to each image region is calculated according to the method of formula 1. And comparing the calculated brightness of each region with the over-brightness range of the preset region or the over-dark brightness range of the preset region respectively through traversal, for example, if the brightness value of a certain region is 50, comparing the brightness value of 50 with the ranges of 161 and 255 and 0-79, and thus it can be seen that when the brightness value of 50 is between 0 and 79, it means that the brightness of the region is within the over-dark brightness range of the preset region, that is, the image region corresponding to the brightness of the region is over-dark. After the comparison of the area brightness of all the image areas is completed, the number of the image areas with the area brightness within the range of the over-brightness of the preset area can be counted, or the number of the image areas with the area brightness within the range of the over-brightness of the preset area can be counted.
Finally, judging whether the number of the over-bright or over-dark image areas meets a preset number threshold of the over-bright brightness range of the preset area or the over-dark brightness range of the preset area; if the number of the image areas meets the preset number threshold of the over-bright brightness range of the preset area or the over-dark brightness range of the preset area, determining that the image brightness is within the preset over-bright brightness range or the preset over-dark brightness range, indicating that the whole image is over-bright, further judging that the brightness of the illumination module is over-bright, further judging that the environment brightness is over-bright, or indicating that the whole image is over-dark, further judging that the brightness of the illumination module is over-dark, and further judging that the environment brightness is over-dark. However, the brightness adjustment is required regardless of whether the object image is too bright or too dark. For example, 6 of the existing 9 image regions are too bright, 3 are too dark, and 1 is suitable. And the preset over-bright number threshold is 4, and the preset over-dark number threshold is 4. Then, only the number of the over-bright image areas meets the preset over-bright number threshold, so that the whole object image can be judged to be over-bright.
And if the number of the images does not meet the preset number threshold of the over-bright brightness range of the preset area or the over-dark brightness range of the preset area, determining that the image brightness is not in the preset over-bright brightness range or the preset over-dark brightness range. The brightness of the whole object image is proper, the current brightness of the lighting module is also proper, and the environment brightness is proper. No adjustment of the illumination module is required for this purpose.
It should be noted that the object image acquired by the three-dimensional scan is greatly affected by the surface reflection characteristics of the object. If the scanned object has strong light reflecting capacity in a part of regions, the object ladder image acquired by the image acquisition equipment is brighter, and if the scanned object has weak or general light reflecting capacity in other regions, the average brightness of the whole image is calculated to be possibly in a set proper brightness range, so that the data acquired in the part of the image with the higher brightness is inaccurate, and the precision of the scanning system is reduced. Therefore, the object image is divided into a plurality of image areas, and the image brightness of each area in the object image can be accurately acquired. Wherein, the more the number of the image areas of the object image is divided, the more accurate the image brightness of the object image is calculated.
Further, referring to fig. 4, fig. 4 is a flowchart of a method provided in step 302 in the embodiment of fig. 3, and step 302 includes the steps of:
step 401, converting each image area from an area color image to a corresponding area gray image according to a preset calculation strategy.
And step 402, calculating the area average value of the gray level image of each area.
And step 403, determining the area brightness of each image area according to the area average value of each area gray level image.
The area average value comprises the average value of three color channels, namely R (red), G (green) and B (blue), corresponding to each area gray level image.
Specifically, after each image region is converted from a region color image to a region gray image by formula 1, the pixel value and the total number of pixels corresponding to each region gray image may be read, and further, the average value of R, G, B three color channels in each region gray image may be calculated. And further obtaining the area average value of each area gray level image, and further judging the brightness of each area image according to the area average value and the preset area average value.
In this embodiment, a weighting formula 2 for converting a color image into a grayscale image provided in the prior art can be solved by formula 1, where the specific formula 2 is:
Gray(x,y)＝R(x,y)*0.299+G(x,y)*0.587+B(x,y)0114 formula 2
Wherein, Gray(x,y)Representing the gray value (value range 0-255) corresponding to the pixel of the color image (x, y), R(x,y)、G(x,y)And B(x,y)Representing the gray values of the corresponding red, green and blue channels of a pixel of the color image, respectively. By evaluating the brightness of the color image through the method of formula 2, the gray values of the red or blue images are lower because of the smaller weighting coefficients, and the data processing module gives a larger brightness adjustment value to the illumination module to achieve a proper brightness range, which may cause the acquired image to be too bright. And this problem is solved using equation 1.
Step 203, if the image brightness is within the preset brightness range, calculating the brightness adjustment value of the environment brightness.
The brightness adjusting value is used for adjusting the brightness of the lighting module so as to adjust the brightness of the image. The brightness adjustment value is a current value for controlling the lighting module in the present embodiment.
Specifically, when it is determined that the image brightness is within the preset over-bright brightness range or within the preset over-dark brightness range, the brightness difference from the proper brightness range to the over-bright brightness or the over-dark brightness range can be calculated, and then the current value of the illumination module is calculated according to the brightness difference, so as to obtain the brightness adjustment for adjusting the ambient brightness.
And 204, adjusting the ambient brightness according to the brightness adjustment value and a preset adjustment strategy.
The preset adjustment strategy may be that a quadratic curve adjustment model adjusts the ambient brightness, and the quadratic curve model has a functional relation of:
y＝3*(x-5)2+5 equation 3
Wherein y is the number of adjustment levels (gray levels) to be increased or decreased, and x is the number of image areas with area brightness within the preset area brightness range.
Specifically, referring to fig. 5, fig. 5 is a flowchart of a method provided in step 204 in the embodiment of the present invention, and on the basis of fig. 3, step 204 includes the steps of:
And 503, dynamically adjusting the ambient brightness according to the number of the adjustment levels.
The preprocessing may be to perform a hierarchical processing on the brightness adjustment value, and divide the brightness adjustment value into a plurality of level adjustment values. When the brightness adjustment value is an adjustable current value for controlling the brightness of the lighting module, the current value range may be divided into a plurality of levels, for example, 100 levels, or 50 levels, 200 levels, or the like, and of course, the more the current value is in a reasonable range, the higher the adjustment precision is, the more accurate it is. The number of levels of the current value may be determined according to actual conditions.
The number of adjustment levels is calculated from the number of image regions and formula 3.
Specifically, after the current value for adjusting the brightness of the illumination module is obtained through calculation, the current value is divided into a plurality of level adjustment values, the image brightness of the object image is determined according to the number of image areas, the adjustment level number to be adjusted is obtained through combination calculation according to a formula 3, and the current value of the illumination module is increased or decreased by taking the adjustment level number as a unit on the basis of the current value of the illumination module, so that the brightness of the illumination module is adjusted, and the environment brightness is adjusted.
Illustratively, in equation 3, it is assumed that y is made positive if x is less than 5 and negative if x is greater than 5. Further, the level of the number of adjustment levels can be lowered or raised by judging whether the number of adjustment levels is positive or negative. If the number of the adjustment levels is negative, reducing the adjustment level of the adjustment value according to the number of the adjustment levels; if the number of adjustment levels is positive, the adjustment level of the adjustment value is increased according to the adjustment level data. For example: if y is 53 when x is 9, the lighting module current level is decreased by 53 steps, and similarly, if y is 17 when x is 3, the lighting module current level is increased by 17 steps. As shown in fig. 6, fig. 6 is a schematic diagram of luminance adjustment of a conic model according to an embodiment of the present invention, where the luminance adjustment with variable step length can be implemented by using the conic model, the step length is larger when the number of over-bright or over-dark regions is large, and the step length is smaller when the number of over-bright or over-dark regions is small, so as to implement fast and accurate luminance adjustment of an illumination module, to implement accurate luminance adjustment of an environment, and further to improve scanning accuracy.
And 205, scanning the scanned object based on the adjusted ambient brightness.
Specifically, after the ambient brightness is adjusted, the image acquisition module continues to scan the scanned object, and then an object image of the scanned object is obtained. Certainly, after different parts of the scanned object are scanned, the step 201 and the step 205 are repeated to dynamically adjust the ambient brightness, so that the scanned object can be scanned more accurately, because the surface structure of the scanned object is complex, and the structure of each part of the surface of the scanned object is different, the reflection characteristic and the changed illumination condition of each surface part are also different, which also affects the ambient brightness, and therefore, the step 201 and the step 205 need to be repeated continuously to adjust the ambient brightness, so that the scanning accuracy is improved.
In the embodiment of the invention, compared with a common three-dimensional scanning system, the three-dimensional scanning system provided by the invention is added with the illumination module capable of automatically controlling the brightness, so that the three-dimensional data acquisition under the conditions of changing illumination environments and complicated object reflection can be met, and the precision of the three-dimensional scanning system can be improved.
Compared with formula 2, formula 1 provided by the invention can calculate more reasonable brightness evaluation values for different color pictures, and particularly, the method of formula 1 is obviously superior to formula 2 under the condition that the overall color of the image is reddish or bluish.
Compared with a method for adding a light sensor and an illumination module to a three-dimensional scanning system, the method provided by the invention does not need to add the light sensor, and can reduce the design complexity of the system while reducing the cost. And the light sensor can only sense the whole brightness of the environment and is insensitive to the brightness sensing of the local area of the environment.
Compared with the automatic exposure method of the camera, the method does not need an image acquisition module with the size of an iris diaphragm, can reduce the cost of the scanning system, is convenient for module integration and is more beneficial to the miniaturization of the scanning system. The invention collects the object picture with shorter exposure time and lower gain, can improve the picture collection rate and simultaneously can ensure less image noise.
The invention provides a method for calculating the brightness of a multi-region image, which divides an acquired image into a plurality of regions, respectively judges the brightness of each region, and finally judges the brightness of the whole image according to the number of the brightness regions and the dark regions. The method can adjust the brightness of the illumination module according to the local brightness of the image, and improve the data quality of the image acquisition module.
The invention provides a method for adjusting the brightness of an illumination module in a grading manner, which shortens the brightness adjusting time compared with the step-by-step adjustment and can realize the accurate adjustment of the brightness of the illumination module.
Therefore, the invention can reduce the complexity and the cost of the system and improve the image quality and the accuracy of the scanning system.
Referring to fig. 7, fig. 7 is a schematic structural diagram of a scanning apparatus with an automatic brightness adjustment function according to an embodiment of the present invention, where the apparatus 600 includes:
the obtaining module 601 is configured to obtain an object image of a scanned object under the current ambient brightness.
The first calculating module 602 is configured to calculate image brightness of the object image according to a preset calculating policy, and determine whether the image brightness is within a preset brightness range.
The second calculating module 603 is configured to calculate a brightness adjustment value of the ambient brightness if the image brightness is within the preset brightness range.
The adjusting module 604 is configured to adjust the ambient brightness according to the brightness adjustment value and a preset adjustment policy.
And a scanning module 605, configured to scan the scanned object based on the adjusted ambient brightness.
Referring to fig. 8, fig. 8 is a schematic structural diagram provided by the first computing module in the embodiment of fig. 7, and the first computing module 602 includes:
a segmentation unit 6021 for segmenting the object image into a plurality of image regions.
A first calculating unit 6022 configured to calculate a region brightness of each image region according to a preset calculation strategy.
A first judging unit 6023, configured to judge whether each region brightness is within a preset region brightness range.
And the counting module 6024 is configured to count the number of image regions with the region brightness within the preset region brightness range according to the judgment result.
The second judging unit 6025 is configured to judge whether the image brightness is within the preset brightness range according to the number of the image areas.
Referring to fig. 9, fig. 9 is a schematic diagram of a configuration provided by the first calculation unit in the embodiment of fig. 8, and the first calculation unit 6022 includes:
a conversion subunit 60221 configured to convert each image region from a region color image to a corresponding region grayscale image according to a preset calculation strategy.
And a calculating subunit 60222, configured to calculate a region average value of each region grayscale image.
A first determining subunit 60223 configured to determine the region brightness of each image region according to the region average value of each region grayscale image.
Optionally, the preset brightness range includes a preset over-bright brightness range or a preset over-dark brightness range, and the preset area brightness range includes a preset area over-bright brightness range or a preset area over-dark brightness range; the second judgment unit includes:
and the judging subunit is used for judging whether the number of the image areas meets the preset area number within the preset area over-brightness range or the preset area over-dark brightness range.
And the second determining subunit is used for determining that the image brightness is within the preset over-brightness range or the preset over-dark brightness range if the number of the image areas meets the preset number of the over-brightness range or the over-dark brightness range of the preset area.
And the third determining subunit is used for determining that the image brightness is not within the preset over-brightness range or the preset over-dark brightness range if the number of the images does not meet the preset number of the areas within the preset over-brightness range or the preset over-dark brightness range of the preset area.
Referring to fig. 10, fig. 10 is a schematic diagram of a configuration provided by an adjusting module in an embodiment of the present invention, and based on fig. 8, the adjusting module 604 includes:
a preprocessing unit 6041 configured to preprocess the brightness adjustment value to obtain a plurality of level adjustment values.
A second calculating unit 6042, configured to calculate the number of adjustment levels of the brightness adjustment value according to the number of image areas and a preset adjustment policy.
An adjusting unit 6043, configured to dynamically adjust the ambient brightness according to the number of adjustment levels.
The scanning device 600 with the automatic brightness adjustment function according to the embodiment of the present invention can implement each implementation manner in the above method embodiments and corresponding beneficial effects, and for avoiding repetition, details are not described here.
Referring to fig. 11, fig. 11 is a schematic structural diagram of an electronic device according to an embodiment of the present invention, where the electronic device 700 includes: a memory 702, a processor 701 and a computer program stored on the memory 702 and operable on the processor 701, wherein the processor 701 implements the steps in the scanning method with automatic brightness adjustment function provided by the above embodiment when executing the computer program, and the processor 701 executes the following steps:
and acquiring an object image of the scanned object under the current ambient brightness.
And calculating the image brightness of the object image according to a preset calculation strategy, and judging whether the image brightness is in a preset brightness range.
And if the image brightness is within the preset brightness range, calculating the brightness adjustment value of the environment brightness.
And adjusting the ambient brightness according to the brightness adjustment value and a preset adjustment strategy.
And scanning the scanned object based on the adjusted ambient brightness.
Optionally, the step of calculating the image brightness of the object image according to a preset calculation policy and determining whether the image brightness is within a preset brightness range, which is executed by the processor 701, includes:
an object image is divided into a plurality of image regions.
And calculating the area brightness of each image area according to a preset calculation strategy.
And judging whether the brightness of each area is within a preset area brightness range.
And counting the number of the image areas with the area brightness within the preset area brightness range according to the judgment result.
And judging whether the image brightness is in a preset brightness range or not according to the number of the image areas.
Optionally, the step of calculating the area brightness of each image area according to the preset calculation strategy performed by the processor 701 includes:
and converting each image area from the area color image into the corresponding area gray image according to a preset calculation strategy.
And calculating the area average value of each area gray level image.
And determining the area brightness of each image area according to the area average value of each area gray level image.
Optionally, the preset brightness range includes a preset over-bright brightness range or a preset over-dark brightness range, and the preset area brightness range includes a preset area over-bright brightness range or a preset area over-dark brightness range; the steps executed by the processor 701 for judging whether the image brightness is within the preset brightness range according to the number of the image areas include:
and judging whether the number of the image areas meets a preset number threshold value of an over-brightness range of a preset area or an over-dark brightness range of the preset area.
And if the number of the image areas meets the preset number threshold of the over-bright brightness range of the preset area or the over-dark brightness range of the preset area, determining that the image brightness is within the preset over-bright brightness range or the preset over-dark brightness range.
And if the number of the images does not meet the preset number threshold of the over-bright brightness range of the preset area or the over-dark brightness range of the preset area, determining that the image brightness is not in the preset over-bright brightness range or the preset over-dark brightness range.
Optionally, the step of dynamically adjusting the ambient brightness according to the brightness adjustment value and the preset adjustment policy, which is executed by the processor 701, includes:
the brightness adjustment value is preprocessed to obtain a plurality of level adjustment values.
And calculating the adjustment level number of the brightness adjustment value according to the number of the image areas and a preset adjustment strategy.
And dynamically adjusting the ambient brightness according to the adjustment level number.
The electronic device 700 provided in the embodiment of the present invention can implement each implementation manner in the above method embodiments and corresponding beneficial effects, and is not described herein again to avoid repetition.
The embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the computer program implements each scanning process with an automatic brightness adjustment function provided in the embodiment of the present invention, and can achieve the same technical effect, and is not described herein again to avoid repetition.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
The above disclosure is only for the purpose of illustrating the preferred embodiments of the present invention, and it is therefore to be understood that the invention is not limited by the scope of the appended claims.
Claims (10)
1. A scanning method with an automatic brightness adjustment function, the method comprising:
acquiring an object image of a scanned object under the current ambient brightness;
calculating the image brightness of the object image according to a preset calculation strategy, and judging whether the image brightness is in a preset brightness range;
if the image brightness is within a preset brightness range, calculating a brightness adjustment value of the environment brightness;
adjusting the ambient brightness according to the brightness adjustment value and a preset adjustment strategy;
and scanning the scanned object based on the adjusted ambient brightness.
2. The scanning method with automatic brightness adjustment function according to claim 1, wherein the step of calculating the image brightness of the object image according to a preset calculation strategy and determining whether the image brightness is within a preset brightness range comprises:
dividing the object image into a plurality of image regions;
calculating the area brightness of each image area according to the preset calculation strategy;
judging whether the brightness of each region is within a preset region brightness range;
counting the number of image areas with the area brightness within a preset area brightness range according to the judgment result;
and judging whether the image brightness is in a preset brightness range or not according to the number of the image areas.
3. The scanning method with automatic brightness adjustment function according to claim 2, wherein the step of calculating the area brightness of each image area according to the preset calculation strategy comprises:
converting each image area from an area color image to a corresponding area gray image according to the preset calculation strategy;
calculating the area average value of each area gray level image;
and determining the area brightness of each image area according to the area average value of each area gray level image.
4. The scanning method with automatic brightness adjustment function according to claim 2, wherein the preset brightness range comprises a preset over-bright brightness range or a preset over-dark brightness range, and the preset area brightness range comprises a preset area over-bright brightness range or a preset area over-dark brightness range; the step of judging whether the image brightness is in a preset brightness range according to the number of the image areas comprises the following steps:
judging whether the number of the image areas meets a preset number threshold value of a preset area over-brightness range or a preset area over-dark brightness range;
if the number of the image areas meets a preset number threshold of a preset area over-brightness range or a preset area over-dark brightness range, determining that the image brightness is within the preset over-brightness range or the preset over-dark brightness range;
and if the number of the images does not meet the preset number threshold of the over-bright brightness range of the preset area or the over-dark brightness range of the preset area, determining that the image brightness is not in the preset over-bright brightness range or the preset over-dark brightness range.
5. The scanning method with automatic brightness adjustment function according to claim 2, wherein the step of dynamically adjusting the ambient brightness according to the brightness adjustment value and a preset adjustment strategy comprises:
preprocessing the brightness adjustment value to obtain a plurality of level adjustment values;
calculating the adjustment level number of the brightness adjustment value according to the number of the image areas and the preset adjustment strategy;
and dynamically adjusting the ambient brightness according to the adjustment level number.
6. A scanning apparatus having an automatic brightness adjustment function, the apparatus comprising:
the acquisition module is used for acquiring an object image of a scanned object under the current ambient brightness;
the first calculation module is used for calculating the image brightness of the object image according to a preset calculation strategy and judging whether the image brightness is in a preset brightness range or not;
the second calculation module is used for calculating a brightness adjustment value of the environment brightness if the image brightness is within a preset brightness range;
the adjusting module is used for adjusting the ambient brightness according to the brightness adjusting value and a preset adjusting strategy;
and the scanning module is used for scanning the scanned object based on the adjusted ambient brightness.
7. The scanning device with automatic brightness adjustment function according to claim 6, wherein the step of the first calculating module comprises:
a dividing unit configured to divide the object image into a plurality of image areas;
the first calculating unit is used for calculating the area brightness of each image area according to the preset calculating strategy;
the first judgment unit is used for judging whether the brightness of each area is within a preset area brightness range;
the counting module is used for counting the number of image areas with the area brightness within a preset area brightness range according to the judgment result;
and the second judging unit is used for judging whether the image brightness is in a preset brightness range according to the number of the image areas.
8. The scanning device with an automatic brightness adjustment function according to claim 7, wherein the first calculation unit includes:
the conversion subunit is used for converting each image area from an area color image to a corresponding area gray image according to the preset calculation strategy;
the calculating subunit is used for calculating the area average value of each area gray level image;
and the first determining subunit is used for determining the area brightness of each image area according to the area average value of each area gray level image.
9. An electronic device, comprising: memory, processor and computer program stored on the memory and executable on the processor, the processor implementing the steps in the scanning method with automatic brightness adjustment function according to any one of claims 1 to 5 when executing the computer program.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps in the scanning method with automatic brightness adjustment function according to any one of claims 1 to 5.
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