CN112019833A - Digital image capturing device and color difference correction method and device of screen - Google Patents

Digital image capturing device and color difference correction method and device of screen Download PDF

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CN112019833A
CN112019833A CN201910471169.8A CN201910471169A CN112019833A CN 112019833 A CN112019833 A CN 112019833A CN 201910471169 A CN201910471169 A CN 201910471169A CN 112019833 A CN112019833 A CN 112019833A
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wavelength
image capturing
standard
digital image
screen
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CN112019833B (en
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杨宗勋
孙庆成
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Yixue Technology Co ltd
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Jiacheng Global Digital Medical Materials Co ltd
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    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N17/00Diagnosis, testing or measuring for television systems or their details
    • H04N17/002Diagnosis, testing or measuring for television systems or their details for television cameras
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00Image analysis
    • G06T7/80Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration

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Abstract

The invention provides a digital image capturing device, a method and a device for correcting chromatic aberration of a screen, wherein the method comprises the following steps: providing a digital image capturing device to be corrected and a display screen to be corrected; providing a wavelength-adjustable single-wavelength standard spectrum light source; carrying out standard image capture; generating an image capturing chromaticity correction parameter; finishing the correction of the digital image capturing device; inputting a standard gray scale signal; correcting the front screen for image capture; generating screen chroma correction parameters; and completing screen correction. And the standard image screen device is internally provided with a color characteristic configuration file which records the system correction parameters generated by the method. And the standard digital image capturing device contains image capturing chroma correction parameters generated by the method. By the implementation of the invention, the full-flow chromatic aberration correction of the digital image capturing device and the screen can be quickly and effectively finished.

Description

Digital image capturing device and color difference correction method and device of screen
Technical Field
The present invention relates to the field of image processing technologies, and in particular, to a digital image capturing device, a method for correcting chromatic aberration of a screen, and an apparatus thereof.
Background
The oral cavity comprises teeth, lips, tongue and other parts and is a first station for human body to digest food; the main organs in the oral cavity are teeth, tongue, mucous membrane, salivary gland and the like, wherein the cavity part of the tooth exposing port is a dental crown, and the dental root is an unexposed part. The tooth can be divided into three parts from inside to outside: enamel, dentin and pulp.
When a dentist finds that the damaged tooth must be replaced, the damaged tooth must be replaced by using a false tooth, namely a false tooth; regarding the manufacture of the false teeth, modeling and color matching must be performed by a dentist, and then the false teeth are handed to a dental technician to perform the following steps: 1. manufacturing a substrate → 2, digital scanning → 3, digital design → 4, design completion → 5, digital precision machining → 6, zirconia back and forth → 7, high temperature sintering → 8, inner crown adjustment → 9, bonding agent → 10, dental crown ceramic stacking → 11, ceramic furnace sintering → 12, type adjustment.
When manufacturing the false teeth, because the color of the false teeth is related to the consistency or coordination with the color of other teeth, and has very critical influence on the aesthetic feeling of the whole oral cavity, how to make the dentist and the dental skill have consistency information on the color of the false teeth in the false teeth manufacturing process depends on the image capturing device and the screen used by the dentist; however, if the image capturing device and the screen without chromatic aberration correction are used, the tooth color information is more inconsistent due to the error of the equipment.
Disclosure of Invention
The invention provides a digital image capturing device, a method and a device for correcting chromatic aberration of a screen, which mainly solve the problems of full-process chromatic aberration correction from the digital image capturing device to the screen and chromatic aberration correction of the digital image capturing device in a tooth restoration process.
The invention provides a digital image capturing device and a method for correcting chromatic aberration of a screen, which comprises the following steps: providing a digital image capturing device to be corrected and a display screen to be corrected; providing a wavelength-adjustable single-wavelength standard spectrum light source, which is a single-wavelength standard light source providing each single wavelength according to time sequence and time sharing; performing standard image capture, namely using a to-be-corrected digital image capture device to capture images of the single-wavelength standard light source according to a time sequence so as to generate image capture gray-scale values of pixels of each single-wavelength picture and then calculate corresponding image capture chromatic values of each single-wavelength picture; generating image capturing chromaticity correction parameters, wherein the image capturing chromaticity value of each single-wavelength picture and the standard spectrum corresponding to the single wavelength are subjected to difference value statistical operation to generate each single-wavelength image capturing chromaticity correction parameter; completing the calibration of the digital image capturing device, wherein the digital image capturing device to be calibrated is calibrated by each single-wavelength image capturing chromaticity calibration parameter so as to generate a standard digital image capturing device; inputting standard gray scale signals, namely inputting R (0-255)/G (0-255)/B (0-255) standard gray scale signals into a display screen to be corrected so as to generate a display screen before correction; taking an image of the front correction screen by using a standard digital image taking device to take an image of the front correction display screen so as to generate a gray scale value of the front correction screen, and calculating a chromatic value of the front correction screen correspondingly; generating a screen chrominance correction parameter, which is to calculate the chrominance value of the screen before correction after the chrominance conversion is carried out on the standard gray scale signal so as to generate the screen chrominance correction parameter; and completing screen correction, namely synthesizing the image-taking chromaticity correction parameter and the screen chromaticity correction parameter into a system correction parameter, and writing the system correction parameter into a color characteristic configuration file of the display screen to be corrected.
Furthermore, the single-wavelength standard light source is directly provided in a time-sharing manner under the control of time-sharing output, or is provided by an LED lamp, a xenon lamp, a high-pressure discharge lamp, a halogen lamp, a tungsten lamp or a fluorescent lamp in combination with a wavelength-selectable grating or a prism.
Further, the wavelength range of the single-wavelength standard light source is an integer value between 360nm and 830 nm.
Further, the digital image capturing device is a camera or a video camera.
Furthermore, the chromatic correction parameter for each single-wavelength image capture is obtained by performing a difference statistical operation on the chromatic value of each single-wavelength image capture and the standard chromatic value of the single-wavelength standard light source corresponding to the single wavelength, and generating a total chromatic difference value for each single wavelength.
Further, the step of completing the calibration of the digital image capturing device is to linearly superimpose each actual image capturing spectrum and each corresponding single-wavelength total color difference value.
The invention further provides a chromatic aberration correction method of the digital image capturing device, which comprises the following steps: providing a digital image capturing device to be corrected; providing a wavelength-adjustable single-wavelength standard spectrum which provides single-wavelength standard light sources of each single wavelength in a time-sharing manner according to a time sequence; performing standard image capture, namely using a to-be-corrected digital image capture device to capture images of the single-wavelength standard light source according to a time sequence so as to generate image capture gray-scale values of pixels of each single-wavelength picture and then calculate corresponding image capture chromatic values of each single-wavelength picture; generating image capturing chromaticity correction parameters, wherein the image capturing chromaticity value of each single-wavelength picture and the standard spectrum of the standard light source corresponding to the single wavelength are subjected to difference value statistical operation to generate each single-wavelength image capturing chromaticity correction parameter; and completing the calibration of the digital image capturing device, wherein the digital image capturing device to be calibrated is calibrated by each single-wavelength image capturing chromaticity calibration parameter so as to generate a standard digital image capturing device.
Furthermore, the single-wavelength standard light source is directly provided in a time-sharing manner under the control of time-sharing output, or is provided by an LED lamp, a xenon lamp, a high-pressure discharge lamp, a halogen lamp, a tungsten lamp or a fluorescent lamp in combination with a wavelength-selectable grating or a prism.
Further, the wavelength range of the single-wavelength standard light source is an integer value between 360nm and 830 nm.
Further, the digital image capturing device is a camera or a video camera.
Furthermore, the chromatic correction parameter for each single-wavelength image capture is obtained by performing a difference statistical operation on the chromatic value of each single-wavelength image capture and the standard chromatic value of the single-wavelength standard light source corresponding to the single wavelength, and generating a total chromatic difference value for each single wavelength.
Further, the step of completing the calibration of the digital image capturing device is to linearly superimpose each actually captured spectrum and each corresponding single-wavelength total color difference value.
The invention also provides a standard imaging screen device, which is internally provided with a color characteristic configuration file, and the color characteristic configuration file records system correction parameters according to the digital imaging device and the color difference correction method of the screen.
The invention further provides a standard digital image capturing device, which is a digital image capturing device to be corrected, and is combined with an operation module, wherein the operation module records each single-wavelength image capturing chromaticity correction parameter, and the operation module executes: and performing dynamic image correction on each image-taking picture according to each single-wavelength image-taking chromaticity correction parameter.
Furthermore, the operation module is an embedded system and is built in the digital image capturing device to be corrected.
By implementing the invention, at least the following progress effects can be achieved:
1. the full-process chromatic aberration correction from the digital image capturing device to the screen can be effectively finished.
2. The chromatic aberration correction of the digital image capturing device can be effectively finished.
So that those skilled in the art can readily understand the disclosure, the claims and the drawings, and can easily understand the objects and advantages of the present invention, the detailed features and advantages of the present invention will be described in detail in the embodiments.
Drawings
Fig. 1 is a schematic flow chart illustrating a digital image capturing device and a method for correcting chromatic aberration of a screen according to an embodiment of the present invention;
fig. 2 is a schematic flow chart illustrating a chromatic aberration correction method of a digital image capturing apparatus according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a wavelength tunable single-wavelength standard spectrum and a single-wavelength standard light source provided by time-sharing according to an embodiment of the present invention;
FIG. 4A is a schematic diagram of a light source combined with a controller to form a single-wavelength standard light source according to an embodiment of the present invention;
FIG. 4B is a diagram of a single wavelength standard light source formed by a light source and a wavelength selector according to an embodiment of the present invention;
fig. 5A is a schematic diagram of a digital image capturing device to be calibrated in combination with a computer according to an embodiment of the present invention;
fig. 5B is a schematic diagram of a digital image capturing device to be calibrated in combination with an embedded system according to an embodiment of the invention;
fig. 6 is a schematic diagram of a system architecture for performing display screen correction to be corrected according to an embodiment of the present invention;
fig. 7A is a schematic diagram of a standard digital image capturing device according to an embodiment of the present invention;
fig. 7B is a schematic diagram of a standard digital image capturing device according to another embodiment of the present invention; and
fig. 8 is a schematic diagram of a standard display device according to an embodiment of the present invention.
[ notation ] to show
S100 digital image capturing device and color difference correction method of screen
S11 provides the digital image capturing device to be corrected and the display screen to be corrected
S20 provides a wavelength tunable single wavelength standard spectrum
S30 standard image capture
S40 generating image capturing chromaticity correction parameters
S50 finishing the calibration of the digital image capturing device
S60 input standard gray scale signal
S70 correcting front screen image capture
S80 generating screen chroma correction parameters
S90 screen correction
S200 chromatic aberration correction method for digital image capturing device
S12 provides the digital image capturing device to be corrected
G111 standard digital image-taking device
111 digital image capturing device to be corrected
112 picture
113 pixels
114 sub-pixels
115 display screen to be corrected
115a color profile
116 display screen before correction
20 single wavelength standard light source
210 light source
220 controller
230 wavelength selector
300 standard image screen device
410 image-taking chromaticity correction parameter
50 operation module
510 computer
520 embedded system
610R (0-255)/G (0-255)/B (0-255) standard gray scale signal
810 screen chroma correction parameters
910 system correction parameters
Detailed Description
As shown in fig. 1, the present embodiment is a method S100 for correcting chromatic aberration of a digital image capturing device and a screen, comprising: providing a digital image capturing device to be calibrated and a display screen to be calibrated S10; providing a wavelength tunable single-wavelength standard spectrum S20; performing standard image capturing S30; generating an image capturing chromaticity correction parameter S40; completing the calibration of the digital image capturing device S50; inputting a standard gray scale signal S60; performing screen image capturing before correction S70; generating screen chromaticity correction parameters S80; and completes the screen correction S90.
As shown in fig. 2, the method for correcting chromatic aberration of a digital image capturing device and a screen S100 includes a method for correcting chromatic aberration of a digital image capturing device S200, which includes: providing a digital image capturing device to be corrected S12; providing a wavelength tunable single-wavelength standard spectrum S20; performing standard image capturing S30; generating an image capturing chromaticity correction parameter S40; and completing the digital camera calibration S50.
The digital image capturing device to be corrected and the display screen to be corrected are provided S10, which provides the digital image capturing device to be corrected 111 and the display screen to be corrected 115, and then the correction procedure is completed for subsequent use, so that the digital image capturing device can obtain standard image information and the display screen can complete standard image presentation. The digital image capturing device 111 to be calibrated may be a camera or a video camera.
When the chromatic aberration correction method S200 for the digital image capturing device is implemented, the digital image capturing device to be corrected S12 is provided only by the digital image capturing device to be corrected 111.
As shown in fig. 3, a wavelength tunable single-wavelength standard spectrum S20 is provided, which is a single-wavelength standard light source 20 for each single wavelength provided in time sequence and time division as a standard for calibration; the wavelength (λ n) of the single-wavelength standard light source 20 may be an integer value between 360nm and 830nm, and each single wavelength (λ n) has a set of standard gray-scale values (WR, Ln/WG, Ln/W B, Ln); wherein W represents gray scale; r is red, G is green, B is blue; ln represents wavelength and may be, for example, wavelength integer values from 360 to 830.
As shown in fig. 4A and 4B, the single-wavelength standard light source 20 can be provided by the light source 210, the controller 220 directly in a time-sharing manner under the control of time-sharing output, or the light source 210, such as an LED lamp, a xenon lamp, a high-pressure discharge lamp, a halogen lamp, a tungsten lamp, or a fluorescent lamp, in combination with the wavelength selector 230, such as a grating or a prism.
Performing a standard image capturing S30, which uses the digital image capturing device 111 to be corrected to capture images of the single-wavelength standard light source 20 according to the above time sequence, and at this time, generating image capturing gray-scale values (PR, Ln (x, y)/PG, Ln (x, y)/PB, Ln (x, y) of each pixel of each single-wavelength frame corresponding to each single-wavelength standard light source 20, where p (pixel) is a pixel, R is red, G is green, and B is blue, Ln represents a wavelength, and may be, for example, a wavelength integer value code from 360 to 830, and (x, y) represents a camera image capturing pixel coordinate, and then, for convenience of subsequent calculation, performing a chromaticity conversion calculation on the image capturing gray-scale values (PR, Ln (x, y)/PG, Ln (x, y)/PB, Ln (x, y)) of each pixel of each single-wavelength frame, and corresponding to each pixel chromaticity value (CLn (x, y) of each single-wavelength frame, y)); wherein C represents a chromaticity value; ln represents wavelength, which may be, for example, a wavelength integer value code number of 360 to 830; and (x, y) represents the image-taking pixel coordinates of the camera.
In practical operation, when the digital image capturing device 111 to be corrected performs one image capturing, one frame 112 is generated, and another frame 112 is composed of a plurality of pixels 113 (e.g. 1024 × 768 pixels), and each pixel may be composed of three sub-pixels 114 (e.g. three R/G/B sub-pixels); therefore, the image capture gray-scale values (PR, Ln (x, y)/PG, Ln (x, y)/PB, Ln (x, y)) of each pixel of each single-wavelength frame refer to image capture gray-scale values of a single pixel in the frame generated by each single wavelength, and 1024 × 768 image capture gray-scale values can be generated by taking the frame as an example, which is 1024 × 768 pixels.
The image capturing chromaticity correction parameters S40 are generated by performing a difference statistic operation on the image capturing chromaticity value (CLn (x, y)) of each single-wavelength frame after image capturing and the corresponding standard spectrum of the single wavelength to generate each single-wavelength image capturing chromaticity correction parameter.
Specifically, an image capturing chromaticity correction parameter S40 is generated, which is to perform difference statistical operation on the image capturing chromaticity value (CLn (x, y)) of each pixel of each single-wavelength image and the standard chromaticity value (SR, Ln (x, y)/SG, Ln (x, y)/SB, Ln (x, y)) of the single-wavelength standard light source 20 corresponding to the single wavelength after image capturing, and generate the total color difference value of each single wavelength as each single-wavelength image capturing chromaticity correction parameter; wherein S is expressed as a standard colorimetric value; ln represents wavelength, which may be, for example, a wavelength integer value code number of 360 to 830; and (x, y) represents the image-taking pixel coordinates of the camera.
More specifically, the step S50 of completing the calibration of the digital image capturing device is to linearly superimpose the actual image capturing spectrum and the corresponding total color difference value of each single wavelength, so as to dynamically complete the calibration of the digital image capturing device S50.
As shown in fig. 5A, in a general case, the digital image capturing device to be corrected 111 corrects the image capturing chromaticity values (CLn (x, y)) and the standard chromaticity values (SR, Ln (x, y)/SG, Ln (x, y)/SB, Ln (x, y)) of the single-wavelength standard light source 20 by using the operation module 50, for example, the computer/electronic computer 510 shown in fig. 7B to generate the image capturing chromaticity correction parameters 410, and the operation of performing the correction by using the image capturing chromaticity correction parameters 410 is also completed in the computer 510; that is, the generation of the image chromaticity correction parameter 410 and the subsequent correction are not completed in the camera.
As shown in fig. 5B, in another case, the computing module 50 may be, for example, an embedded system 520 embedded in the digital image capturing device to be corrected 111, as shown in fig. 7A, at this time, the embedded system 520 may be used to generate the image capturing chromaticity correction parameter 410 in the digital image capturing device to be corrected 111 and then dynamically perform the real-time chromatic aberration correction on the digital image capturing device to be corrected 111.
After the step S200 of the chromatic aberration correction method of the digital image capturing apparatus is completed, the display screen 115 to be corrected is corrected.
As shown in fig. 6, a standard gray-scale signal S60 is inputted, which is a standard gray-scale signal 610 having R (0-255)/G (0-255)/B (0-255) inputted into the display screen 115 to be corrected, and the image generated on the display screen 115 to be corrected is the display screen 116 before correction.
Performing a front-screen calibration image capturing S70, which uses the calibrated standard digital image capturing device G111 to capture an image of the front-screen calibration display 116 to generate a front-screen calibration gray scale value (USR (x, y)/USG (x, y)/USB (x, y)); wherein US denotes a pre-correction screen gray scale; r is red, G is green, B is blue; (x, y) represents screen pixel coordinates; the USR (x, y)/USG (x, y)/USB (x, y) is between 0 and 255, and then the corrected front screen gray scale value (USR (x, y)/USG (x, y)/USB (x, y)) is subjected to chromaticity conversion calculation to correspond to the corrected front screen chromaticity value.
The screen chromaticity correction parameter S80 is generated by performing chromaticity conversion on the standard gray-scale signal, i.e., the standard gray-scale signal 610 with R (0-255)/G (0-255)/B (0-255) input to the display screen 115 to be corrected, and then calculating the chromaticity value of the screen before correction generated by the standard digital image capturing device G111, so as to generate the screen chromaticity correction parameter 810 shown in fig. 8.
The screen correction is completed S90, as shown in fig. 8, the image chromaticity correction parameter 410 and the screen chromaticity correction parameter 810 are synthesized into a system correction parameter 910, and written into the color Profile 115a of the display screen, such as an ICC Profile (i.e., ICC color Profile).
A standard digital image capturing device G111 is provided with an operation module 50 in the digital image capturing device 111 to be calibrated, and the operation module 50 records the chromaticity calibration parameter for image capturing of each single wavelength; the operation module is executable to perform dynamic image correction on each real-time image capturing frame of the digital image capturing device 111 to be corrected according to each single-wavelength image capturing chromaticity correction parameter, thereby completing the chromatic aberration correction method S200 of the digital image capturing device.
As shown in fig. 8, a standard imaging screen device 300 is built with a color profile, and the color profile records system correction parameters 910 generated according to the color difference correction method S100 of the digital image capturing device and the screen.
While the foregoing embodiments have been described in a specific embodiment, the present invention is not limited to the specific embodiments, but rather to the specific embodiments, which are disclosed and illustrated herein, it will be appreciated by those skilled in the art that various modifications and variations may be made without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (11)

1. A digital image capturing device and a method for correcting chromatic aberration of a screen are disclosed, which is characterized by comprising:
providing a digital image capturing device to be corrected and a display screen to be corrected;
providing a wavelength-adjustable single-wavelength standard spectrum light source, which is a single-wavelength standard light source for providing each single wavelength of a standard spectrum according to time sequence and time sharing;
performing standard image capture, which uses the digital image capture device to be corrected to capture images of the single-wavelength standard light source according to the time sequence so as to generate image capture gray scale values of each pixel of each single-wavelength picture and then calculate image capture chromatic values corresponding to each single-wavelength picture;
generating image capturing chromaticity correction parameters, wherein the image capturing chromaticity value of each single-wavelength picture and the standard spectrum corresponding to the single wavelength are subjected to difference value statistical operation to generate each single-wavelength image capturing chromaticity correction parameter;
completing the calibration of the digital image capturing device, wherein the digital image capturing device to be calibrated is calibrated by each single-wavelength image capturing chromaticity calibration parameter so as to generate a standard digital image capturing device;
inputting standard gray scale signals, namely inputting R (0-255)/G (0-255)/B (0-255) standard gray scale signals into the display screen to be corrected so as to generate a display screen before correction;
taking the image of the front correction screen by using the standard digital image taking device to generate the gray scale value of the front correction screen, and calculating the chromatic value of the front correction screen;
generating a screen chrominance correction parameter, which is to calculate the screen chrominance value before correction after chrominance conversion is carried out on the standard gray-scale signal so as to generate the screen chrominance correction parameter; and
and finishing screen correction, namely synthesizing the image capturing chromaticity correction parameter and the screen chromaticity correction parameter into a system correction parameter, and writing the system correction parameter into a color characteristic configuration file of the display screen to be corrected.
2. The chromatic aberration correction method of claim 1, wherein the wavelength range of the single-wavelength standard light source is an integer value between 360nm and 830 nm.
3. The method as claimed in claim 1, wherein the chromatic aberration correction parameter for each single-wavelength image capture is obtained by performing a difference statistic operation on the chromatic aberration of each single-wavelength image capture and a standard chromatic aberration of the single-wavelength standard light source corresponding to the single wavelength to generate a total chromatic aberration value for each single wavelength.
4. The method as claimed in claim 3, wherein the step of completing the calibration of the digital image capturing device is to linearly superimpose each actual image capturing spectrum and the corresponding total color difference value of each single wavelength.
5. A chromatic aberration correction method of a digital image capturing device is characterized by comprising the following steps:
providing a digital image capturing device to be corrected;
providing a wavelength-adjustable single-wavelength standard spectrum light source, which is a single-wavelength standard light source for providing each single wavelength of a standard spectrum according to time sequence and time sharing;
performing standard image capture, which uses the digital image capture device to be corrected to capture images of the single-wavelength standard light source according to the time sequence so as to generate image capture gray scale values of each pixel of each single-wavelength picture and then calculate image capture chromatic values corresponding to each single-wavelength picture;
generating image capturing chromaticity correction parameters, wherein the image capturing chromaticity value of each single-wavelength picture and the standard spectrum corresponding to the single wavelength are subjected to difference value statistical operation to generate each single-wavelength image capturing chromaticity correction parameter; and
and completing the calibration of the digital image capturing device, wherein the digital image capturing device to be calibrated is calibrated by each single-wavelength image capturing chromaticity calibration parameter so as to generate a standard digital image capturing device.
6. The chromatic aberration correction method of claim 7, wherein the wavelength range of the single-wavelength standard light source is an integer value between 360nm and 830 nm.
7. The method as claimed in claim 5, wherein the chromatic aberration correction parameter for each single-wavelength image capture is obtained by performing a difference statistic operation on the chromatic aberration of each single-wavelength image capture and the standard chromatic aberration of the single-wavelength standard light source corresponding to the single wavelength to generate a total chromatic aberration value for each single wavelength.
8. The method as claimed in claim 7, wherein the step of completing the calibration of the digital image capturing device is to linearly superimpose each actually captured spectrum and the corresponding total color difference value of each single wavelength.
9. A standard imaging screen device, wherein a color profile is built in the device, and the color profile records the system calibration parameters according to claim 1.
10. A standard digital image capturing device, wherein an operation module is incorporated in the digital image capturing device to be calibrated, and the operation module records the chromaticity calibration parameter for each single wavelength image capturing according to claim 1 or 7, and the operation module performs: and performing dynamic image correction on each image-taking picture according to each single-wavelength image-taking chromaticity correction parameter.
11. The apparatus as claimed in claim 10, wherein the computing module is an embedded system built in the apparatus.
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