CN112903103A - Computed spectrum imaging system and method based on DMD and complementary all-pass - Google Patents
Computed spectrum imaging system and method based on DMD and complementary all-pass Download PDFInfo
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Abstract
The invention discloses a DMD and complementary all-pass based calculation spectrum imaging system, which comprises the following implementation steps: 1. designing a coding template; 2. coding by using a DMD coder to obtain a stripe part and a non-stripe part; 3. acquiring a black-and-white image after the stripe part is subjected to light splitting; 4. acquiring a color image of a non-fringe part; 5. constructing a complementary all-pass spectrum data cube; 6. calculating and updating each pixel value of the unknown information part by utilizing a bilateral filtering algorithm; 7. the complementary all-pass spectrum data cube is updated. The invention solves the problem that the object plane of the imaging module in the spectral imaging system deviates from the designed object plane due to the alignment error, so that the invention has the advantages of reducing system aberration, realizing full communication of spectral image observation information and acquiring the spectral information of a full scene in real time.
Description
Technical Field
The invention belongs to the technical field of spectral imaging, and further relates to a system and a method for calculating spectral imaging based on a Digital Micromirror Device (DMD) (digital Micromirror devices) and complementary all-pass in the technical field of calculating spectral imaging. The method is mainly used for acquiring the spatial information and the spectral information of the observation target in real time and reconstructing the three-dimensional spectral data cube of the observation target by utilizing the two information.
Background
The spectral imaging technology is an imaging technology of 'map integration' capable of showing more and more abundant information of things, makes full use of radiation and absorption characteristics of substances to different electromagnetic waves, adds one-dimensional spectral information on the basis of traditional spatial dimension information, can acquire spatial information and spectral information of a target at the same time, and is called as a three-dimensional spectral data cube, and the data cube can provide spectral image data of each waveband and also can provide continuous spectral curves for each pixel, thereby providing a powerful means for substance analysis. The computational spectral imaging technology is based on the traditional dispersive spectral imaging technology, modulation and compression of a target data cube are completed by introducing a proper coding template into an optical path, and then three-dimensional map information reconstruction is performed on a two-dimensional aliasing image acquired by a detector in a computational processing mode, so that snapshot imaging of scene space information and spectral information is realized, the defects of low luminous flux, long line-by-line scanning imaging time and the like of the traditional spectral imaging technology are overcome, the original data volume is greatly reduced, and the data storage and transmission pressure is reduced.
A patent document 'DMD-based multi-target imaging spectrum system and method' (application number: 201910918873.3, application publication number: CN110567581A, application date: 09/26/2019) applied by Changchun optical precision machinery and physical research institute of Chinese academy of sciences discloses a spectrum imaging system and method for simultaneously observing two paths of scenes by using a digital micromirror device as a coding tool. The system disclosed by the patent comprises a DMD, a controller connected with the DMD, an imaging channel and a spectrum channel, wherein the controller is used for controlling all micro mirror units of the DMD to turn over, the imaging channel is used for acquiring image information projected by the DMD, and the spectrum channel is used for acquiring spectrum information projected by the DMD. When the system works, the controller controls all the micromirrors of the DMD to turn over to the imaging channel and uses the imaging channel to obtain the information, then controls the DMD to turn over a first part of micromirrors to project to the spectrum channel, the spectrum channel obtains spectrum information of the first part, and finally controls the DMD to turn over a second part of micromirrors to project to the spectrum channel, and the spectrum channel obtains spectrum information of the second part. This system has two disadvantages: firstly, because detectors in an imaging channel and a spectrum channel and a deflected DMD have certain angle deviation, a serious aberration problem is caused, and the imaging effect in two channels is influenced; secondly, since the DMD encodes only a part of the targets at a time, the spectral information of the whole scene cannot be acquired in real time. The method disclosed by the patent comprises the steps of acquiring a first part and a second part of target points by using an imaging channel, wherein the number of the target points contained in the second part is one, the number of the target points contained in the first part is larger than that of the target points contained in the second part, then respectively acquiring the target points of the first part and the second part by using a spectrum channel, and finally fusing the spectrum information of the first part and the second part to form target spectrum information. The method has the following defects: due to the fact that the number of target points acquired by the imaging channel and the spectrum channel is too small, a corresponding full-scene image cannot be obtained when the spectrogram is reconstructed.
The research institute of aerospace information innovation of the Chinese academy of sciences disclosed a spectral imaging system and a spectral imaging method based on DMD in the patent document 'DMD-based spectral imaging system and DMD-based spectral imaging method' (application No. 202010608544.1, application publication No. CN111811649A, application date: 2020, 06, 29) applied by the research institute of aerospace information innovation, wherein the spectral imaging system and the method are used for coding and observing scenes by using DMD. The system disclosed in this patent includes a pre-imaging system, a digital micromirror device, a first imaging unit, a second imaging unit, and a processor. The front-end imaging system comprises a front-end imaging lens, the first imaging unit comprises a first imaging lens and a first area array detector, and the second imaging unit comprises a second imaging lens, a dispersive element and a second area array detector. When the system works, firstly, a DMD is used for carrying out space coding on an observation target, then the space coding is respectively reflected to a left light path and a right light path, a detector of the left light path receives a two-dimensional image, a detector of the right light path receives spectral information after the right light path passes through a light splitting element, and finally two paths of results are combined to obtain a spectral image of the observation target. The system has two defects in the imaging process: firstly, because the deflection angle of the DMD is small, a front-end imaging system collides with a first imaging unit and a second imaging unit in the actual building process, and the system is difficult to realize; secondly, because the problem of inconsistent magnification of the pre-imaging system exists in the actual observation, the system generates aberration, and the quality of the finally obtained spectral image is poor. The patent discloses a spectral imaging method based on DMD, which uses a second imaging unit to perform push-scan stitching on an observed target, and color images are used for monitoring the observed target. The method has the disadvantages that the step of performing push-scanning splicing on the scene by using the second imaging unit refers to the step of performing line-by-line scanning on a static scene, and then splicing all the scanned spectral images together, so that the dynamic spectral information of the observation target cannot be obtained in real time.
Disclosure of Invention
The invention aims to provide a computed spectrum imaging system and a computed spectrum imaging method based on a DMD and a complementary all-pass technology, aiming at overcoming the defects of the prior art, and solving the problems that in the computed spectrum imaging system based on the DMD, an object plane in an imaging module deviates from a designed object plane due to alignment errors and the whole information of a whole scene cannot be acquired because only part of information of an observed scene is coded.
The idea for realizing the purpose of the invention is as follows: for the problem that the mutual matching of the pupils of the illumination system and the projection system needs to be considered in the imaging system, the object space telecentric lens with the pupil at infinity is adopted, so that the depth of field is increased, the main ray is emergent in a parallel light path, and the problem that the object plane deviates from the designed object plane due to alignment errors is greatly eliminated; encoding only a portion of the objects loses spatial information of the scene. The invention adopts complementary coding templates, adopts bilateral filtering algorithm to process the light splitting image shot by the inter-spectrum imaging module and the color image shot by the space imaging module, and reconstructs the spectrum information of the whole scene.
The computed spectrum imaging system comprises an imaging module, a DMD encoder, an inter-spectrum imaging module, a space imaging module and a combined control processing module, wherein an optical lens in the imaging module is an object space telecentric lens with a pupil positioned at infinity, and a filter is a visible light filter, wherein the visible light filter is arranged behind the object space telecentric lens; the combined control processing module is simultaneously connected with the DMD encoder, the inter-spectrum imaging module and the space imaging module; wherein the content of the first and second substances,
the DMD encoder is used for inputting the encoding template into the DMD encoder to obtain an encoding image, controlling the micro mirror unit corresponding to the DMD encoder in the known information of the encoding image to deflect towards the positive 12-degree direction to obtain a stripe part according to a control instruction of the combined control processing module, and controlling the micro mirror unit corresponding to the DMD encoder in the unknown information of the encoding image to deflect towards the negative 12-degree direction to obtain a non-stripe part;
the inter-spectrum imaging module is used for splitting the deflected stripe part, wherein an Amisy prism in the inter-spectrum imaging module splits the deflected stripe part to obtain split stripes, and a black-and-white detector shoots split images to obtain split images;
the space imaging module is used for acquiring a color image of the non-fringe part, and a color detector in the space imaging module is used for shooting an image of the deflected non-fringe part to obtain a color image with three channels;
and the joint control processing module is used for connecting the DMD encoder, the inter-spectrum imaging module and the space imaging module and calculating and updating each pixel value of the unknown information part by utilizing a bilateral filtering algorithm.
The method comprises the following steps:
(1) designing a coding template:
creating a coding template which comprises mutually parallel oblique stripes and has the size of M multiplied by N, wherein M represents the length of the coding template, the value of the length of the coding template is equal to the length of a digital micromirror array (DMD) encoder, N represents the width of the coding template, the value of the width of the coding template is equal to the width of the digital micromirror array (DMD) encoder, and the stripe interval G is greater than the dispersion width of an Amisy prism, wherein the oblique stripes on the coding template are known information, and blank parts among the oblique stripes are unknown information;
(2) encoding using a DMD encoder:
inputting the coding template into a DMD coder to obtain a coding image, controlling a micro mirror unit corresponding to the DMD coder in the known information of the coding image to deflect towards a positive 12-degree direction to obtain a stripe part and controlling a micro mirror unit corresponding to the DMD coder in the unknown information of the coding image to deflect towards a negative 12-degree direction to obtain a non-stripe part according to a control instruction of a combined control processing module;
(3) spectral fringe part:
an Amisy prism in the inter-spectrum imaging module performs light splitting on the deflected stripe part to obtain a split stripe, and a black-and-white detector shoots a split image to obtain a split image;
(4) acquiring a color image of a non-striped part:
shooting an image of the deflected non-fringe part by using a color detector in the space imaging module to obtain a color image with three channels;
(5) constructing a complementary all-pass spectrum data cube:
(5a) creating a cube with the size of D multiplied by L multiplied by W, wherein D represents the depth of the cube, the value of D is equal to the stripe distance G, L represents the length of the cube, the value of L is equal to the length M of the coding template, W represents the width of the cube, and the value of W is equal to the width N of the coding template;
(5b) assigning the pixel value of the fringe part in the spectral image to one face of the cube, and uniformly distributing the pixel value of the fringe after the spectral image is split to the rest faces in the complementary all-pass spectrum data cube to obtain the known information part of each face in the cube;
(5c) respectively assigning the pixel value of the non-fringe part in the color image to each face corresponding to the fringe part in the cube to obtain an unknown information part of each face in the cube, wherein each face of the cube obtains complete information complemented by the known information part and the unknown information part;
(6) calculating and updating each pixel value of the unknown information part by utilizing a bilateral filtering algorithm;
(7) updating a complementary all-pass spectrum data cube:
each pixel value of the computationally updated unknown information portion is assigned to a corresponding unknown information pixel in each face of the complementary all-pass spectral data cube.
Compared with the prior art, the invention has the following advantages:
first, because the optical lens selected by the imaging module in the system of the present invention is an object-side telecentric lens with an infinite pupil, the problem of deviation from the designed object plane due to object plane alignment error in the imaging module of the prior art is overcome, so that the system of the present invention has the advantage of reducing system aberration.
Secondly, because the method constructs a complementary spectrum data cube, each face of which is composed of complete information partially complemented by the known information and the unknown information, the defect that all information of the whole scene cannot be acquired because only partial information of the observed scene is coded in the prior art is overcome, and the spectrum image obtained by the method has the advantage of universal observation information.
Thirdly, because the method of the invention uses the bilateral filtering algorithm to calculate and update each pixel value of the unknown information part, and constructs the complementary all-pass spectrum data cube according to the calculation result, the defect that the dynamic spectrum information of the observation target can not be obtained in real time because all the scanned spectrum images are spliced together in the prior art is overcome, and the invention has the advantage of obtaining the full-scene spectrum information in real time.
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FIG. 1 is a schematic diagram of the system of the present invention;
FIG. 2 is a flow chart of the method of the present invention.
Detailed Description
The invention is described in further detail below with reference to the figures and examples.
The computed spectral imaging system of the present invention is described in further detail with reference to FIG. 1.
The computed spectrum imaging system comprises an imaging module, a DMD encoder, an inter-spectrum imaging module, a space imaging module and a combined control processing module.
The imaging module consists of an optical lens and an optical filter, the optical lens is an object space telecentric lens with an infinite pupil, the magnification of the object space telecentric lens is constant, the object space telecentric lens does not change along with the change of depth of field, and has no parallax, the object space telecentric lens can not only avoid the mutual collision of an incident lens and two paths of emergent lenses, but also eliminate the measurement error caused by the inaccurate position of a detector, and an observation scene and a DMD (digital micromirror device) encoder are respectively positioned on the object plane and the image plane of the object space telecentric lens; the optical filter is a visible light optical filter, can prevent infrared red rays from influencing imaging, and is arranged behind the object space telecentric lens.
The DMD encoder has different models according to different resolutions, micro-mirror unit arrangement modes and deflection angles, in the embodiment of the invention, DLP4500 with the resolution of 912 x 1140, the micro-mirror units arranged in a diamond shape and the deflection angles of plus or minus 12 degrees is used as an encoding device, the pixel size of the DLP4500 is 7.6 mu m, the DLP is formed by splicing 1039680 micro-lenses, each micro-lens corresponds to one pixel in the DMD, and a rotatable hinge is connected below the pixel. DLP4500 has two modes of a static state and a working state, all micromirrors in the static state do not deflect and keep the current direction unchanged, and the micromirrors are similar to plane mirrors; under the working state, two deflections with the same angle and opposite directions can be generated. The DLP4500 can realize the selection of two deflection directions of any micromirror through program control, and a digital square pixel pattern can be formed by projecting incident light onto a screen through a lens after the incident light is reflected by the DMD, thereby achieving two projection states of 'on' and 'off'. And inputting the coding template into a DMD coder to obtain a strip part and a non-strip part, and controlling the micro mirror units corresponding to the DMD coder in the strip part and the non-strip part to deflect towards the positive 12-degree direction and the negative 12-degree direction respectively by the DMD coder according to a control instruction of the combined control processing module.
The spectrum imaging module comprises an Amixi prism and a black-and-white detector, the Amixi prism is used for splitting the deflected stripe part to obtain split stripes, the light splitting device is not limited to the Amixi prism, and any device capable of achieving the light splitting effect can be used as a light splitting grating or a triangular prism. The amici prism used in the embodiments of the present invention consists of two triangular prisms, the first of which is typically made of crown glass with a moderate dispersion capacity, and the second of which is made of high dispersion flint glass, the light entering the first prism being refracted and then entering the interface between the two prisms and then exiting in a direction nearly perpendicular to the surface of the second prism. The angle and material of the prism are chosen so that light of one wavelength leaves the prism parallel to the incoming beam and the other wavelength is deflected by an angle related to the dispersive power of the material. The Amisy prism is used for splitting the deflected stripe part to obtain split stripes, the black-and-white detector shoots split images to obtain split images, the pixel size of the black-and-white detector is in proportional relation with the pixel size of the DMD encoder, and the resolution is larger than the resolution of the DMD encoder.
The spatial imaging module is used for acquiring the deflected non-fringe part, a color detector in the spatial imaging module is used for shooting an image of the deflected non-fringe part, the resolution ratio of the color detector is required to be greater than or equal to that of the DMD and is the same as that of a black-and-white detector in the inter-spectrum imaging module, meanwhile, the pixel size of the color detector and the pixel size of the DMD are in integral multiple relation, and pixel level registration and reconstruction are convenient to achieve in the later stage. The black and white detector selected in the embodiment of the invention is an HM1400 model camera of Teledyne DASLA, the resolution is 1400 multiplied by 1024, the pixel size is 7.4 mu m, and the deflection angle of the DMD brings certain aberration, so that the color detector is inclined at a corresponding angle to correct the aberration, and a color image with three channels is obtained by shooting.
The joint control processing module is used for connecting the DMD encoder, the inter-spectrum imaging module and the space imaging module, controlling the DMD encoder to load an encoding template, and processing a light splitting image and a color image by adopting a bilateral filtering algorithm.
The steps of the computed spectral imaging method of the present invention are further described below in conjunction with FIG. 2.
Step 1, designing a coding template.
Creating an encoding template which comprises oblique stripes which are parallel to each other and has the size of M multiplied by N, wherein M represents the length of the encoding template, the value of the length of the encoding template is equal to the length of a digital micromirror array DMD encoder, N represents the width of the encoding template, the value of the encoding template is equal to the width of the digital micromirror array DMD encoder, and the stripe distance G is larger than the dispersion width of an Amisy prism so as to ensure that the designed stripes can not be mixed after the dispersion of the Amisy prism, wherein the oblique stripes on the encoding template are known information, and blank parts among the oblique stripes are unknown information.
And 2, encoding by using a DMD encoder.
And inputting the coding template into a DMD coder to obtain a coding image, controlling the micro mirror unit corresponding to the DMD coder in the known information of the coding image to deflect towards the positive 12-degree direction to obtain a stripe part according to a control instruction of the joint control processing module by the DMD coder, and controlling the micro mirror unit corresponding to the DMD coder in the unknown information of the coding image to deflect towards the negative 12-degree direction to obtain a non-stripe part.
And 3, splitting the fringe part.
An Amisy prism in the inter-spectrum imaging module is used for splitting the deflected stripe part to obtain split stripes, a black-and-white detector is used for shooting split images to obtain split images, and the pixel size of the black-and-white detector is in proportional relation with the pixel size of the DMD encoder.
And 4, acquiring a color image of the non-fringe part.
And a color detector in the space imaging module is used for shooting an image of the deflected non-fringe part to obtain a color image with three channels, and the pixel size of the color detector is in proportional relation with the pixel size of the DMD encoder.
And 5, constructing a complementary spectrum data cube.
And creating a cube with the size of D multiplied by L multiplied by W, wherein D represents the depth of the cube and the value of the depth is equal to the stripe distance G, L represents the length of the cube and the value of the length is equal to the length M of the coding template, and W represents the width of the cube and the value of the width N of the coding template.
Assigning the pixel value of the fringe part in the spectral image to one face of the cube, and uniformly distributing the pixel value of the fringe after the spectral image is split to the rest faces in the complementary spectrum data cube to obtain the known information part of each face in the cube, wherein the number of the known information parts of each face in the cube is the same.
And respectively assigning the pixel values of the non-fringe part in the color image to each face corresponding to the fringe part in the cube to obtain the unknown information part of each face in the cube, wherein the number of the unknown information parts of each face in the cube is the same, and each face of the cube obtains complete information complemented by the known information part and the unknown information part.
And 6, calculating and updating each pixel value of the unknown information part by using the following bilateral filtering algorithm:
wherein m isijRepresenting the value of the jth pixel on the ith face of the spectral data cube,
the expression sums the R, G, B red, green and blue channels in the color image, c denotes the channel number, sigmak∈ΩThe sum of the pixel points omega of the fringe part is shown, k represents the serial number of the pixel points of the fringe part, phiσrExpressing a Gaussian operator with a mean value of zero and a variance of sigma r, the value of sigma r is 0.05, phiσsExpressing the mean value as a Gaussian operator with zero variance as σ s, the value of σ sIs a number of 10 and is provided with,
representing the Euclidean distance between the jth pixel point and the kth pixel point on the color space, namely the Euclidean distance between the jth pixel point and the kth pixel point,
expressing the Euclidean distance between the jth pixel point and the kth pixel point on the image space, namely the Euclidean distance between the jth pixel point and the kth pixel point,
and the pixel value of the pixel point of the kth stripe part on the c channel is represented.
And 7, updating the complementary spectrum data cube.
Each pixel value of the computationally updated unknown information portion is assigned to a corresponding pixel of unknown information in each face of the complementary spectral data cube.
The above description is only one specific example of the present invention and does not constitute any limitation of the present invention. It will be apparent to persons skilled in the relevant art that various modifications and changes in form and detail can be made therein without departing from the principles and arrangements of the invention, but these modifications and changes are still within the scope of the invention as defined in the appended claims.
Claims (3)
1. A spectrum imaging system based on DMD and complementary all-pass calculation comprises an imaging module, a DMD encoder, an inter-spectrum imaging module, a space imaging module and a combined control processing module, and is characterized in that an optical lens in the imaging module is an object space telecentric lens with a pupil at infinity, and a filter is a visible light filter, wherein the visible light filter is arranged behind the object space telecentric lens; the combined control processing module is simultaneously connected with the DMD encoder, the inter-spectrum imaging module and the space imaging module; wherein the content of the first and second substances,
the DMD encoder is used for inputting the encoding template into the DMD encoder to obtain an encoding image, controlling the micro mirror unit corresponding to the DMD encoder in the known information of the encoding image to deflect towards the positive 12-degree direction to obtain a stripe part according to a control instruction of the combined control processing module, and controlling the micro mirror unit corresponding to the DMD encoder in the unknown information of the encoding image to deflect towards the negative 12-degree direction to obtain a non-stripe part;
the inter-spectrum imaging module is used for splitting the deflected stripe part, wherein an Amisy prism in the inter-spectrum imaging module splits the deflected stripe part to obtain split stripes, and a black-and-white detector shoots split images to obtain split images;
the space imaging module is used for acquiring a color image of the non-fringe part, and a color detector in the space imaging module is used for shooting an image of the deflected non-fringe part to obtain a color image with three channels;
and the joint control processing module is used for connecting the DMD encoder, the inter-spectrum imaging module and the space imaging module and calculating and updating each pixel value of the unknown information part by utilizing a bilateral filtering algorithm.
2. The computed spectral imaging system based on DMD and complementary all-pass as claimed in claim 1, wherein, creating encoding templates of parallel oblique stripes ensures that the stripes after dispersion do not produce aliasing, creating complementary all-pass spectral data cubes, and computing and updating each pixel value of the unknown information part by using a bilateral filtering algorithm; the method comprises the following steps:
(1) designing a coding template:
creating a coding template which comprises mutually parallel oblique stripes and has the size of M multiplied by N, wherein M represents the length of the coding template, the value of the length of the coding template is equal to the length of a digital micromirror array (DMD) encoder, N represents the width of the coding template, the value of the width of the coding template is equal to the width of the digital micromirror array (DMD) encoder, and the stripe interval G is greater than the dispersion width of an Amisy prism, wherein the oblique stripes on the coding template are known information, and blank parts among the oblique stripes are unknown information;
(2) encoding using a DMD encoder:
inputting the coding template into a DMD coder to obtain a coding image, controlling a micro mirror unit corresponding to the DMD coder in the known information of the coding image to deflect towards a positive 12-degree direction to obtain a stripe part and controlling a micro mirror unit corresponding to the DMD coder in the unknown information of the coding image to deflect towards a negative 12-degree direction to obtain a non-stripe part according to a control instruction of a combined control processing module;
(3) spectral fringe part:
an Amisy prism in the inter-spectrum imaging module performs light splitting on the deflected stripe part to obtain a split stripe, and a black-and-white detector shoots a split image to obtain a split image;
(4) acquiring a color image of a non-striped part:
shooting an image of the deflected non-fringe part by using a color detector in the space imaging module to obtain a color image with three channels;
(5) constructing a complementary all-pass spectrum data cube:
(5a) creating a cube with the size of D multiplied by L multiplied by W, wherein D represents the depth of the cube, the value of D is equal to the stripe distance G, L represents the length of the cube, the value of L is equal to the length M of the coding template, W represents the width of the cube, and the value of W is equal to the width N of the coding template;
(5b) assigning the pixel value of the fringe part in the spectral image to one face of the cube, and uniformly distributing the pixel value of the fringe after the spectral image is split to the rest faces in the complementary all-pass spectrum data cube to obtain the known information part of each face in the cube;
(5c) respectively assigning the pixel value of the non-fringe part in the color image to each face corresponding to the fringe part in the cube to obtain an unknown information part of each face in the cube, wherein each face of the cube obtains complete information complemented by the known information part and the unknown information part;
(6) calculating and updating each pixel value of the unknown information part by utilizing a bilateral filtering algorithm;
(7) updating a complementary all-pass spectrum data cube:
each pixel value of the computationally updated unknown information portion is assigned to a corresponding unknown information pixel in each face of the complementary all-pass spectral data cube.
3. The DMD and complementary allpass based computed spectroscopy imaging method of claim 2, wherein the bilateral filtering algorithm in step (6) is as follows:
wherein m isijRepresenting the value of the jth pixel on the ith face of the spectral data cube,
the expression sums the R, G, B red, green and blue channels in the color image, c denotes the channel number, sigmak∈ΩThe sum of the pixel points omega of the fringe part is shown, k represents the serial number of the pixel points of the fringe part, phiσrExpressing a Gaussian operator with a mean value of zero and a variance of sigma r, the value of sigma r is 0.05, phiσsRepresenting a gaussian operator with zero mean and variance σ s, with σ s taking a value of 10,
representing the Euclidean distance between the jth pixel point and the kth pixel point on the color space, namely the Euclidean distance between the jth pixel point and the kth pixel point,
expressing the Euclidean distance between the jth pixel point and the kth pixel point on the image space, namely the Euclidean distance between the jth pixel point and the kth pixel point,
indicates the k-th stripeAnd pixel values of part of the pixel points on the c channel.
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