CN113744349A - Infrared spectrum image measurement alignment method, device and medium - Google Patents
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- 238000005259 measurement Methods 0.000 title claims abstract description 49
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- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
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Abstract
The invention discloses an infrared spectrum image measurement alignment method, an infrared spectrum image measurement alignment device and a medium, wherein the method comprises an infrared positioning target, an infrared spectrum detector and a visual camera, wherein the infrared spectrum detector detects the infrared positioning target to form an infrared spectrum image; the visual camera acquires real-time images of the infrared positioning target to form a camera real-time image; the infrared spectrum image measuring and aligning device comprises a memory, a processor and an infrared spectrum image measuring and aligning program, adopts a scheme of combining parallel light path non-imaging spectrum measurement with a visual camera, is low in cost, and realizes synchronous dynamic alignment of the infrared spectrum image during measurement by calibrating the infrared spectrum image and the camera real-time image, namely what you see is what you get, and can conveniently store and retain a target image.
Description
Technical Field
The invention relates to the field of optical detection, in particular to an infrared spectrum image measurement alignment method, an infrared spectrum image measurement alignment device and an infrared spectrum image measurement alignment medium.
Background
The infrared spectrum measurement is divided into an imaging type and a non-imaging type, wherein the non-imaging spectrum measurement has the advantage of low price compared with the imaging spectrum measurement, and is easier to popularize.
The most widely used at present is a light splitting mode measurement scheme, which has the characteristics of high scanning rate and high resolution, but light splitting of the light splitting mode measurement scheme inevitably causes a large amount of energy loss, and the light splitting mode detection effect is poor in scenes with high detection precision, small temperature difference and weak signals, such as hazardous chemical gas detection, ultra-long distance infrared detection and the like, so that the measurement accuracy is seriously influenced.
The technical scheme adopted by the invention is a parallel light path measuring scheme which can effectively avoid signal loss caused by light splitting, but a parallel light path can be correspondingly changed according to deviation change between detection distance change light paths, so that the measurement accuracy is seriously influenced, and the spectral measurement parallel light path scheme mainly depends on visual observation alignment of an operator, has strong subjectivity, requires rich experience of the operator, is easy to generate errors, is difficult to realize accurate alignment measurement once a plurality of target distances are close, namely, infrared spectrum images cannot be synchronously and dynamically aligned during measurement, and can not be obtained when the distance is seen.
Disclosure of Invention
The invention aims to solve the problems that light splitting in the non-infrared spectrum detection field easily causes signal loss, parallel light paths are difficult to align and the operation is complex, the scheme of combining parallel light path non-imaging spectrum measurement with a visual camera is adopted, the cost is low, meanwhile, the accurate alignment is realized by calibrating a spectrum sensor and a camera sensor, corresponding infrared spectrum images can be displayed by clicking any position of the camera image, the visible-to-the-eye acquisition is really realized, accurate infrared spectrum distinguishing can be realized for a plurality of objects on the same image at the same time, and the target image can be conveniently stored and kept.
Based on the purpose, the invention adopts the technical scheme that:
an infrared spectrum image measurement alignment method comprises an infrared positioning target, an infrared spectrum detector and a visual camera, and further comprises the following steps:
a1, the infrared spectrum detector detects the infrared positioning target to form an infrared spectrum image;
a2, the vision camera collects the real-time image of the infrared positioning target to form a camera real-time image;
a3, establishing a space mapping relation between the infrared spectrum image and the camera real-time image, and aligning the infrared positioning target according to the space mapping relation and the camera real-time image.
As an alternative, the vision camera includes a camera mount and a camera.
As a preferred scheme, the infrared spectrum detector is a four-quadrant infrared spectrum detector.
As a further scheme, establishing a spatial mapping relationship between the infrared spectrum image and the camera real-time image further comprises the steps of:
a3-1, fixing the infrared light source on the infrared positioning target;
a3-2, moving an infrared positioning target so that the infrared spectrum detector detects the infrared light source;
a3-3, the vision camera shoots the infrared positioning target, and the infrared positioning target forms an image in the vision camera;
a3-4, repeating the steps A3-2 and A3-3 three times;
a3-5, obtaining a rotation matrix and a translation matrix of the vision camera and the infrared spectrum detector by using a least square method;
a3-6, moving the infrared positioning target, repeating the steps A3-1-A3-5, and obtaining a rotation matrix and a translation matrix at different distances;
a3-7, establishing a spatial mapping relation between the infrared spectrum image and the camera real-time image according to the rotation matrix, the translation matrix and the camera parameters of the visual camera.
As an optional scheme, the shooting target of the visual camera is an infrared light source and a checkerboard, the checkerboard includes a plurality of grid units, and the infrared light source is fixed at a central position of the checkerboard.
As an optional scheme, the spatial mapping relationship between the infrared spectrum image and the real-time image of the camera is an equal-product transformation relationship, and the equal-product transformation relationship satisfies a cartesian coordinate transformation relationship.
As a further scheme, the establishment of the spatial mapping relationship between the infrared spectrum image and the real-time image of the camera is obtained by a calibration method, and the calibration method comprises the following steps:
b1, acquiring two-dimensional space point coordinates captured by a visual camera, obtaining a plurality of groups of two-dimensional space feature pairs according to the two-dimensional space point coordinates and camera parameters of the visual camera, constructing a linear equation set by the plurality of groups of two-dimensional space feature pairs and the camera parameters of the visual camera, and solving an essential matrix;
b2, decomposing the essential matrix to obtain a rotation matrix and a translation matrix;
and B3, obtaining a detection target of the infrared spectrum detector according to the rotation matrix and the translation matrix.
As an optional scheme, calculating a detection target of the infrared spectrum detector according to the two-dimensional spatial feature includes:
setting the coordinates of a two-dimensional space point P0 captured by the visual camera and P0 as (P0-1, P0-2), setting the camera parameter of the visual camera as K according to the camera parameter of the visual camera, converting the two-dimensional space point coordinates P0(P0-1, P0-2) into the coordinates P1(P1-1, P1-2) of the visual camera,
P1＝K*P0
the rotation matrix of the camera is R1(R1-1, R1-2 and R1-3), the translation matrix of the camera is T1(T1-1, T1-2 and T1-3), wherein the R1 is a3 x 3 matrix, the T1 is a3 x 1 matrix, and a least square method is constructed to obtain a detection target P2 of the infrared spectrum detector:
P2＝R1*P1+T1
and obtaining a plurality of different three-dimensional space point coordinates according to a plurality of different rotation matrixes and translation matrixes, wherein the three-dimensional space point coordinates are detection targets of the infrared spectrum detector.
The infrared spectrum image measurement aligning method corresponds to an infrared spectrum image measurement aligning device which comprises a memory, a processor and an infrared spectrum image measurement aligning program, wherein the memory stores the infrared spectrum image measurement aligning program, and the processor executes the infrared spectrum image measurement aligning program to realize the infrared spectrum image measurement aligning method.
Corresponding to the above infrared spectral image measurement alignment method is a computer-readable storage medium having stored thereon an infrared spectral image measurement alignment program executed to implement the above infrared spectral image measurement alignment method.
The beneficial effects are realized:
1, a parallel light path scheme is adopted, so that the detection distance is long and the sensitivity is high;
2, realizing what you see is what you get, realizing multi-target accurate positioning in the same image, and solving the target alignment problem in infrared spectrum measurement;
3, realizing infrared spectrum measurement and camera imaging automatic calibration, and being convenient and fast;
and 4, a low-cost hardware scheme and a high-performance software algorithm are used for replacing expensive spectral imaging, so that the method is convenient, practical and convenient to popularize.
5, the device is small in size, light in weight, low in energy consumption, convenient to carry, convenient for a rescue site to select an observation visual angle, and capable of acquiring real-time accurate infrared spectrum detection information (such as hazardous chemical detection and material identification) and meeting the requirements of fire emergency rescue equipment;
6, the infrared spectrum detector and the camera image mapping relation are obtained through calibration, the requirements on equipment installation and machining precision are low, errors are not prone to occurring, the implementation is convenient, the infrared spectrum detector can be continuously used only through recalibration even if structural parts are loosened and deformed, and the stability and the adaptability of the infrared spectrum detector and the camera image mapping relation are greatly improved.
Drawings
FIG. 1 is a first embodiment of the alignment of infrared spectral image measurements of the present invention;
FIG. 2 is a second embodiment of the infrared spectral image measurement alignment of the present invention;
FIG. 3 illustrates the infrared spectral image measurement alignment method steps of the present invention;
fig. 4 is a schematic diagram of cartesian coordinate transformation according to the present invention.
Wherein: 10. the system comprises an infrared positioning target, 20, an infrared spectrum detector, 21, an infrared spectrum image, 30, a vision camera, 31, a camera real-time image, 40, a reflector, 50, a transflective mirror, 60, a lens, 70, a controller, 100 and an industrial personal computer.
Detailed Description
Referring to fig. 3, an infrared spectrum image measurement alignment method includes an infrared positioning target 10, an infrared spectrum detector 20, and a vision camera 30, and further includes the steps of:
a1, detecting the infrared positioning target 10 by the infrared spectrum detector 20 to form an infrared spectrum image 21;
a2, the vision camera 30 collects the real-time image of the infrared positioning target 10 to form a camera real-time image 31;
a3, establishing a spatial mapping relation between the infrared spectrum image 21 and the camera real-time image 31, and aligning the infrared positioning target 10 according to the spatial mapping relation and the camera real-time image 31.
The specific process of infrared spectrum image measurement alignment is as follows:
1, plant protocol
As shown in fig. 1 or 2, a real-time image data is acquired by a vision camera 30 to obtain a camera real-time image 31, the camera real-time image is uploaded to an industrial personal computer 100, the position and the direction of a reflector 40 or a transflective mirror 50 are changed by a controller 70, a real-time infrared spectrum image at any position of the whole image can be acquired to obtain an infrared spectrum image 21, the industrial personal computer 100 processes the infrared spectrum image 21, and a control variable is uploaded to the industrial personal computer by the controller 70.
2, calibration
Before use, in order to realize the corresponding relation between the infrared spectrum image 21 and the camera real-time image 31, the visual camera 30 and the infrared spectrum detector 20 need to be calibrated, the calibration aims to obtain the accurate installation position deviation of the visual camera 30 and the infrared spectrum detector 20, equipment only needs to be calibrated once, and subsequent calibration parameters can be used all the time unless the structure position changes, and the calibration method is as follows:
a) setting the infrared positioning target 10 as an infrared light source, setting the target of the vision camera 30 as the infrared light source and the checkerboard calibration plate, and manufacturing the checkerboard calibration plate;
b) fixing an infrared light source at the central position of the chessboard pattern calibration plate;
c) horizontally moving the checkerboard calibration plate to ensure that the detector 20 of the infrared spectrometer reaches the infrared light source;
d) obtaining the position of the infrared light source in the camera real-time image 31 at the moment through the camera real-time image 31 obtained by the vision camera 30;
e) repeating c), d) step for more than 3 times;
f) obtaining a rotation matrix R0 and a translation matrix T0 of the vision camera 30 and the infrared spectrum detector 20 by using a least square method;
g) and respectively vertically moving the chessboard pattern calibration plates, keeping the chessboard pattern calibration plates and the equipment (the vision camera 30 and the infrared spectrum detector 20) at different distances according to the actual use condition, and repeating the processes of c) - > f) to obtain rotation matrixes and translation matrixes at different distances.
The spatial mapping relationship between the infrared spectrum image 21 and the camera real-time image 31 is an equal product transformation relationship, as shown in fig. 4, and the spatial mapping relationship between the infrared spectrum image 21 and the camera real-time image 31 satisfies a cartesian coordinate transformation relationship.
Transformation formula (1) of plane two-dimensional coordinate system can be deduced through Cartesian coordinate transformation
Wherein: xoy, x ' o ' y ' each represent two different coordinate systems, (x)0,y0) Indicating translation and angle alpha indicating rotation.
As shown in FIG. 4, x 'o' y 'is translated to obtain x' o 'y'.
3, uploading parameters to the industrial personal computer 100 through the controller 70 to obtain a rotation matrix R1 and a translation matrix T1;
4, the camera internal reference matrix of the vision camera 30 is K;
5, finally establishing mapping between the real-time video image and the infrared spectrum sensor;
P1＝R0*P0+T0 (2)
P2＝R1*P1+T2 (3)
P3＝K*P2 (4)
wherein P0 is the infrared spectrum position detected by the infrared spectrum detector 20, P3 is the final coordinate position of the vision camera 30, P1 is the coordinate position of the first rotation matrix and the first translation matrix of the vision camera 30, and P2 is the coordinate position of the second rotation matrix and the second translation matrix of the vision camera 30;
the mapping relation between the position of the infrared light source detected by the infrared spectrum detector 20 and the coordinates of the camera real-time image 31 obtained by the vision camera 30 is established through the formulas (2), (3) and (4).
Finally, the target point corresponding to the infrared spectrum detector 20, i.e. the infrared spectrum image 21, can be marked out in the camera real-time image 31 by software, so as to realize what you see is what you get.
And 7, similarly, parameters can be sent to the controller through the industrial personal computer 100 by clicking any point on the real-time image 31 of the camera, so that the infrared spectrum detector 20 is aligned.
Finally, it should be noted that the above-mentioned embodiments illustrate rather than limit the scope of the invention, and that those skilled in the art will be able to modify the invention in its various equivalent forms without departing from the scope of the invention as defined in the appended claims.
Claims (10)
1. The infrared spectrum image measurement alignment method is characterized by comprising an infrared positioning target, an infrared spectrum detector and a visual camera, and further comprising the following steps:
a1, the infrared spectrum detector detects the infrared positioning target to form an infrared spectrum image;
a2, the vision camera collects the real-time image of the infrared positioning target to form a camera real-time image;
a3, establishing a space mapping relation between the infrared spectrum image and the camera real-time image, and aligning the infrared positioning target according to the space mapping relation and the camera real-time image.
2. The infrared spectroscopy image measurement alignment method of claim 1, wherein the vision camera comprises a camera mount and a camera.
3. The infrared spectral image measurement alignment method of claim 1, wherein said infrared spectral detector is a four-quadrant infrared spectral detector.
4. The method for measuring and aligning the infrared spectrum image according to any one of claims 1 to 3, wherein the step of establishing the spatial mapping relationship between the infrared spectrum image and the real-time image of the camera further comprises the steps of:
a3-1, fixing the infrared light source on the infrared positioning target;
a3-2, moving an infrared positioning target so that the infrared spectrum detector detects the infrared light source;
a3-3, the vision camera shoots the infrared positioning target, and the infrared positioning target forms an image in the vision camera;
a3-4, repeating the steps A3-2 and A3-3 three times;
a3-5, obtaining a rotation matrix and a translation matrix of the vision camera and the infrared spectrum detector by using a least square method;
a3-6, moving the infrared positioning target, repeating the steps A3-1-A3-5, and obtaining a rotation matrix and a translation matrix at different distances;
a3-7, establishing a spatial mapping relation between the infrared spectrum image and the camera real-time image according to the rotation matrix, the translation matrix and the camera parameters of the visual camera.
5. The method of claim 4, wherein the target of the vision camera is an infrared light source and a checkerboard, wherein the checkerboard comprises a plurality of grid cells, and the infrared light source is fixed at a central position of the checkerboard.
6. The method of claim 4, wherein the spatial mapping relationship of the IR spectra image and the real-time image of the camera is an equal-product transformation relationship, the equal-product transformation relationship satisfying a Cartesian coordinate transformation relationship.
7. An infrared spectral image measurement alignment method according to any one of claims 1 to 3, wherein said spatial mapping relationship between said infrared spectral image and said real-time camera image is established by a calibration method, said calibration method comprising the steps of:
b1, acquiring two-dimensional space point coordinates captured by a visual camera, obtaining a plurality of groups of two-dimensional space feature pairs according to the two-dimensional space point coordinates and camera parameters of the visual camera, constructing a linear equation set by the plurality of groups of two-dimensional space feature pairs and the camera parameters of the visual camera, and solving an essential matrix;
b2, decomposing the essential matrix to obtain a rotation matrix and a translation matrix;
and B3, obtaining a detection target of the infrared spectrum detector according to the rotation matrix and the translation matrix.
8. The infrared spectral image measurement alignment method of claim 7, wherein computing a detection target of the infrared spectral detector from the two-dimensional spatial features comprises:
setting the coordinates of a two-dimensional space point P0 captured by the visual camera and P0 as (P0-1, P0-2), setting the camera parameter of the visual camera as K according to the camera parameter of the visual camera, converting the two-dimensional space point coordinates P0(P0-1, P0-2) into the coordinates P1(P1-1, P1-2) of the visual camera,
P1＝K*P0
the rotation matrix of the camera is R1(R1-1, R1-2 and R1-3), the translation matrix of the camera is T1(T1-1, T1-2 and T1-3), wherein the R1 is a3 x 3 matrix, the T1 is a3 x 1 matrix, and a least square method is constructed to obtain a detection target P2 of the infrared spectrum detector:
P2＝R1*P1+T1
and obtaining a plurality of different three-dimensional space point coordinates according to a plurality of different rotation matrixes and translation matrixes, wherein the three-dimensional space point coordinates are detection targets of the infrared spectrum detector.
9. An infrared spectral image measurement alignment apparatus comprising a memory, a processor, and an infrared spectral image measurement alignment program, wherein the memory stores the infrared spectral image measurement alignment program, and the processor executes the infrared spectral image measurement alignment program to implement the infrared spectral image measurement alignment method according to any one of claims 1 to 8.
10. A computer-readable storage medium having stored thereon an infrared spectral image measurement alignment program executed to implement the infrared spectral image measurement alignment method of any one of claims 1 to 8.
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