CN114112021A - Method and device for calibrating imaging of oversized field of view - Google Patents
Method and device for calibrating imaging of oversized field of view Download PDFInfo
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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 provides an imaging calibration method for an oversized view field, which is used for carrying out large view field imaging calibration by providing a uniform integrating sphere calibration light source, and effectively solves the technical problems that the field angle of an optical imaging device in the prior art is too large, the whole view field cannot be calibrated only through a light outlet of a diagonal integrating sphere during imaging calibration, and the uniformity is poor due to light blocking when the optical imaging device extends into the integrating sphere for shooting. The invention also provides an oversized view field imaging calibration device, which is simple in structure and convenient to use, improves the imaging uniformity of the large view field, can ensure the accuracy of the large view field imaging calibration, and avoids errors caused by manual operation and measurement.
Description
Technical Field
The invention relates to the technical field of optical imaging, in particular to an imaging calibration method for an ultra-large field of view. The invention also relates to an imaging calibration device with an ultra-large field of view.
Background
With the development of image processing technology and machine vision technology, various optical imaging devices are widely used in production and life by people. In order to enable the optical imaging device to have a better imaging effect, imaging calibration processing is often required to be performed on the optical imaging device, and the integrating sphere calibration light source is a common device for imaging calibration on the optical imaging device.
The integrating sphere calibration light source generally comprises at least one integrating sphere and a light source arranged in or outside the integrating sphere, and the light source is generally a tungsten halogen lamp, an LED or the like or a xenon lampThe integrating sphere is provided with a light outlet, and the inner wall of the integrating sphere is usually coated with a uniform white diffuse reflection material. A baffle plate is arranged between the light source and the light outlet to ensure that the light emitted by the light source cannot directly reach the light outlet of the integrating sphere. Light emitted by the light source is reflected for multiple times by the inner wall coating of the integrating sphere, and a surface light source with uniform brightness and better Lambert characteristic is formed on the light outlet surface. The corresponding calibration of the optical imaging device by the integrating sphere calibration light source is performed, as shown in fig. 1, the optical imaging device is aligned and focused to the light outlet of the integrating sphere calibration light source for shooting, and the uniformity calibration of the luminance responsivity imaged by the optical imaging device can be performed by calculating and calibrating the obtained image through an algorithm. The method is only suitable for the lens with smaller field angle due to the limitation of uniformity requirement and light outlet size. Maximum calibration field of view achievable by the calibration method
In the formula, d is the diameter of the light outlet,
the shortest distance from the optical imaging device to the light outlet.
At present, the field angle of a lens of an optical imaging device is larger and larger, and some of the field angles even exceed a 2 pi solid angle, and due to the structural characteristics of the large field angle of the lens, a uniform light beam cannot be shot in an edge field when an imaging calibration is performed at a light outlet of an integrating sphere calibration light source, so that the calibration of the whole field cannot be realized. In the prior art, there is also a technical scheme for performing field calibration by extending an optical imaging device into an integrating sphere calibration light source, but due to the influence of the light source, a light barrier and other spherical accessories, the wall of the integrating sphere is difficult to realize uniform brightness in a large field range, and the optical imaging device extending into the integrating sphere calibration light source can further cause light blocking and shadows, and when the uniformity of the integrating sphere light source cannot be ensured, the imaging calibration accuracy of the optical imaging device is greatly reduced. Therefore, it is difficult to perform imaging calibration on a large-angle or negative-angle optical system such as a fisheye lens.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides an ultra-large field of view imaging calibration method, which is characterized in that a uniform integrating sphere calibration light source is provided for large field of view imaging calibration, an optical imaging device focuses on a uniform brightness sphere wall of an integrating sphere during calibration, and the technical problems that the field angle of the optical imaging device is too large, the whole field of view cannot be calibrated only by aligning a light outlet of the integrating sphere during imaging calibration, and the uniformity is poor due to light blocking when the optical imaging device extends into the integrating sphere for shooting are effectively solved. The invention also provides an oversized view field imaging calibration device, which is simple in structure and convenient to use, improves the imaging uniformity of the large view field, can ensure the accuracy of the large view field imaging calibration, and avoids errors caused by manual operation and measurement.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
the invention provides an ultra-large visual field imaging calibration method, which comprises the steps that an integrating sphere calibration light source is used for calibrating a large visual field optical imaging device, the uniform brightness sphere wall in the integrating sphere calibration light source is opposite to a light outlet, in order to realize the technical characteristics, the light source and a baffle plate in the integrating sphere calibration light source are required to be arranged near the light outlet in an integrating sphere, so that light beams emitted by the light source cannot directly irradiate the light outlet of the integrating sphere and cannot directly irradiate the sphere wall area opposite to the light outlet of the integrating sphere, and the uniform brightness sphere wall is formed in the integrating sphere inner wall coating area opposite to the light outlet through multiple reflection of the light rays in the integrating sphere; placing the optical imaging device near a light outlet of the integrating sphere calibration light source, and aligning and focusing the optical imaging device to the spherical wall with uniform brightness opposite to the light outlet; the optical imaging device and the integrating sphere calibration light source are relatively rotated, and the rotation center is positioned at a designated point of the optical imaging device, including but not limited to the lens center or the entrance pupil position of the optical imaging device; when the optical imaging device rotates to a specified angle, the optical imaging device shoots the spherical wall with uniform brightness and acquires a response image, and the pixel response in the field of view corresponding to the spherical wall with uniform brightness in the optical imaging device under the angle is calibrated; the response values of the optical imaging devices under multiple angles are calibrated and spliced, so that the imaging calibration of the ultra-large field of view is realized.
The invention has the technical characteristics that the optical imaging device is calibrated by utilizing the uniform brightness spherical wall of the integrating sphere calibration light source instead of the light outlet, the area of the uniform brightness spherical wall is limited under the influence of the light source, the baffle and the like in the integrating sphere, the uniform brightness spherical wall is assumed to be a circular area, the angle of view of observing the area at the center of the light outlet is alpha, and the alpha angle can be smaller than the measurement field of view of the optical imaging device. For such a large-view-field or ultra-large-view-field optical imaging device, the optical imaging device and the integrating sphere calibration light source are relatively rotated, and the spatial rotation angle is set to be (theta, phi), wherein the direction from the center of the light outlet to the wall of the sphere with uniform brightness is (0, 0). At any angle of rotation (theta)i，φi) Next, the optical imaging device images a spherical wall object with uniform brightness, and pixels in the optical imaging device centered at (θ i, φ i) and within a radius of α/2 can be calibrated. Calibration of the optical imaging device over the entire field of view is obtained by measuring the response of the optical imaging device at multiple angles. In the above technical solution, the relative rotation of the optical imaging device and the integrating sphere calibration light source may be performed around two mutually perpendicular rotation axes. And taking the lens center of the optical imaging device as a rotation center, and performing relative rotation of the optical imaging device and the integrating sphere calibration light source. The rotation axes are respectively an axis vertical to the optical axis of the lens on a vertical plane and an axis vertical to the optical axis of the lens on a horizontal plane, so that the relative rotation of the optical imaging device and the integrating sphere calibration light source is realized. In the above technical solution, there are various ways to realize the relative rotation between the optical imaging device and the integrating sphere calibration light source, for example, the relative rotation is realized by the rotation of the optical imaging device while the integrating sphere calibration light source remains stationary, the relative rotation is realized by the rotation of the integrating sphere calibration light source around the optical imaging device while the optical imaging device remains stationary, the relative rotation is realized by the rotation of the optical imaging device in one dimension and the rotation of the integrating sphere calibration light source around the optical imaging device, and the like.
In the above technical solution, due to the limitation of the large field angle of the optical imaging device, the field area of the optical imaging device calibrated at each rotation angle is less than or equal to the corresponding area of the spherical wall with uniform brightness, and the calibrated field areas at each angle are spliced to cover the whole field of view of the optical imaging device. The pixel response M (M, n) under each angle can be calibrated firstly, and the calibrated field area is spliced and cut, so that the large field calibration of the optical imaging device is realized; the response images of the optical imaging device at all angles can be spliced and cut firstly, and then the pixel response of the spliced image is calibrated, so that the calibration of all the fields of view of the optical imaging device is realized.
Furthermore, the output spectrum and the brightness of the light source for the integrating sphere calibration are adjustable, and the optical imaging device is calibrated one by one according to the method under various output spectrums and brightnesses. The linearity of the optical imaging device can be further improved by calibration at various brightnesses. The consistency of the optical imaging device in measuring different light sources can be further improved by response calibration on various spectrums, and a spectrum matrix can also be used for calibration.
On the other hand, the invention also provides an ultra-large field-of-view imaging calibration device, which comprises an integrating sphere calibration light source, a sample stage for clamping the calibrated optical imaging device and a program control system; the integrating sphere calibration light source is provided with a uniform brightness spherical wall and a light outlet, and the uniform brightness spherical wall is opposite to the light outlet; the optical imaging device is placed near a light outlet of the integrating sphere calibration light source through a sample table; the sample stage and/or the integrating sphere calibration light source are/is connected with the rotation driving device, and the calibrated optical imaging device and the integrating sphere calibration light source rotate relatively under the driving of the rotation driving device; the program control system is respectively electrically connected with the rotation driving mechanism and the calibrated optical imaging device, the program control system controls the calibrated optical imaging device and the integrating sphere calibration light source to rotate relatively, the optical imaging device always shoots the spherical wall with uniform brightness of the integrating sphere calibration light source, the image response of the optical imaging device is collected at a specified angle, and the pixel response in the corresponding view field area of the optical imaging device is calibrated.
Furthermore, the device also comprises a light source rotary table used for arranging the integrating sphere calibration light source and enabling the integrating sphere calibration light source to rotate around the calibrated optical imaging device, wherein the light source rotary table is electrically connected with the program control system; through the control of the program control system, various relative rotation modes of the calibrated optical imaging device and the integrating sphere calibration light source are further realized, for example, the calibrated optical imaging device rotates while the integrating sphere calibration light source remains stationary, the integrating sphere calibration light source rotates around the calibrated optical imaging device while the optical imaging device remains stationary, the calibrated optical imaging device rotates in one dimension, the integrating sphere calibration light source rotates around the optical imaging device, and the like.
Further, the optical imaging device may be an imaging luminance meter, a camera, or a camera.
Furthermore, the light output (such as spectrum and brightness) of the integrating sphere calibration light source is adjustable. The calibrated optical imaging device performs field calibration under various output spectrums, and the linearity of the optical imaging device can be further improved. The calibrated optical imaging device performs field calibration under various brightness conditions, and therefore the consistency of the optical imaging device in measuring different light sources can be improved.
The invention has the beneficial effects that: the method realizes the large-field-of-view imaging calibration by providing the ultra-large-field-of-view imaging calibration method; the invention also provides an oversized view field imaging calibration device which is simple in structure, low in cost and convenient and fast to use, improves the imaging uniformity of the large view field, can ensure the accuracy of the large view field imaging calibration, and avoids errors caused by manual operation and measurement.
Drawings
FIG. 1 is a schematic diagram of an optical imaging apparatus for calibrating a light source by an integrating sphere to perform imaging calibration in the prior art;
FIG. 2 is a block flow diagram of a calibration method for ultra-large field-of-view imaging;
FIG. 3 is a schematic diagram of relative rotation of an optical imaging device and an integrating sphere calibration light source in a calibration method for ultra-large field of view imaging;
FIG. 4 is a view field stitching diagram of a calibration method for ultra-large view field imaging;
FIG. 5 is a schematic structural diagram of an oversized field-of-view imaging calibration device;
in the figure, 1 is an optical imaging device, 2 is an integrating sphere calibration light source, 3 is a sample stage, 4 is a rotation driving device, 5 is a light source turntable, 6 is a program control system, 7 is a uniform brightness sphere wall, 8 is a light source, 9 is a light outlet, and 1-1 and 1-2 are rotating shafts.
Detailed Description
The following description of the embodiments of the present invention is provided in conjunction with the accompanying drawings, but it should be understood by those skilled in the art that the following examples are for illustrative purposes only and are not intended to limit the scope of the present invention. It will be appreciated by those skilled in the art that modifications may be made to the following embodiments without departing from the scope and spirit of the invention. The scope of protection of the invention is defined by the appended claims.
The invention provides an imaging calibration method for an ultra-large field of view, which comprises the steps of calibrating a large-field-of-view optical imaging device (1) by using an integrating sphere calibration light source (2), wherein a uniform brightness spherical wall (7) in the integrating sphere calibration light source is opposite to a light outlet; the optical imaging device (1) is placed near a light outlet (9) of the integrating sphere calibration light source (2), and the optical imaging device (1) is aligned and focused to the spherical wall (7) with uniform brightness; the optical imaging device (1) and the integrating sphere calibration light source (2) are relatively rotated, and the rotation center is positioned at a designated point of the optical imaging device (1), including but not limited to the lens center or the entrance pupil position of the optical imaging device (1); when the optical imaging device (1) rotates to a specified angle, the optical imaging device (1) focuses on the spherical wall (7) with uniform brightness to shoot and acquire a response image, and the pixel response in a view field region corresponding to the spherical wall (7) with uniform brightness in the optical imaging device (1) at the angle is calibrated; the response values of the optical imaging device (1) under multiple angles are calibrated and spliced, so that the imaging calibration of the ultra-large field of view is realized.
In the technical scheme, the optical imaging device (1) is a camera, the camera is placed at a light outlet (9) of the integrating sphere calibration light source (2), and a uniform brightness spherical wall (7) of the integrating sphere calibration light source (2) is focused. The camera and the integrating sphere calibration light source (2) take the lens center of the camera as a rotation center and perform relative motion around two mutually perpendicular rotation axes, as shown in fig. 3, wherein the rotation axes are an axis (1-2) perpendicular to the optical axis of the lens on a vertical plane and an axis (1-1) perpendicular to the optical axis of the lens on a horizontal plane, so that the relative rotation of the optical imaging device (1) and the integrating sphere calibration light source (2) is realized.
In the above technical solution, there are various ways to realize the relative rotation of the optical imaging device (1) and the integrating sphere calibration light source (2), for example, the relative rotation is realized by the rotation of the optical imaging device (1) and the integrating sphere calibration light source (2) is kept stationary, the relative rotation is realized by the rotation of the integrating sphere calibration light source (2) around the optical imaging device (1) and the relative rotation is realized by the rotation of the optical imaging device (1) in one dimension and the relative rotation of the integrating sphere calibration light source (2) around the optical imaging device, etc.
FIG. 4 is a view field splicing schematic diagram of an ultra-large view field imaging calibration method, in which the center of a lens of an optical imaging device can be placed at the axis of the center of an integrating sphere and the center of a light outlet, an image is shot by directly facing the spherical wall with uniform brightness of an integrating sphere calibration light source, and the brightness of the shot image is
Calibrating the response image of the field of view to obtain a calibrated field of view image; shooting images at a plurality of angle positions through rotation of a camera lens, respectively calibrating the response image at each angle position, and respectively obtaining a calibrated view field image with the brightness of L; and splicing and cutting the field-of-view images calibrated at all the angle positions to obtain the calibrated large field-of-view image. In addition, response images of the optical imaging device at all angles can be spliced and cut, and then pixel response of the spliced images is calibrated, so that all field of view calibration of the optical imaging device is realized.
Preferably, the output spectrum and the brightness of the calibration light source (2) of the integrating sphere are adjustable, and the optical imaging device (1) is calibrated one by one according to the method under various spectrums and brightnesses. The linearity of the optical imaging device can be further improved by calibration at different brightnesses. The consistency of the optical imaging device (1) in measuring different light sources can be further improved by response calibration on different spectra, and the calibration can also be carried out by using a spectrum matrix.
The invention provides an imaging calibration device with an ultra-large field of view, which comprises an integrating sphere calibration light source (2), a sample table (3) for clamping a calibrated optical imaging device (1), a light source rotary table (5) for arranging the integrating sphere calibration light source (2) and enabling the integrating sphere calibration light source to rotate around the calibrated optical imaging device (1), and a program control system (6), wherein the sample table is used for holding the calibrated optical imaging device (1); the integrating sphere calibration light source (2) is provided with a light source (8) and a light outlet (9), and a uniform brightness spherical wall (7) of the integrating sphere calibration light source (2) is opposite to the light outlet (9); the optical imaging device (1) is placed near a light outlet (9) of the integrating sphere calibration light source (2) through a sample table (3), the sample table (3) is connected with a rotation driving device (4), the calibrated optical imaging device (1) and the integrating sphere calibration light source (2) are driven by the rotation driving device (4) to rotate relatively, and the relative rotation is carried out around rotating shafts (1-1 and 1-2); the program control system (4) is respectively electrically connected with the rotation driving mechanism, the calibrated optical imaging device (1) and the light source rotary table (5), the program control system (4) controls the calibrated optical imaging device (1) and the integrating sphere calibration light source (2) to rotate relatively, the optical imaging device (1) always shoots a spherical wall (7) with uniform brightness of the integrating sphere calibration light source (2), then the image response of the optical imaging device (1) is collected at a specified angle, and the pixel response of the optical imaging device (1) in a corresponding view field area is calibrated.
Through the control of the program control system (6), various relative rotation modes of the calibrated optical imaging device (1) and the integrating sphere calibration light source (2) can be realized, such as the calibrated optical imaging device (1) rotates while the integrating sphere calibration light source (2) keeps still, the integrating sphere calibration light source (2) rotates around the calibrated optical imaging device (1) while the optical imaging device (1) keeps still, the calibrated optical imaging device (1) rotates in one dimension, the integrating sphere calibration light source (2) rotates around the optical imaging device (1), and the like.
In the above technical solution, the optical imaging device (1) is an imaging luminance meter, and the light output (such as spectrum and luminance) of the integrating sphere calibration light source (2) is adjustable.
Claims (9)
1. A method for calibrating imaging with an ultra-large view field is characterized in that an integrating sphere is used for calibrating a light source to calibrate a large view field optical imaging device, and a spherical wall with uniform brightness in the integrating sphere is opposite to a light outlet; the optical imaging device is placed near a light outlet of the integrating sphere calibration light source and is aligned and focused to a sphere wall with uniform brightness; the optical imaging device and the integrating sphere calibration light source are relatively rotated, and the rotation center is positioned at a designated point of the optical imaging device, including but not limited to the lens center or the entrance pupil position of the optical imaging device; when the optical imaging device rotates to a specified angle, the optical imaging device focuses on the spherical wall with uniform brightness and obtains a response image, and the pixel response in the visual field region corresponding to the spherical wall with uniform brightness in the optical imaging device under the angle is calibrated; the response values of the optical imaging devices under multiple angles are calibrated and spliced, so that the imaging calibration of the ultra-large field of view is realized.
2. The method of claim 1, wherein said relative rotation is about two mutually perpendicular axes of rotation.
3. The calibration method for imaging with an oversized field of view of the optical imaging device of claim 1 or 2, wherein the relative rotation is realized by rotating the optical imaging device and keeping the calibration light source of the integrating sphere still; or the relative rotation is realized by rotating the integrating sphere calibration light source around the optical imaging device while the optical imaging device is kept still; or the relative rotation is realized by the rotation of the optical imaging device in one dimension and the rotation of the integrating sphere calibration light source around the optical imaging device.
4. The method for calibrating imaging with an oversized field of view of claim 1, wherein at each angle, the field of view area of the calibrated optical imaging device is less than or equal to the corresponding area of the spherical wall with uniform brightness; the calibration view field areas under all angles are spliced to cover the whole view field of the optical imaging device; the corresponding field of view area is calibrated at each angle, so that the calibration in the whole field of view of the optical imaging device is realized, or the response image of the optical imaging device at each angle is spliced and cut firstly, and then the response of all pixels is calibrated.
5. The calibration method for ultra-large field of view imaging according to claim 1, wherein the output spectrum and brightness of the integrating sphere calibration light source are adjustable, and the optical imaging devices are calibrated one by one according to the method of claim 1 under various output spectrums and brightness.
6. A calibration device for imaging with an ultra-large field of view is characterized by comprising an integrating sphere calibration light source, a sample stage and a program control system, wherein the sample stage is used for clamping an optical imaging device to be calibrated; the integrating sphere calibration light source is provided with a uniform brightness spherical wall and a light outlet, and the uniform brightness spherical wall is opposite to the light outlet; the optical imaging device is placed near a light outlet of the integrating sphere calibration light source through a sample table; the sample stage and/or the integrating sphere calibration light source are/is connected with the rotation driving device, and the calibrated optical imaging device and the integrating sphere calibration light source rotate relatively under the driving of the rotation driving device; the program control system is respectively electrically connected with the rotation driving mechanism and the calibrated optical imaging device, the program control system controls the calibrated optical imaging device and the integrating sphere calibration light source to rotate relatively, and the optical imaging device collects images at a specified angle and calibrates pixel response in a corresponding view field area.
7. The ultra-large field of view imaging calibration device of claim 6, comprising a light source turntable for mounting the integrating sphere calibration light source and rotating the integrating sphere calibration light source around the calibrated optical imaging device, wherein the light source turntable is electrically connected to the programming system.
8. The ultra-large field of view imaging calibration device of claim 6 or 7, wherein the optical imaging device is an imaging luminance meter, a camera or a camera.
9. The ultra-large field of view imaging calibration device of claim 6 or 7, wherein the light output of the integrating sphere calibration light source is adjustable.
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