CN114202590A - Color calibration method and system based on calibration model, intelligent terminal and medium - Google Patents
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Abstract
The invention discloses a color calibration method, a color calibration system, an intelligent terminal and a medium based on a calibration model, wherein the method comprises the following steps: extracting color card color data of the target color block; inputting the color data of the color card into a calibration model, and obtaining a color calibration result output by the calibration model; the calibration model is obtained by performing parameter solving on a vector composed of RGB color values obtained after preprocessing, wherein the preprocessing is to respectively solve a square root and a cubic root for each dimension color value of the RGB color values. The calibration model used by the method is composed of different combinations of square roots and cubic roots of RGB color values, the obtained calibration result data can enable errors of single color values and comprehensive errors of three color values to be smaller in practical use, and then accurate color calibration can be carried out on the imaging system, so that RGB color space data related to equipment obtained by a camera are converted into corresponding equipment-independent colorimetry color space data, and the color calibration effect is guaranteed.
Description
Technical Field
The invention relates to the technical field of color calibration, in particular to a color calibration method, a color calibration system, an intelligent terminal and a medium based on a calibration model.
Background
In machine vision applications, the representation of color and the measurement of color differences are generally performed in a colorimetry color space. The colorimetry color space is a color space system defined based on a physio-physics experiment, and mainly comprises the following components: CIE XYZ color space, CIE1976L u v (also known as CIELUV) color space, CIE197 1976L a b (also known as CIELAB) color space.
However, the color data output by the camera is RGB color space data. In applications involving color representation and color difference measurement, the RGB color space has two fatal disadvantages: 1) the RGB color space is a device-dependent color space; 2) the RGB color space is a non-uniform color space. As a device-dependent color space, RGB color data obtained by imaging the same object under different imaging devices and different light sources may be different, which may cause ambiguity in color representation of the object. As a non-uniform color space, the color difference in the RGB color space is not only related to the euclidean distance between the color coordinates, but also related to the specific location of the color coordinates, which brings much inconvenience to the measurement of the color difference.
Therefore, in machine vision applications involving color representation and color difference measurement, it is an urgent need for those skilled in the art to provide a color calibration method to perform accurate color calibration on an imaging system, so as to convert device-dependent RGB color space data obtained by a camera into corresponding device-independent colorimetry color space data.
Disclosure of Invention
Therefore, the invention provides a color calibration method, a color calibration system, an intelligent terminal and a medium based on a calibration model so as to realize accurate calibration of a visual system.
In order to achieve the above object, the embodiments of the present invention provide the following technical solutions:
a color calibration method based on a calibration model, the method comprising:
extracting color card color data of the target color block;
inputting the color data of the color card into a calibration model, and obtaining a color calibration result output by the calibration model;
the calibration model is obtained by performing parameter solving on a vector composed of RGB color values obtained after preprocessing, wherein the preprocessing is to respectively solve a square root and a cubic root for each dimension color value of the RGB color values.
Further, obtaining the calibration model specifically includes:
carrying out square root opening and cube root opening pretreatment on the RGB color values to obtain a pretreated RGB color space;
obtaining a vector of the RGB color values in the RGB color space;
and solving a parameter matrix based on the RGB color value vector to obtain the calibration model.
Further, the RGB color values are preprocessed by open square root and open square root using the following formulas:
wherein the content of the first and second substances,
representing the square root and the cube root, respectively, of the color value of color patch R, G, B.
Further, a parameter matrix is solved based on the vector of the RGB color values to obtain the calibration model, specifically using the following formula:
wherein the content of the first and second substances,
representing the vector composed of L, a and b color values obtained by the color blocks;
v denotes a vector of squared and cubic preprocessed RGB color values,
；
t is a parameter matrix.
Further, the color chip color data includes a color chip CIE color value and an RGB color value.
Further, extracting the RGB color values specifically includes:
generating a target color block in a color card image in response to color card corner point setting operation input by a terminal;
acquiring the region coordinates of the target color block;
and calculating the RGB mean value of the target color block based on the region coordinates, and taking the RGB mean value as the RGB color value.
Further, acquiring the region coordinates of the target color block specifically includes:
obtaining the vertex coordinates of the target color block
And center coordinates
Wherein, in the step (A),
。
the invention also provides a color calibration system based on the calibration model, which comprises:
the data extraction unit is used for extracting color card color data of the target color block;
the color calibration unit is used for inputting the color data of the color card into a calibration model and obtaining a color calibration result output by the calibration model;
the calibration model is obtained by performing parameter solving on a vector composed of RGB color values obtained after preprocessing, wherein the preprocessing is to respectively calculate a square root and a cubic root for each dimension color value of the RGB color values.
The present invention also provides an intelligent terminal, including: the device comprises a data acquisition device, a processor and a memory;
the data acquisition device is used for acquiring data; the memory is to store one or more program instructions; the processor is configured to execute one or more program instructions to perform the method as described above.
The present invention also provides a computer readable storage medium having embodied therein one or more program instructions for executing the method as described above.
According to the color calibration method and system based on the calibration model, the color data of the color chip of the target color block is extracted, the color data of the color chip is input into the calibration model, and a color calibration result output by the calibration model is obtained; the calibration model is obtained by performing parameter solving on a vector composed of RGB color values obtained after preprocessing, wherein the preprocessing is to respectively calculate a square root and a cubic root for each dimension color value of the RGB color values.
Therefore, the calibration model used by the method is composed of different combinations of the square root of the RGB color value and the cubic root, the obtained calibration result data can enable the error of a single color value and the comprehensive error of three color values to be smaller during actual use, accurate color calibration can be carried out on the imaging system, and therefore the RGB color space data related to the equipment obtained by the camera are converted into corresponding equipment-independent colorimetry color space data, and the color calibration effect is guaranteed.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
The structures, ratios, sizes, and the like shown in the present specification are only used for matching with the contents disclosed in the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions that the present invention can be implemented, so that the present invention has no technical significance, and any structural modifications, changes in the ratio relationship, or adjustments of the sizes, without affecting the effects and the achievable by the present invention, should still fall within the range that the technical contents disclosed in the present invention can cover.
FIG. 1 is a schematic diagram of a color calibration task;
FIG. 2 is a schematic diagram of a color calibration principle;
FIG. 3 is a flowchart of an embodiment of a color calibration method based on a calibration model according to the present invention;
FIG. 4 is an IT8 color chart;
FIG. 5 is a flow chart of extracting RGB color values;
FIG. 6 is a schematic diagram of FIG. 4 with four corner points added;
FIG. 7 is a color chip area diagram;
FIG. 8 is a flow chart of a calibration model acquisition process;
FIG. 9 is a graph of error distributions corresponding to a color calibration model constructed using RGB color values in a first order;
FIG. 10 is a graph of error distributions corresponding to a color calibration model constructed using RGB color values one and two squares;
FIG. 11 is a graph of error distributions corresponding to a color calibration model constructed using RGB color values to the first, second, and third powers;
FIG. 12 is a graph of error distributions for a color calibration model constructed using cubic roots of RGB color values;
FIG. 13 is a corresponding error distribution for the color calibration model used herein; fig. 14 is a block diagram of a color calibration system based on a calibration model according to an embodiment of the present invention.
Detailed Description
The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to improve the accuracy of color calibration, the invention provides a color calibration method based on a calibration model. In principle, as shown in fig. 1, the purpose of color calibration is to determine the conversion relationship from the RGB color space to the colorimetry color space. Color calibration essentially converts color values under actual imaging conditions (actual imaging device, actual illuminant) to color values under standard imaging conditions (standard observer, standard illuminant). It can be seen that the task of color calibration is to determine the conversion factor from the RGB color space to the CIELAB color space or the CIELUV color space, which is exemplified by the CIELAB color space.
As shown in fig. 2, the conversion from RGB color space to CIELAB color space can be divided into two steps: 1) converting the RGB color space into a CIEXYZ color space, wherein the conversion is a nonlinear mapping relation; 2) the transformation is also a non-linear mapping from the CIEXYZ color space to the CIELAB color space. In application, in order to achieve both conversion accuracy and efficiency, the device-dependent RGB color space may also be directly converted to the device-independent CIELAB color space, i.e. two non-linear mappings (non-linear mapping of device-dependent RGB color space to CIEXYZ color space, non-linear mapping of CIEXYZ color space to CIELAB color space) are merged into one non-linear mapping.
Based on the above calibration principle, in a specific embodiment, as shown in fig. 3, the color calibration method based on the calibration model provided by the present invention includes the following steps:
s1: and extracting color card color data of the target color block. The color card color data includes color card CIE color values and RGB color values (i.e., color card image RGB color values), and thus, the extraction of the color card color data also includes the extraction of the color card CIE color values and the RGB color values.
S2: inputting the color data of the color card into a calibration model, and obtaining a color calibration result output by the calibration model; the calibration model is obtained by performing parameter solving on a vector composed of RGB color values obtained after preprocessing, wherein the preprocessing is to respectively calculate a square root and a cubic root for each dimension color value of the RGB color values.
And when a color calibration result is obtained, the color calibration is realized by solving a color calibration model. Specifically, the SVD decomposition solution may be utilized, and the calibration model may be expressed as:
wherein the content of the first and second substances,
matrix C represents CIELAB color values L, a, b of a total of j color patches;
the matrix V represents a vector formed by different combinations of the square root and the cubic root of the RGB color values of j color blocks in total;
the matrix T of (2) is an unknown parameter matrix which needs to be solved for color calibration. j equals the number of color patches. Equation 1 is a typical linear model parameter solving problem, which can be solved by using the SVD method, and the solving process is not discussed in detail herein.
Color calibration is essentially a problem of parameter estimation, and therefore, a model of a parameter and input and output sample values of the model need to be determined before solving the parameter. The color data of the color chart is the input and output values of the color calibration model, and in the step S1, the extracting of the color data of the color chart includes extracting CIE color values of the color chart and extracting RGB color values.
The color card CIE color value is directly given by a data file provided by a color card manufacturer and is imported into a system, and the RGB color value needs to be obtained by processing a color card image.
As shown in fig. 4, the extraction of color cards CIE color values is exemplified by IT8 color cards, and as shown in fig. 4, is a standard style of IT8 color cards, which includes three color regions: (1) a neutral color block region; (2) a specific color patch area; (3) the manufacturer self-defines the area: can be neutral color blocks, images, etc. Each batch of color cards provides a reference value of each color block in the color card from a corresponding data file, and the reference values comprise: XYZ _ X, XYZ _ Y, XYZ _ Z, LAB _ L, LAB _ A, LAB _ B, STDEV _ X, STDEV _ Y, STDEV _ Z, STDEV _ DE, etc. And directly reading the CIE color data of the required color blocks from the color card data file in the process of color calibration.
Specifically, as shown in fig. 5, extracting the RGB color values includes the following steps:
s501: generating a target color block in a color card image in response to color card corner point setting operation input by a terminal;
s502: acquiring the region coordinates of the target color block;
s503: and calculating the RGB mean value of the target color block based on the region coordinates, and taking the RGB mean value as the RGB color value.
The obtaining of the region coordinates of the target color block specifically includes:
obtaining the vertex coordinates of the target color block
And center coordinates
Wherein, in the step (A),
。
in some embodiments, the extraction process of the RGB color values of the color card image is as follows:
1) user setting color card angular point
The user sets the positions of the 4 corner points of the color patch area in the color patch image as shown in fig. 6.
2) Generating patch region information
According to the coordinates of 4 corner points set by the user in the color card image, the region information of each color block in the color card, namely the height and width of the color block, and the coordinates of 4 vertexes of each color block can be calculated
Further obtain the center coordinates of each color block
。
3) Calculating RGB mean value of color block
As shown in FIG. 7, the coordinates of the corner points of the color patch set by the user can be calculated to obtain the coordinates of 4 vertices of each color patch in the image
And center coordinates
. When the color card is placed at any angle in the image, that is, the angle of the color block in the image is also arbitrary (for example, two large boxes in fig. 7, the length of the short side is a). The common area between the different angle patches is a circular area (radius a/2) as shown in fig. 7. And taking a small dotted box (the short side length is a/2) in the graph 7 as an area for calculating the RGB average value, and finally calculating the RGB color average value of the color block in the area. The center points of the color block region (large square region), the color block common region (circular region), and the RGB mean value calculation region (small dotted square region) are all set as
。
Further, the conversion from RGB color space to CIELAB color space is a non-linear mapping, and the process can be approximated by a polynomial model. When the calibration model provided by the invention, namely the square root and cubic root mixed polynomial model from the RGB space to the CIELAB space, is created, the square root and cubic root opening preprocessing is firstly carried out on RGB color data, and then the nonlinear mapping relation from the preprocessed RGB color space to the CIELAB color space is approximated by the third-order polynomial model.
As shown in fig. 8, obtaining the calibration model specifically includes:
s801: carrying out square root opening and cube root opening pretreatment on the RGB color values to obtain a pretreated RGB color space;
s802: obtaining a vector of the RGB color values in the RGB color space;
s803: and solving a parameter matrix based on the RGB color value vector to obtain the calibration model.
Preferably, the RGB color values are preprocessed by open square root and open square root using the following formulas:
wherein the content of the first and second substances,
representing the square root and the cube root, respectively, of the color value of color patch R, G, B.
Further, a parameter matrix is solved based on the vector of the RGB color values to obtain the calibration model, specifically using the following formula:
wherein the content of the first and second substances,
representing the vector composed of L, a and b color values obtained by the color blocks;
v represents the square ofA vector of cubic preprocessed RGB color values,
；
and T is a parameter matrix to be solved. LAB color values may be represented by vectors V and V of RGB color values preprocessed by squaring and cubing
Is obtained by multiplying the parameter matrix T.
The process of color calibration is a process of solving calibration result data (the vector T) by using known color data, and the establishment of a calibration model is the most core content of calibration work and determines an error between an LAB color value obtained by using the calibration result data (the vector T) and a real LAB color value. The calibration result data (i.e. the parameter matrix T) obtained after calibration by a good calibration model (the vector V) will make the error smaller in practical use.
In order to discuss the technical effects of the color calibration method based on the calibration model provided by the invention, the invention provides error analysis comparison of calibration result data (namely the parameter matrix T) obtained by adopting five different color calibration models in actual use, and results comparison as shown in FIGS. 9-13 is obtained. FIG. 9 is a diagram illustrating error distributions corresponding to a color calibration model constructed using RGB color values in a first order; FIG. 10 is a graph of error distributions corresponding to a color calibration model constructed using RGB color values one and two squares; FIG. 11 is a graph of error distributions corresponding to a color calibration model constructed using RGB color values to the first, second, and third powers; FIG. 12 is a graph of error distributions for a color calibration model constructed using cubic roots of RGB color values; FIG. 13 is a graph of error distributions corresponding to color calibration models used herein.
As can be seen from FIGS. 9-13, the calibration model provided by the present invention is composed entirely of different combinations of square roots and cube roots of RGB color values. Compared with a calibration model formed by different combinations of a first power, a second power, a third power, a cubic root and the like of RGB color values, the obtained calibration result data can enable a single color value error to be smaller in actual use. The calibration model is composed of the square root of RGB color values and the single color value or three color values of the cube root, and the calibration result data obtained by the calibration model can minimize the comprehensive error of the three color values in actual use.
In the foregoing embodiment, in the color calibration method based on the calibration model provided by the present invention, color data of a color patch of a target color block is extracted, the color data of the color patch is input into the calibration model, and a color calibration result output by the calibration model is obtained; the calibration model is obtained by performing parameter solving on a vector composed of RGB color values obtained after preprocessing, wherein the preprocessing is to respectively calculate a square root and a cubic root for each dimension color value of the RGB color values. Therefore, the calibration model used by the method is composed of different combinations of the square root of the RGB color value and the cubic root, the obtained calibration result data can enable the error of a single color value and the comprehensive error of three color values to be smaller during actual use, accurate color calibration can be carried out on the imaging system, and therefore the RGB color space data related to the equipment obtained by the camera are converted into corresponding equipment-independent colorimetry color space data, and the color calibration effect is guaranteed.
In addition to the above method, the present invention further provides a color calibration system based on a calibration model, as shown in fig. 14, the system includes:
a data extraction unit 100 for extracting color card color data of the target patch;
the color calibration unit 200 is configured to input the color data of the color chart into a calibration model, and obtain a color calibration result output by the calibration model; the calibration model is obtained by performing parameter solving on a vector composed of RGB color values obtained after preprocessing, wherein the preprocessing is to respectively calculate a square root and a cubic root for each dimension color value of the RGB color values.
In the foregoing embodiment, in the color calibration system based on the calibration model provided by the present invention, the color data of the color target of the target color block is extracted, the color data of the color target is input into the calibration model, and the color calibration result output by the calibration model is obtained; the calibration model is obtained by performing parameter solving on a vector composed of RGB color values obtained after preprocessing, wherein the preprocessing is to respectively calculate a square root and a cubic root for each dimension color value of the RGB color values. Therefore, the calibration model used by the system is composed of different combinations of the square root of the RGB color value and the cubic root, the obtained calibration result data can enable the error of a single color value and the comprehensive error of three color values to be smaller during actual use, accurate color calibration can be carried out on the imaging system, and therefore the RGB color space data related to the equipment obtained by the camera are converted into corresponding equipment-independent colorimetry color space data, and the color calibration effect is guaranteed.
The present invention also provides an intelligent terminal, including: the device comprises a data acquisition device, a processor and a memory;
the data acquisition device is used for acquiring data; the memory is to store one or more program instructions; the processor is configured to execute one or more program instructions to perform the method as described above.
In correspondence with the above embodiments, embodiments of the present invention also provide a computer storage medium containing one or more program instructions therein. Wherein the one or more program instructions are for executing the method as described above by a binocular camera depth calibration system.
In an embodiment of the invention, the processor may be an integrated circuit chip having signal processing capability. The Processor may be a general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete Gate or transistor logic device, discrete hardware component.
The various methods, steps and logic blocks disclosed in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The processor reads the information in the storage medium and completes the steps of the method in combination with the hardware.
The storage medium may be a memory, for example, which may be volatile memory or nonvolatile memory, or which may include both volatile and nonvolatile memory.
The nonvolatile Memory may be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically Erasable PROM (EEPROM), or a flash Memory.
The volatile Memory may be a Random Access Memory (RAM) which serves as an external cache. By way of example and not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), SLDRAM (SLDRAM), and Direct Rambus RAM (DRRAM).
The storage media described in connection with the embodiments of the invention are intended to comprise, without being limited to, these and any other suitable types of memory.
Those skilled in the art will appreciate that the functionality described in the present invention may be implemented in a combination of hardware and software in one or more of the examples described above. When software is applied, the corresponding functionality may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Computer-readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. A storage media may be any available media that can be accessed by a general purpose or special purpose computer.
The above embodiments are only for illustrating the embodiments of the present invention and are not to be construed as limiting the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made on the basis of the embodiments of the present invention shall be included in the scope of the present invention.
Claims (10)
1. A color calibration method based on a calibration model is characterized by comprising the following steps:
extracting color card color data of the target color block;
inputting the color data of the color card into a calibration model, and obtaining a color calibration result output by the calibration model;
the calibration model is obtained by performing parameter solving on a vector composed of RGB color values obtained after preprocessing, wherein the preprocessing is to respectively solve a square root and a cubic root for each dimension color value of the RGB color values.
2. The color calibration method according to claim 1, wherein obtaining the calibration model specifically comprises:
carrying out square root opening and cube root opening pretreatment on the RGB color values to obtain a pretreated RGB color space;
obtaining a vector of the RGB color values in the RGB color space;
and solving a parameter matrix based on the RGB color value vector to obtain the calibration model.
3. The color calibration method as claimed in claim 2, wherein the RGB color values are preprocessed by the following equations:
wherein the content of the first and second substances,
representing the square root and the cube root, respectively, of the color value of color patch R, G, B.
4. The color calibration method according to claim 2, wherein a parameter matrix is solved based on the RGB color values to obtain the calibration model, specifically using the following formula:
wherein the content of the first and second substances,
representing the vector composed of L, a and b color values obtained by the color blocks;
v denotes a vector of squared and cubic preprocessed RGB color values,
；
t is a parameter matrix.
5. The color calibration method as claimed in claim 1, wherein the color chart color data comprises color chart CIE color values and RGB color values.
6. The color calibration method according to claim 5, wherein extracting the RGB color values specifically comprises:
generating a target color block in a color card image in response to color card corner point setting operation input by a terminal;
acquiring the region coordinates of the target color block;
and calculating the RGB mean value of the target color block based on the region coordinates, and taking the RGB mean value as the RGB color value.
7. The color calibration method according to claim 6, wherein obtaining the region coordinates of the target color block specifically comprises:
obtaining the vertex coordinates of the target color block
And center coordinates
Wherein, in the step (A),
。
8. a color calibration system based on a calibration model, the system comprising:
the data extraction unit is used for extracting color card color data of the target color block;
the color calibration unit is used for inputting the color data of the color card into a calibration model and obtaining a color calibration result output by the calibration model;
the calibration model is obtained by performing parameter solving on a vector composed of RGB color values obtained after preprocessing, wherein the preprocessing is to respectively calculate a square root and a cubic root for each dimension color value of the RGB color values.
9. An intelligent terminal, characterized in that, intelligent terminal includes: the device comprises a data acquisition device, a processor and a memory;
the data acquisition device is used for acquiring data; the memory is to store one or more program instructions; the processor, configured to execute one or more program instructions to perform the method of any of claims 1-7.
10. A computer-readable storage medium having one or more program instructions embodied therein for performing the method of any of claims 1-7.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115599324A (en) * | 2022-12-09 | 2023-01-13 | 杭州宏华数码科技股份有限公司（Cn） | Method, apparatus and medium for controlling digital color rendering apparatus to render color |
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