CN115830109A - Method, device and equipment for evaluating quality of reflective marker and storage medium - Google Patents
Method, device and equipment for evaluating quality of reflective marker and storage medium Download PDFInfo
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- CN115830109A CN115830109A CN202211182038.6A CN202211182038A CN115830109A CN 115830109 A CN115830109 A CN 115830109A CN 202211182038 A CN202211182038 A CN 202211182038A CN 115830109 A CN115830109 A CN 115830109A
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Abstract
The application relates to the technical field of optical positioning, and provides a method, a device, equipment and a storage medium for evaluating the quality of a reflective marker, wherein the method comprises the following steps: acquiring an image obtained by shooting the reflective marker by a camera; determining a spot area in the image; calculating the roundness of the light spot area; calculating the brightness of the light spot area; and evaluating the quality of the reflective marker according to the brightness of the light spot area and the roundness of the light spot area to obtain a quality evaluation result of the reflective marker. The embodiment of the application realizes the evaluation of the quality of the reflective marker, so that whether the reflective marker can be continuously used or not can be judged according to the quality evaluation result.
Description
Technical Field
The present application relates to the field of optical positioning technologies, and in particular, to a method, an apparatus, a device, and a storage medium for evaluating quality of a reflective marker.
Background
The binocular vision positioning system is based on the principle of parallax error, is similar to the eyes of a person, and fixes two cameras on the same rigid body at a certain distance and angle. When the three-dimensional space image acquisition device works, the two cameras respectively acquire mapping images of the same feature point in a field range, and then the specific position of the feature point in the three-dimensional space is calculated through a triangulation principle according to the arrangement positions of the two cameras and the position of the feature point acquired in the images.
Specifically, the binocular vision positioning system may be a set of binocular vision system (an infrared-based binocular vision positioning system belongs to one of optical positioning systems) formed by two infrared cameras, infrared LEDs are fixed around optical axes of the two cameras for illumination, and infrared light emitted by the infrared LEDs is reflected back into a camera photosensitive chip through reflective markers (e.g., reflective balls) on surgical instruments or rigid tools. The image of the reflective marker is collected by the camera, the reflective marker is identified and positioned by a digital image processing technology under the assistance of a computer, and the needle point coordinate and the direction of the surgical instrument can be calibrated according to the three-dimensional coordinate of the reflective marker, so that the accurate navigation of the surgery is realized.
However, the inventors have found that the retroreflective marker as a part has quality problems such as overall darkening of brightness, partial darkening, out-of-round, etc. due to storage for a long time or washing. If the quality problems of overall dimming of brightness, local dimming, out-of-round and the like occur to the reflective marker, the reflective marker is difficult to be accurately positioned, so that the needle point coordinate and the direction of a surgical instrument are difficult to be accurately calibrated, and further the accurate navigation of gestures is difficult to realize.
Disclosure of Invention
In view of the above technical problems, an object of the present application is to provide a method for evaluating quality of a reflective marker, which aims to perform quality scoring on the reflective marker so as to determine whether the reflective marker can be used continuously.
In a first aspect, an embodiment of the present application provides a method for evaluating a quality of a reflective marker, including:
acquiring an image obtained by shooting the reflective marker by a camera;
determining a spot area in the image;
calculating the roundness of the light spot area;
calculating the brightness of the light spot area;
and evaluating the quality of the reflective marker according to the brightness of the light spot area and the roundness of the light spot area to obtain a quality evaluation result of the reflective marker.
Further, if the image is a grayscale image, the determining a light spot area in the image includes:
traversing all pixel points in the image, and obtaining a connected region formed by the pixel points of which the gray values are greater than a first set threshold value through a threshold value judgment method;
and determining the connected region as a light spot region in the image.
Further, if the image is a color image, the determining the spot area in the image includes:
converting the image into a grayscale image;
traversing all pixel points in the gray level image, and obtaining a connected region formed by the pixel points of which the gray level values are greater than a first set threshold value through a threshold value judging method;
and determining the connected region as a light spot region in the image.
Further, the calculating the roundness of the light spot region includes:
calculating the perimeter of the light spot region and the area of the light spot region;
calculating the roundness of the light spot region based on the circumference of the light spot region and the area of the light spot region.
Further, the calculating the brightness of the spot area includes:
counting the number of pixel points with the gray value larger than a second set threshold value in the speckle region;
counting the number of pixel points of the gray value between a third set threshold and a second set threshold in the speckle region;
counting the number of pixel points of the gray value between a first set threshold and a third set threshold in the speckle region;
and calculating the brightness of the spot region based on the number of pixel points with the gray value larger than a second set threshold value in the spot region, the number of pixel points with the gray value between a third set threshold value and the second set threshold value in the spot region, and the number of pixel points with the gray value between the first set threshold value and the third set threshold value in the spot region.
Further, the calculating the brightness of the light spot region based on the number of pixel points in the light spot region whose gray-scale value is greater than the second set threshold, the number of pixel points in the light spot region whose gray-scale value is between the third set threshold and the second set threshold, and the number of pixel points in the light spot region whose gray-scale value is between the first set threshold and the third set threshold includes:
calculating the brightness of the light spot region according to a formula L = (A + 2+ B + 1.5)/((A + B + C) × 1.5); wherein, A represents the number of pixel points with the gray value larger than the second set threshold value in the spot area, B represents the number of pixel points with the gray value between the third set threshold value and the second set threshold value in the spot area, and C represents the number of pixel points with the gray value between the first set threshold value and the third set threshold value in the spot area.
Further, the evaluating the quality of the reflective marker according to the brightness of the light spot region and the roundness of the light spot region to obtain a quality evaluation result of the reflective marker includes:
judging whether the brightness of the light spot area is greater than a fourth set threshold value and the roundness of the light spot area is greater than a fifth set threshold value;
if so, judging that the quality of the reflective marker is qualified, otherwise, judging that the quality of the reflective marker is unqualified.
Further, before acquiring an image obtained by shooting the reflective marker by the camera, the method further includes:
and illuminating the reflective marker by using an illumination device.
Further, the light reflection rate of the light reflection marker is greater than that of the background where the light reflection marker is shot by the camera.
Further, before acquiring an image obtained by shooting the reflective marker by the camera, the method further includes:
and adjusting the exposure parameters of the camera until the maximum gray value of an image obtained by shooting the reflective marker by the camera is within a preset range.
Further, the method for evaluating the quality of the reflective marker further comprises the following steps:
when the camera shoots a plurality of reflective markers at the same time, marking a spot area formed on an image by each reflective marker;
determining the relation between the light spot area and the reflective marker according to the two-dimensional coordinates of the light spot area on the image and the three-dimensional coordinates of the reflective marker in the space;
when the quality evaluation of each reflective marker is completed, the quality evaluation result of each reflective marker is determined according to the mark of the light spot area and the relation between the light spot area and the reflective marker.
In a second aspect, an embodiment of the present application provides a reflective marker quality evaluation apparatus, including:
the acquisition module is used for acquiring an image obtained by shooting the reflective marker by the camera;
the determining module is used for determining a light spot area in the image;
the roundness calculation module is used for calculating the roundness of the light spot area;
the brightness calculation module is used for calculating the brightness of the light spot area;
and the quality evaluation module is used for evaluating the quality of the reflective marker according to the brightness of the light spot area and the roundness of the light spot area to obtain a quality evaluation result of the reflective marker.
In a third aspect, an embodiment of the present application provides a computer device, including a memory and a processor, where the memory stores a computer program, and the processor implements the steps of any one of the above methods when executing the computer program.
In a fourth aspect, embodiments of the present application provide a computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements the steps of any of the methods described above.
According to the quality evaluation method of the reflective marker, the image obtained by shooting the reflective marker by the camera is obtained; determining a spot area in the image; calculating the roundness of the light spot area; calculating the brightness of the light spot area; and evaluating the quality of the reflective marker according to the brightness of the light spot region and the roundness of the light spot region, so that the quality evaluation result of the reflective marker can be obtained, and whether the reflective marker can be continuously used can be judged according to the quality evaluation result.
Drawings
In order to more clearly illustrate the technical solution of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic view of the field of view in which retroreflective markers may be placed;
FIG. 2 is a schematic view of a binocular vision positioning system;
FIG. 3 is a schematic flow chart of a method for evaluating the quality of a reflective marker according to an embodiment of the present disclosure;
FIG. 4 is a schematic structural diagram of an apparatus for evaluating a substance amount of a reflective marker provided in an embodiment of the present application;
fig. 5 is a block diagram schematically illustrating a structure of a computer device according to an embodiment of the present disclosure.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. 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 application.
The first embodiment is as follows:
before the embodiment of the present application is implemented, first, it needs to be ensured that no other interference points or interference sources exist in the field of view of the camera. Specifically, the space in the camera view field is first illuminated by the illumination device, and then an image in the camera view field is captured by the camera under illumination, and the brightness and darkness of the space in the camera view field are adjusted to ensure that the gray scale value of all the points in the image is less than a first set threshold, for example, 50 (the value is determined from empirical values and can be adjusted as appropriate). Distinguished from the number of camera cameras, which may be monocular, binocular, or multi-view cameras. The camera may be a color camera or a black and white camera, distinguished from the camera imaging colors. The illumination device comprises a light source. If the light source is an infrared light source, the illumination device further comprises an optical filter. The camera and the illumination device may be integrated within a system. For example, a near-infrared based binocular vision positioning system integrates a binocular camera and an illumination device including an infrared light source, as shown in fig. 2.
Second, adjusting the position of the reflective markers: the retro-reflective markers are placed within the field of view of the camera. Illustratively, the coordinates of the markers are acquired by the camera, and the coordinates are kept at a position 0.9-1.1 m away from the camera, and the deviation from the center of the field of view (central axis of the field of view) of the camera is not more than 0.1 m, namely, the markers are placed in the area shown in fig. 1, if the coordinate system of the camera is as shown in fig. 2, then the coordinate range of the markers is: -100mm straw bundle x-straw bundle 100mm, -100mm straw bundle y-straw bundle 100mm,900mm straw bundle z-straw bundle 1100mm. It should be noted that the reflective marker may be a reflective ball, a reflective marker ball, or a reflective marker.
Thirdly, adjusting the exposure value of the camera: the light-reflecting marker is illuminated through the illumination device, the camera is used for shooting the light-reflecting marker to obtain an image, and a point with the maximum gray scale value in the image is obtained. If the point with the maximum gray value is equal to 255, the exposure value of the camera is reduced, and if the point with the maximum gray value is less than 230 (the value is determined according to an empirical value and is about 90 percent of 255 and can be adjusted properly), the exposure value of the camera is increased until the gray value G of the point with the maximum gray value meets 230-G-255, and the final exposure parameter is obtained. After the final exposure parameters are obtained, if the factors of the environment where the reflective markers are located when being photographed are not changed, for example, the brightness of the environment is not changed, the camera under the exposure parameters may be used to photograph any reflective marker, and there is no need to adjust the exposure parameters of the camera according to the difference of the reflective markers.
Referring to fig. 3, a method for evaluating the quality of a reflective marker according to an embodiment of the present application includes steps S1 to S5:
s1, acquiring an image obtained by shooting a reflective marker by a camera;
s2, determining a light spot area in the image;
s3, calculating the roundness of the light spot area;
s4, calculating the brightness of the light spot area;
and S5, evaluating the quality of the reflective marker according to the brightness of the light spot area and the roundness of the light spot area to obtain a quality evaluation result of the reflective marker.
In the present embodiment, it should be understood that before the image of the reflective marker captured by the camera is obtained, the reflective marker is illuminated, so that the image of the reflective marker on the camera is presented in the form of a light spot according to the reflective principle. Therefore, the characteristics of the reflective marker can be indirectly reflected by using the spot region as a processing object.
According to the embodiment of the application, the image obtained by shooting the reflective marker by the camera is obtained; determining a spot area in the image; calculating the roundness of the light spot area; calculating the brightness of the light spot area; and evaluating the quality of the reflective marker according to the brightness of the light spot region and the roundness of the light spot region, so that the quality evaluation result of the reflective marker can be obtained, and whether the reflective marker can be continuously used can be judged according to the quality evaluation result. In addition, the problem of inaccurate positioning caused by the quality of the reflective marker is avoided by reserving the qualified reflective marker and filtering the unqualified reflective marker according to the evaluation result.
In one embodiment, if the image is a grayscale image, the determining the spot area in the image includes:
traversing all pixel points in the image, and obtaining a connected region formed by the pixel points of which the gray values are greater than a first set threshold value through a threshold value judgment method;
and determining the connected region as a light spot region in the image.
In the embodiment of the application, the first set threshold is used for ensuring that no interference point or interference source exists in the visual field. Illustratively, the first set threshold is 50, which is an empirical value that can be adjusted as appropriate according to the actual situation.
In one embodiment, if the image is a color image, the determining the spot area in the image includes:
converting the image into a grayscale image;
traversing all pixel points in the gray level image, and obtaining a connected region formed by the pixel points of which the gray level values are greater than a first set threshold value through a threshold value judging method;
and determining the connected region as a light spot region in the image.
In the embodiment of the application, the first set threshold is used for ensuring that no interference point or interference source exists in the visual field. Illustratively, the first set threshold is 50, which is an empirical value that can be adjusted as appropriate according to the actual situation.
In one embodiment, the calculating the roundness of the spot area includes:
calculating the perimeter of the light spot region and the area of the light spot region;
calculating the roundness of the light spot region based on the circumference of the light spot region and the area of the light spot region.
In the embodiment of the present application, when calculating the roundness of the light spot region, the roundness may be specifically calculated according to a formula
And (4) calculating.
In one embodiment, the calculating the brightness of the spot area includes:
counting the number of pixel points with the gray value larger than a second set threshold in the speckle region;
counting the number of pixel points of the gray value between a third set threshold and a second set threshold in the speckle region;
counting the number of pixel points of the gray value between a first set threshold and a third set threshold in the speckle region;
and calculating the brightness of the spot region based on the number of pixel points with the gray value larger than a second set threshold value in the spot region, the number of pixel points with the gray value between a third set threshold value and the second set threshold value in the spot region, and the number of pixel points with the gray value between the first set threshold value and the third set threshold value in the spot region.
In the embodiment of the present application, specifically, the second set threshold is 200, the third set threshold is 150, and the first set threshold is 50. Then, it is necessary to count the number of pixel points with the gray value greater than 200 in the spot region, count the number of pixel points with the gray value between 150 and 200 in the spot region, and count the number of pixel points with the gray value between 50 and 150 in the spot region. And after the statistics is completed, calculating the brightness of the light spot region based on the number of pixel points with the gray value larger than 200 in the light spot region, the number of pixel points with the gray value between 150 and 200 in the light spot region and the number of pixel points with the gray value between 50 and 150 in the light spot region.
The number of the pixel points of which the gray value is greater than a second set threshold value in the light spot area is counted; counting the number of pixel points of the gray value between a third set threshold and a second set threshold in the speckle region; counting the number of pixel points of the gray value between a first set threshold and a third set threshold in the speckle region; and calculating the brightness of the light spot region based on the number of pixel points with the gray value in the light spot region larger than a second set threshold, the number of pixel points with the gray value in the light spot region between a third set threshold and the second set threshold, and the number of pixel points with the gray value in the light spot region between the first set threshold and the third set threshold.
In one embodiment, the calculating the luminance of the spot region based on the number of pixel points in the spot region having a gray value greater than a second set threshold, the number of pixel points in the spot region having a gray value between a third set threshold and the second set threshold, and the number of pixel points in the spot region having a gray value between the first set threshold and the third set threshold includes:
calculating the brightness of the light spot region according to a formula L = (A + 2+ B + 1.5)/((A + B + C) × 1.5); wherein, A represents the number of pixel points with the gray value larger than the second set threshold value in the spot area, B represents the number of pixel points with the gray value between the third set threshold value and the second set threshold value in the spot area, and C represents the number of pixel points with the gray value between the third fixed threshold value and the third set threshold value in the spot area.
In the embodiment of the present application, it should be understood that, when the second set threshold is 200, the third set threshold is 150, and the first set threshold is 50, the luminance of the spot region may be obtained by substituting the number of pixel points with the grayscale value greater than 200 in the spot region, the number of pixel points with the grayscale value between 150 and 200 in the spot region, and the number of pixel points with the grayscale value between 50 and 150 in the spot region into the formula L = (a × 2+ B1.5)/((a + B + C) × 1.5).
In one embodiment, the evaluating the quality of the reflective marker according to the brightness of the light spot region and the roundness of the light spot region to obtain a quality evaluation result of the reflective marker includes:
judging whether the brightness of the light spot area is greater than a fourth set threshold and whether the roundness of the light spot area is greater than a fifth set threshold;
if so, judging that the quality of the reflective marker is qualified, otherwise, judging that the quality of the reflective marker is unqualified.
In the embodiment of the present application, specifically, the fourth setting threshold is 0.75, and the fifth setting threshold is 0.85. And when the brightness of the light spot area is more than 0.75 and the roundness of the light spot area is more than 0.85, judging that the reflective marker is qualified, otherwise, judging that the reflective marker is unqualified.
In one embodiment, before acquiring the image of the reflective marker captured by the camera, the method further includes:
and illuminating the reflective marker by using an illumination device.
In one embodiment, the reflectivity of the reflective marker is greater than the reflectivity of the background against which the reflective marker is captured by the camera.
In the embodiment of the present invention, the background on which the reflective marker is located is a non-reflective background, and it should be understood that the non-reflective background is not completely non-reflective, but has a low light reflectivity. In addition, the retroreflective markers may be fixed to a board when photographed. Preferably, the surface of the plate can be covered with a film made of light absorbing material. Preferably, the plate can also be made of light absorption materials.
In one embodiment, before acquiring the image of the reflective marker captured by the camera, the method further includes:
and adjusting the exposure parameters of the camera until the maximum gray value of an image obtained by shooting the reflective marker by the camera is within a preset range.
According to the embodiment of the application, the exposure parameters of the camera are adjusted until the maximum gray value of the image shot by the reflective marker is within the preset range, so that the image shot by the camera can meet the requirement of quality evaluation on the reflective marker according to the light spot area.
In one embodiment, the retroreflective marker quality evaluation method further includes:
when the camera shoots a plurality of reflective markers at the same time, marking a spot area formed on an image by each reflective marker;
determining the relation between the light spot area and the reflective marker according to the two-dimensional coordinates of the light spot area on the image and the three-dimensional coordinates of the reflective marker in the space;
when the quality evaluation of each reflective marker is completed, the quality evaluation result of each reflective marker is determined according to the mark of the light spot area and the relation between the light spot area and the reflective marker.
In the embodiment of the application, when the quality of the plurality of reflective markers needs to be evaluated, the plurality of reflective markers can be placed on one board, for example, a board capable of placing 5*5 reflective markers is designed, and the board is fixed in the field of view of a camera, so that the quality evaluation of the plurality of reflective markers can be completed through one-time shooting, and the evaluation of each reflective marker can be obtained.
Example two:
referring to fig. 4, an embodiment of the present application provides a reflective marker quality evaluation apparatus, including:
the acquisition module 1 is used for acquiring an image obtained by shooting the reflective marker by a camera;
a determining module 2, configured to determine a light spot region in the image;
the roundness calculation module 3 is used for calculating the roundness of the light spot area;
the brightness calculation module 4 is used for calculating the brightness of the light spot area;
and the quality evaluation module 5 is used for evaluating the quality of the reflective marker according to the brightness of the light spot area and the roundness of the light spot area to obtain a quality evaluation result of the reflective marker.
In an embodiment, if the image is a grayscale image, the determining module 2 is specifically configured to:
traversing all pixel points in the image, and obtaining a connected region formed by the pixel points of which the gray values are greater than a first set threshold value through a threshold value judgment method;
and determining the connected region as a light spot region in the image.
In an embodiment, if the image is a color image, the determining module 2 is specifically configured to: converting the image into a grayscale image;
traversing all pixel points in the gray image, and obtaining a connected region formed by the pixel points of which the gray values are greater than a first set threshold value by a threshold value judgment method;
and determining the connected region as a light spot region in the image.
In an embodiment, the roundness calculation module 3 is specifically configured to:
calculating the perimeter of the light spot region and the area of the light spot region;
calculating the roundness of the light spot region based on the circumference of the light spot region and the area of the light spot region.
In one embodiment, the luminance calculating module 4 is specifically configured to:
counting the number of pixel points with the gray value larger than a second set threshold value in the speckle region;
counting the number of pixel points of the gray value between a third set threshold and a second set threshold in the speckle region;
counting the number of pixel points of the gray value between a first set threshold and a third set threshold in the speckle region;
and calculating the brightness of the spot region based on the number of pixel points with the gray value larger than a second set threshold value in the spot region, the number of pixel points with the gray value between a third set threshold value and the second set threshold value in the spot region, and the number of pixel points with the gray value between the first set threshold value and the third set threshold value in the spot region.
In one embodiment, the calculating the brightness of the light spot region based on the number of pixel points in the light spot region whose grayscale value is greater than the second set threshold, the number of pixel points in the light spot region whose grayscale value is between the third set threshold and the second set threshold, and the number of pixel points in the light spot region whose grayscale value is between the first set threshold and the third set threshold includes:
calculating the brightness of the light spot region according to a formula L = (A + 2+ B + 1.5)/((A + B + C) × 1.5); wherein, a represents the number of pixel points with the gray value larger than the second set threshold value in the optical spot region, B represents the number of pixel points with the gray value between the third set threshold value and the second set threshold value in the optical spot region, and C represents the number of pixel points with the gray value between the first set threshold value and the second set threshold value in the optical spot region.
In one embodiment, the quality evaluation module 5 is specifically configured to:
judging whether the brightness of the light spot area is greater than a fourth set threshold and whether the roundness of the light spot area is greater than a fifth set threshold;
if so, judging that the quality of the reflective marker is qualified, otherwise, judging that the quality of the reflective marker is unqualified.
In one embodiment, before acquiring the image of the reflective marker captured by the camera, the method further includes:
and illuminating the reflective marker by using an illumination device.
In one embodiment, the reflectivity of the reflective marker is greater than the reflectivity of the background against which the reflective marker is captured by the camera.
In one embodiment, before acquiring the image of the retro-reflective marker captured by the camera, the method further includes:
and adjusting the exposure parameters of the camera until the maximum gray value of an image obtained by shooting the reflective marker by the camera is within a preset range.
In one embodiment, the retroreflective marker-quality evaluating apparatus further includes:
a quality evaluation result determination module for each reflective marker for
When the camera shoots a plurality of reflective markers at the same time, marking a spot area formed on an image by each reflective marker;
determining the relation between the light spot area and the reflective marker according to the two-dimensional coordinates of the light spot area on the image and the three-dimensional coordinates of the reflective marker in the space;
when the quality evaluation of each reflective marker is completed, the quality evaluation result of each reflective marker is determined according to the mark of the light spot area and the relation between the light spot area and the reflective marker.
Example three:
referring to fig. 5, an embodiment of the present application further provides a computer device, where the computer device may be a server, and an internal structure of the computer device may be as shown in fig. 5. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the computer designed processor is used to provide computational and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer equipment is used for storing data suitable for a reflecting marker quality evaluation method and the like. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a retroreflective marker quality assessment method, including: acquiring an image obtained by shooting the reflective marker by a camera; determining a spot area in the image; calculating the roundness of the light spot area; calculating the brightness of the light spot area; and evaluating the quality of the reflective marker according to the brightness of the light spot area and the roundness of the light spot area to obtain a quality evaluation result of the reflective marker.
According to the quality evaluation method of the reflective marker, the image obtained by shooting the reflective marker by the camera is obtained; determining a spot area in the image; calculating the roundness of the light spot area; calculating the brightness of the light spot area; and evaluating the quality of the reflective marker according to the brightness of the light spot region and the roundness of the light spot region, so that the quality evaluation result of the reflective marker can be obtained, and whether the reflective marker can be continuously used can be judged according to the quality evaluation result.
Example four:
an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements a method for evaluating a quality of a retroreflective marker, including the steps of: acquiring an image obtained by shooting the reflective marker by a camera; determining a spot area in the image; calculating the roundness of the light spot area; calculating the brightness of the light spot area; and evaluating the quality of the reflective marker according to the brightness of the light spot area and the roundness of the light spot area to obtain a quality evaluation result of the reflective marker.
According to the method for evaluating the quality of the reflective marker, the image obtained by shooting the reflective marker by the camera is obtained; determining a spot area in the image; calculating the roundness of the light spot area; calculating the brightness of the light spot area; and evaluating the quality of the reflective marker according to the brightness of the light spot region and the roundness of the light spot region, so that the quality evaluation result of the reflective marker can be obtained, and whether the reflective marker can be continuously used can be judged according to the quality evaluation result.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium provided herein and used in the examples may include non-volatile and/or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (SSRDRAM), enhanced SDRAM (ESDRAM), synchronous Link (SLDRAM), rambus (Rambus) direct RAM (RDRAM), direct Rambus Dynamic RAM (DRDRAM), and Rambus Dynamic RAM (RDRAM), among others.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, apparatus, article, or method that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, apparatus, article, or method. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, apparatus, article, or method that comprises the element.
The above description is only a preferred embodiment of the present application, and not intended to limit the scope of the present application, and all the equivalent structures or equivalent processes that can be directly or indirectly applied to other related technical fields by using the contents of the specification and the drawings of the present application are also included in the scope of the present application.
Claims (14)
1. A retroreflective marker quality evaluation method, comprising:
acquiring an image obtained by shooting the reflective marker by a camera;
determining a spot area in the image;
calculating the roundness of the light spot area;
calculating the brightness of the light spot area;
and evaluating the quality of the reflective marker according to the brightness of the light spot area and the roundness of the light spot area to obtain a quality evaluation result of the reflective marker.
2. The method for evaluating the quality of a retroreflective marker according to claim 1, wherein the determining the spot area in the image if the image is a grayscale image comprises:
traversing all pixel points in the image, and obtaining a connected region formed by the pixel points of which the gray values are greater than a first set threshold value by a threshold value judgment method;
and determining the connected region as a light spot region in the image.
3. The method for evaluating the quality of retroreflective marker according to claim 1, wherein the determining the spot area in the image if the image is a color image comprises:
converting the image into a grayscale image;
traversing all pixel points in the gray level image, and obtaining a connected region formed by the pixel points of which the gray level values are greater than a first set threshold value through a threshold value judging method;
and determining the connected region as a light spot region in the image.
4. The method for evaluating the quality of a retroreflective marker according to claim 1, wherein the calculating the circularity of the spot region includes:
calculating the perimeter of the light spot region and the area of the light spot region;
calculating the roundness of the light spot region based on the circumference of the light spot region and the area of the light spot region.
5. The retroreflective marker quality evaluation method according to claim 1, wherein the calculating the brightness of the spot region includes:
counting the number of pixel points with the gray value larger than a second set threshold value in the speckle region;
counting the number of pixel points of the gray value between a third set threshold and a second set threshold in the speckle region;
counting the number of pixel points of the gray value between a first set threshold and a third set threshold in the speckle region;
and calculating the brightness of the spot region based on the number of pixel points with the gray value larger than a second set threshold value in the spot region, the number of pixel points with the gray value between a third set threshold value and the second set threshold value in the spot region, and the number of pixel points with the gray value between the first set threshold value and the third set threshold value in the spot region.
6. The retroreflective marker substance amount evaluation method according to claim 5, wherein the calculating the luminance of the spot region based on the number of pixel points in the spot region having a grayscale value larger than a second set threshold, the number of pixel points in the spot region having a grayscale value between a third set threshold and the second set threshold, and the number of pixel points in the spot region having a grayscale value between the first set threshold and the third set threshold includes:
calculating the brightness of the light spot region according to a formula L = (A + 2+ B + 1.5)/((A + B + C) × 1.5); wherein, A represents the number of pixel points with the gray value larger than the second set threshold value in the spot area, B represents the number of pixel points with the gray value between the third set threshold value and the second set threshold value in the spot area, and C represents the number of pixel points with the gray value between the first set threshold value and the third set threshold value in the spot area.
7. The method for evaluating the quality of the retroreflective marker according to claim 1, wherein the evaluating the quality of the retroreflective marker based on the brightness of the light spot region and the circularity of the light spot region to obtain the quality evaluation result of the retroreflective marker comprises:
judging whether the brightness of the light spot area is greater than a fourth set threshold and whether the roundness of the light spot area is greater than a fifth set threshold;
if so, judging that the quality of the reflective marker is qualified, otherwise, judging that the quality of the reflective marker is unqualified.
8. The retroreflective marker quality evaluating method according to claim 1, further comprising, before acquiring the image of the retroreflective marker photographed by the camera:
and illuminating the reflective marker by using an illumination device.
9. The retroreflective marker quality evaluation method according to claim 1, wherein the retroreflectivity of the retroreflective marker is greater than the retroreflectivity of the background on which the retroreflective marker is photographed by the camera.
10. The retroreflective marker quality evaluating method according to claim 1, further comprising, before acquiring the image of the retroreflective marker photographed by the camera:
and adjusting the exposure parameters of the camera until the maximum gray value of an image obtained by shooting the reflective marker by the camera is within a preset range.
11. The retroreflective marker quality evaluation method according to any one of claims 1 to 10, further comprising:
when the camera shoots a plurality of reflective markers at the same time, marking a spot area formed on an image by each reflective marker;
determining the relation between the light spot area and the reflective marker according to the two-dimensional coordinates of the light spot area on the image and the three-dimensional coordinates of the reflective marker in the space;
when the quality evaluation of each reflective marker is completed, the quality evaluation result of each reflective marker is determined according to the mark of the light spot area and the relation between the light spot area and the reflective marker.
12. A retroreflective marker quality evaluating apparatus, comprising:
the acquisition module is used for acquiring an image obtained by shooting the reflective marker by the camera;
the determining module is used for determining a light spot area in the image;
the roundness calculation module is used for calculating the roundness of the light spot area;
the brightness calculation module is used for calculating the brightness of the light spot area;
and the quality evaluation module is used for evaluating the quality of the reflective marker according to the brightness of the light spot area and the roundness of the light spot area to obtain a quality evaluation result of the reflective marker.
13. A computer arrangement comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method according to any of claims 1 to 11.
14. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 11.
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| CN202211182038.6A CN115830109A (en) | 2022-09-27 | 2022-09-27 | Method, device and equipment for evaluating quality of reflective marker and storage medium |
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| CN202211182038.6A CN115830109A (en) | 2022-09-27 | 2022-09-27 | Method, device and equipment for evaluating quality of reflective marker and storage medium |
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