CN116300039A - Digital image stereo microscope system and method for baseline-variable phase angle photography - Google Patents
Digital image stereo microscope system and method for baseline-variable phase angle photography Download PDFInfo
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Abstract
The invention discloses a digital image stereo microscope system and a method for variable baseline alternating angle photography, which realize that a left mesa array digital photographic camera and a right mesa array digital photographic camera perform forward and reverse equivalent translational movement when the stereo photography distance is changed, and keep the ratio K of a stereo image model camera baseline to a photography height unchanged in the movement, solve the problem of unstable stereo image flattening of a stereo image model in the existing digital image stereo microscope technology, keep a stereo image with large overlapping degree and a stereo view field, correct the internal parameters of the cameras and correct the spatial projection position posture through a data processing device after the stereo image is photographed, rearrange the digital images so as to eliminate errors of camera pairing manufacture and errors generated by manufacturing and installing the variable baseline alternating angle photographic system, reduce the manufacturing and installing requirements of the stereo photographic camera and system equipment, and improve the technical performance of the digital image stereo microscope system.
Description
Technical Field
The invention belongs to the field of digital image stereo microscope observation and detection, in particular to the field of medical operation digital image stereo microscope, biological observation detection digital image stereo microscope, material observation detection digital image stereo microscope, process observation detection digital image stereo microscope and microscopic object observation detection digital image stereo microscope, and particularly relates to a digital image stereo microscope system and a digital image stereo microscope method for baseline-variable phase angle photography.
Background
Currently, microscopes are stereoscopic optical microscopes and digital image stereo (3D) microscopes. The design principles adopted are 2 kinds of stereoscopic microscope principles of inclined light path and stereoscopic microscope principles of parallel light path, whether stereoscopic microscope or digital image stereoscopic (3D) microscope. Because of the limitation of the defects of the 2 principles, the observed stereoscopic image visual model is unstable in deformation, influences the perception operation capability of people, has limited magnification of a stereoscopic (stereoscopic) microscope, has low resolution of stereoscopic images, has limited and short viewing distance of stereoscopic images and has small field of view of stereoscopic images. Because of the design principle requirement, the requirements on manufacturing and installation technology are very high, if the manufacturing technology parameters of 2 cameras are different, the 2 cameras cannot be installed strictly and stably and precisely, so that the vertical parallax appears in the deformation of the image projection, and the fainting phenomenon appears in the stereoscopic image observation.
In order to avoid the problem of deformation of image projection, the current digital image stereo (3D) microscope system equipment requires that the focal length of the lenses of the cameras are strictly identical, the physical distortion of the lenses is identical, the central positions of the installation positions of the sensors such as CCD (charge coupled device) and the like of 2 cameras are identical and can not rotate, the central light projection of the lenses of the cameras must be arranged at the center of the sensors of the cameras, the pose requirements of the 2 cameras are strictly parallel, and the precision manufacturing, installation, use and maintenance requirements of the system equipment are very strict.
When the stereoscopic image observation distance H is changed, the change proportion of the camera installation base line B and the photographing distance H is unstable, the change proportion of the stereoscopic image model is unstable, the observed stereoscopic image vision model is suddenly high and suddenly low, the stereoscopic image is flattened, and the custom perception operation capability can be affected.
The digital image stereo (3D) microscope based on the inclined light path principle has the camera with fixed photographic angle, the inclined projection of the image is deformation image, and the inclined projection of the intersection angle reduces the overlapping degree of the image, reduces the stereo viewing field, limits the stereo viewing field magnification, and limits the short viewing distance.
The digital image stereo (3D) image microscope based on the parallel light path principle is only suitable for the stereo image vision observation of short-distance non-real-time operation because the optical structure and the image projection do not completely meet the physiological stereo vision observation condition of people and the stereo vision definition is low and the stereo vision height has large deformation.
The optical stereo microscope based on the inclined light path and parallel light path principles and the stereo model of the digital image stereo (3D) microscope have deformation, the proportion K value of the stereo model is unstable, and the stereo image model can not be measured. The microscope changes the observation distance or photographing distance, so that the overlapping degree of the left and right images is reduced, the field of view of the stereoscopic image is reduced, the stereoscopic image with low overlapping degree only uses the edge part of the image, and the resolution of the stereoscopic image is reduced.
Disclosure of Invention
The invention aims to provide a digital image stereo microscope system and a digital image stereo microscope method for baseline-variable phase angle photography, which solve the problems of severe requirements on manufacturing and installing photographic equipment, small overlapping degree of adjustment distance, unstable stereo model, flat stereo image, low magnification and low stereo image resolution in the prior art.
The invention is realized by the following technical scheme:
in a first aspect, the present invention provides a digital image stereo microscope system for variable baseline alternating phase angle photography, comprising a first digital planar array photography camera a, a second digital planar array photography camera b, a computer data processing device and a stereo display;
the first digital array photographic camera a and the second digital array photographic camera b are arranged on the same sliding translation mechanism, a central limiting point is arranged on the sliding translation mechanism, the first digital array photographic camera a and the second digital array photographic camera b are arranged on two sides of the central limiting point in a mirror image mode, and the distances between the first digital array photographic camera a and the second digital array photographic camera b and the central limiting point are the same; the model adopted by the first digital array photographic camera a and the second digital array photographic camera b is the same, the lens focal length f is the same, the focal lengths of the first digital array photographic camera a and the second digital array photographic camera b are fixed, and the overlapping degree of the photographed images between the first digital array photographic camera a and the second digital array photographic camera b is kept larger than a set threshold value c;
the first digital array photographic camera a and the second digital array photographic camera b synchronously shoot digital images, respectively obtain a first photographic digital image and a second photographic digital image, and transmit the first photographic digital image and the second photographic digital image to the computer data processing device;
the computer data processing device is used for carrying out internal parameter correction and space projection position posture correction on the first photographic digital image and the second photographic digital image, rearranging the digital images to obtain a space projection posture-correct digital image, and transmitting the space projection posture-correct digital image to the stereoscopic display;
the stereoscopic display is used for displaying stereoscopic images or video stereoscopic images of the photographed object according to the correct digital images of the spatial projection postures corresponding to the first digital planar array photographing camera a and the second digital planar array photographing camera b.
Further, when the first digital photographing camera a moves, the second digital photographing camera b moves in an opposite and equal amount to the first digital photographing camera a.
Further, when the distance between the first digital planar photographing camera a and the second digital planar photographing camera b is changed, the overlapping degree of the photographed images between the first digital planar photographing camera a and the second digital planar photographing camera b is kept to be larger than a set threshold c;
before and after adjustment, the ratio K between the baseline distance B between the two digital area array photographic cameras and the photographic distance H is kept unchanged, wherein the baseline distance B represents the length of a connecting line between the two digital area array photographic cameras, and the photographic distance H represents the distance between the baseline and a display object to be photographed.
Further, the position parameter between the first digital photographing camera a and the second digital photographing camera b is set as follows:
K＝B1/H1＝B2/H2＝……Bn/Hn
Δa1b1M1∽Δa2b2M2∽……ΔanbnMn
∠a1M1b1＝∠a2M2b2＝……∠anMnbn
∠Ra＝∠Rb
H1≠H2≠……Hn
B1≠B2≠……Bn
wherein B1 represents a baseline distance between the first digital photographing camera a and the second digital photographing camera B at the first position, and H1 represents a photographing distance at the first position; b2 represents a baseline distance between the first digital matrix camera a and the second digital matrix camera B at the second position, and H2 represents a photographing distance at the second position; bn represents the baseline distance between the first digital matrix camera a and the second digital matrix camera b at the nth position, and Hn represents the photographing distance at the nth position; Δa1b1m1 represents a triangle composed of the point a1 of the first digital planar array camera, the point b1 of the second digital planar array camera and the position M1 of the object to be photographed, s represents a similar triangle, Δa2b2m2 represents a triangle composed of the point a2 of the first digital planar array camera, the point b2 of the second digital planar array camera and the position M2 of the object to be photographed, and Δanbnmn represents a triangle composed of the point an of the first digital planar array camera, the point bn of the second digital planar array camera and the position Mn of the object to be photographed; the angle a1M1B1 represents an included angle formed by a point a1 of the first digital matrix camera, a position M1 of the object to be photographed and a point B1 of the second digital matrix camera, the angle a2M2B2 represents an included angle formed by a point a1 of the first digital matrix camera, a position M2 of the object to be photographed and a point B1 of the second digital matrix camera, the angle anMnbn represents an included angle formed by a point a1 of the first digital matrix camera, a position Mn of the object to be photographed and a point B1 of the second digital matrix camera, the angle Ra represents an included angle between a photographing direction of the first digital matrix camera and a base line B, and the angle Rb represents an included angle between a photographing direction of the second digital matrix camera B and the base line B.
Further, the installation included angle Ra of the first digital area array photographic camera a and the installation included angle Rb of the second digital area array photographic camera b are set to be 1-15 degrees.
Further, a threshold value c corresponding to the overlapping degree of the photographed images of the first digital photographing camera a and the second digital photographing camera b is set to be kept greater than 90%.
In a second aspect, the present invention provides a digital image stereo microscope method based on the digital image stereo microscope system of the first aspect, including:
collecting a first photographic digital image through a first digital area array photographic camera a, and collecting a second photographic digital image through a second digital area array photographic camera b;
performing internal parameter correction and spatial projection position posture correction on the first photographic digital image and the second photographic digital image through a computer data processing device to obtain a spatial projection posture-correct digital image;
and converting the digital image with correct space projection posture into stereoscopic image data through the stereoscopic display, and displaying the stereoscopic image data on the stereoscopic display.
Further, performing intrinsic parameter correction, comprising:
shooting a first calibration image of the inner parameter calibration plate through a first digital area array shooting camera a; shooting a second calibration image of an internal parameter calibration plate through a second digital array shooting camera b, wherein the internal parameter calibration plate is correspondingly provided with a reference calibration point coordinate;
acquiring a first calibration point coordinate in the first calibration image and a second calibration point coordinate in the second calibration image, acquiring a first internal parameter correction value between the first calibration point coordinate and the reference calibration point coordinate, and acquiring a second internal parameter correction value between the second calibration point coordinate and the reference calibration point coordinate;
rearranging the first photographic digital image according to the first internal parameter correction value, rearranging the second photographic digital image according to the second internal parameter correction value, and eliminating image deformation caused by the internal parameter error.
Further, performing spatial projection position pose correction, including:
acquiring a space projection position posture adjustment parameter of a second photographic digital image shot by a second digital planar array photographic camera b relative to a first photographic digital image shot by a first digital planar array photographic camera a by adopting an image matching algorithm;
according to the space projection position posture adjustment parameters, carrying out digital image rearrangement on the first digital planar array camera a image and the second digital planar array camera b image to obtain corresponding rearranged images;
the rearranged images are used as stereoscopic photographic space to project digital images with correct postures.
Further, an image matching algorithm is adopted to obtain a spatial projection position posture adjustment parameter of a second photographic digital image shot by a second digital planar array photographic camera b relative to a first photographic digital image shot by a first digital planar array photographic camera a, including:
searching a plurality of homonymous projection points on the first photographic digital image and the second photographic digital image, and acquiring a spatial projection rotation angle and a scaling correction value of the second photographic digital image relative to the first photographic digital image during photographing according to the homonymous projection points to obtain a spatial projection position posture adjustment parameter.
The beneficial effects of the invention are as follows:
(1) The invention rearranges and corrects the images after obtaining 2 photographic camera parameters by a calculation method, greatly reduces the pairing precision manufacturing and installation requirements of 2 photographic cameras, and solves the problems that the focal length and distortion of the lens, the installation of a photographic camera sensor, the correspondence between the lens and the central position of the sensor and the incapability of being strictly the same during manufacturing in the pairing of 2 photographic cameras of a digital stereo microscope, so that the original digital image stereo microscope principle has very high requirements on manufacturing and installation precision.
(2) According to the invention, the correct posture correction parameters of the image space projection are obtained by a computer according to the changing base line of 2 cameras of the stereo photography and the camera installation intersection angle, so that the precision manufacturing and installation requirements of mechanical parts are reduced.
(3) When the stereoscopic photographing distance is changed, the photographing base line is changed along with the change, the ratio K coefficient of the base line to the photographing distance is kept unchanged, the stereoscopic model is stable, the larger stereoscopic image overlapping degree is kept, and the phenomena that the stereoscopic image model is flattened and the stereoscopic image view field is small in long-distance stereoscopic photographing by the original fixed base line microscope principle method are overcome.
(4) The phase-alternating angle stereoscopic photography provided by the invention can avoid the problem of image projection deformation caused by flattening of the depth of field of a stereoscopic image model, and solves the problem by obtaining correct space projection posture and rearranging images through a computer.
(5) The variable baseline phase angle stereo photography provided by the invention can effectively keep the large overlapping degree of 2 photographic camera images, increase the stereoscopic image observation view field, keep the stereoscopic model stable and not deformed, and overcome the defect of high unstable deformation of the small stereoscopic image vision of the original stereoscopic microscope view field.
(6) The variable baseline phase angle stereo photography provided by the invention has the advantages that the stereo image overlapping degree is large, the high resolution and the small projection deformation of the middle part of the image are observed in the stereo image view field, and the defects that the stereo image overlapping degree is small, and the low resolution image and the large projection deformation of the image at the edge part of the image are observed in the view field in the original digital image stereo microscopy technology are overcome.
(7) The variable baseline phase angle stereo photography provided by the invention has the advantages that the stereo image model is stable, the flattening of the stereo image can not occur, the defect that the flattening of the stereo image is serious when the original stereo microscope principle is used for remote stereo photography is overcome, and the stereo photography distance is improved.
(8) The variable baseline phase angle stereo photography provided by the invention has the advantages that the stereo photography distance is changed, the larger effective stereo image overlapping degree can be effectively maintained, the magnification of the digital image stereo microscope is improved, and the defect that the stereo image can not be magnified any more without an observation field of view after the stereo image overlapping degree is less than 50% according to the original digital image stereo microscope principle is overcome.
Drawings
In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the drawings that are needed in the examples will be briefly described below, it being understood that the following drawings only illustrate some examples of the present invention and therefore should not be considered as limiting the scope, and that other related drawings may be obtained from these drawings without inventive effort for a person skilled in the art. In the drawings:
fig. 1 is a schematic structural diagram of a digital image stereo microscope system for baseline-variable phase angle photography.
Fig. 2 is a flowchart of a digital image stereo microscope method of variable baseline phase angle photography provided by the invention.
Fig. 3 is a schematic diagram of a spatial projection position and posture correction principle of digital image stereography according to the present invention.
Detailed Description
For the purpose of making apparent the objects, technical solutions and advantages of the present invention, the present invention will be further described in detail with reference to the following examples and the accompanying drawings, wherein the exemplary embodiments of the present invention and the descriptions thereof are for illustrating the present invention only and are not to be construed as limiting the present invention.
Example 1
As shown in fig. 1, the invention provides a digital image stereo microscope system for variable-baseline alternating-phase angle photography, which comprises a first digital planar array photography camera a, a second digital planar array photography camera b, a computer data processing device and a stereo display. The first digital planar array camera a and the second digital planar array camera b are arranged on the same sliding translation mechanism, a central limiting point is arranged on the sliding translation mechanism, the first digital planar array camera a and the second digital planar array camera b are arranged on two sides of the central limiting point in a mirror image mode (namely, one camera is respectively arranged on the left side and the right side of the central limiting point), and the distances between the first digital planar array camera a and the second digital planar array camera b and the central limiting point are the same. The first digital planar array camera a and the second digital planar array camera b are the same in model, the focal lengths of the first digital planar array camera a and the second digital planar array camera b are fixed, and the overlapping degree of the photographed images between the first digital planar array camera a and the second digital planar array camera b is kept larger than a set threshold value.
Alternatively, the sliding translation mechanism may be provided as an electric slide rail.
The equipment system is provided with a first digital planar photographic camera a and a second digital planar photographic camera b side by side, synchronously photographs to obtain a two-dimensional planar static image, and synchronously photographs to more than 10 frames/s. The photographic lenses of the left and right 2 photographic cameras are fixed focal lengths, and the focal length and the physical distortion coefficient of the 2 lenses are required to be the same, namely the shapes of the left and right 2 photographic cameras should be the same.
The first digital planar array photographic camera a is used for acquiring a first photographic digital image of a photographic object on one side of a central limiting point and transmitting the first photographic digital image to the computer data processing device.
The second digital matrix photographic camera b is used for collecting a second photographic digital image of the photographed object at the other side of the central limiting point and transmitting the second photographic digital image to the computer data processing device.
The computer data processing device is used for carrying out internal parameter correction and space projection position posture correction on the first photographic digital image and the second photographic digital image to obtain a space projection posture correct digital image, and transmitting the space projection posture correct digital image to the stereoscopic display.
The stereoscopic display is used for displaying stereoscopic images or video stereoscopic images of the photographed object according to the correct digital images of the spatial projection postures corresponding to the first digital planar array photographing camera a and the second digital planar array photographing camera b.
In one possible embodiment, the second digital photographing camera b moves in opposite equal amounts to the first digital photographing camera a when the first digital photographing camera a moves.
In one possible embodiment, when the distance for capturing the stereoscopic image is changed, the distance between the first digital photographing camera a and the second digital photographing camera b is synchronously adjusted so that the overlapping degree of the captured image frames between the first digital photographing camera a and the second digital photographing camera b is kept to be more than 90% of the set threshold. After the distance is adjusted, the two digital area array photographic cameras can be focused in a manual focusing or automatic focusing mode.
Before and after the stereo photographing distance is changed, the ratio K between the baseline distance B and the photographing distance H between the two digital area array photographing cameras is kept unchanged, the baseline distance B represents the connecting line length between the two digital area array photographing cameras, and the photographing distance H represents the distance between the baseline and the object to be photographed and displayed.
In one possible embodiment, the position parameter between the first digital photographing camera a and the second digital photographing camera b is set as:
K＝B1/H1＝B2/H2＝……Bn/Hn
Δa1b1M1∽Δa2b2M2∽……ΔanbnMn
∠a1M1b1＝∠a2M2b2＝……∠anMnbn
∠Ra＝∠Rb
H1≠H2≠……Hn
B1≠B2≠……Bn
wherein B1 represents a baseline distance between the first digital photographing camera a and the second digital photographing camera B at the first position, and H1 represents a photographing distance at the first position. B2 represents a baseline distance between the first digital photographing camera a and the second digital photographing camera B at the second position, and H2 represents a photographing distance at the second position. Bn represents a baseline distance between the first digital photographing camera a and the second digital photographing camera b at the n-th position, and Hn represents a photographing distance at the n-th position. Δa1b1m1 represents a triangle formed by the point a1 of the first digital planar array camera, the point b1 of the second digital planar array camera and the position M1 of the object to be photographed, s represents a triangle formed by the two triangles being similar triangles, Δa2b2m2 represents a triangle formed by the point a2 of the first digital planar array camera, the point b2 of the second digital planar array camera and the position M2 of the object to be photographed, and Δanbnmn represents a triangle formed by the point an of the first digital planar array camera, the point bn of the second digital planar array camera and the position Mn of the object to be photographed. The angle a1M1B1 represents an included angle formed by a point a1 of the first digital matrix camera, a position M1 of the object to be photographed and a point B1 of the second digital matrix camera, the angle a2M2B2 represents an included angle formed by a point a1 of the first digital matrix camera, a position M2 of the object to be photographed and a point B1 of the second digital matrix camera, the angle anMnbn represents an included angle formed by a point a1 of the first digital matrix camera, a position Mn of the object to be photographed and a point B1 of the second digital matrix camera, the angle Ra represents an included angle between a photographing direction of the first digital matrix camera and a base line B, and the angle Rb represents an included angle between a photographing direction of the second digital matrix camera B and the base line B.
Since the first digital photographing camera a moves, the second digital photographing camera b moves in the same amount as the first digital photographing camera a. Therefore, when the first digital planar array photographic camera a and the second digital planar array photographic camera B are moved, the ratio K between the baseline distance B and the photographic distance H between the two digital planar array photographic cameras is not changed as long as the intersection angles Ra and Rb are kept unchanged. It should be noted that, when the second digital photographing camera b moves, the first digital photographing camera a and the second digital photographing camera b move in opposite equal amounts.
Optionally, when the first digital planar array camera a and the second digital planar array camera b are installed on the sliding translation mechanism, the first digital planar array camera a and the second digital planar array camera b should be installed on a structure capable of rotating in the directions of an X axis, a Y axis and a Z axis of the camera, and an electric sliding rail is installed on the rotating structure, so that intelligent electric control of movement of multiple coordinate axes of the camera is realized, and the intelligent electronic control of movement of the camera is more accurate and more convenient than manual control of movement of the camera. In FIG. 1, P a1b1 Representing a first numberWhen the digital matrix photographic camera is at the point a1 and the second digital matrix photographic camera is at the point b1, the overlapped images are photographed; p (P) a2b2 Representing overlapping images taken by the first digital matrix camera at point a2 and the second digital matrix camera at point b 2; p (P) anbn The superimposed images taken by the first digital planar camera at point an and the second digital planar camera at point bn are shown.
When the stereoscopic image is shot, the focusing modes of the lenses of the left photographic camera and the right photographic camera are manual focusing or intelligent synchronous electric control focusing, and an irradiation light source can be arranged to realize shooting in a low-light environment.
In one possible implementation manner, the installation angle Ra of the first digital planar array camera a and the installation angle Rb of the second digital planar array camera b are set to be 1-15 degrees, and the height of the stereoscopic model required for stereoscopic image observation is adjusted.
In one possible embodiment, the threshold value c corresponding to the overlapping degree of the photographed images of the first digital photographing camera a and the second digital photographing camera b is set to be greater than 90%.
The invention provides a digital image stereo microscope system for variable baseline phase angle photography, which can realize that when the stereo photographing distance is changed, the left and right mesa array photographic cameras perform forward and reverse equivalent movement, and in the movement, the ratio K of the stereo photographing distance H to the baseline B is kept unchanged, the image overlapping degree is kept unchanged, the height ratio of a stereo image model is kept unchanged, after the images are acquired, internal parameter correction and spatial position posture correction are performed through a computer data processing device, so that errors of the cameras and errors generated by system manufacturing and installation are eliminated, and the precision manufacturing and precision installation requirements of the system on machines and cameras are reduced.
Example 2
As shown in fig. 2, the present invention provides a digital image stereo microscope method based on a digital image stereo microscope system, comprising:
s1, acquiring a first photographic digital image through a first digital area array photographic camera a, and acquiring a second photographic digital image through a second digital area array photographic camera b.
S2, carrying out internal parameter correction and space projection position posture correction on the first photographic digital image and the second photographic digital image through a computer data processing device to obtain a digital image with correct space projection posture.
S3, converting the digital image with the correct space projection posture into stereoscopic image data through the stereoscopic display, and displaying the stereoscopic image data on the stereoscopic display.
In one possible embodiment, performing intrinsic parameter correction includes:
and shooting a first calibration image of the internal parameter calibration plate by the first digital area array camera a. And shooting a second calibration image of the internal parameter calibration plate by using a second digital array shooting camera b, wherein the internal parameter calibration plate is correspondingly provided with reference calibration point coordinates.
And acquiring a first calibration point coordinate in the first calibration image and a second calibration point coordinate in the second calibration image, acquiring a first internal parameter correction value between the first calibration point coordinate and the reference calibration point coordinate, and acquiring a second internal parameter correction value between the second calibration point coordinate and the reference calibration point coordinate.
Rearranging the first photographic digital image according to the first internal parameter correction value, rearranging the second photographic digital image according to the second internal parameter correction value, and eliminating image deformation caused by the internal parameter error.
The digital images shot by the left and right 2 photographic cameras are different in lens physical distortion q and focal length f due to the internal parameters of the 2 photographic cameras, and the central positions o of the lens center light projected to the sensor CCD are different, so that the unified internal parameters are required to be calculated and corrected. The left and right 2 cameras shoot images on a special image internal parameter calibration plate, coordinates of a calibration point are obtained through image matching calculation, coordinate differences of the calibration point are obtained through the coordinate of the calibration point and the image matching calculation, internal parameter correction values are obtained through calculation, images are rearranged through the internal parameter correction values, and image deformation caused by internal parameter errors is eliminated.
In one possible embodiment, performing spatial projection position pose correction includes:
and acquiring a spatial projection position posture adjustment parameter of the second photographic digital image shot by the second digital planar array photographic camera b relative to the first photographic digital image shot by the first digital planar array photographic camera a by adopting an image matching algorithm.
And according to the space projection position and posture adjustment parameters, rearranging the digital images of the first digital planar array camera a and the second digital planar array camera b to obtain corresponding rearranged images.
In this embodiment, the spatial projection position posture adjustment parameter is a spatial projection posture difference of the second photographic digital image captured by the second digital planar array photographic camera b with respect to the first photographic digital image captured by the first digital planar array photographic camera a, and may be considered as a spatial projection posture difference of the first photographic digital image captured by the first digital planar array photographic camera a with respect to the second photographic digital image captured by the second digital planar array photographic camera b, so that the second photographic digital image may be adjusted or the first photographic digital image may be adjusted according to the spatial projection position posture adjustment parameter, or the first photographic digital image and the second photographic digital image may be adjusted by half according to the spatial projection position posture adjustment parameter.
The rearranged images are used as stereoscopic photographic space to project digital images with correct postures.
After the computer equipment reads the left and right digital images for eliminating the parameter errors in the cameras, because the photographed images are in inclined projection postures with installation included angles and the photographed left and right 2 cameras have installation errors such as relative front and back, left and right, up and down, rotation and the like, the projection images of the left and right images are deformed digital images, the projection directions of the left and right digital images are different, the deformation is different, stereoscopic image observation cannot be directly formed, deformation correction is needed to be carried out on the images, the projection images are rearranged to be the correct digital images in the postures when photographing, and the recovery principle is shown in fig. 3.
In one possible implementation manner, an image matching algorithm is adopted to obtain a spatial projection position and posture adjustment parameter of a second photographic digital image captured by a second digital planar array photographic camera b relative to a first photographic digital image captured by a first digital planar array photographic camera a, including:
searching a plurality of homonymous projection points on the first photographic digital image and the second photographic digital image, and acquiring a spatial projection rotation angle and a scaling correction value of the second photographic digital image relative to the first photographic digital image during photographing according to the homonymous projection points to obtain a spatial projection position posture adjustment parameter.
And recovering the correct digital image process of the shooting posture, carrying out the calculation for the computer non-difference image matching, wherein the purpose of the non-difference image matching is to accurately find a plurality of homonymous projection points on the left image and the right image, calculate the spatial projection rotation angle and the scaling correction value of the shooting posture of the right image relative to the left image, and calculate the relative spatial projection position posture data result of the left camera and the right camera.
The left and right digital images for eliminating the internal parameter errors are obtained by planning the focal distance f and the photo coordinate system of the left and right images to uniform parameters, so as to construct stereoscopic vision.
As shown in fig. 3, a schematic diagram of a correct digital image is provided, in which the spatial projection images are rearranged and restored to the spatial projection attitude at the time of photographing, in fig. 3, P1 is a left camera image, P2 is a right camera image, s1 is a left camera focus, s2 is a right camera focus, f1 is a left camera focus, f2 is a right camera focus, O1 is a left camera image center point, O2 is a right camera image center point, O1-xy is a left image coordinate system, O2-xy is a right image coordinate system, O-XYZ coordinate system is a spatial projection correction coordinate system established in parallel with the left camera image focus f1 and the camera image coordinate system, O1-xy is a spatial projection rotation angle of the right camera image in the O-XYZ coordinate system, X2, Y2, Z2 are spatial translations of the right camera image in the O-XYZ coordinate system, A, B is a spatial object point of photographing, a1, b1 is a projection point of the spatial object point on the left camera image P1, a2, b2 is a spatial object point of photographing a spatial object point, and M is a spatial focal point between the left camera focus and the left camera focus.
The method comprises the steps of calculating the azimuth and coordinates of a corresponding object in a space coordinate system XYZ when a left camera and a right camera photograph, matching the result of intersection with space projection, projection centers s1 and s2 of the left camera and the right camera, a space object point A, B of a three-dimensional photographic object, rotation azimuth elements kappa, phi and omega rotation angles of an image in the space coordinate system XYZ, calculating a rotation matrix R ', space coordinates x', y ', z', and image point photograph coordinates x and y, and the relation between a camera lens focal length f is as follows:
if the direction of the image in the space coordinate system XYZ is known
Position and direction of object stereo vision in space coordinate system XYZ
Wherein the method comprises the steps of
R 0 ＝R·(R′) -1
And obtaining the relative space projection position and posture data result of the left and right images and 2 photographic cameras.
And restoring the right and left images to the digital images with correct space projection posture when shooting, pushing the digital images to a stereoscopic display by a computer, and forming stereoscopic image observation on the display. The stereoscopic display observation adopts a frame sequence active shutter stereoscopic observation mode, a polarized light stereoscopic observation mode and an naked eye stereoscopic observation mode.
According to the digital image stereo microscope system and method for variable-baseline phase angle photography, camera internal parameter correction and image space projection position posture correction are carried out on the first photographic image of the left photographic camera and the second photographic image of the right photographic camera, so that manufacturing and installation errors of variable-baseline phase angle photography and 2 camera manufacturing and pairing internal parameter errors are eliminated, and the system manufacturing and installation requirements are reduced.
The foregoing detailed description of the invention has been presented for purposes of illustration and description, and it should be understood that the invention is not limited to the particular embodiments disclosed, but is intended to cover all modifications, equivalents, alternatives, and improvements within the spirit and principles of the invention.
Claims (10)
1. The digital image stereo microscope system for baseline-variable phase angle photography is characterized by comprising a first digital planar array photography camera a, a second digital planar array photography camera b, a computer data processing device and a stereo display;
the first digital array photographic camera a and the second digital array photographic camera b are arranged on the same sliding translation mechanism, a central limiting point is arranged on the sliding translation mechanism, the first digital array photographic camera a and the second digital array photographic camera b are arranged on two sides of the central limiting point in a mirror image mode, and the distances between the first digital array photographic camera a and the second digital array photographic camera b and the central limiting point are the same; the model adopted by the first digital array photographic camera a and the second digital array photographic camera b is the same, the lens focal length f is the same, the focal lengths of the first digital array photographic camera a and the second digital array photographic camera b are fixed, and the overlapping degree of the photographed images between the first digital array photographic camera a and the second digital array photographic camera b is kept larger than a set threshold value c;
the first digital array photographic camera a and the second digital array photographic camera b synchronously shoot digital images, respectively obtain a first photographic digital image and a second photographic digital image, and transmit the first photographic digital image and the second photographic digital image to the computer data processing device;
the computer data processing device is used for carrying out internal parameter correction and space projection position posture correction on the first photographic digital image and the second photographic digital image, rearranging the digital images to obtain a space projection posture-correct digital image, and transmitting the space projection posture-correct digital image to the stereoscopic display;
the stereoscopic display is used for displaying stereoscopic images or video stereoscopic images of the photographed object according to the correct digital images of the spatial projection postures corresponding to the first digital planar array photographing camera a and the second digital planar array photographing camera b.
2. The variable baseline alternating angle photographic digital image stereo microscope system according to claim 1, wherein the second digital planar photographic camera b moves in opposite equal amounts to the first digital planar photographic camera a when the first digital planar photographic camera a moves.
3. The system according to claim 1, wherein when the distance between the first digital photographing camera a and the second digital photographing camera b is changed, the overlapping degree of the photographed images between the first digital photographing camera a and the second digital photographing camera b is kept larger than a set threshold c;
before and after adjustment, the ratio K between the baseline distance B between the two digital area array photographic cameras and the photographic distance H is kept unchanged, wherein the baseline distance B represents the length of a connecting line between the two digital area array photographic cameras, and the photographic distance H represents the distance from the baseline to a display object to be photographed.
4. The variable baseline interleaved angle photographed digital image stereo microscope system according to claim 3 wherein the position parameters between the first digital anaglyph camera a and the second digital anaglyph camera b are set to:
K＝B1/H1＝B2/H2＝……Bn/Hn
Δa1b1M1∽Δa2b2M2∽……ΔanbnMn
∠a1M1b1＝∠a2M2b2＝……∠anMnbn
∠Ra＝∠Rb
H1≠H2≠……Hn
B1≠B2≠……Bn
wherein B1 represents a baseline distance between the first digital photographing camera a and the second digital photographing camera B at the first position, and H1 represents a photographing distance at the first position; b2 represents a baseline distance between the first digital matrix camera a and the second digital matrix camera B at the second position, and H2 represents a photographing distance at the second position; bn represents the baseline distance between the first digital matrix camera a and the second digital matrix camera b at the nth position, and Hn represents the photographing distance at the nth position; Δa1b1m1 represents a triangle composed of the point a1 of the first digital planar array camera, the point b1 of the second digital planar array camera and the position M1 of the object to be photographed, s represents a similar triangle, Δa2b2m2 represents a triangle composed of the point a2 of the first digital planar array camera, the point b2 of the second digital planar array camera and the position M2 of the object to be photographed, and Δanbnmn represents a triangle composed of the point an of the first digital planar array camera, the point bn of the second digital planar array camera and the position Mn of the object to be photographed; the angle a1M1B1 represents an included angle formed by a point a1 of the first digital matrix camera, a position M1 of the object to be photographed and a point B1 of the second digital matrix camera, the angle a2M2B2 represents an included angle formed by a point a1 of the first digital matrix camera, a position M2 of the object to be photographed and a point B1 of the second digital matrix camera, the angle anMnbn represents an included angle formed by a point a1 of the first digital matrix camera, a position Mn of the object to be photographed and a point B1 of the second digital matrix camera, the angle Ra represents an included angle between a photographing direction of the first digital matrix camera and a base line B, and the angle Rb represents an included angle between a photographing direction of the second digital matrix camera B and the base line B.
5. The digital image stereo microscope system of variable baseline phase angle photography according to claim 4, wherein the installation angle Ra of the first digital planar array photography camera a and the installation angle Rb of the second digital planar array photography camera b are set to be 1 ° -15 °.
6. The variable baseline interleaved angle photographed digital image stereo microscope system according to claim 4 wherein the threshold c corresponding to the degree of overlapping of photographed images of the first digital array photographing camera a and the second digital array photographing camera b is set to be maintained to be greater than >90%.
7. A digital image stereomicroscopy method based on the digital image stereomicroscopy system of any one of claims 1 to 6, comprising:
collecting a first photographic digital image through a first digital area array photographic camera a, and collecting a second photographic digital image through a second digital area array photographic camera b;
performing internal parameter correction and spatial projection position posture correction on the first photographic digital image and the second photographic digital image through a computer data processing device to obtain a spatial projection posture-correct digital image;
and converting the digital image with correct space projection posture into stereoscopic image data through the stereoscopic display, and displaying the stereoscopic image data on the stereoscopic display.
8. The digital image stereomicroscopy method of claim 7, wherein performing an intra-parameter correction comprises:
shooting a first calibration image of the inner parameter calibration plate through a first digital area array shooting camera a; shooting a second calibration image of an internal parameter calibration plate through a second digital array shooting camera b, wherein the internal parameter calibration plate is correspondingly provided with a reference calibration point coordinate;
acquiring a first calibration point coordinate in the first calibration image and a second calibration point coordinate in the second calibration image, acquiring a first internal parameter correction value between the first calibration point coordinate and the reference calibration point coordinate, and acquiring a second internal parameter correction value between the second calibration point coordinate and the reference calibration point coordinate;
rearranging the first photographic digital image according to the first internal parameter correction value, rearranging the second photographic digital image according to the second internal parameter correction value, and eliminating image deformation caused by the internal parameter error.
9. The digital image stereomicroscopy method of claim 7, wherein performing spatial projection position pose correction comprises:
acquiring a space projection position posture adjustment parameter of a second photographic digital image shot by a second digital planar array photographic camera b relative to a first photographic digital image shot by a first digital planar array photographic camera a by adopting an image matching algorithm;
according to the space projection position posture adjustment parameters, carrying out digital image rearrangement on the first digital planar array camera a image and the second digital planar array camera b image to obtain corresponding rearranged images;
the rearranged images are used as stereoscopic photographic space to project digital images with correct postures.
10. The method of claim 9, wherein obtaining the spatial projection position and orientation adjustment parameter of the second digital image captured by the second digital planar array camera b relative to the first digital image captured by the first digital planar array camera a by using an image matching algorithm comprises:
searching a plurality of homonymous projection points on the first photographic digital image and the second photographic digital image, and acquiring a spatial projection rotation angle and a scaling correction value of the second photographic digital image relative to the first photographic digital image during photographing according to the homonymous projection points to obtain a spatial projection position posture adjustment parameter.
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| JP2015094831A (en) * | 2013-11-11 | 2015-05-18 | キヤノン株式会社 | Stereoscopic imaging device, control method thereof, and control program |
| CN103796004B (en) * | 2014-02-13 | 2015-09-30 | 西安交通大学 | A kind of binocular depth cognitive method of initiating structure light |
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