CN116668831A - Consistency adjusting method and device for multi-camera system - Google Patents
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- 238000003705 background correction Methods 0.000 claims abstract description 42
- 238000001514 detection method Methods 0.000 claims abstract description 32
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- 230000007547 defect Effects 0.000 claims description 5
- 238000011179 visual inspection Methods 0.000 claims description 3
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/743—Bracketing, i.e. taking a series of images with varying exposure conditions
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/14—Picture signal circuitry for video frequency region
- H04N5/20—Circuitry for controlling amplitude response
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Abstract
The invention provides a consistency adjusting method and a device of a multi-camera system, belonging to the technical field of machine vision detection, wherein the method comprises the following steps: performing a flat field correction for each camera in the multi-camera system; adjusting camera parameters of a reference camera to obtain a reference image of a feature region to be detected of an object to be detected; and continuously adjusting camera parameters of the camera until the gray scale of the reference image is consistent with that of the reference image, so as to realize consistency adjustment of the multi-camera system. The whole adjusting process is simple and efficient, and the consistency of the images acquired by the same object to be detected by the multiple cameras is improved by adjusting the image taking uniformity of the cameras, the brightness of the light source and the white balance coefficient of the cameras, so that the consistency of detection results is ensured.
Description
Technical Field
The invention relates to the technical field of machine vision detection, in particular to a consistency adjusting method and device of a multi-camera system.
Background
In machine vision detection application, the problem of detection consistency of a multi-camera system is often encountered due to the influence of factors such as camera response difference, lens consistency, light source consistency and the like in different optical-mechanical systems, and how to ensure consistency of images acquired by different cameras on the same object to be detected is particularly important when the acquired images are used as input sources for vision detection.
Currently, there is a lack of a simple and efficient method of consistency adjustment for multi-camera systems.
Disclosure of Invention
The invention provides a consistency adjusting method and device for a multi-camera system, which can realize simple and efficient adjustment of the consistency of the multi-camera system.
In a first aspect, the present invention provides a method for adjusting consistency of a multi-camera system, including: performing a flat field correction for each camera in the multi-camera system; the multi-camera system includes a plurality of cameras; adjusting camera parameters of a reference camera to obtain a reference image of a feature region to be detected of an object to be detected; the reference camera is any camera in the multi-camera system, and the reference image meets the preset visual detection requirement; continuously adjusting camera parameters of the camera until the gray scale of the reference image is consistent with that of the reference image, so as to realize consistency adjustment of the multi-camera system; the contrast image is an image of the feature region to be detected, which meets the preset visual detection requirement.
According to the consistency adjusting method of the multi-camera system, which is provided by the invention, the flat field correction is carried out on the cameras in the multi-camera system, and the method comprises the following steps: controlling a lens of the camera to be aligned with a calibration plate, and collecting a target image by virtual focus; wherein the camera is configured to: the exposure time is preset, the average gray scale value of the target image is the preset gray scale value by the brightness of the light source, and mura defects are avoided; and performing flat field correction on the target image to finish flat field correction of the camera.
According to the consistency adjustment method of the multi-camera system provided by the invention, in the case that the cameras of the multi-camera system are color cameras, before performing flat-field correction on each camera in the multi-camera system, the method further comprises: white balance adjustment is performed for each color camera.
According to the consistency adjusting method of the multi-camera system provided by the invention, before controlling the lens of the camera to be aligned with the calibration plate and the virtual focus to collect the target image, the method further comprises the following steps: and selecting a calibration plate matched with the object to be detected according to the reflection characteristic of the object to be detected.
According to the consistency adjustment method of the multi-camera system provided by the invention, camera parameters of a reference camera are adjusted to obtain a reference image of a feature area to be detected of an object to be detected, and the method comprises the following steps: adjusting the light source brightness of the reference camera to acquire a reference image meeting the preset visual detection requirement; the preset visual inspection requirements include: image sharpness requirements.
According to the consistency adjustment method of the multi-camera system provided by the invention, under the condition that a camera of the multi-camera system is a black-and-white camera, camera parameters of a contrast image are continuously adjusted until the contrast image is determined to be consistent with the gray scale of the reference image, and the consistency adjustment method comprises the following steps: and continuously adjusting the brightness of the light source of the pair of cameras until the contrast image is determined to be consistent with the gray scale of the reference image.
According to the consistency adjustment method of the multi-camera system provided by the invention, under the condition that the camera of the multi-camera system is a color camera, camera parameters of a contrast image are continuously adjusted until the contrast image is determined to be consistent with the gray scale of the reference image, and the consistency adjustment method comprises the following steps: continuously adjusting the brightness of the light source of the pair of cameras until any channel of the pair of images is consistent with the gray scale of any channel of the reference image; any channel is an R channel, a G channel or a B channel; and respectively and continuously adjusting the white balance coefficients of the other two channels of the pair of cameras until the other two channels of the pair of cameras are determined to be consistent with the gray scale of the other two channels of the reference image on the corresponding channels.
According to the consistency adjustment method of the multi-camera system provided by the invention, when the camera of the multi-camera system is a black-and-white camera, the contrast image is determined to be consistent with the gray scale of the reference image, and the consistency adjustment method comprises the following steps: respectively acquiring average gray scale values of the reference image and the control image; and determining that the reference image is consistent with the gray scale of the reference image under the condition that the difference degree of the average gray scale value of the reference image and the average gray scale value of the reference image is smaller than a preset threshold value.
According to the consistency adjustment method of the multi-camera system provided by the invention, when the camera of the multi-camera system is a color camera, the contrast image is determined to be consistent with the gray scale of the reference image, and the method comprises the following steps: respectively calculating average gray scale values of the reference image and the control image under different channels; judging whether the gray scales of each channel are consistent according to the difference degree of the average gray scale values of the reference image and the reference image on each channel; and under the condition that the difference degree of the average gray scale value of the control image and the reference image under the current channel is smaller than a preset threshold value, determining that the gray scale of the control image and the reference image under the current channel is consistent.
In a second aspect, the present invention also provides a consistency adjustment apparatus of a multi-camera system, including: the system comprises a flat field correction module, a reference image acquisition module and a consistency adjustment module;
the flat field correction module is used for carrying out flat field correction on each camera in the multi-camera system; the multi-camera system includes a plurality of cameras;
the reference image acquisition module is used for adjusting camera parameters of the reference camera to acquire a reference image of a feature area to be detected of the object to be detected; the reference image is an image which is acquired by a reference camera and meets the preset visual detection requirement, and the reference camera is any camera in the multi-camera system;
the consistency adjusting module is used for continuously adjusting the camera parameters of the camera until the gray scale of the reference image is consistent with that of the contrast image, so as to realize consistency adjustment of the multi-camera system; the contrast image is an image which is acquired by a camera and meets the preset visual detection requirement of a feature area to be detected, and the camera is a camera except a reference camera in the multi-camera system.
In a third aspect, the present invention provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the method for coherency adjustment of a multi-camera system as described in any of the preceding paragraphs when the program is executed.
In a fourth aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of a method of coherency adjustment for a multi-camera system as described in any of the above.
The consistency adjusting method and device of the multi-camera system provided by the invention firstly carries out flat-field correction on the camera; then, camera parameters of a reference camera are adjusted to obtain a reference image; further, taking gray scales of the contrast image acquired by the camera and the reference image as targets, and adjusting camera parameters of the camera to realize consistency adjustment of the multi-camera system; the whole adjusting process is simple and efficient, the consistency of the multi-camera to the images acquired by the same object to be detected is improved, and the consistency of the detection result is ensured.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for coherency adjustment in a multi-camera system provided by the present invention;
FIG. 2 is a schematic diagram of a consistency adjustment apparatus for a multi-camera system according to the present invention;
fig. 3 is a schematic structural diagram of an electronic device provided by the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that in the description of embodiments of the present invention, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus 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, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The following describes a method and apparatus for consistency adjustment of a multi-camera system according to an embodiment of the present invention with reference to fig. 1 to 3.
FIG. 1 is a flow chart of a method for adjusting consistency of a multi-camera system according to the present invention, as shown in FIG. 1, including but not limited to the following steps:
step 101: a flat field correction is performed for each camera in the multi-camera system.
Flat-field correction (FFC) is a technique to improve digital imaging quality. It eliminates the effects of image artifacts caused by variations in detector pixel-to-pixel sensitivity and optical path distortion. The invention can realize flat field correction by utilizing the camera FFC correction or camera shading correction function of the camera in the multi-camera system.
It will be appreciated that the multi-camera system of the present invention is intended for machine vision measurement and includes a plurality of cameras. Optionally, at least two cameras are included, and in the present invention, all cameras in the multi-camera system are black-and-white cameras or color cameras.
Step 102: and adjusting camera parameters of the reference camera to acquire a reference image of the feature region to be detected of the object to be detected.
Wherein the camera parameters include, but are not limited to: exposure time of the camera, light source brightness, white balance coefficient, and the like.
The reference image is an image which is acquired by a reference camera and meets the preset visual detection requirement, and the reference camera is any camera in the multi-camera system; the reference camera may be determined by human or may be selected randomly.
The object to be examined can be a display or other object, such as precious leather, metal parts, etc.
It should be noted that, satisfying the preset visual detection requirement may be understood as preset requirements on the reference image, such as a definition requirement, a pixel requirement, and a resolution requirement, and the preset requirements may be adaptively set according to actual requirements for performing visual detection on different objects to be detected.
Step 103: and continuously adjusting camera parameters of the camera until the gray scale of the reference image is consistent with that of the reference image, so as to realize consistency adjustment of the multi-camera system.
Specifically, the reference image is an image of the feature area to be detected, which is acquired by a camera, and meets a preset visual detection requirement, and the camera is a camera except a reference camera in the multi-camera system.
According to the consistency adjusting method of the multi-camera system, firstly, flat field correction is carried out on all cameras of the multi-camera system; then, camera parameters of a reference camera are adjusted to obtain a reference image; further, taking gray scales of the contrast image acquired by the camera and the reference image as targets, and adjusting camera parameters of the camera to realize consistency adjustment of the multi-camera system; the whole adjusting process is simple and efficient, the consistency of the images acquired by the same object to be detected by the multiple cameras is improved, and the consistency of detection results is ensured.
Based on the foregoing embodiment, as an optional embodiment, the method for adjusting consistency of a multi-camera system according to the present invention performs flat-field correction on a camera in the multi-camera system, including the following steps: controlling a lens of the camera to be aligned with a calibration plate, and collecting a target image by virtual focus; wherein the camera is configured to: the exposure time is preset, the average gray scale value of the target image is the preset gray scale value by the brightness of the light source, and mura defects are avoided; and performing flat field correction on the target image to finish flat field correction of the camera.
Specifically, when FFC correction is performed on each camera, the camera is aligned to the calibration plate, the working distance is adjusted to make the target image virtually focused and visually mura-free, the exposure time of the camera is set to be a preset exposure time, and the brightness of the light source is adjusted to make the average gray scale value (average gray scale value) of the target image about 180 (i.e., a preset gray scale value); and starting the FFC correction or camera shading correction function of the camera to finish the FFC correction of the camera. The mura defect refers to a defect that gray scale in an image picture is uneven, and dark spots or bright spots exist.
The camera shoots an acquired image under a certain exposure time, and the acquired image has the phenomenon of corner redness. Therefore, in order that the camera can be normally used in an actual scene, the invention sets the exposure time of the camera to be a preset exposure time, thereby overcoming the phenomenon of corner redness.
Based on the foregoing embodiments, as an optional embodiment, before controlling the lens of the camera to align with the calibration plate, the method further includes: and selecting a calibration plate matched with the object to be detected according to the reflection characteristic of the object to be detected.
Specifically, if the surface of the object to be detected is mainly diffusely reflected, white paper or diffusely reflecting white board can be selected as the calibration board; if the surface of the object to be detected is mainly reflected by a mirror surface, the plane mirror can be selected as a calibration plate.
Optionally, in the case that the plurality of cameras of the multi-camera system are color cameras, before performing the flat-field correction on each camera of the multi-camera system, the method further includes: white balance adjustment is performed for each color camera. In the case where the plurality of cameras of the multi-camera system are black-and-white cameras, white balance adjustment is not required.
In general, the invention can use a camera to collect images of white objects (white paper or white board) in virtual focus, and use the camera to perform automatic white balance.
Based on the foregoing embodiments, as an optional embodiment, the method for adjusting consistency of a multi-camera system according to the present invention adjusts camera parameters of a reference camera to obtain a reference image of a feature area to be inspected of an object to be inspected, including: adjusting the light source brightness of the reference camera to acquire a reference image meeting the preset visual detection requirement; the preset visual inspection requirements include: image sharpness requirements.
It can be understood that the exposure time of the reference camera is still the preset exposure time set during the flat field correction, that is, only the brightness of the light source of the reference camera is adjusted in the present embodiment to obtain the reference image meeting the preset sharpness requirement.
Specifically, in the adjustment of the reference camera, any feature region to be detected of the object to be detected is selected, the feature region to be detected is moved into the field of view of the reference camera, the exposure time of the camera is set to be the preset exposure time, and the brightness of a proper light source is adjusted, so that the image acquired by the reference camera of the object to be detected meets the requirement of visual detection.
The image definition is an important index for measuring the image quality, and for the image collected by the camera, the image definition can be evaluated by some definition evaluation indexes. The invention can evaluate whether the reference image meets the preset definition requirement by adopting the existing definition evaluation method. Such as Brenner gradient, tenegrad gradient, etc., which are relatively mature methods and are not described in detail herein.
Based on the foregoing embodiments, as an optional embodiment, the method for adjusting consistency of a multi-camera system provided by the present invention, in the case that a camera of the multi-camera system is a black-and-white camera, continuously adjusts a camera parameter of a camera until it is determined that a reference image is consistent with a gray scale of the reference image, includes: and continuously adjusting the brightness of the light source of the pair of cameras until the contrast image is determined to be consistent with the gray scale of the reference image.
Specifically, in the process of adjusting the camera belonging to the black-and-white camera, the same feature area to be inspected of the same object to be inspected of the reference camera is selected, and is placed at the same position of the field of view of the camera, and the exposure time of the camera is still set to be a preset exposure time, namely the exposure time set in the flat field correction process. It can be appreciated that in this embodiment, only the brightness of the light source of the camera is adjusted until the collected reference image matches the gray level of the reference image.
Optionally, in the case that the camera of the multi-camera system is a black-and-white camera, determining that the contrast image is gray-scale identical to the reference image includes: respectively acquiring average gray scale values of the reference image and the control image; and determining that the reference image is consistent with the gray scale of the reference image under the condition that the difference degree of the average gray scale value of the reference image and the average gray scale value of the reference image is smaller than a preset threshold value.
Wherein the degree of difference may be the absolute value of the difference. Of course, the invention can also adopt the contrast of the gray level histogram to judge the gray level consistency, and the description is omitted here.
Based on the foregoing embodiments, as an optional embodiment, the method for adjusting consistency of a multi-camera system provided by the present invention, in the case that a camera of the multi-camera system is a color camera, continuously adjusts a camera parameter of the camera until it is determined that a reference image is consistent with a gray scale of the reference image, includes: continuously adjusting the brightness of the light source of the pair of cameras until determining that any channel of the pair of images is consistent with the gray scale of any channel of the reference image; and respectively and continuously adjusting the white balance coefficients of the other two channels of the pair of cameras until the other two channels of the pair of cameras are determined to be consistent with the gray scale of the other two channels of the reference image on the corresponding channels.
Specifically, in the process of adjusting the camera belonging to the color camera, the same feature area to be inspected of the same object to be inspected as the reference camera is selected, and is placed at the same position as the field of view of the camera, and the exposure time of the camera is still set to be a preset exposure time, namely, the exposure time set in the flat field correction process. The brightness of the light source of the camera belonging to the color camera is continuously adjusted, and the gray scale of one channel (R or G or B) in the RGB channel of the image collected by the camera is consistent with the gray scale of the corresponding channel of the reference image collected by the reference camera, and the gray scale difference of the other two channels is larger.
After the brightness of the light source is adjusted to make the gray scale of one channel in R, G or B of the camera and the reference camera consistent, the brightness of the light source is fixed, and the white balance coefficients of the other two channels of the camera are continuously adjusted until the gray scale of the other two channels of the camera and the reference camera for capturing images of the object to be detected are consistent. For example: after the brightness of the light source is adjusted, the gray scales of the G channel of the image acquired by the camera and the reference camera are consistent, the gray scale difference of the R channel and the B channel of the image acquired by the reference camera is poor, then the brightness of the light source is fixed, and the white balance coefficients of the R channel and the B channel of the camera are adjusted until the gray scales of the R channel and the B channel of the image acquired by the camera and the reference camera are consistent.
Optionally, in the case that the camera of the multi-camera system is a color camera, determining that the reference image is gray-scale identical to the reference image includes: respectively calculating average gray scale values of the reference image and the control image under different channels; judging whether the gray scales of each channel are consistent according to the difference degree of the average gray scale values of the reference image and the reference image on each channel; and under the condition that the difference degree of the average gray scale value of the control image and the reference image under the current channel is smaller than a preset threshold value, determining that the gray scale of the control image and the reference image under the current channel is consistent.
Similar to the above embodiment, the degree of difference may be the absolute value of the difference. Of course, the invention can also adopt the contrast of the gray level histogram to judge the gray level consistency, and the description is omitted here.
In summary, the present invention firstly performs flat field correction on all cameras of a multi-camera system; then, camera parameters of a reference camera are adjusted to obtain a reference image; further, the camera parameters of the camera are adjusted by taking the gray scale consistency of the reference image and the contrast image acquired by the camera as a target, so as to realize consistency adjustment of the multi-camera system. The whole adjusting process is simple and efficient, and the consistency of the images acquired by the same object to be detected by the multiple cameras is improved by adjusting the image taking uniformity of the cameras, the brightness of the light source and the white balance coefficient of the cameras, so that the consistency of detection results is ensured.
Fig. 2 is a schematic structural diagram of a consistency adjustment apparatus of a multi-camera system according to the present invention, as shown in fig. 2, the apparatus includes: a flat field correction module 201, a reference image acquisition module 202, and a consistency adjustment module 203.
A flat field correction module 201 for flat field correction for each camera in the multi-camera system.
Wherein the multi-camera system comprises a plurality of cameras.
The reference image acquisition module 202 is configured to adjust camera parameters of the reference camera to obtain a reference image of a feature region to be inspected of the object to be inspected.
The reference image is an image which is acquired by a reference camera and meets the preset visual detection requirement, and the reference camera is any camera in the multi-camera system;
and the consistency adjustment module 203 is configured to continuously adjust camera parameters of the camera until it is determined that the gray scale of the reference image is consistent with the gray scale of the reference image, so as to implement consistency adjustment of the multi-camera system.
The contrast image is an image which is acquired by a camera and meets the preset visual detection requirement of a feature area to be detected, and the camera is a camera except a reference camera in the multi-camera system.
The consistency adjusting device of the multi-camera system provided by the invention firstly carries out flat-field correction on all cameras of the multi-camera system; then, camera parameters of a reference camera are adjusted to obtain a reference image; further, taking gray scales of the contrast image acquired by the camera and the reference image as targets, and adjusting camera parameters of the camera to realize consistency adjustment of the multi-camera system; the whole adjusting process is simple and efficient, the consistency of the images acquired by the same object to be detected by the multiple cameras is improved, and the consistency of detection results is ensured.
It should be noted that, when the consistency adjusting device for a multi-camera system provided by the embodiment of the present invention specifically operates, the consistency adjusting method for a multi-camera system described in any one of the foregoing embodiments may be executed, which is not described in detail in this embodiment.
Fig. 3 is a schematic structural diagram of an electronic device provided by the present invention, and as shown in fig. 3, the electronic device may include: processor 310, communication interface (communications interface) 320, memory 330 and communication bus 340, wherein processor 310, communication interface 320, memory 330 accomplish communication with each other through communication bus 340. Processor 310 may invoke logic instructions in memory 330 to perform a coherency adjustment method for a multi-camera system, the method comprising: performing a flat field correction for each camera in the multi-camera system; the multi-camera system includes a plurality of cameras; adjusting camera parameters of a reference camera to obtain a reference image of a feature region to be detected of an object to be detected; the reference image is an image which is acquired by a reference camera and meets the preset visual detection requirement, and the reference camera is any camera in the multi-camera system; continuously adjusting camera parameters of the camera until the gray scale of the reference image is consistent with that of the reference image, so as to realize consistency adjustment of the multi-camera system; the contrast image is an image which is acquired by a camera and meets the preset visual detection requirement of a feature area to be detected, and the camera is a camera except a reference camera in the multi-camera system.
Further, the logic instructions in the memory 330 described above may be implemented in the form of software functional units and may be stored in a computer-readable storage medium when sold or used as a stand-alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In yet another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform the method for adjusting consistency of a multi-camera system provided in the above embodiments, the method comprising: performing a flat field correction for each camera in the multi-camera system; the multi-camera system includes a plurality of cameras; adjusting camera parameters of a reference camera to obtain a reference image of a feature region to be detected of an object to be detected; the reference image is an image which is acquired by a reference camera and meets the preset visual detection requirement, and the reference camera is any camera in the multi-camera system; continuously adjusting camera parameters of the camera until the gray scale of the reference image is consistent with that of the reference image, so as to realize consistency adjustment of the multi-camera system; the contrast image is an image which is acquired by a camera and meets the preset visual detection requirement of a feature area to be detected, and the camera is a camera except a reference camera in the multi-camera system.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A method for consistency adjustment of a multi-camera system, comprising:
performing a flat field correction for each camera in the multi-camera system; the multi-camera system includes a plurality of cameras;
adjusting camera parameters of a reference camera to obtain a reference image of a feature region to be detected of an object to be detected; the reference image is an image which is acquired by a reference camera and meets the preset visual detection requirement, and the reference camera is any camera in the multi-camera system;
continuously adjusting camera parameters of the camera until the gray scale of the reference image is consistent with that of the reference image, so as to realize consistency adjustment of the multi-camera system; the contrast image is an image which is acquired by a camera and meets the preset visual detection requirement of a feature area to be detected, and the camera is a camera except a reference camera in the multi-camera system.
2. The method for adjusting the consistency of a multi-camera system according to claim 1, wherein the flat field correction is performed on the cameras in the multi-camera system, comprising the steps of:
controlling a lens of the camera to be aligned with a calibration plate, and collecting a target image by virtual focus; wherein the camera is configured to: the exposure time is preset, the average gray scale value of the target image is the preset gray scale value by the brightness of the light source, and mura defects are avoided;
and performing flat field correction on the target image to finish flat field correction of the camera.
3. The method of adjusting the uniformity of a multi-camera system according to claim 1, further comprising, in the case where a plurality of cameras of said multi-camera system are color cameras, before performing a flat field correction on each camera of the multi-camera system:
white balance adjustment is performed for each color camera.
4. The method of adjusting the uniformity of a multi-camera system according to claim 2, further comprising, before controlling the lens of the camera to be aligned with the calibration plate and the virtual focus to capture the target image:
and selecting a calibration plate matched with the object to be detected according to the reflection characteristic of the object to be detected.
5. The method of adjusting the consistency of a multi-camera system according to claim 2, wherein adjusting camera parameters of a reference camera to obtain a reference image of a feature region to be inspected of an object to be inspected comprises:
adjusting the light source brightness of the reference camera to acquire a reference image meeting the preset visual detection requirement; the preset visual inspection requirements include: image sharpness requirements.
6. The method of adjusting the uniformity of a multi-camera system according to claim 2, wherein in the case where the camera of the multi-camera system is a black-and-white camera, continuously adjusting the camera parameters of the camera until it is determined that the gray scale of the reference image is uniform with the reference image, comprises:
and continuously adjusting the brightness of the light source of the pair of cameras until the contrast image is determined to be consistent with the gray scale of the reference image.
7. The method of adjusting the uniformity of a multi-camera system according to claim 2, wherein in the case where the camera of the multi-camera system is a color camera, continuously adjusting the camera parameters of the camera until it is determined that the gray scale of the reference image is uniform with the reference image, comprises:
continuously adjusting the brightness of the light source of the pair of cameras until determining that any channel of the pair of images is consistent with the gray scale of any channel of the reference image; any channel is an R channel, a G channel or a B channel;
and respectively and continuously adjusting the white balance coefficients of the other two channels of the pair of cameras until the other two channels of the pair of cameras are determined to be consistent with the gray scale of the other two channels of the reference image on the corresponding channels.
8. The method of adjusting the consistency of a multi-camera system according to claim 6, wherein determining that the reference image is in gray scale with the reference image in the case where the camera of the multi-camera system is a black-and-white camera, comprises:
respectively acquiring average gray scale values of the reference image and the control image;
and determining that the reference image is consistent with the gray scale of the reference image under the condition that the difference degree of the average gray scale value of the reference image and the average gray scale value of the reference image is smaller than a preset threshold value.
9. The method of adjusting the uniformity of a multi-camera system according to claim 7, wherein determining that a reference image is gray-scale uniform with the reference image in the case where a camera of the multi-camera system is a color camera, comprises:
respectively calculating average gray scale values of the reference image and the control image under different channels;
judging whether the gray scales of each channel are consistent according to the difference degree of the average gray scale values of the reference image and the reference image on each channel;
and under the condition that the difference degree of the average gray scale value of the control image and the reference image under the current channel is smaller than a preset threshold value, determining that the gray scale of the control image and the reference image under the current channel is consistent.
10. A uniformity adjustment apparatus for a multi-camera system, comprising:
the flat field correction module is used for carrying out flat field correction on each camera in the multi-camera system; the multi-camera system includes a plurality of cameras;
the reference image acquisition module is used for adjusting camera parameters of the reference camera to acquire a reference image of a feature area to be detected of the object to be detected; the reference image is an image which is acquired by a reference camera and meets the preset visual detection requirement, and the reference camera is any camera in the multi-camera system;
the consistency adjusting module is used for continuously adjusting the camera parameters of the camera until the gray scale of the reference image is consistent with that of the contrast image, so as to realize consistency adjustment of the multi-camera system; the contrast image is an image which is acquired by a camera and meets the preset visual detection requirement of a feature area to be detected, and the camera is a camera except a reference camera in the multi-camera system.
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| CN117129481B (en) * | 2023-10-27 | 2023-12-29 | 南京华视智能科技股份有限公司 | Method for improving light source in detection system of lithium battery industry |
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