CN116758171A - Imaging system pose correction method, device, equipment and readable storage medium - Google Patents
Imaging system pose correction method, device, equipment and readable storage medium Download PDFInfo
- Publication number
- CN116758171A CN116758171A CN202311047620.6A CN202311047620A CN116758171A CN 116758171 A CN116758171 A CN 116758171A CN 202311047620 A CN202311047620 A CN 202311047620A CN 116758171 A CN116758171 A CN 116758171A
- Authority
- CN
- China
- Prior art keywords
- image
- calibration plate
- sub
- imaging system
- acquiring
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000003384 imaging method Methods 0.000 title claims abstract description 78
- 238000012937 correction Methods 0.000 title claims abstract description 56
- 238000000034 method Methods 0.000 title claims abstract description 45
- 238000004364 calculation method Methods 0.000 claims description 15
- 230000007246 mechanism Effects 0.000 claims description 10
- 230000008602 contraction Effects 0.000 claims description 8
- 230000009466 transformation Effects 0.000 claims description 6
- 238000013459 approach Methods 0.000 claims description 5
- 238000005259 measurement Methods 0.000 abstract description 5
- 230000008569 process Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 230000006870 function Effects 0.000 description 6
- 230000003287 optical effect Effects 0.000 description 5
- 238000004891 communication Methods 0.000 description 4
- 239000000306 component Substances 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 230000007423 decrease Effects 0.000 description 2
- 239000004973 liquid crystal related substance Substances 0.000 description 2
- 238000012935 Averaging Methods 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000010191 image analysis Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000012634 optical imaging Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
- G06V10/74—Image or video pattern matching; Proximity measures in feature spaces
- G06V10/761—Proximity, similarity or dissimilarity measures
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30244—Camera pose
Abstract
The invention provides a pose correction method, a pose correction device, pose correction equipment and a readable storage medium of an imaging system, wherein the pose correction method comprises the following steps: acquiring a calibration plate image, respectively acquiring first sub-images at four corners of the calibration plate image, acquiring second sub-images at the center of the calibration plate image, and calculating to obtain the structural similarity of each first sub-image and each second sub-image; if any structural similarity does not meet the preset requirement, adjusting the distances between the four corners of the linear array camera and the calibration plate according to each structural similarity, and acquiring a new calibration plate image until all the structural similarities meet the preset requirement; calculating to obtain the definition of the image of the calibration plate; if the definition does not meet the preset requirement, the distances between the four corners of the linear array camera and the calibration plate are adjusted in an equal amount, and a new calibration plate image is obtained until the definition meets the preset requirement. The invention does not need other equipment to assist in measurement or manual participation in judgment, realizes automatic self-adaptive adjustment, and has simple and convenient operation and high working efficiency.
Description
Technical Field
The present invention relates to the field of optical detection technologies, and in particular, to a method, an apparatus, a device, and a readable storage medium for correcting pose of an imaging system.
Background
The optical imaging system is a core component of AOI (Automatically Optical Inspection, optical automatic detection), and the imaging quality directly affects the AOI detection result, so that the imaging system needs to be adjusted to acquire accurate and high-quality optical images, and the pose correction of the imaging system is the first step of the adjustment of the imaging system. However, the pose correction operation of the traditional imaging system is complicated, other equipment is needed for auxiliary measurement, manual participation in judgment is needed, and the working efficiency is low.
Disclosure of Invention
The invention mainly aims to provide a pose correction method, device and equipment of an imaging system and a readable storage medium, and aims to solve the technical problems of complicated pose correction operation and low working efficiency of the imaging system in the prior art.
In a first aspect, the present invention provides a method for correcting a pose of an imaging system, the method for correcting a pose of an imaging system comprising:
acquiring a calibration plate image through a linear array camera of an imaging system, acquiring first sub-images at four corners of the calibration plate image, acquiring second sub-images at the center of the calibration plate image, and calculating to obtain structural similarity of each first sub-image and each second sub-image, wherein the sizes of the first sub-images and the second sub-images are the same;
if any structural similarity does not meet the preset requirement, adjusting the distances between the four corners of the linear array camera and the calibration plate according to each structural similarity, and acquiring a new calibration plate image until all the structural similarities meet the preset requirement;
calculating to obtain the definition of the image of the calibration plate;
and if the definition does not meet the preset requirement, the distances between the four corners of the linear array camera and the calibration plate are adjusted in an equivalent manner, and a new calibration plate image is obtained until the definition meets the preset requirement.
Further, in an embodiment, after the step of equally adjusting the distances between the four corners of the line camera and the calibration plate and obtaining a new image of the calibration plate, the method further includes:
acquiring a third sub-image and a fourth sub-image which are arranged along the shooting direction of the linear array camera and have the same size on a calibration plate image, and calculating to obtain a rotation angle between the third sub-image and the fourth sub-image through Fourier Merlin transformation;
and if the rotation angle does not meet the preset requirement, rotating the linear camera according to the rotation angle, and acquiring a new calibration plate image until the rotation angle meets the preset requirement.
Further, in an embodiment, the step of acquiring the third sub-image and the fourth sub-image, which are arranged along the shooting direction of the line camera and have the same size, on the calibration plate image includes:
acquiring a third sub-image at the center of the calibration plate;
and translating the third sub-image along the shooting direction of the linear array camera to obtain a fourth sub-image.
Further, in an embodiment, after the step of equally adjusting the distances between the four corners of the line camera and the calibration plate and obtaining a new image of the calibration plate, the method further includes:
acquiring a rotation angle between the shooting direction of the linear array camera and the array direction of the calibration plate pattern according to the calibration plate image;
and if the rotation angle does not meet the preset requirement, rotating the linear camera according to the rotation angle, and acquiring a new calibration plate image until the rotation angle meets the preset requirement.
Further, in an embodiment, the step of rotating the line camera according to the rotation angle includes:
and calculating the expansion and contraction amounts of a transverse driving shaft and a longitudinal driving shaft of the motion mechanism according to the rotation angle so as to drive the linear camera to rotate.
Further, in an embodiment, the step of acquiring the first sub-image at four corners of the calibration plate image and acquiring the second sub-image at the center of the calibration plate image includes:
dividing the calibration plate image into N multiplied by N image blocks, wherein N is an odd number greater than 1;
selecting image blocks of an upper left corner, an upper right corner, a lower left corner and a lower right corner as a first sub-image;
and selecting the image block in the middle as a second sub-image.
Further, in an embodiment, the step of adjusting the distances between the four corners of the line camera and the calibration plate according to the structural similarities includes:
and calculating the expansion and contraction amounts of four vertical driving shafts of the motion mechanism according to the structural similarity so as to drive four corners of the linear array camera to approach or depart from the calibration plate.
In a second aspect, the present invention also provides an imaging system pose correction device, the imaging system pose correction device comprising:
the first calculation module is used for acquiring a calibration plate image through a linear array camera of the imaging system, acquiring first sub-images at four corners of the calibration plate image, acquiring second sub-images at the center of the calibration plate image, and calculating to obtain the structural similarity of each first sub-image and the second sub-images, wherein the sizes of the first sub-images and the second sub-images are the same;
the first correction module is used for adjusting the distances between the four corners of the linear array camera and the calibration plate according to each structural similarity if any structural similarity does not meet the preset requirement, and acquiring a new calibration plate image until all the structural similarities meet the preset requirement;
the second calculation module is used for calculating and obtaining the definition of the calibration plate image;
and the second correction module is used for equally adjusting the distances between the four corners of the linear array camera and the calibration plate if the definition does not meet the preset requirement, and acquiring a new calibration plate image until the definition meets the preset requirement.
In a third aspect, the present invention also provides an imaging system pose correction apparatus, the imaging system pose correction apparatus including a processor, a memory, and an imaging system pose correction program stored on the memory and executable by the processor, wherein the imaging system pose correction program, when executed by the processor, implements the steps of the above-described imaging system pose correction method.
In a fourth aspect, the present invention further provides a readable storage medium, where an imaging system pose correction program is stored, where the imaging system pose correction program, when executed by a processor, implements the steps of the above-mentioned imaging system pose correction method.
According to the invention, by calculating the structural similarity of sub-images at the four corners and the center in the image of the calibration plate, whether the normal line of the photosensitive chip of the camera is vertical to the calibration plate is judged, if not, the distances between the four corners of the linear array camera and the calibration plate are adjusted according to the structural similarity, and by calculating the definition of the image of the calibration plate, whether the linear array camera is focused with the calibration plate is judged, and if not, the distances between the four corners of the linear array camera and the calibration plate are adjusted equally. According to the invention, the pose is automatically analyzed by using the calibration plate image obtained by the imaging system, the calculation result is fed back in real time, the linear array camera is adjusted according to the calculation result, the pose correction process forms a closed loop system, other equipment is not needed for auxiliary measurement, and the manual participation in judgment is not needed, so that the automatic self-adaptive adjustment is realized, the operation is simple and convenient, and the working efficiency is high.
Drawings
FIG. 1 is a flow chart of a method for correcting pose of an imaging system according to an embodiment of the invention;
FIG. 2 is a flow chart diagram of a method of correcting the pose of the imaging system shown in FIG. 1;
FIG. 3 is a schematic diagram of a calibration plate image according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a label plate image according to another embodiment of the present invention;
fig. 5 is a schematic hardware structure of an imaging system pose correction apparatus according to an embodiment of the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
In a first aspect, an embodiment of the present invention provides a method for correcting a pose of an imaging system.
FIG. 1 is a flow chart of a method for correcting pose of an imaging system according to an embodiment of the invention; fig. 2 illustrates a flow diagram of a method of pose correction for the imaging system illustrated in fig. 1.
Referring to fig. 1 and 2, in one embodiment, the method for correcting pose of an imaging system includes the following steps:
s11, acquiring a calibration plate image through a linear array camera of an imaging system, respectively acquiring first sub-images at four corners of the calibration plate image, acquiring second sub-images at the center of the calibration plate image, and calculating to obtain structural similarity of each first sub-image and each second sub-image, wherein the sizes of the first sub-images and the second sub-images are the same;
the calibration plate is a common tool in the calibration process of the imaging system, black and white patterns arranged in an array are arranged on the calibration plate, and the adjustment parameters of the imaging system are determined by shooting images of the calibration plate and performing image analysis. Alternatively, the pattern of the calibration plate may be provided as a checkerboard, a circular grid, or the like. One of the requirements for correcting the pose of an imaging system is to make the normal line of a photosensitive chip of a camera perpendicular to a calibration plate, so that the definition of each part of an image shot by a linear array camera can be kept consistent. The current common practice is to measure the distance between the multiple positions of the linear array camera and the calibration plate through a laser range finder, and determine the adjustment quantity corresponding to each position through the data returned by the laser range finder.
In this embodiment, four first sub-images and one second sub-image with the same size are respectively acquired at four corners and centers of the calibration plate, and structural similarity between each first sub-image and each second sub-image is calculated. Because of the array arrangement of the black and white patterns on the calibration plate, the similarity degree of each first sub-image and each second sub-image should be higher when the normal line of the camera photosensitive chip is vertical to the calibration plate. In contrast, if the similarity between the first sub-image and the second sub-image is low, the normal line of the photosensitive chip of the camera is not perpendicular to the calibration plate, and the distances between the four corners of the line camera and the calibration plate need to be adjusted.
SSIM (Structural Similarity Index measure, structural similarity) can measure the distortion degree of a picture, and can also measure the similarity degree of two pictures. The structural similarity mainly considers three key features of the picture: brightness (luminence), contrast (Contrast), and Structure (Structure), the calculation formula is as follows:
the brightness is measured in average gray scale and is obtained by averaging the values of all pixels.
Where N is the number of pixels in image x,the gray value of the ith pixel point of the image x. The contrast function is:
wherein experience is frequently taken=0.01，L=256。
Contrast is measured by gray standard deviation.
The contrast function is:
wherein experience is frequently taken=0.03，L=256。
The structure may be measured by a correlation coefficient.
The structural similarity is as follows:
wherein, the liquid crystal display device comprises a liquid crystal display device,respectively represent the duty ratio of different characteristics in SSIM measurement, and the value ranges are 0 and 1]。
Further, in an embodiment, the step of acquiring the first sub-image at four corners of the calibration plate image and acquiring the second sub-image at the center of the calibration plate image includes:
dividing the calibration plate image into N multiplied by N image blocks, wherein N is an odd number greater than 1;
selecting image blocks of an upper left corner, an upper right corner, a lower left corner and a lower right corner as a first sub-image;
and selecting the image block in the middle as a second sub-image.
In this embodiment, the first sub-image and the second sub-image are acquired by equally dividing the images. For example, assuming that the size of the calibration plate image is 2500×2500 pixels, the calibration plate image is equally divided into 5×5 image blocks, and the size of each image block after the equally division is 500×500 pixels.
S12, if any structural similarity does not meet the preset requirement, adjusting the distances between the four corners of the linear array camera and the calibration plate according to each structural similarity, and acquiring a new calibration plate image until all the structural similarities meet the preset requirement;
in this embodiment, the preset requirement is set according to the requirement, for example, the calculated structural similarity of two identical pictures is 1, and the preset requirement may be set to be greater than or equal to 0.95. It can be understood that, when the deviation between the structural similarity and the preset requirement is larger, the adjustment amount of the distance between the corresponding camera angle and the calibration plate is larger. For the determination of the adjustment direction, the adjustment may be performed toward the preset direction, for example, a camera corner is moved away from the calibration plate to increase the distance, if the structural similarity increases after the distance increases, the preset direction is correct, if the structural similarity decreases after the distance increases, the preset direction is incorrect, and the adjustment is performed toward the opposite direction, that is, the camera corner is moved closer to the calibration plate to decrease the distance.
Further, in an embodiment, the step of adjusting the distances between the four corners of the line camera and the calibration plate according to the structural similarities includes:
and calculating the expansion and contraction amounts of four vertical driving shafts of the motion mechanism according to the structural similarity so as to drive four corners of the linear array camera to approach or depart from the calibration plate.
In this embodiment, the motion mechanism includes four vertical driving shafts, which are aligned with four corners of the line camera respectively, and by controlling the four vertical driving shafts to stretch and retract, the four corners of the line camera are driven to approach or separate from the calibration plate.
S13, calculating to obtain definition of the calibration plate image;
the second requirement of the pose correction of the imaging system is to focus the linear camera and the calibration plate, so that a clear image is obtained. It is currently common practice to manually determine whether to focus while the laser ranging adjustment described above. In this embodiment, the normal line of the photosensitive chip of the camera is perpendicular to the calibration plate through step S11 and step S12, and the sharpness of the image photographed by the line camera is kept consistent throughout. At this time, the overall definition of the calibration plate image can reflect whether the linear array camera is focused with the calibration plate.
In the related art, there are various options for an algorithm for measuring the sharpness of a single image, and this embodiment provides a gradient sharpness algorithm, where the formula is as follows:
wherein, the image is M rows and N columns,the gray value of the pixel point of the x-th row and the y-th column.
And S14, if the definition does not meet the preset requirement, the distances between the four corners of the linear array camera and the calibration plate are adjusted in an equivalent manner, and a new image of the calibration plate is acquired until the definition meets the preset requirement.
In this embodiment, the preset requirement is set according to the need, for example, the preset requirement may be set such that the definition is greater than or equal to the reference definition. The distances between the four corners of the linear array camera and the calibration plate are adjusted in an equal amount, namely, the adjustment amounts of the four corners are equal, so that the normal line of the photosensitive chip of the camera is kept perpendicular to the calibration plate. The larger the deviation of the sharpness from the preset requirement, the larger the adjustment amount. Regarding the determination of the adjustment direction, the adjustment may be performed toward the preset direction, for example, the camera is moved away from the calibration plate, the distance is increased, if the resolution is increased after the distance is increased, the preset direction is correct, if the resolution is decreased after the distance is increased, the preset direction is incorrect, and the adjustment is performed toward the opposite direction, that is, the camera is moved closer to the calibration plate, and the distance is reduced.
Therefore, in the embodiment, by calculating the structural similarity of sub-images at four corners and the center in the image of the calibration plate, whether the normal line of the photosensitive chip of the camera is perpendicular to the calibration plate is judged, if not, the distances between the four corners of the linear array camera and the calibration plate are adjusted according to the structural similarity, and by calculating the definition of the image of the calibration plate, whether the linear array camera is focused with the calibration plate is judged, and if not, the distances between the four corners of the linear array camera and the calibration plate are adjusted equally. According to the embodiment, the pose is automatically analyzed by using the calibration plate image obtained by the imaging system, the calculation result is fed back in real time, the linear array camera is adjusted according to the calculation result, the pose correction process forms a closed loop system, other equipment is not needed for auxiliary measurement, and the manual participation in judgment is not needed, so that the automatic self-adaptive adjustment is realized, the operation is simple and convenient, and the working efficiency is high.
FIG. 3 shows a schematic diagram of a calibration plate image in accordance with an embodiment of the present invention; fig. 4 shows a schematic diagram of a label plate image in another embodiment of the invention.
The third requirement of the imaging system for pose correction is that the shooting direction of the linear array camera is parallel to the array direction of the calibration plate, so that the picture accuracy is ensured. The state shown in fig. 3 is the target state to which the pose correction of the imaging system needs to be adjusted, the scanning line direction of the linear array camera is the x direction in the figure, the shooting direction is the y direction in the figure, and the array direction of the calibration plate is the x direction in the figure and the y direction in the figure. The shooting direction may be parallel to one of the array directions. The state shown in fig. 4 is the original state before the pose correction of the imaging system, the scanning line direction of the linear array camera is the x1 direction in the figure, the shooting direction is the y1 direction in the figure, and the array direction of the calibration plate is the x2 direction in the figure and the y2 direction in the figure. x1 and x2 and y1 and y2 have the same rotation angle θ therebetween.
As an alternative embodiment, the step of correcting the shooting direction of the line camera includes:
acquiring a third sub-image and a fourth sub-image which are arranged along the shooting direction of the linear camera and have the same size on the calibration plate image, and calculating to obtain a rotation angle between the third sub-image and the fourth sub-image through Fourier-Merlin transformation;
and if the rotation angle does not meet the preset requirement, rotating the linear array camera according to the rotation angle, and acquiring a new calibration plate image until the rotation angle meets the preset requirement.
In this embodiment, fourier-Mellin (Fourier-Mellin) transformation is a classical image registration algorithm that calculates the rotation angle between two images that approximately satisfy a similar transformation (i.e., one image is translated, rotated, and scaled from the other image). The fourier mellin algorithm has a complex formula, which is not repeated herein, and the corresponding function may be directly called in the image processing tool (e.g., opencv) in actual operation. If the shooting direction of the linear array camera is parallel to the array direction of the calibration plate, the rotation angle between two sub-images which are distributed along the shooting direction of the linear array camera and have the same size is equal to zero. In contrast, if the rotation angle between the two sub-images is not equal to zero, it is indicated that the shooting direction of the line camera is not parallel to the array direction of the calibration plate, and the line camera needs to be rotated. The preset requirements are set as desired, for example, the preset requirements are set such that the rotation angle is equal to zero or very close to zero.
Further, in an embodiment, the step of acquiring the third sub-image and the fourth sub-image which are arranged along the shooting direction of the line camera and have the same size on the calibration plate image includes:
acquiring a third sub-image at the center of the calibration plate;
and translating the third sub-image along the shooting direction of the linear camera to obtain a fourth sub-image.
In this embodiment, the third sub-image selects the sub-image at the center of the calibration plate, and the fourth sub-image selects the sub-image above the third sub-image, which accords with the conventional operation habit.
As another alternative embodiment, the step of correcting the photographing direction of the line camera includes:
acquiring a rotation angle between the shooting direction of the linear array camera and the array direction of the calibration plate pattern according to the calibration plate image;
and if the rotation angle does not meet the preset requirement, rotating the linear array camera according to the rotation angle, and acquiring a new calibration plate image until the rotation angle meets the preset requirement.
Referring to fig. 4, in this embodiment, the shooting direction of the line camera is the original information that can be directly obtained in the calibration plate image, and the array direction of the calibration plate pattern can be extracted by analyzing the pattern content of the calibration plate image, so as to determine the rotation angle between the two.
Further, in one embodiment, the step of rotating the line camera according to the rotation angle includes:
and calculating the expansion and contraction amounts of the transverse driving shaft and the longitudinal driving shaft of the motion mechanism according to the rotation angle so as to drive the linear camera to rotate.
In this embodiment, the movement mechanism includes a transverse driving shaft and a longitudinal driving shaft, and the linear array camera is driven to rotate around the central axis by controlling the extension and retraction of the transverse driving shaft and the longitudinal driving shaft.
In a second aspect, the embodiment of the invention further provides a pose correction device of the imaging system.
Fig. 4 is a schematic hardware structure of an imaging system pose correction device according to an embodiment of the invention.
Referring to fig. 4, in an embodiment, an imaging system pose correction apparatus includes:
the first calculation module is used for acquiring a calibration plate image through a linear array camera of the imaging system, acquiring first sub-images at four corners of the calibration plate image, acquiring second sub-images at the center of the calibration plate image, and calculating to obtain the structural similarity of each first sub-image and the second sub-images, wherein the sizes of the first sub-images and the second sub-images are the same;
the first correction module is used for adjusting the distances between the four corners of the linear array camera and the calibration plate according to each structural similarity if any structural similarity does not meet the preset requirement, and acquiring a new calibration plate image until all the structural similarities meet the preset requirement;
the second calculation module is used for calculating and obtaining the definition of the calibration plate image;
and the second correction module is used for equally adjusting the distances between the four corners of the linear array camera and the calibration plate if the definition does not meet the preset requirement, and acquiring a new calibration plate image until the definition meets the preset requirement.
Further, in an embodiment, the imaging system pose correction device further includes a third calculation module and a third correction module;
the third calculation module is used for acquiring a third sub-image and a fourth sub-image which are arranged along the shooting direction of the line camera and have the same size on the calibration plate image, and calculating the rotation angle between the third sub-image and the fourth sub-image through Fourier-Merlin transformation;
and the third correction module is used for rotating the linear array camera according to the rotation angle if the rotation angle does not meet the preset requirement, and acquiring a new calibration plate image until the rotation angle meets the preset requirement.
Further, in an embodiment, the third computing module is configured to:
acquiring a third sub-image at the center of the calibration plate;
and translating the third sub-image along the shooting direction of the linear camera to obtain a fourth sub-image.
Further, in an embodiment, the imaging system pose correction device further includes a third calculation module and a third correction module;
the third calculation module is used for acquiring a rotation angle between the shooting direction of the linear array camera and the array direction of the calibration plate pattern according to the calibration plate image;
and the third correction module is used for rotating the linear array camera according to the rotation angle if the rotation angle does not meet the preset requirement, and acquiring a new calibration plate image until the rotation angle meets the preset requirement.
Further, in an embodiment, the third correction module is configured to calculate, according to the rotation angle, the amounts of expansion and contraction of the transverse driving shaft and the longitudinal driving shaft of the motion mechanism, so as to drive the line camera to rotate.
Further, in an embodiment, the first computing module is configured to:
dividing the calibration plate image into N multiplied by N image blocks, wherein N is an odd number greater than 1;
selecting image blocks of an upper left corner, an upper right corner, a lower left corner and a lower right corner as a first sub-image;
and selecting the image block in the middle as a second sub-image.
Further, in an embodiment, the first correction module is configured to:
and calculating the expansion and contraction amounts of four vertical driving shafts of the motion mechanism according to the structural similarity so as to drive four corners of the linear array camera to approach or depart from the calibration plate.
The function implementation of each module in the imaging system pose correction device corresponds to each step in the imaging system pose correction method embodiment, and the function and implementation process of the module are not described in detail herein.
In a third aspect, an embodiment of the present invention provides an imaging system pose correction apparatus, which may be an apparatus having a data processing function such as a personal computer (personal computer, PC), a notebook computer, a server, or the like.
Fig. 5 is a schematic hardware configuration diagram of an imaging system pose correction apparatus according to an embodiment of the present invention.
Referring to fig. 5, in an embodiment of the present invention, an imaging system pose correction apparatus may include a processor 1001 (e.g., central processor Central Processing Unit, CPU), a communication bus 1002, a user interface 1003, a network interface 1004, a memory 1005. Wherein the communication bus 1002 is used to enable connected communications between these components; the user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard); the network interface 1004 may optionally include a standard wired interface, a WIreless interface (e.g., WIreless-FIdelity, WI-FI interface); the memory 1005 may be a high-speed random access memory (random access memory, RAM) or a stable memory (non-volatile memory), such as a disk memory, and the memory 1005 may alternatively be a storage device independent of the processor 1001. Those skilled in the art will appreciate that the hardware configuration shown in fig. 5 is not limiting of the invention and may include more or fewer components than shown, or may combine certain components, or a different arrangement of components.
With continued reference to fig. 5, an operating system, a network communication module, a user interface module, and an imaging system pose correction program may be included in the memory 1005 of fig. 5, which is a type of computer storage medium. The processor 1001 may call the pose correction program of the imaging system stored in the memory 1005, and execute the pose correction method of the imaging system provided by the embodiment of the present invention.
In a fourth aspect, embodiments of the present invention also provide a readable storage medium.
The invention stores the imaging system pose correction program on the readable storage medium, wherein the imaging system pose correction program realizes the steps of the imaging system pose correction method when being executed by a processor.
The method implemented when the pose correction program of the imaging system is executed may refer to various embodiments of the pose correction method of the imaging system of the present invention, and will not be described herein.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system 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 system. 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 system that comprises the element.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) as described above, comprising several instructions for causing a terminal device to perform the method according to the embodiments of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (10)
1. The imaging system pose correction method is characterized by comprising the following steps of:
acquiring a calibration plate image through a linear array camera of an imaging system, acquiring first sub-images at four corners of the calibration plate image, acquiring second sub-images at the center of the calibration plate image, and calculating to obtain structural similarity of each first sub-image and each second sub-image, wherein the sizes of the first sub-images and the second sub-images are the same;
if any structural similarity does not meet the preset requirement, adjusting the distances between the four corners of the linear array camera and the calibration plate according to each structural similarity, and acquiring a new calibration plate image until all the structural similarities meet the preset requirement;
calculating to obtain the definition of the image of the calibration plate;
and if the definition does not meet the preset requirement, the distances between the four corners of the linear array camera and the calibration plate are adjusted in an equivalent manner, and a new calibration plate image is obtained until the definition meets the preset requirement.
2. The method for correcting pose of imaging system according to claim 1, wherein after said step of equally adjusting distances between four corners of said line camera and said calibration plate and obtaining a new calibration plate image until said sharpness meets a preset requirement, further comprising:
acquiring a third sub-image and a fourth sub-image which are arranged along the shooting direction of the linear array camera and have the same size on a calibration plate image, and calculating to obtain a rotation angle between the third sub-image and the fourth sub-image through Fourier Merlin transformation;
and if the rotation angle does not meet the preset requirement, rotating the linear camera according to the rotation angle, and acquiring a new calibration plate image until the rotation angle meets the preset requirement.
3. The method for correcting pose of imaging system according to claim 2, wherein the step of acquiring the third sub-image and the fourth sub-image which are arranged in the shooting direction of the line camera and have the same size on the calibration plate image comprises:
acquiring a third sub-image at the center of the calibration plate;
and translating the third sub-image along the shooting direction of the linear array camera to obtain a fourth sub-image.
4. The method for correcting pose of imaging system according to claim 1, wherein after said step of equally adjusting distances between four corners of said line camera and said calibration plate and obtaining a new calibration plate image until said sharpness meets a preset requirement, further comprising:
acquiring a rotation angle between the shooting direction of the linear array camera and the array direction of the calibration plate pattern according to the calibration plate image;
and if the rotation angle does not meet the preset requirement, rotating the linear camera according to the rotation angle, and acquiring a new calibration plate image until the rotation angle meets the preset requirement.
5. The imaging system pose correction method according to any one of claims 2 to 4, characterized in that the step of rotating the line camera according to the rotation angle includes:
and calculating the expansion and contraction amounts of a transverse driving shaft and a longitudinal driving shaft of the motion mechanism according to the rotation angle so as to drive the linear camera to rotate.
6. The method of correcting pose of an imaging system according to any one of claims 1 to 4, wherein the step of acquiring a first sub-image at four corners of the calibration plate image and a second sub-image at a center of the calibration plate image comprises:
dividing the calibration plate image into N multiplied by N image blocks, wherein N is an odd number greater than 1;
selecting image blocks of an upper left corner, an upper right corner, a lower left corner and a lower right corner as a first sub-image;
and selecting the image block in the middle as a second sub-image.
7. The method according to any one of claims 1 to 4, wherein the step of adjusting the distances between the four corners of the line camera and the calibration plate according to each of the structural similarities comprises:
and calculating the expansion and contraction amounts of four vertical driving shafts of the motion mechanism according to the structural similarity so as to drive four corners of the linear array camera to approach or depart from the calibration plate.
8. An imaging system pose correction device, characterized in that the imaging system pose correction device comprises:
the first calculation module is used for acquiring a calibration plate image through a linear array camera of the imaging system, acquiring first sub-images at four corners of the calibration plate image, acquiring second sub-images at the center of the calibration plate image, and calculating to obtain the structural similarity of each first sub-image and the second sub-images, wherein the sizes of the first sub-images and the second sub-images are the same;
the first correction module is used for adjusting the distances between the four corners of the linear array camera and the calibration plate according to each structural similarity if any structural similarity does not meet the preset requirement, and acquiring a new calibration plate image until all the structural similarities meet the preset requirement;
the second calculation module is used for calculating and obtaining the definition of the calibration plate image;
and the second correction module is used for equally adjusting the distances between the four corners of the linear array camera and the calibration plate if the definition does not meet the preset requirement, and acquiring a new calibration plate image until the definition meets the preset requirement.
9. An imaging system pose correction apparatus comprising a processor, a memory, and an imaging system pose correction program stored on the memory and executable by the processor, wherein the imaging system pose correction program when executed by the processor implements the steps of the imaging system pose correction method according to any of claims 1 to 7.
10. A readable storage medium, wherein an imaging system pose correction program is stored on the readable storage medium, wherein the imaging system pose correction program, when executed by a processor, implements the steps of the imaging system pose correction method according to any of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311047620.6A CN116758171B (en) | 2023-08-21 | 2023-08-21 | Imaging system pose correction method, device, equipment and readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311047620.6A CN116758171B (en) | 2023-08-21 | 2023-08-21 | Imaging system pose correction method, device, equipment and readable storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116758171A true CN116758171A (en) | 2023-09-15 |
| CN116758171B CN116758171B (en) | 2023-10-27 |
Family
ID=87961312
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311047620.6A Active CN116758171B (en) | 2023-08-21 | 2023-08-21 | Imaging system pose correction method, device, equipment and readable storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116758171B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105678742A (en) * | 2015-12-29 | 2016-06-15 | 哈尔滨工业大学深圳研究生院 | Underwater camera calibration method |
| CN106152978A (en) * | 2016-06-20 | 2016-11-23 | 陕西师范大学 | A kind of untouchable area measurement method based on graphical analysis |
| US20180231371A1 (en) * | 2015-08-10 | 2018-08-16 | Wisetech Global Limited | Volumetric estimation methods, devices, & systems |
| CN109035320A (en) * | 2018-08-12 | 2018-12-18 | 浙江农林大学 | Depth extraction method based on monocular vision |
| CN110349207A (en) * | 2019-07-10 | 2019-10-18 | 国网四川省电力公司电力科学研究院 | A kind of vision positioning method under complex environment |
| CN112907675A (en) * | 2019-11-19 | 2021-06-04 | 浙江商汤科技开发有限公司 | Calibration method, device, system, equipment and storage medium of image acquisition equipment |
| WO2021212273A1 (en) * | 2020-04-20 | 2021-10-28 | 深圳市大疆创新科技有限公司 | Image processing method and apparatus, calibration target, and computer-readable storage medium |
| CN113936154A (en) * | 2021-11-23 | 2022-01-14 | 上海商汤智能科技有限公司 | Image processing method and device, electronic equipment and storage medium |
-
2023
- 2023-08-21 CN CN202311047620.6A patent/CN116758171B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20180231371A1 (en) * | 2015-08-10 | 2018-08-16 | Wisetech Global Limited | Volumetric estimation methods, devices, & systems |
| CN108474644A (en) * | 2015-08-10 | 2018-08-31 | 慧咨环球有限公司 | Volumetric estimate method, apparatus and system |
| CN105678742A (en) * | 2015-12-29 | 2016-06-15 | 哈尔滨工业大学深圳研究生院 | Underwater camera calibration method |
| CN106152978A (en) * | 2016-06-20 | 2016-11-23 | 陕西师范大学 | A kind of untouchable area measurement method based on graphical analysis |
| CN109035320A (en) * | 2018-08-12 | 2018-12-18 | 浙江农林大学 | Depth extraction method based on monocular vision |
| CN110349207A (en) * | 2019-07-10 | 2019-10-18 | 国网四川省电力公司电力科学研究院 | A kind of vision positioning method under complex environment |
| CN112907675A (en) * | 2019-11-19 | 2021-06-04 | 浙江商汤科技开发有限公司 | Calibration method, device, system, equipment and storage medium of image acquisition equipment |
| WO2021212273A1 (en) * | 2020-04-20 | 2021-10-28 | 深圳市大疆创新科技有限公司 | Image processing method and apparatus, calibration target, and computer-readable storage medium |
| CN113936154A (en) * | 2021-11-23 | 2022-01-14 | 上海商汤智能科技有限公司 | Image processing method and device, electronic equipment and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN116758171B (en) | 2023-10-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP3287986B1 (en) | Image correction method of projector and image correction system | |
| US6215914B1 (en) | Picture processing apparatus | |
| JP5075757B2 (en) | Image processing apparatus, image processing program, image processing method, and electronic apparatus | |
| US7317558B2 (en) | System and method for image processing of multiple images | |
| US20070091334A1 (en) | Method of calculating correction data for correcting display characteristic, program for calculating correction data for correcting display characteristic and apparatus for calculating correction data for correcting display characteristic | |
| JP5445461B2 (en) | Pixel position correspondence specifying system, pixel position correspondence specifying method, and pixel position correspondence specifying program | |
| US9990752B2 (en) | Image processing device, imaging device, microscope system, image processing method, and computer-readable recording medium | |
| CN113269697B (en) | Method and device for generating curved screen image | |
| JP2000358157A (en) | Method and device for compensating optical attenuation of digital image | |
| CN112947885A (en) | Method and device for generating curved surface screen flattening image | |
| US8472756B2 (en) | Method for producing high resolution image | |
| CN116758171B (en) | Imaging system pose correction method, device, equipment and readable storage medium | |
| JP6479178B2 (en) | Image processing apparatus, imaging apparatus, microscope system, image processing method, and image processing program | |
| JP5151922B2 (en) | Pixel position correspondence specifying system, pixel position correspondence specifying method, and pixel position correspondence specifying program | |
| WO2021134219A1 (en) | Parameter calibration method and apapratus | |
| CN112544076B (en) | Method and system for mapping non-uniformities of image sensors | |
| JP2002094860A (en) | Image processor and image processing method and memory medium | |
| CN116823605A (en) | Quick image stitching method for low-cost pathological section scanner | |
| CN114466143B (en) | Shooting angle calibration method and device, terminal equipment and storage medium | |
| CN112839168B (en) | Method for automatically adjusting camera imaging resolution in AOI detection system | |
| CN112019749B (en) | Camera adjusting method and device | |
| CN116579907B (en) | Wafer image acquisition method, device, equipment and readable storage medium | |
| CN112070810A (en) | Positioning method, mobile device and computer readable storage medium | |
| CN114792288B (en) | Curved screen image gray scale correction method and related device | |
| CN115222631B (en) | Distorted image correction method, device and equipment and readable storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |