CN117354635A - Imaging method, device and medium of industrial camera - Google Patents
Imaging method, device and medium of industrial camera Download PDFInfo
- Publication number
- CN117354635A CN117354635A CN202311351979.2A CN202311351979A CN117354635A CN 117354635 A CN117354635 A CN 117354635A CN 202311351979 A CN202311351979 A CN 202311351979A CN 117354635 A CN117354635 A CN 117354635A
- Authority
- CN
- China
- Prior art keywords
- black
- white
- image
- color
- area
- 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.)
- Pending
Links
- 238000003384 imaging method Methods 0.000 title claims abstract description 35
- 238000000034 method Methods 0.000 claims description 28
- 238000004590 computer program Methods 0.000 claims description 14
- 230000008569 process Effects 0.000 claims description 9
- 238000012935 Averaging Methods 0.000 claims description 3
- 238000001914 filtration Methods 0.000 claims description 3
- 239000011800 void material Substances 0.000 claims 2
- 238000012545 processing Methods 0.000 abstract description 11
- 238000010586 diagram Methods 0.000 description 12
- 230000006870 function Effects 0.000 description 7
- 238000004891 communication Methods 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 4
- 238000004040 coloring Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 239000004973 liquid crystal related substance Substances 0.000 description 2
- 230000000644 propagated effect Effects 0.000 description 2
- 239000004065 semiconductor Substances 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 238000012216 screening Methods 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/95—Computational photography systems, e.g. light-field imaging systems
- H04N23/958—Computational photography systems, e.g. light-field imaging systems for extended depth of field imaging
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/80—Camera processing pipelines; Components thereof
- H04N23/84—Camera processing pipelines; Components thereof for processing colour signals
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/30—Computing systems specially adapted for manufacturing
Abstract
The embodiment of the application provides an imaging method, an imaging device and an imaging medium of an industrial camera. The imaging method of the industrial camera comprises the following steps: acquiring a black-and-white image acquired by a black-and-white camera and a turntable; traversing the black-and-white image and determining a cavity area in the black-and-white image; acquiring a color image acquired by a color camera; determining a first region in the color image based on the hole region; determining a preliminary model by combining the first region and the black-and-white image; and forming a colored target model according to the corresponding depth values in the preliminary model and the colored image, at the moment, further processing the cavity area in the black-and-white image, and determining the preliminary model by combining the first area and the black-and-white image so as to overcome the problem of the cavity area, and meanwhile, forming the colored target model according to the preliminary model and the corresponding depth values in the colored image, so that the color representation of the target model is ensured, and the true color full depth map is synthesized.
Description
Technical Field
The application relates to the technical field of industrial cameras, in particular to an imaging method, an imaging device and an imaging medium of an industrial camera.
Background
Along with development of technology, an industrial camera is gradually applied to the industrial field and images a target object, at this time, the industrial camera can be an industrial three-dimensional camera, aiming at imaging of the industrial camera relative to the target object, in the prior art, a black-and-white camera in the industrial camera is adopted to shoot the target object and acquire a black-and-white image, in the shooting process of the black-and-white camera, light enters the black-and-white camera through a turntable, and a cavity area is easily presented in the black-and-white image, so that the imaging effect of the industrial camera is affected.
Disclosure of Invention
The embodiment of the application provides an imaging method, an imaging device and an imaging medium of an industrial camera, which are used for further processing a cavity area in a black-and-white image at least to a certain extent, determining a preliminary model by combining a first area and the black-and-white image so as to solve the problem of the cavity area, forming a colored target model according to the preliminary model and a corresponding depth value in a color image, and ensuring color representation of the target model so as to synthesize a true color full depth map.
Other features and advantages of the present application will be apparent from the following detailed description, or may be learned in part by the practice of the application.
According to an aspect of an embodiment of the present application, there is provided an imaging method of an industrial camera, including:
acquiring a black-and-white image acquired by a black-and-white camera and a turntable;
traversing the black-and-white image and determining a cavity area in the black-and-white image;
acquiring a color image acquired by a color camera;
determining a first region in the color image based on the hole region;
determining a preliminary model by combining the first region and the black-and-white image;
and forming a colored target model according to the preliminary model and the corresponding depth value in the colored image.
Optionally, traversing the black-and-white image and determining the hole area in the black-and-white image includes:
traversing the black-and-white images sequentially along the extending direction of the black-and-white images;
dividing the black-and-white image into areas and forming a clear area and a non-clear area;
further traversing is performed based on the non-clear region to determine a hole region in the black-and-white image.
Optionally, traversing the black-and-white image and determining the hole area in the black-and-white image includes:
constructing a first coordinate system based on the black-and-white image;
determining positioning coordinates of the cavity area based on the first coordinate system;
and determining the actual position of the cavity area according to the positioning coordinates of the cavity area.
Optionally, the determining the first region in the color image based on the hole region includes:
acquiring the actual position of the cavity area;
establishing a coordinate system consistent with the black-and-white image in the color image, and determining a reference area of the color image based on the actual position of the cavity area;
and comparing the outline of the cavity area with the outline of the reference area of the color image to determine a first area in the color image.
Optionally, the determining the preliminary model by combining the first region and the black-and-white image includes:
acquiring a first area;
replacing the blank area with the first area to perfect a black-and-white image;
a preliminary model is determined based on the completed black-and-white image.
Optionally, the forming a color target model according to the preliminary model and the corresponding depth value in the color image includes:
acquiring a preliminary model;
determining a black-and-white area based on the preliminary model;
matching corresponding depth values in the color image according to the black-and-white area so as to color the preliminary model;
and determining a colored target model according to the colored preliminary model.
Optionally, the forming a color target model according to the preliminary model and the corresponding depth value in the color image includes:
acquiring a color image acquired by a color camera;
median filtering noise points are carried out on the color images, and averaging is carried out;
performing secondary blurring on the averaged color image to determine a corresponding definition value;
an optimal color image is determined based on a comparison of sharpness values of the respective color images.
Alternatively, the method is applied to a black-and-white camera and a color camera;
in the image acquisition process of the black-and-white camera, light rays output by the white light parallel light source sequentially pass through the turntables of the microlenses, the first light splitting sheet, the target object, the second light splitting sheet, the turntables of the pinholes and the black-and-white camera;
in the image acquisition process of the color camera, light rays output by the white light parallel light source sequentially pass through the turntables of the microlenses, the first light splitting sheet, the second light splitting sheet, the target object, the second light splitting sheet, the first light splitting sheet and the color camera.
According to an aspect of an embodiment of the present application, there is provided an imaging apparatus of an industrial camera, including:
the acquisition module is used for acquiring the black-and-white images acquired by the black-and-white camera and the turntable;
the traversing module is used for traversing the black-and-white image and determining a cavity area in the black-and-white image;
the color image module is used for acquiring color images acquired by the color camera;
a region module for determining a first region in the color image based on the hole region
The preliminary model module is used for determining a preliminary model by combining the first area and the black-and-white image;
and the target model module is used for forming a colored target model according to the preliminary model and the corresponding depth value in the colored image.
According to an aspect of embodiments of the present application, there is provided a computer readable medium having stored thereon a computer program which, when executed by a processor, implements an imaging method of an industrial camera as described in the above embodiments.
According to an aspect of an embodiment of the present application, there is provided an electronic device including: one or more processors; and a storage means for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to implement the imaging method of the industrial camera as described in the above embodiments.
According to an aspect of embodiments of the present application, there is provided a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions so that the computer device performs the imaging method of the industrial camera provided in the above-described embodiment.
In some embodiments of the present application, a black-and-white image acquired by a black-and-white camera and a turntable is acquired; traversing the black-and-white image and determining a cavity area in the black-and-white image; acquiring a color image acquired by a color camera; determining a first region in the color image based on the hole region; determining a preliminary model by combining the first region and the black-and-white image; and forming a colored target model according to the corresponding depth values in the preliminary model and the colored image, at the moment, further processing the cavity area in the black-and-white image, and determining the preliminary model by combining the first area and the black-and-white image so as to overcome the problem of the cavity area, and meanwhile, forming the colored target model according to the preliminary model and the corresponding depth values in the colored image, so that the color representation of the target model is ensured, and the true color full depth map is synthesized.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application. It is apparent that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art. In the drawings:
FIG. 1 shows a flow diagram of an imaging method of an industrial camera according to one embodiment of the present application;
FIG. 2 shows a schematic flow chart of S120 in FIG. 1;
FIG. 3 shows a schematic flow chart of S140 in FIG. 1;
FIG. 4 shows a schematic flow chart of S150 in FIG. 1;
fig. 5 shows a schematic flow chart of S160 in fig. 1;
FIG. 6 illustrates a practical schematic of an imaging method of an industrial camera according to one embodiment of the present application;
FIG. 7 illustrates a block diagram of an imaging device of an industrial camera according to one embodiment of the present application;
fig. 8 shows a schematic diagram of a computer system suitable for use in implementing the electronic device of the embodiments of the present application.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments may be embodied in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art.
Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the present application. One skilled in the relevant art will recognize, however, that the aspects of the application can be practiced without one or more of the specific details, or with other methods, components, devices, steps, etc. In other instances, well-known methods, devices, implementations, or operations are not shown or described in detail to avoid obscuring aspects of the application.
The block diagrams depicted in the figures are merely functional entities and do not necessarily correspond to physically separate entities. That is, the functional entities may be implemented in software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor devices and/or microcontroller devices.
The flow diagrams depicted in the figures are exemplary only, and do not necessarily include all of the elements and operations/steps, nor must they be performed in the order described. For example, some operations/steps may be decomposed, and some operations/steps may be synthesized or partially synthesized, so that the order of actual execution may be changed according to actual situations.
Fig. 1 shows a flow diagram of an imaging method of an industrial camera according to one embodiment of the present application. The method may be applied to an industrial camera and image a target object 7.
Referring to fig. 1 to 8, the imaging method of the industrial camera at least includes steps S110 to S160, and the following details (the following description will take the application of the method to the industrial camera as an example):
step S110, acquiring a black-and-white image acquired by the black-and-white camera 3 and the turntable;
step S120, traversing the black-and-white image, and determining a cavity area in the black-and-white image;
step S130, acquiring a color image acquired by the color camera 1;
step S140, determining a first area in the color image based on the hole area;
step S150, determining a preliminary model by combining the first area and the black-and-white image;
step S160, a colored target model is formed according to the preliminary model and the corresponding depth value in the colored image.
In some embodiments of the present application, a black-and-white image acquired by the black-and-white camera 3 and the turntable is acquired; traversing the black-and-white image and determining a cavity area in the black-and-white image; acquiring a color image acquired by the color camera 1; determining a first region in the color image based on the hole region; determining a preliminary model by combining the first region and the black-and-white image; and forming a colored target model according to the corresponding depth values in the preliminary model and the colored image, at the moment, further processing the cavity area in the black-and-white image, and determining the preliminary model by combining the first area and the black-and-white image so as to overcome the problem of the cavity area, and meanwhile, forming the colored target model according to the preliminary model and the corresponding depth values in the colored image, so that the color representation of the target model is ensured, and the true color full depth map is synthesized.
In step S110, a black-and-white image acquired via the black-and-white camera 3 and the dial is acquired.
In the image acquisition process of the black-and-white camera 3, light rays output by the white-light parallel light source 2 sequentially pass through the turnplate 4 of the microlenses, the first light splitting sheet 6, the target object 7, the second light splitting sheet 8, the turnplate 5 of the pinholes and the black-and-white camera 3, at this time, the white-light parallel light source 2, the turnplate 4 of the microlenses, the first light splitting sheet 6, the target object 7, the second light splitting sheet 8, the turnplate 5 of the pinholes and the black-and-white camera 3 form an image acquisition light path of the black-and-white camera 3, and the black-and-white imaging principle of the black-and-white camera 3 is fully utilized, so that black-and-white images acquired by the black-and-white camera 3 and the turnplate are acquired, wherein each unit distance is moved and one black-and-white image is acquired.
In step S120, the black-and-white image is traversed, and a hole area in the black-and-white image is determined.
In the embodiment of the application, a plurality of black-and-white images are acquired so as to traverse the black-and-white images, so that screening of the black-and-white images is realized, region detection is performed on the screened black-and-white images, so that a hole region in the black-and-white images is determined, and the hole region in the black-and-white images is processed.
The specific steps are as follows:
step S121, traversing the black-and-white images sequentially along the extending direction of the black-and-white images;
in the embodiment of the application, the extending direction of the black-and-white image is the length direction, and at this time, the black-and-white image is sequentially traversed along the extending direction of the black-and-white image, so that the black-and-white image is detected, the black-and-white image is completely traversed, and omission of the region in the black-and-white image is avoided.
Step S122, dividing the black-and-white image into areas, and forming a clear area and a non-clear area.
Step S123, traversing further based on the non-clear area to determine a hole area in the black-and-white image.
In the embodiment of the application, the black-and-white image is subjected to region division so as to conveniently carry out region processing on the black-and-white image, so that a clear region and a non-clear region are formed, the clear region and the non-clear region are formed by the black-and-white image, and in order to further determine the cavity region in the black-and-white image, the non-clear region is preferentially subjected to further processing, so that the rapid detection of the cavity region in the black-and-white image is realized.
Specifically, the outer contour detection is performed on the non-clear area, and the outer contour of the non-clear area is determined so as to facilitate the investigation of the area in the outer contour of the non-clear area, thereby determining the blank area of the non-clear area and facilitating the determination of the cavity area in the black-and-white image.
In an embodiment of the present application, the traversing the black-and-white image and determining the hole area in the black-and-white image further includes: constructing a first coordinate system based on the black-and-white image; determining positioning coordinates of the cavity area based on the first coordinate system; and determining the actual position of the cavity area according to the positioning coordinates of the cavity area.
The method comprises the steps of constructing a first coordinate system for a black-and-white image, and dividing the black-and-white image by utilizing the first coordinate system, wherein at the moment, the positioning coordinates of a cavity area are determined based on the first coordinate system; and determining the actual position of the cavity area according to the positioning coordinates of the cavity area, so as to determine the actual position of the cavity area and facilitate the replacement of the subsequent cavity area.
In step S130, a color image acquired via the color camera 1 is acquired.
In the image acquisition process of the color camera 1, light outputted from the white light parallel light source 2 sequentially passes through the turnplate 4, the first beam splitter 6, the second beam splitter 8, the target object 7, the second beam splitter 8, the first beam splitter 6 and the color camera 1 of the plurality of microlenses, at this time, the white light parallel light source 2, the turnplate 4, the first beam splitter 6, the second beam splitter 8, the target object 7, the second beam splitter 8, the first beam splitter 6 and the color camera 1 form an image acquisition light path of the color camera 1, and the color imaging principle of the color camera 1 is fully utilized, so that a color image acquired by the color camera 1 is acquired, wherein each unit distance is moved and one color image is acquired.
In step S140, a first region in the color image is determined based on the hole region.
In the embodiment of the application, the actual position of the hole area is acquired, and the hole area is positioned so as to determine the actual position of the first area in the color image based on the actual position of the hole area, so that the hole area is associated with the first area, and the first area is convenient to replace the hole area.
Step S141, obtaining the actual position of the cavity area.
In step S142, a coordinate system consistent with the black-and-white image is established in the color image, and a reference area of the color image is determined based on the actual position of the hole area.
In the embodiment of the application, a coordinate system consistent with a black-and-white image is established in the color image, and the position of the color image is established based on the same coordinate system, at this time, the actual position of the hole area relative to the black-and-white image is acquired so as to determine the actual position of the hole area, and meanwhile, the reference area of the color image is determined based on the actual position of the hole area so as to determine the actual position of the first area in the color image based on the actual position of the hole area, so that the hole area is associated with the first area so as to facilitate the replacement of the hole area by the first area.
Step S143, comparing the outline of the hole area with the outline of the reference area of the color image to determine the first area in the color image.
In the embodiment of the application, the outer contour of the cavity area and the outer contour of the reference area of the color image are acquired, the first area in the color image is determined based on the comparison between the outer contour of the cavity area and the outer contour of the reference area of the color image, and the association between the cavity area and the first area is ensured so that the first area can replace the cavity area.
In step S150, a preliminary model is determined in combination with the first region and the black-and-white image.
Step S151, acquiring a first area.
Step S152, replacing the blank area with the first area to perfect the black-and-white image.
And step S153, determining a preliminary model based on the completed black-and-white image.
In the embodiment of the application, the preliminary model is determined based on the first area and the black-and-white image, and the preliminary model adopts the first area to replace the hollow area of the blank image, so that the black-and-white image is a complete image under the holding of the first area, the influence of the hollow area is avoided, meanwhile, the problem of the hollow area is avoided, at the moment, the hollow area in the black-and-white image is further processed, and the preliminary model is determined by combining the first area and the black-and-white image, so that the problem of the hollow area is solved.
In step S160, a color target model is formed according to the preliminary model and the corresponding depth values in the color image.
Step S161, acquiring a preliminary model.
Step S162, determining a black-and-white area based on the preliminary model.
Step S163, matching corresponding depth values in the color image according to the black-and-white area so as to color the preliminary model.
And step S164, determining a colored target model according to the colored preliminary model.
In the embodiment of the application, the preliminary model and the corresponding depth values in the color image are combined so as to facilitate coloring treatment on the preliminary model, at this time, a black-and-white area is determined based on the preliminary model, further coloring treatment is performed on the black-and-white area, the corresponding depth values in the color image are matched according to the black-and-white area, coloring treatment is performed on the preliminary model, and a color target model is determined according to the colored preliminary model.
The forming a color target model according to the preliminary model and the corresponding depth value in the color image further comprises: acquiring a color image acquired by the color camera 1; median filtering noise points are carried out on the color images, and averaging is carried out; performing secondary blurring on the averaged color image to determine a corresponding definition value; an optimal color image is determined based on a comparison of sharpness values of the respective color images.
In some embodiments of the present application, a black-and-white image acquired by the black-and-white camera 3 and the turntable is acquired; traversing the black-and-white image and determining a cavity area in the black-and-white image; acquiring a color image acquired by the color camera 1; determining a first region in the color image based on the hole region; determining a preliminary model by combining the first region and the black-and-white image; and forming a colored target model according to the corresponding depth values in the preliminary model and the colored image, at the moment, further processing the cavity area in the black-and-white image, and determining the preliminary model by combining the first area and the black-and-white image so as to overcome the problem of the cavity area, and meanwhile, forming the colored target model according to the preliminary model and the corresponding depth values in the colored image, so that the color representation of the target model is ensured, and the true color full depth map is synthesized.
The following describes apparatus embodiments of the present application that may be used to perform imaging methods of industrial cameras in the above-described embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the embodiment of the imaging method of the industrial camera described in the present application.
Fig. 7 shows a block diagram of an imaging device of an industrial camera according to one embodiment of the present application.
Referring to fig. 7, an imaging apparatus of an industrial camera according to an embodiment of the present application includes:
an acquisition module 210, configured to acquire a black-and-white image acquired by the black-and-white camera 3 and the turntable;
a traversing module 220, configured to traverse the black-and-white image and determine a hole area in the black-and-white image;
a color image module 230 for acquiring a color image acquired by the color camera 1;
a region module 240 for determining a first region in the color image based on the hole region
A preliminary model module 250 for determining a preliminary model in combination with the first region and the black-and-white image;
the object model module 260 is configured to form a color object model according to the preliminary model and the corresponding depth values in the color image.
In one embodiment of the present application, there is also provided an electronic device including:
one or more processors;
and a storage means for storing one or more programs that, when executed by the one or more processors, cause the one or more processors to implement the imaging method of an industrial camera as described in the previous embodiments.
In one example, FIG. 8 illustrates a schematic diagram of a computer system suitable for use in implementing the electronic device of the embodiments of the present application.
It should be noted that, the computer system of the electronic device shown in fig. 8 is only an example, and should not impose any limitation on the functions and the application scope of the embodiments of the present application.
As shown in fig. 8, the computer system includes a central processing unit (Central Processing Unit, CPU) 301 (i.e., a processor as described above) that can perform various appropriate actions and processes, such as performing the methods described in the above embodiments, according to a program stored in a Read-Only Memory (ROM) 302 or a program loaded from a storage section 308 into a random access Memory (Random Access Memory, RAM) 303. It should be understood that RAM303 and ROM302 are just described as storage devices. In the RAM303, various programs and data required for the system operation are also stored. The CPU 301, ROM302, and RAM303 are connected to each other through a bus 304. An Input/Output (I/O) interface 305 is also connected to bus 304.
The following components are connected to the I/O interface 305: an input section 306 including a keyboard, a mouse, and the like; an output portion 307 including a Cathode Ray Tube (CRT), a liquid crystal display (Liquid Crystal Display, LCD), and the like, a speaker, and the like; a storage section 308 including a hard disk or the like; and a communication section 309 including a network interface card such as a LAN (Local Area Network ) card, a modem, or the like. The communication section 309 performs communication processing via a network such as the internet. The drive 310 is also connected to the I/O interface 305 as needed. A removable medium 311 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is installed on the drive 310 as needed, so that a computer program read therefrom is installed into the storage section 308 as needed.
In particular, according to embodiments of the present application, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present application include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising a computer program for performing the method shown in the flowchart. In such an embodiment, the computer program may be downloaded and installed from a network via the communication portion 309, and/or installed from the removable medium 311. When executed by a Central Processing Unit (CPU) 301, performs the various functions defined in the system of the present application.
It should be noted that, the computer readable medium shown in the embodiments of the present application may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-Only Memory (ROM), an erasable programmable read-Only Memory (Erasable Programmable Read Only Memory, EPROM), flash Memory, an optical fiber, a portable compact disc read-Only Memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
In the present application, however, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with a computer-readable computer program embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. A computer program embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the foregoing.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. Where each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units involved in the embodiments of the present application may be implemented by means of software, or may be implemented by means of hardware, and the described units may also be provided in a processor. Wherein the names of the units do not constitute a limitation of the units themselves in some cases.
As another aspect, the present application also provides a computer-readable medium that may be contained in the electronic device described in the above embodiment; or may exist alone without being incorporated into the electronic device. The computer-readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to implement the methods described in the above embodiments.
It should be noted that although in the above detailed description several modules or units of a device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functions of two or more modules or units described above may be embodied in one module or unit, in accordance with embodiments of the present application. Conversely, the features and functions of one module or unit described above may be further divided into a plurality of modules or units to be embodied.
From the above description of embodiments, those skilled in the art will readily appreciate that the example embodiments described herein may be implemented in software, or may be implemented in software in combination with the necessary hardware. Thus, the technical solution according to the embodiments of the present application may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (may be a CD-ROM, a usb disk, a mobile hard disk, etc.) or on a network, and includes several instructions to cause a computing device (may be a personal computer, a server, a touch terminal, or a network device, etc.) to perform the method according to the embodiments of the present application.
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the embodiments disclosed herein. This application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains.
It is to be understood that the present application is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the application is limited only by the appended claims.
Claims (10)
1. An imaging method of an industrial camera is characterized by being applied to the industrial camera;
the imaging method of the industrial camera comprises the following steps:
acquiring a black-and-white image acquired by a black-and-white camera and a turntable;
traversing the black-and-white image and determining a cavity area in the black-and-white image;
acquiring a color image acquired by a color camera;
determining a first region in the color image based on the hole region;
determining a preliminary model by combining the first region and the black-and-white image;
and forming a colored target model according to the preliminary model and the corresponding depth value in the colored image.
2. The method of claim 1, wherein traversing the black-and-white image and determining the void region in the black-and-white image comprises:
traversing the black-and-white images sequentially along the extending direction of the black-and-white images;
dividing the black-and-white image into areas and forming a clear area and a non-clear area;
further traversing is performed based on the non-clear region to determine a hole region in the black-and-white image.
3. The method of claim 1, wherein traversing the black-and-white image and determining the void area in the black-and-white image further comprises:
constructing a first coordinate system based on the black-and-white image;
determining positioning coordinates of the cavity area based on the first coordinate system;
and determining the actual position of the cavity area according to the positioning coordinates of the cavity area.
4. A method according to claim 3, wherein said determining a first region in the color image based on the hole region comprises:
acquiring the actual position of the cavity area;
establishing a coordinate system consistent with the black-and-white image in the color image, and determining a reference area of the color image based on the actual position of the cavity area;
and comparing the outline of the cavity area with the outline of the reference area of the color image to determine a first area in the color image.
5. The method of claim 4, wherein the determining a preliminary model in combination with the first region and the black-and-white image comprises:
acquiring a first area;
replacing the blank area with the first area to perfect a black-and-white image;
a preliminary model is determined based on the completed black-and-white image.
6. The method of claim 1, wherein forming a colored object model from the preliminary model and corresponding depth values in the color image comprises:
acquiring a preliminary model;
determining a black-and-white area based on the preliminary model;
matching corresponding depth values in the color image according to the black-and-white area so as to color the preliminary model;
and determining a colored target model according to the colored preliminary model.
7. The method of claim 6, wherein forming a colored object model from the preliminary model and corresponding depth values in the color image further comprises:
acquiring a color image acquired by a color camera;
median filtering noise points are carried out on the color images, and averaging is carried out;
performing secondary blurring on the averaged color image to determine a corresponding definition value;
an optimal color image is determined based on a comparison of sharpness values of the respective color images.
8. The method according to claim 1, wherein the method is applied to black and white cameras and color cameras;
in the image acquisition process of the black-and-white camera, light rays output by the white light parallel light source sequentially pass through the turntables of the microlenses, the first light splitting sheet, the target object, the second light splitting sheet, the turntables of the pinholes and the black-and-white camera;
in the image acquisition process of the color camera, light rays output by the white light parallel light source sequentially pass through the turntables of the microlenses, the first light splitting sheet, the second light splitting sheet, the target object, the second light splitting sheet, the first light splitting sheet and the color camera.
9. An imaging apparatus of an industrial camera, comprising:
the acquisition module is used for acquiring the black-and-white images acquired by the black-and-white camera and the turntable;
the traversing module is used for traversing the black-and-white image and determining a cavity area in the black-and-white image;
the color image module is used for acquiring color images acquired by the color camera;
a region module for determining a first region in the color image based on the hole region
The preliminary model module is used for determining a preliminary model by combining the first area and the black-and-white image;
and the target model module is used for forming a colored target model according to the preliminary model and the corresponding depth value in the colored image.
10. A computer readable medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the imaging method of an industrial camera according to any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311351979.2A CN117354635A (en) | 2023-10-18 | 2023-10-18 | Imaging method, device and medium of industrial camera |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311351979.2A CN117354635A (en) | 2023-10-18 | 2023-10-18 | Imaging method, device and medium of industrial camera |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117354635A true CN117354635A (en) | 2024-01-05 |
Family
ID=89357111
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311351979.2A Pending CN117354635A (en) | 2023-10-18 | 2023-10-18 | Imaging method, device and medium of industrial camera |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117354635A (en) |
-
2023
- 2023-10-18 CN CN202311351979.2A patent/CN117354635A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR102170029B1 (en) | 3D shape measurement device, 3D shape measurement method and program | |
| CN113146073B (en) | Vision-based laser cutting method and device, electronic equipment and storage medium | |
| CN113762253B (en) | Speckle extraction method and device, electronic device and storage medium | |
| US10672116B2 (en) | Substrate inspection method and system | |
| CN109781030B (en) | Phase correction method and device based on point spread function estimation | |
| JP2023534175A (en) | Neural network analysis of LFA specimens | |
| CN117354635A (en) | Imaging method, device and medium of industrial camera | |
| KR20160097651A (en) | Apparatus and Method for Testing Pattern of Sample using Validity Image Processing Technique, and computer-readable recording medium with program therefor | |
| CN111288956B (en) | Target attitude determination method, device, equipment and storage medium | |
| CN109427048B (en) | Image processing apparatus and storage medium | |
| CN116380915A (en) | Method, device, medium and electronic equipment for detecting surface defects of identity card | |
| CN116017129A (en) | Method, device, system, equipment and medium for adjusting angle of light supplementing lamp | |
| CN111336959A (en) | Truck cargo volume processing method and device, equipment and computer readable medium | |
| CN114689604A (en) | Image processing method for optical detection of object to be detected with smooth surface and detection system thereof | |
| CN114841943A (en) | Part detection method, device, equipment and storage medium | |
| CN114782574A (en) | Image generation method, face recognition device, electronic equipment and medium | |
| CN109269404B (en) | Image processing method and device and fingerprint identification equipment | |
| CN116416290A (en) | Method and device for calculating speckle structure light depth and electronic equipment | |
| CN111696146B (en) | Face model reconstruction method, face model reconstruction system, image processing system and storage medium | |
| CN108447107B (en) | Method and apparatus for generating video | |
| CN116781882A (en) | Method, device and medium for synthesizing target stereo data | |
| CN114694137B (en) | Image detection method, three-dimensional imaging method and device | |
| CN116442523B (en) | Light uniformity adjusting method, device, equipment and storage medium | |
| CN117876405A (en) | Method, device and medium for detecting edge of floor tile | |
| CN115713622A (en) | Casting defect detection method and system based on three-dimensional model and flaw detection image |
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 |