JP2014048799A - Image processing device and image processing method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To stabilize a filter calculation result using two or more captured images including a calculation target image even when a filter size is reduced.SOLUTION: An image processing device (6) for performing filter processing on a captured image comprises: an imaging unit (25) that images an object to be measured at different distances to acquire a plurality of captured images; and a calculation unit (26) that performs filter processing using two or more captured images including a calculation target image and another captured image among the plurality of captured images.

Description

  The present invention relates to an image processing apparatus and an image processing method for performing a filtering process on a captured image, and more particularly to a filtering process when measuring the height of solder balls arranged on a mounting board.

  2. Description of the Related Art Conventionally, as this type of image processing apparatus, an apparatus that performs filter processing using a 7 × 7 difference filter when generating an omnifocal image is known (for example, see Patent Document 1). The image processing apparatus described in Patent Document 1 is provided in an electronic component mounting apparatus, and acquires a plurality of captured images having different imaging distances by bringing a measurement object held by a suction nozzle closer to the camera. The image processing apparatus compares the pixels of all the captured images and extracts the pixel data with the best focus. In this case, the image processing apparatus performs a 7 × 7 differential filter and selects pixel data indicating the highest value of the filter result in each pixel of the plurality of captured images, so that the omnifocal image is obtained from the plurality of captured images. Is generated.

JP 2011-082506 A

  By the way, in the differential filter described in Patent Document 1, since the difference between the target pixel and the adjacent pixel is obtained in each captured image, the filter size is increased to secure the number of data used for the filter calculation. In the future, it is assumed that the parts to be measured will be smaller, and it is necessary to reduce the filter size accordingly. When the filter size is reduced, the number of data that can be used for the filter calculation decreases, and there is a problem that the filter calculation result is not stable and the measurement accuracy is lowered. When measuring the height of a solder ball such as a BGA (Ball Grid Array), if the filter size is large, the pixel data of the ball edge strongly affects the measurement result, and the measurement accuracy is not stable.

  The present invention has been made in view of such circumstances, and an object of the present invention is to provide an image processing apparatus and an image processing method capable of stabilizing the filter calculation result even when the filter size is reduced.

  An image processing apparatus according to the present invention is an image processing apparatus that performs a filtering process on a captured image. The imaging unit captures a plurality of captured images by capturing a measurement object at different imaging distances; And a calculation unit that performs filter processing using two or more captured images including a calculation target image and another captured image among the captured images.

  The image processing method of the present invention is an image processing method for performing filtering on a captured image, imaging a measurement object at different imaging distances to obtain a plurality of captured images, and the plurality of imaging And a step of performing filter processing using two or more captured images including a calculation target image and other captured images among the images.

  According to these configurations, the number of data used for filter calculation can be increased by using two or more captured images including a calculation target image. Therefore, even when the filter size is reduced, a sufficient number of data can be secured, the filter calculation result is stable, and the measurement accuracy is not lowered. In addition, when measuring the height of a solder ball such as a BGA, a sufficient number of data can be secured even if the filter processing is performed by reducing the filter size and removing the ball edge.

  In the image processing apparatus of the present invention, the calculation unit includes a result of filter calculation in the target pixel of the calculation target image and a peripheral pixel of the target pixel, and a column of the calculation target image centered on the target pixel. Filter processing is performed using the pixel and the filter calculation result in one column of pixels of the other captured image corresponding to the one column of pixels of the calculation target image. According to this configuration, it is possible to secure a sufficient number of data by setting the filter so as to straddle a plurality of captured images with different imaging distances as well as within the calculation target image.

  In the image processing apparatus of the present invention, the calculation unit includes a filter calculation result in a target pixel of the calculation target image and a peripheral pixel of the target pixel, and a target pixel and a peripheral of the calculation target image in the other captured image. Filter processing is performed using the filter calculation result in the pixel corresponding to the pixel. According to this configuration, it is possible to secure a sufficient number of data by using not only pixels in the calculation target image but also pixels of other captured images having different imaging distances.

  In the image processing apparatus of the present invention, the other captured images are a previous image captured before the calculation target image and a post image captured after the calculation target image. According to this configuration, it is possible to increase the number of data used for filter calculation using the front and rear captured images.

  In the image processing apparatus according to the aspect of the invention, the calculation unit may perform the previous filtering process of two or more captured images including the calculation target image and the other captured images when performing additional filtering after the filtering. The filter calculation result is used. According to this configuration, a sufficient number of data can be secured even in the additional filter processing, and the additional filter calculation result can be stabilized.

  In the image processing apparatus of the present invention, the calculation unit performs a filtering process by weighting the calculation target image and the other captured image. According to this configuration, by adjusting the weight according to the imaging distance, it is possible to obtain a more accurate filter calculation result in consideration of the difference in imaging distance between a plurality of captured images.

  The image processing apparatus of the present invention further includes an image generation unit that generates an omnifocal image based on a filter calculation result for the plurality of captured images. According to this configuration, a highly accurate omnifocal image can be generated even when the filter size is reduced.

  According to the present invention, by using two or more captured images including a calculation target image, the filter calculation result can be stabilized even if the filter size is reduced.

It is a perspective view of the mounting apparatus which concerns on this Embodiment. 1 is a schematic diagram of an image processing apparatus according to the present embodiment. It is explanatory drawing of the filter size which concerns on a comparative example. It is a figure which shows an example of the filter curve which concerns on a comparative example. It is explanatory drawing of the filter process which concerns on this Embodiment. It is explanatory drawing of the filter process which concerns on this Embodiment. It is a figure which shows an example of the filter curve concerning this Embodiment.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. FIG. 1 is a perspective view of the mounting apparatus according to the present embodiment. In the following, a case where the image processing apparatus of the present invention is applied to an electronic component mounting apparatus will be described, but the present invention is not limited to this configuration. The image processing apparatus of the present invention may be applied to other processing apparatuses.

  As shown in FIG. 1, the mounting apparatus 1 is configured to mount an electronic component 31 (see FIG. 2) supplied from the feeder 3 on a substrate 32 on the base 2 by the mounting head 4. A mounting head moving mechanism 5 that moves the mounting head 4 in the X-axis direction and the Y-axis direction is provided on the base 2. The mounting head moving mechanism 5 is supported by support columns 11 erected at the four corners of the base 2, and moves the mounting head 4 in the X-axis direction and the Y-axis direction at a predetermined height from the upper surface of the base 2. .

  The mounting head moving mechanism 5 includes a Y-axis table 13 and a slide guide 14 that are parallel to the Y-axis direction supported on the support column 11, and an X-axis direction that is supported on the Y-axis table 13 and the slide guide 14. And an X-axis table 15. The mounting head 4 is supported by the X-axis table 15 so as to be movable in the X-axis direction. Also, on the Y-axis table 13 and the X-axis table 15 are provided cable bears (registered trademark) 16 and 17 that accommodate various cables such as a power cable.

  The mounting head moving mechanism 5 moves the mounting head 4 in the X-axis direction along the X-axis table 15 by a motor (not shown). Further, the mounting head moving mechanism 5 moves the mounting head 4 together with the X-axis table 15 in the Y-axis direction along the Y-axis table 13 and the slide guide 14 by a motor (not shown). With such a configuration, the mounting head 4 is moved horizontally above the substrate 32 and can transport the electronic component 31 supplied from the feeder 3 to a desired position on the substrate 32.

  The mounting head 4 has a suction nozzle 21 that can suck the electronic component 31. The suction nozzle 21 is rotated around the Z axis by a not-shown θ motor and is moved up and down in the Z-axis direction by a not-shown Z-axis motor. The mounting head 4 is configured so that a plurality of electronic components 31 can be sucked from the feeder 3 by individually driving the suction nozzles 21. In addition, the nozzle of the mounting head 4 should just be able to take out the electronic component 31 from the feeder 3, and may be comprised with the gripper nozzle, for example.

  Further, in the vicinity of the suction nozzle 21, an imaging unit 22 for teaching and a height sensor (not shown) are provided. The imaging unit 22 images the marks of the electronic component 31 and the substrate 32 sent to the delivery position of the feeder 3. Based on the captured image of the imaging unit 22, the suction position (holding position) of the electronic component 31 and the mounting position of the substrate 32 in the X-axis direction and the Y-axis direction are adjusted. The height sensor measures the height by irradiating light toward the electronic component 31 and the substrate 32 and receiving reflected light. Depending on the measurement result of the height sensor, the suction position of the electronic component 31 and the mounting position of the substrate 32 in the Z-axis direction are adjusted.

  On the base 2, an imaging unit 25 of an image processing apparatus 6 (see FIG. 2) that performs highly accurate component recognition is provided. The imaging unit 25 images the electronic component 31 sucked by the suction nozzle 21 from below. The image processing device 6 generates an omnifocal image of the electronic component 31 based on the captured image of the imaging unit 25 and inspects the positional displacement amount of the electronic component 31 with respect to the suction nozzle 21 and the defect of the electronic component 31. On the base 2, a substrate transport unit 7 that positions the substrate 32 below the mounting head 4 is provided. The board transport unit 7 takes in the board 32 before component mounting from one end side in the X-axis direction and transports the board 32 after component mounting from the other end side by a transport belt or the like extending in the X-axis direction.

  The base 2 is provided with a cover 8 that covers each part provided on the base 2. A part of the cover 8 is provided with an operation panel 9 that receives instructions for the mounting apparatus 1. The operation panel 9 displays setting screens related to various processes of the mounting apparatus 1 and notification information for the operator. The operator sets the operating conditions and the like of the mounting apparatus 1 by standing in front of the cover 8 and directly touching the operation panel 9 with a fingertip. The mounting apparatus 1 is provided with a processor that executes various processes of the mounting apparatus 1, a memory, and the like. The memory is composed of one or a plurality of storage media such as a ROM (Read Only Memory) and a RAM (Random Access Memory) depending on the application.

  The image processing apparatus will be described with reference to FIG. FIG. 2 is a schematic diagram of the image processing apparatus according to the present embodiment. In the present embodiment, a BGA ball is described as an example of the measurement object, but the present invention is not limited to this configuration. For example, the image processing apparatus can also measure an IC lead as a measurement object.

  As shown in FIG. 2, the image processing device 6 includes an imaging unit 25 that captures an electronic component 31 as an imaging target, a calculation unit 26 that performs a filter process on the captured image, and a filter calculation result. And an image generation unit 27 that generates a focus image. The electronic component 31 is a so-called BGA, and is formed by arranging balls (solder balls) 35 on a substrate 36 on a grid. The imaging unit 25 is provided on the base 2 with the imaging surface facing upward so that the optical axis coincides with the Z axis. In this case, the imaging distance between the electronic component 31 and the imaging unit 25 is adjusted by moving the electronic component 31 up and down along the optical axis of the imaging unit 25 by the suction nozzle 21. The imaging unit 25 images the electronic component 31 at different imaging distances by moving the electronic component 31 up and down along the optical axis.

  The calculation unit 26 performs filter processing on each captured image captured by the imaging unit 25. Here, although the details will be described later, the filter processing is performed using not only the calculation target image but also the calculation target image and the previous and subsequent images of the calculation target image. As a result, the decrease in the number of data accompanying the reduction in the filter size is compensated for by the front image and the rear image of the calculation target image. The image generation unit 27 compares pixel data at the same position in a plurality of captured images based on the filter calculation result for each captured image. Then, for all the pixels of the plurality of captured images, pixel data that is most focused is extracted to generate one omnifocal image.

  In the image processing apparatus 6 configured as described above, the setting of the electronic component 31, the setting of the imaging range, the setting of the imaging interval, and the like are performed from the operation panel 9 (see FIG. 1). Here, the imaging range indicates a range from the farthest imaging position to the nearest imaging position with respect to the imaging unit 25. The imaging interval indicates an interval at which the imaging unit 25 captures an image within the imaging range. Thus, by setting the imaging range and the imaging interval, the imaging unit 25 acquires a plurality of captured images having different imaging distances. For example, a total of 21 captured images are acquired by the imaging unit 25 by setting the imaging range to 1 mm and the imaging interval to 0.05 mm.

  Then, the electronic component 31 is conveyed above the imaging unit 25, and the electronic component 31 is imaged at the upper limit position of the imaging range by the imaging unit 25. Subsequently, the electronic component 31 is lowered to the lower limit position of the imaging range at a constant imaging interval by the suction nozzle 21, and the electronic component 31 is imaged on the imaging unit 25 in accordance with the imaging interval. In this way, a plurality of captured images with different imaging distances are acquired by the imaging unit 25. The plurality of captured images are stored in the memory. Each captured image is read from the memory by the calculation unit 26 and subjected to a filtering process. Here, the filter processing is performed on all the pixels of the plurality of captured images, and the filter calculation result is calculated for each pixel.

  The image generation unit 27 compares the filter calculation results of pixels at the same position in a plurality of captured images. Then, the pixel with the highest filter calculation result is extracted, and an omnifocal image of the electronic component 31 is generated. Based on the omnifocal image of the electronic component 31, the positional deviation amount between the suction center and the component center, the quality determination of the electronic component 31, and the like are inspected. The positional deviation amount of the electronic component 31 is performed by detecting the edge of the electronic component 31 from the omnifocal image, for example. Whether the electronic component 31 is good or bad is determined based on, for example, whether or not the height of the ball 35 is within an allowable value. Note that the calculation unit 26 and the image generation unit 27 of the image processing apparatus 6 include the above-described processor, memory, and the like.

  Here, with reference to FIG. 3 to FIG. 7, the filtering process which is a characteristic part of the present invention will be described in detail. FIG. 3 is an explanatory diagram of the filter processing according to the comparative example. FIG. 4 is a diagram illustrating an example of a filter curve according to a comparative example. 5 and 6 are explanatory diagrams of the filter processing according to the present embodiment. FIG. 7 is a diagram illustrating an example of a filter curve according to the present embodiment. Here, a case where the height of a BGA ball is measured will be described. 4 and 7, the vertical axis indicates the filter calculation result, and the horizontal axis indicates the imaging distance.

  Before describing the filter processing according to the present embodiment, the filter processing according to the comparative example will be described. As shown in FIG. 3A, when measuring the height of the ball 35, it is desirable to use a pixel near the center of the ball 35 as a pixel to be calculated. As shown in FIG. 3B, when the filter size is set to 7 × 7, a large number of data can be secured, so that the filter calculation result is stable. For this reason, as shown in FIG. 4A, the filter curve representing the filter calculation result in a graph becomes smooth, and the height of the ball 35 is accurately measured.

  However, since the filter frame 39 includes pixel data near the ball edge 37, the height of the ball 35 including the ball edge height is measured. Therefore, although it is desired to measure the height near the center of the ball 35, the pixel data near the ball edge 37 is emphasized, and the originally required height of the ball 35 cannot be measured. On the other hand, as shown in FIG. 3C, when the filter size is set to 3 × 3, the ball edge 37 can be excluded from the filter frame 39, but the filter calculation result is not stable because a sufficient number of data cannot be secured. For this reason, as shown in FIG. 4B, the filter curve is uneven, and the height of the ball 35 cannot be accurately measured.

  Therefore, in the present embodiment, not only the calculation target image but also the previous image and the subsequent image are used for the filter processing, thereby increasing the number of data and stabilizing the filter calculation result. Hereinafter, filter processing according to the present embodiment will be described. As shown in FIG. 5, since the plurality of captured images are obtained by capturing the same object at different imaging distances, they can be considered side by side in the height direction (Z-axis direction). At this time, the middle-stage captured image indicates the calculation target image, the upper-stage captured image indicates the previous image captured before the calculation target image, and the lower-stage captured image indicates the subsequent image captured after the calculation target image. . In FIG. 5, only one part of each captured image is displayed, and each numbered element indicates a pixel of the captured image.

  In the filter processing according to the comparative example described above, only the 9 pixels (10th to 18th) which are calculation target images are used, and the filter processing is performed centering on the target pixel which is the 14th pixel. In the present embodiment, in addition to this filtering process, 9 pixels (19th to 27th) of the previous image and 9 pixels (1st to 9th) of the subsequent image are also included in the filtering process. Specifically, as shown in FIG. 5, similarly to the filter processing according to the comparative example, a 3 × 3 filter is set around the target pixel (14th) on the XY plane. Thereby, the filter calculation result in the XY plane is obtained from the target pixel (No. 14) and the peripheral pixels (No. 10-13, No. 15-18).

  Also, as shown in FIG. 6A, a 3 × 3 filter centered on the pixel of interest (14th) in the YZ plane is set. Thereby, the filter calculation result in the YZ plane is obtained from the pixel of interest (No. 14) and the peripheral pixels (No. 2, No. 5, No. 8, No. 11, No. 17, No. 20, No. 23, No. 26). Further, as shown in FIG. 6B, a 3 × 3 filter centered on the pixel of interest (No. 14) in the XZ plane is set. Thereby, the filter calculation result in the XZ plane is obtained from the pixel of interest (No. 14) and the peripheral pixels (No. 4-6, No. 13, No. 15, No. 22-24). Then, an average value of the filter calculation result on the XY plane, the filter calculation result on the YZ plane, and the filter calculation result on the XZ plane is calculated.

  In this way, the number of data is increased by providing a filter so as to straddle not only the calculation target image but also a plurality of captured images having different imaging distances. In this case, it is sufficient if the filter is set to one column of pixels centering on the target pixel (No. 14) and one column of pixels of the previous image and the subsequent image corresponding to the one column of pixels. The filter is not limited to a plane or XZ plane. For example, the filter may be set by a plane obtained by rotating the XZ plane by ± 45 degrees around the Z axis. As a result, the filter calculation result obtained from the target pixel (14th) and the peripheral pixels (3, 5, 7, 12, 16, 16, 21, 23, 25), the target pixel (14th) ) And surrounding pixels (No. 1, 5, 9, 10, 10, 18, 19, 23, 27) can be used. Therefore, the number of data can be further increased, and the filter calculation result can be stabilized.

  Similar to the calculation target image, a filter parallel to the XY plane may be set for the previous image and the subsequent image. In other words, the filter processing may be performed using the filter calculation result for the target pixel and the peripheral pixels of the calculation target image and the filter calculation result for the pixel corresponding to the target pixel and the peripheral pixels of the calculation target image of the previous image and the subsequent image. . In the example of FIG. 5, the filter calculation result of 9 pixels (10th to 18th) of the calculation target image, the filter calculation result of 9 pixels (19th to 27th) of the previous image, and 9 pixels (1 No. 9) and the filter calculation result of No. 9) are averaged. A filter parallel to the XY plane and a filter perpendicular to the XY plane may be combined. By setting such a filter, the number of data can be increased.

  In the above description, the previous image and the subsequent image are used for the filter process together with the calculation target image. However, the present invention is not limited to this configuration. Either the previous image or the rear image may be used for the filter processing together with the calculation target image. Further, the previous image is not limited to the image captured immediately before the calculation target image, and may be an image captured further before. Similarly, the post-image is not limited to the image captured immediately after the calculation target image, and may be an image captured after that. Further, a plurality of previous images and / or a plurality of subsequent images may be used for the filter processing together with the calculation target image. Thus, although the number of data can be increased by increasing the number of pixels used for the filter, it is preferable to adjust according to the calculation cost.

  Further, the weighting of the filter processing may be changed between the calculation target image, the previous image, and the subsequent image. For example, the pixel data of the previous image and the rear image may be weighted lower than the pixel data of the calculation target image. Normally, when 27 pixels shown in FIG. 5 are subjected to the averaging filter, the filter coefficient of all the pixels is set to “1” and divided by 27. When the weighting is changed by the averaging filter, the filter coefficient of 9 pixels of the calculation target image is set to “1”, and the filter coefficient of 18 pixels of the previous image and the subsequent image is set to “0.5” and divided by 27. In this case, the weighting of the pixel data of the previous image and the subsequent image may be lowered as the imaging position moves away from the calculation target image.

  Also, weighting can be set when filtering is performed with a total of five captured images including two previous images, two subsequent images, and a calculation target image. For example, the filter coefficient of 9 pixels of the calculation target image is “1”, the filter coefficient of 18 pixels of the previous image and the rear image adjacent to the calculation target image is “0.5”, and the foremost front image and the backmost image The filter coefficient of 18 pixels of the subsequent image is divided by 27 with “0.1”.

  Further, the size of the filter coefficient can be changed according to the distance from the target pixel. For example, with respect to the pixel of interest (No. 14), for the two pixels (No. 5, No. 23) adjacent in the Z-axis direction, the filter coefficient is set to “0.5”, and the 8 pixels (No. 1, No. 3, No. 3) are diagonally adjacent , 7, 9, 19, 21, 25, 27), the filter coefficient may be set to “0.3”.

  Moreover, in the said description, it was set as the structure which sets a filter in planar shape, However, It is not limited to this structure. The filter may be set linearly. For example, filtering may be performed with 3 pixels (5th, 14th, and 23rd) arranged in the Z-axis direction. Further, the filter calculation result of 3 pixels (13th to 15th) arranged in the X-axis direction in the calculation target image, and the filter calculation result of 3 pixels (22th to 24th) arranged in the X-axis direction in the previous image In addition, the filter calculation results of the three pixels (No. 4 to No. 6) arranged in the X-axis direction in the subsequent image may be averaged.

  Further, after the above-described filter processing, additional filter processing may be performed. That is, instead of the pixel data of each pixel, the filter processing as described above is performed on the filter calculation result in each pixel. With this configuration, a sufficient number of data can be secured even in the additional filter processing, and the filter calculation result can be stabilized.

  As shown in FIG. 7, a smooth filter curve can be obtained by increasing the number of pieces of pixel data by the above-described filter processing. The filter curve changes in a curved line at a portion surrounded by the solid line W1, and the curve part changes while the amount of change in the filter calculation result is small with respect to the imaging distance. In the vicinity of the inflection point of the curved portion, the data value of the previous image and the subsequent image is greatly affected by the data value of the calculation target image, and therefore the number of data may be reduced.

  On the other hand, the filter curve changes linearly at a portion surrounded by a broken line W2, and the amount of change in the filter calculation result is constant with respect to the imaging distance in this straight line portion. In this curve portion, the influence of the data values of the previous image and the subsequent image on the data value of the calculation target image is small, so the number of data may be increased. Thus, the number of data can be adjusted according to the amount of change in the filter curve. Further, instead of adjusting the number of data, the filter coefficient may be changed, or the adjustment of the number of data and the change of the filter coefficient may be used in combination.

  As described above, according to the image processing apparatus according to the present embodiment, the number of data used for filter calculation can be increased by using two or more captured images including a calculation target image. Therefore, even when the filter size is reduced, a sufficient number of data can be secured, the filter calculation result is stable, and the measurement accuracy is not lowered. Further, when the height of the ball 35 such as BGA is measured, a sufficient number of data can be ensured even if the filter processing is performed by removing the ball edge 37 by reducing the filter size.

  In addition, this invention is not limited to the said embodiment, It can change and implement variously. In the above-described embodiment, the size, shape, and the like illustrated in the accompanying drawings are not limited to this, and can be appropriately changed within a range in which the effects of the present invention are exhibited. In addition, various modifications can be made without departing from the scope of the object of the present invention.

  For example, in the present embodiment, the configuration for generating the omnifocal image using the filter calculation result has been described as an example, but the configuration is not limited to this configuration. The filter processing according to the present embodiment may be used for other image processing.

  As described above, the present invention has an effect that the filter calculation result can be stabilized even when the filter size is reduced, and in particular, an image processing apparatus and an image that generate an omnifocal image of a measurement object. Useful for processing methods.

DESCRIPTION OF SYMBOLS 1 Mounting apparatus 6 Image processing apparatus 21 Suction nozzle 22 Imaging part 25 Imaging part 26 Calculation part 27 Image generation part 31 Electronic component 35 Ball 36 Substrate 37 Ball edge 39 Filter frame

Claims (8)

An image processing apparatus that performs a filtering process on a captured image,
An imaging unit that images a measurement object at different imaging distances and obtains a plurality of captured images;
An image processing apparatus comprising: a calculation unit that performs filter processing using two or more captured images including a calculation target image and another captured image among the plurality of captured images.   The calculation unit includes a filter calculation result in a target pixel of the calculation target image and a peripheral pixel of the target pixel, a column of pixels centered on the target pixel of the calculation target image, and the one column of the calculation target image. The image processing apparatus according to claim 1, wherein a filter process is performed using a filter calculation result in a column of pixels of the other captured image corresponding to the other pixel.   The calculation unit includes a filter calculation result in a target pixel of the calculation target image and a peripheral pixel of the target pixel, and a filter calculation result in a pixel corresponding to the target pixel of the calculation target image and the peripheral pixel in the other captured image. The image processing apparatus according to claim 1, wherein the image processing apparatus performs filtering processing using a filter.   The said other captured image is the back image imaged after the front image imaged before the said calculation object image, and the said calculation object image, The any one of Claims 1-3 characterized by the above-mentioned. An image processing apparatus according to 1.   The calculation unit uses a previous filter calculation result of two or more captured images including the calculation target image and the other captured images when performing additional filter processing after the filter processing. The image processing apparatus according to any one of claims 1 to 4.   The image processing apparatus according to claim 1, wherein the calculation unit weights the calculation target image and the other captured image to perform filter processing.   The image processing apparatus according to claim 1, further comprising an image generation unit configured to generate an omnifocal image based on a filter calculation result for the plurality of captured images. An image processing method for performing filter processing on a captured image,
Imaging a measurement object at different imaging distances to obtain a plurality of captured images;
An image processing method comprising: performing a filtering process using two or more captured images including a calculation target image and another captured image among the plurality of captured images.

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