JP5251841B2 - Image processing apparatus and image processing program - Google Patents

Description

  The present invention relates to an image processing apparatus capable of connecting a plurality of imaging units and an image processing program directed thereto.

  With the recent progress of information processing technology, various image processing technologies are also used in the FA (Factory Automation) field. For example, on the basis of image data obtained by imaging the object to be measured, the presence or absence of defects or dirt on the object to be measured is inspected, the size thereof is measured, characters on the object to be measured Image processing technology for recognizing figures and the like has been widely put into practical use. Such image processing techniques are not limited to conventional two-dimensional (planar) images, and those using three-dimensional (stereoscopic) images have been put into practical use.

  For example, in JP 2009-58359 A (Patent Document 1), it is possible to easily set a processing sequence combining three-dimensional measurement and two-dimensional measurement in which three or more cameras are combined in multiple ways. An image processing apparatus is disclosed.

  As described above, in the three-dimensional image processing applied to an actual manufacturing site or the like, a plurality of imaging units are connected to a single processing apparatus, and image processing is performed on image data generated by each imaging unit. There are many cases. Typically, stereo measurement using image data from two imaging units arranged on the left and right, or three-dimensional vision using image data from two imaging units arranged at a predetermined distance from each other Systems are known.

JP 2009-58359 A

  In the three-dimensional image processing as described above, adjustments and settings are individually made for each of the plurality of imaging units. Note that adjustment and setting targets include conditions relating to imaging such as brightness, focus, and shutter speed, and filtering conditions for generated image data.

  In order to perform the three-dimensional image processing with high accuracy, it is desirable that the states of the image data respectively generated by the plurality of imaging units are substantially matched with each other. As a typical adjustment method therefor, an imaging condition or the like is determined while mutually confirming a plurality of image data used for three-dimensional image processing.

  However, in the conventional three-dimensional image processing, although a plurality of imaging units are used, settings and the like are individually made for each imaging unit as in the two-dimensional image processing.

  Therefore, appropriately setting various conditions (brightness, focus, shutter speed, illumination conditions, etc. in each imaging unit) for making the states of a plurality of image data used for 3D image processing substantially coincide with each other is not possible. If you are not an expert, there is a problem that it is difficult.

  Accordingly, the present invention has been made to solve these problems, and an object thereof is an image processing apparatus capable of processing image data generated from a plurality of imaging units, such as three-dimensional image processing. It is an object of the present invention to provide an image processing apparatus capable of easily performing various settings for a plurality of imaging units that respectively generate a plurality of image data necessary for specific image processing. Another object of the present invention is to provide an image processing program directed to such an image processing apparatus.

  An image processing apparatus according to an aspect of the present invention is connected to a camera interface capable of connecting a plurality of imaging units each of which captures an object to be measured and generates image data, and a display unit, and displays on the display unit. A display control unit for controlling, an input interface for receiving an input from the outside, and a set generation unit for generating a plurality of combinations of sets obtained by grouping a plurality of imaging units. Here, each set is a group in which one or a plurality of imaging units are grouped. The image processing apparatus includes: a combination selection input unit that accepts selection of any one of a plurality of sets via an input interface; and a set that configures the selected combination by giving a command to the display control unit And setting screen display means for displaying an individual setting screen for accepting setting / change of imaging conditions for each of the imaging units included in the set on the display unit.

  Preferably, the image processing apparatus is selected by providing a set selection input means for accepting selection of any one of the sets constituting the selected combination and an instruction to the display control unit via the input interface. Image data display means for displaying the image data generated by each of the imaging units included in the set on the display unit.

  More preferably, the set selection input means responds to selection of a combination by means for displaying a plurality of selection reception areas for selecting a set on the display section by giving a command to the display control section, and a combination selection input means. And means for allocating a set constituting the selected combination to each of the plurality of selection receiving areas.

  Preferably, the image processing apparatus further includes individual processing means for performing image processing independently of each other on the plurality of image data respectively generated by the plurality of imaging units. The setting screen display means accepts setting values for the individual processing means for each of the plurality of imaging units.

  Preferably, the combination selection input unit displays a list of combinations of a plurality of sets generated by the set generation unit.

  Preferably, the image processing apparatus performs image processing on a plurality of pieces of image data generated by imaging units included in the same set according to a common setting value set in association with the set. In addition to the common processing means, the setting screen display means displays a common setting screen for accepting setting / change of the common setting value on the display unit in addition to the individual setting screen.

  According to another aspect of the present invention, a camera interface capable of connecting a plurality of imaging units each of which captures an object to be measured and generates image data and a display unit are connected to control display on the display unit. An image processing program that is executed by a computer having a display control unit and an input interface that receives input from the outside is provided. The image processing program causes the computer to function as a set generation unit that generates a plurality of combinations of sets obtained by grouping a plurality of imaging units. Here, each set is a group in which one or a plurality of imaging units are grouped. This image processing program is further selected by giving a command to the combination control input means for accepting the selection of any one of a plurality of sets via the input interface and the display control unit. In a unit of a set constituting the combination, an individual setting screen for accepting setting / change of imaging conditions for each of the imaging units included in the set is caused to function as a setting screen display unit that displays on the display unit.

  According to the present invention, in an image processing apparatus capable of processing image data generated from a plurality of imaging units, such as three-dimensional image processing, a plurality of units each generating a plurality of image data necessary for specific image processing. Various settings for the image pickup unit can be easily performed.

1 is a schematic diagram showing an overall configuration of a three-dimensional measurement system 1 including an image processing apparatus according to an embodiment of the present invention. 1 is a schematic configuration diagram of an image processing apparatus according to an embodiment of the present invention. It is a block diagram which shows the function structure which the image processing apparatus which concerns on embodiment of this invention provides. It is a figure which shows an example of the user interface screen for selecting the combination of the set used as the setting object of the imaging condition which the image processing apparatus which concerns on embodiment of this invention sets, and a set. It is a figure for demonstrating the allocation process of the set in the user interface screen shown in FIG. It is a figure which shows an example of the user interface screen for performing the setting / change of the imaging condition which the image processing apparatus which concerns on embodiment of this invention provides. It is a figure which shows an example of the user interface screen for performing the setting / change of the imaging condition which the image processing apparatus which concerns on embodiment of this invention provides. It is a figure which shows an example of the user interface screen for performing the setting / change of the imaging condition which the image processing apparatus which concerns on embodiment of this invention provides. It is a figure which shows the modification of the user interface screen for selecting the combination of the set used as the setting object of the imaging condition which the image processing apparatus which concerns on embodiment of this invention sets, and a set. It is a flowchart which shows the process sequence provided by the image processing apparatus which concerns on embodiment of this invention.

  Embodiments of the present invention will be described in detail with reference to the drawings. Note that the same or corresponding parts in the drawings are denoted by the same reference numerals and description thereof will not be repeated.

<Overall device configuration>
FIG. 1 is a schematic diagram showing an overall configuration of a three-dimensional measurement system 1 including an image processing apparatus 100 according to an embodiment of the present invention.

  Referring to FIG. 1, a three-dimensional measurement system 1 is incorporated in a production line or the like, and inspects for the presence or absence of defects or dirt on the object to be measured 2 (hereinafter also referred to as “work 2”). , Etc., and recognize characters and figures on the surface. In the following, imaging of the workpiece 2 and processing of image data obtained by the imaging to obtain some result are also collectively referred to as “measurement processing” or “measurement”.

  As an example, FIG. 1 shows a configuration in the case where an automobile (or a semi-finished product) on a production line is measured using the three-dimensional measurement system 1 according to the present embodiment.

  In the three-dimensional measurement system 1 shown in FIG. 1, a pair of imaging units 8a and 8b are arranged on the upper side of the automobile (work 2) being manufactured that is transported along the production line. 8b picks up an image around the hood of the car and inspects scratches on the painted surface. Also, a pair of imaging units 8c and 8d are arranged on the right side of the paper surface of the workpiece 2, and these imaging units 8c and 8d image the side surface of the automobile to inspect for scratches on the painted surface.

  As described above, the three-dimensional measurement system 1 according to the present embodiment performs measurement processing on image data generated by each of the plurality of imaging units 8a, 8b, 8c, and 8d (hereinafter also collectively referred to as “imaging unit 8”). Is possible. Although FIG. 1 shows an example in which a maximum of four imaging units 8 can be connected to the image processing apparatus 100, the number of imaging units 8 connected to the image processing apparatus 100 can be arbitrarily determined. it can.

  That is, the three-dimensional measurement system 1 includes an image processing apparatus 100, and a plurality of imaging units 8 can be connected to the image processing apparatus 100. Each of the imaging units 8 captures an object to be measured (work 2) and generates image data. These image data are independently transmitted to the image processing apparatus 100. Then, the image processing apparatus 100 performs measurement processing as described below on each image data.

  Note that the three-dimensional measurement system 1 may include an illumination mechanism that emits light to the workpiece 2 included in the object field of each imaging unit 8. In addition, the imaging timing of each imaging unit 8 may be controlled by a sensor (not shown) or the like. In this case, a trigger signal indicating the imaging timing of each imaging unit 8 may be generated in cooperation with a PLC (Programmable Logic Controller) (not shown) that controls the production line.

  The image processing apparatus 100 is connected to a display unit such as a display 102 and an input unit such as a mouse 104 and a keyboard. In addition, as a device for performing various inputs to the image processing apparatus 100, a dedicated operation device (console) may be configured to be connectable instead of or in addition to the input unit.

  Each of the imaging units 8 captures an object to be measured in the object scene and generates image data. As an example, the imaging unit 8 includes an imaging element such as a CCD (Coupled Charged Device) or a CMOS (Complementary Metal Oxide Semiconductor) sensor in addition to an optical system such as a lens.

  The image processing apparatus 100 typically has a basic structure of a computer having a general-purpose architecture, and provides various functions as will be described later by executing a preinstalled program. When using such a general-purpose computer, an OS (Operating System) for providing basic functions of the computer is installed in addition to the application for providing the functions according to the present embodiment. It may be. In this case, the program according to the present embodiment may execute processing by calling necessary modules out of program modules provided as part of the OS in a predetermined order and / or timing. Good. That is, the program itself according to the present embodiment does not include the module as described above, and the process may be executed in cooperation with the OS. Therefore, the program according to the present embodiment may not include such a part of modules.

  Furthermore, the program according to the present embodiment may be provided by being incorporated in a part of another program. Even in that case, the program itself does not include the modules included in the other programs to be combined as described above, and the processing is executed in cooperation with the other programs. That is, the program according to the present embodiment may be in a form incorporated in such another program.

  Alternatively, some or all of the functions provided by program execution may be implemented as a dedicated hardware circuit.

  FIG. 2 is a schematic configuration diagram of the image processing apparatus 100 according to the embodiment of the present invention. Referring to FIG. 2, an image processing apparatus 100 includes a CPU (Central Processing Unit) 110 that is an arithmetic processing unit, a main memory 112 and a hard disk 114 as a storage unit, a camera interface 116, an input interface 118, and a display. A controller 120, a PLC interface 122, a communication interface 124, and a data reader / writer 126 are included. These units are connected to each other via a bus 128 so that data communication is possible.

  The CPU 110 performs various operations by developing programs (codes) stored in the hard disk 114 in the main memory 112 and executing them in a predetermined order. The main memory 112 is typically a volatile storage device such as a DRAM (Dynamic Random Access Memory), and in addition to a program read from the hard disk 114, an input image acquired by the imaging unit 8, Data indicating the processing result of the input image, work data, and the like are held. The hard disk 114 is a non-volatile magnetic storage device, and stores various setting values in addition to programs executed by the CPU 110. As will be described later, the program installed in the hard disk 114 is distributed while being stored in the memory card 106 or the like. In addition to the hard disk 114 or instead of the hard disk 114, a semiconductor storage device such as a flash memory may be employed.

  The camera interface 116 can be connected to a plurality of imaging units 8 via connectors 9a, 9b, 9c, and 9d (up to four in the present embodiment), and each of the connected imaging units 8 is connected. And mediate data transmission between the CPU 110 and the CPU 110. More specifically, the camera interface 116 includes buffers 116a, 116b, 116c, and 116d for temporarily storing image data generated from a maximum of four imaging units 8a, 8b, 8c, and 8d, respectively. When at least one frame of input image data is accumulated in each of the buffers 116 a to 116 d, the camera interface 116 transfers the accumulated data to the main memory 112. The camera interface 116 gives an imaging command to the imaging unit 8 in accordance with an internal command generated by the CPU 110.

  The input interface 118 mediates data transmission between the CPU 110 and an input unit such as a mouse 104, a keyboard, or a touch panel. That is, the input interface 118 accepts an external input (such as an operation command given by the user operating the input unit).

  The display controller 120 is connected to a display 102 that is a typical example of a display unit, and controls display on the display 102. That is, the display controller 120 displays the image data generated by the imaging unit 8, the result of image processing by the CPU 110, and the like to the user.

  The PLC interface 122 mediates data transmission between the CPU 110 and a PLC (not shown). More specifically, the PLC interface 122 transmits information related to the state of the production line controlled by the PLC, information related to the workpiece, and the like to the CPU 110.

  The communication interface 124 mediates data transmission between the CPU 110 and a console (or a personal computer or a server device). The communication interface 124 typically includes Ethernet (registered trademark), USB (Universal Serial Bus), or the like. As will be described later, instead of installing the program stored in the memory card 106 in the image processing apparatus 100, the program downloaded from the distribution server or the like is installed in the image processing apparatus 100 via the communication interface 124. May be.

  The data reader / writer 126 mediates data transmission between the CPU 110 and the memory card 106 that is a recording medium. That is, the memory card 106 circulates in a state where a program executed by the image processing apparatus 100 is stored, and the data reader / writer 126 reads the program from the memory card 106. Further, the data reader / writer 126 writes the input image acquired by the imaging unit 8 and / or the processing result in the image processing apparatus 100 to the memory card 106 in response to an internal command of the CPU 110. The memory card 106 is a general-purpose semiconductor storage device such as CF (Compact Flash) or SD (Secure Digital), a magnetic storage medium such as a flexible disk, or a CD-ROM (Compact Disk Read Only Memory). ) And other optical storage media.

  Further, the image processing apparatus 100 may be connected to another output device such as a printer as necessary.

<Overview>
The image processing apparatus 100 according to the present embodiment divides a plurality of connected imaging units 8 into several groups, sets the imaging units 8 belonging to each group together, and sets necessary imaging conditions. Provides a user interface for As will be described later, in a typical embodiment, a plurality of sets to which one or a plurality of imaging units 8 belong are prepared by grouping, and the imaging conditions from the user are set in units of each set. Displays the individual setting screen for accepting settings / changes.

  Thereby, for example, a pair of image data necessary for performing stereo measurement can be acquired in a substantially equal state.

<Control structure>
Next, a control structure for providing various functions in the above-described image processing apparatus 100 will be described.

  FIG. 3 is a block diagram showing a functional structure provided by the image processing apparatus 100 according to the embodiment of the present invention. Each block shown in FIG. 3 is provided by developing a program (code) or the like stored in the hard disk 114 in the main memory 112 and causing the CPU 110 to execute it. Note that some or all of the modules shown in FIG. 3 may be provided by firmware implemented in hardware. Alternatively, part or all of the control structure shown in FIG. 3 may be realized by dedicated hardware and / or a wiring circuit.

  Referring to FIG. 3, the image processing apparatus 100 includes, as its control structure, an input processing unit 211, 212, 213, 214, a measurement processing unit 220, a setting screen display module 222, a set generation module 224, A selection input module 226, a set selection input module 228, and an image data display module 230 are included.

  The input processing units 211 to 214 are associated with the buffers 116a to 116d, respectively, and execute input processing on the image data 1 to 4 input via the corresponding buffers. Typically, the input processing units 211 to 214 perform preprocessing such as noise removal and γ correction independently of each other in accordance with setting values from a setting screen display module 222 described later. The processed image data output from the input processing units 211 to 214 is sent to the measurement processing unit 220. Accordingly, the input processing units 211 to 214 correspond to individual processing means for performing image processing independently of each other on the plurality of image data 1 to 4 generated by the plurality of imaging units 8, respectively.

  The measurement processing unit 220 is necessary for measurement processing (defect / dirt inspection, size measurement, character recognition, figure recognition, etc.) for the workpiece 2 with respect to the processed image data given from the input processing units 211 to 214, respectively. Perform image processing. Image processing executed in the measurement processing unit 220 includes filter processing, image synthesis for stereo measurement, HDR (High Dynamic Range) synthesis processing for generating an image with an increased gradation value level, search processing, and the like. Known processes are included.

  In stereo measurement image synthesis, processing related to common settings is performed on input images from the imaging unit 8 designated in the same set. Therefore, the measurement processing unit 220 performs image processing on a plurality of pieces of image data generated by the imaging units 8 included in the same set according to the common setting value set in association with the set. This corresponds to the common processing means.

  The set generation module 224 generates a plurality of combinations of sets obtained by grouping the plurality of imaging units 8. In other words, a plurality of sets of combinations are generated by grouping the plurality of imaging units 8 into a plurality of groups so that one or a plurality of imaging units 8 are assigned to each group (set). Here, each set is a group in which one or a plurality of imaging units 8 are grouped.

  Note that the set generation module 224 may dynamically generate a combination of sets, but may make it possible to use a set combination that is fixedly determined in advance.

  As will be described later, since there are restrictions on the display area of the display 102 (FIG. 1), not all combinations of the plurality of imaging units 8 but only a part thereof may be generated. For example, when three or less of four imaging units 8a, 8b, 8c, and 8d are selected, “imaging unit 8a”, “imaging unit 8a”, “imaging unit 8c”, “imaging unit 8a + imaging unit 8b”, A set can be generated such as “imaging unit 8a + imaging unit 8c”, “imaging unit 8a + imaging unit 8d”, etc., but only combinations that are expected to be relatively frequently used are generated. Also good.

  The combination selection input module 226 accepts selection of any one of the plurality of combinations generated by the set generation module 224. More specifically, the combination selection input module 226 displays a list of combinations of a plurality of sets generated by the set generation module 224 as shown in FIG. 4 and the like, and inputs from the user via the input unit or the like. Accept the operation. Then, the set generation module 224 selects a specified set combination in accordance with an input operation from the user.

  The set selection input module 228 accepts the selection of any one of the sets constituting the selected combination. More specifically, the set selection input module 228 receives an input operation from the user via an input unit or the like, and selects a designated set from among a plurality of sets included in the combination of selected sets.

  More specifically, the set selection input module 228 gives a command to the display controller 120 (FIG. 2), thereby providing a plurality of selection receiving areas (such as reference numeral 320 in FIG. 4) for selecting a set on the display 102. In response to selection of a combination by the combination selection input module 226, there is provided a function of displaying and a function of allocating a set constituting the selected combination to each of the plurality of selection receiving areas. That is, the imaging units associated with the buttons “SET A SET”, “SET B SET”, “SET C SET”, and “SET D SET” displayed in reference numeral 320 in FIG. 4 are included in the selected combination. Dynamically assigned to each set.

  The setting screen display module 222 gives a command to the display controller 120 (FIG. 2), thereby setting the imaging condition for each of the imaging units 8 included in the set in units of a set constituting the selected combination. Individual setting screens for accepting changes are displayed on the display 102 (see FIGS. 6 and 7). That is, the setting screen display module 222 gives the contents set for each individual setting screen to the corresponding imaging unit 8 as camera settings 1 to 4 (imaging conditions). Each of the camera settings 1 to 4 is a value obtained by digitizing an image or an image state of each camera, and typically includes a focus (position), an aperture amount, illumination brightness, shutter speed, gain, and the like. In the imaging unit 8, various condition values are set according to the camera settings 1 to 4.

  Further, the setting screen display module 222 receives setting values for the input processing units 211 to 214 in addition to the plurality of imaging units 8. Then, the setting screen display module 222 gives the designated setting value to the corresponding one of the input processing units 211 to 214 in accordance with an input operation from the user.

  In addition to the individual setting screen, the setting screen display module 222 displays a common setting screen for accepting setting / changing of common setting values for the measurement processing unit 220 on the display 102 (see FIGS. 6 and 7). .

  The image data display module 230 is associated with the buffers 116a to 116d, and displays image data generated by each of the imaging units 8 included in the selected set by giving a command to the display controller 120 (FIG. 2). 102. That is, the image data display module 230 selectively displays the image data generated by the imaging unit 8 included in the selected set among the combinations selected by the user.

  The image data display module 230 may display the processed image data output from the input processing units 211, 212, 213, and 214 on the display 102, respectively.

<User interface>
(1. Combination of sets and display / selection of sets)
FIG. 4 is a diagram showing an example of a user interface screen 300A for selecting a combination of sets to be set for imaging conditions provided by the image processing apparatus 100 according to the embodiment of the present invention and a set. FIG. 5 is a diagram for explaining set allocation processing on the user interface screen 300A shown in FIG.

  Note that the user interface screens shown in FIG. 4 and FIGS. 6 to 9 to be described later are all provided in the setting mode. Therefore, an operation mode for performing measurement processing on image data generated by the imaging unit 8 performing imaging in accordance with the imaging conditions set in the setting mode may be provided.

  Referring to FIG. 4, user interface screen 300 includes camera selection buttons 302, 304, 306, 308, camera set setting button 310, camera set selection button 312, luminance batch setting button 314, and set setting button 322. , 324, 326, 328. On the user interface screen 300, a cursor CRS is moved and displayed in conjunction with the operation of the mouse 104 (FIGS. 1 and 2) by the user.

  The camera selection buttons 302, 304, 306, and 308 are used to select a specific imaging unit when individually setting imaging conditions and the like for a plurality of imaging units 8 that can be connected to the image processing apparatus 100. The That is, when any one of the camera selection buttons 302, 304, 306, and 308 is selected, the imaging units 8a, 8b, 8c, and 8d are set as imaging condition setting / change targets.

  The camera set setting button 310 is used to validate a function that handles a plurality of imaging units 8 as a group. FIG. 4 shows a state where the camera set setting button 310 is selected. Note that only when the camera set setting button 310 is selected, the camera set selection button 312, the luminance batch setting button 314, the set setting buttons 322, 324, 326, and 328 that are displayed in the lower row are valid. You may make it make it.

  The camera set selection button 312 is used to select a combination of sets obtained by grouping a plurality of imaging units 8 that can be connected to the image processing apparatus 100. When the camera set selection button 312 is selected, a pop-up screen that prompts selection of a combination of sets may be displayed.

  The luminance batch setting button 314 is used to set the luminance for the imaging units 8 included in any of the sets or all the imaging units 8 connected thereto. When the luminance batch setting button 314 is selected, a pop-up screen for setting the luminance value may be displayed.

  As will be described later, the set setting buttons 322, 324, 326, and 328, when any one set combination is selected from among the set combinations obtained by grouping the plurality of imaging units 8, Used to select each of the sets that make up the selected set combination. That is, the set setting button 322 with the title “Set A Setting” is used to select one or a plurality of imaging units 8 that are grouped first in the combination of the selected sets. . Similarly, the set setting buttons 324, 326, and 328 are used to select one or a plurality of imaging units 8 that are grouped in the second, third, and fourth groups, respectively, in the selected set combination.

  Note that the imaging units 8 associated with the set setting buttons 322, 324, 326, and 328 are dynamically determined according to the grouping in the selected set combination. This point will be described in detail later. The example shown in FIG. 4 shows a state in which a combination of sets including only three sets is selected. In this case, the set setting button 328 corresponding to the fourth set represents that selection is not possible. In order to be grayed out.

  The user interface screen 300A further includes a measurement camera selection area 330. In this measurement camera selection area 330, four column displays 338 are displayed in association with the connectable imaging units 8a, 8b, 8c, and 8d, respectively. On the other hand, in the measurement camera selection area 330, a combination of a plurality of sets generated by the set generation module 224 (FIG. 3) is visually represented in association with each row. More specifically, the measurement camera selection area 330 includes five line displays 331, 332, 333, 334, and 335, and each line display represents a corresponding grouping.

  For example, the row display 331 represents the first set combination. That is, in this first set combination, camera 0 belongs to the first group, camera 1 belongs to the second group, camera 2 belongs to the third group, and camera 3 belongs to the fourth group. Belongs to the th group. In the present specification, the term “set” or “group” is a concept including a case where only one imaging unit is included.

  Similarly, the row display 332 represents the second set combination. In this second set combination, camera 0 and camera 1 belong to the first group, camera 2 belongs to the second group, and camera 3 belongs to the third group. Further, the row display 333 represents the third set combination. In this third set combination, camera 0 and camera 1 belong to the first group, and camera 2 and camera 3 belong to the second group.

  In a state where a plurality of set combinations as described above are displayed in a list, the user selects an appropriate set combination according to the measurement item. For example, when the image data generated by the camera 0 and the camera 1 is used for stereo measurement and the camera 2 and the camera 3 are used for independent measurement processing, there are substantially three measurement items. . Therefore, the user selects the second set combination (row display 332) corresponding to these measurement items. Then, the user can set / change imaging conditions in units of each measurement item.

  In the measurement camera selection area 330, any one of a plurality of combinations prepared in advance and any one of a set constituting the selected combination can be simultaneously received. It has become. In the example shown in FIG. 4, a state where the “set A” area of the row display 332 is selected by the cursor CRS or the like is shown. As described above, when the user selects the “set A” area of the row display 332, the selection for the second set combination corresponding to the row display 332, and among the sets constituting the second set, It is determined that the selection for the first set (Set A) has been made.

  Then, in order to show the combination and set of the set being selected, the periphery of the row display 332 is highlighted, and the “set A” area therein is highlighted.

  The user interface screen 300A further includes an area 350 for displaying image data generated by each connected imaging unit 8 on the same screen. This area 350 includes display images 352, 354, 356, and 358 in which image data generated by the imaging units 8a, 8b, 8c, and 8d respectively imaging the workpiece 2 are rendered.

  Further, among the display images 352, 354, 356, and 358, the combination of the set being selected and the display image corresponding to the set are highlighted (in the example shown in FIG. 4, display images 352 and 354).

  Next, with reference to FIG. 5, the process of assigning sets to the set setting buttons 322, 324, 326, 328 will be described. When any combination of sets is selected in the measurement camera selection area 330, each set constituting the combination of the selected sets is assigned to the set setting buttons 322, 324, 326, and 328.

  For example, when the row display 331 is selected, the combination of the corresponding set (first combination) is composed of four sets A to D, so the sets A to D are set setting buttons 322, 324, and 326. , 328 respectively.

  Similarly, when the row display 332 is selected, the corresponding set combination (second combination) is composed of three sets A to C, so that the sets A to C are set setting buttons 322, 324 and 324. 326, respectively. At this time, no set is assigned to the set setting button 328. Therefore, the set setting button 328 is in a non-selected (grayed out) state on the user interface screen 300A.

  When the row display 333 is selected, the set combination (third combination) corresponding to the row display 333 is composed of two sets A and B. Therefore, the sets A and B are displayed on the set setting buttons 322 and 324, respectively. Assigned. At this time, no set is assigned to the set setting buttons 326 and 328. Therefore, on the user interface screen 300A, the set setting buttons 326 and 328 are in a non-selected (grayed out) state.

  As described above, in the image processing apparatus 100 according to the present embodiment, the set setting buttons 322, 324, 326, and 328, which are a plurality of selection receiving areas for selecting a set, are displayed on the display 102 and the user In response to selection of a combination of sets by the above, a set constituting the selected combination is assigned to each of the plurality of selection receiving areas.

(2. Setting / changing imaging conditions)
Next, an example of an operation (setting / changing of imaging conditions) when one of the set setting buttons 322, 324, 326, and 328 is selected on the user interface screen 300A illustrated in FIG. 4 will be described.

  6 to 8 are diagrams showing examples of user interface screens for setting / changing the imaging conditions provided by the image processing apparatus 100 according to the embodiment of the present invention.

  When the set setting button 322 is selected on the user interface screen 300A illustrated in FIG. 4, the imaging units 8 included in the corresponding set (first set) among the sets constituting the combination of the selected sets. (In this example, the imaging units 8a and 8b) can be set together to set / change imaging conditions. In this case, a user interface screen 300B as shown in FIG. 6 is provided. In the user interface screen 300B, display images 352 and 354 obtained by rendering image data generated by the imaging units 8 included in the selected set are selectively displayed on the display 102. Further, two lens adjustment setting areas 360 are displayed in parallel in association with these display images 352 and 354, respectively.

  Each of the lens adjustment setting areas 360 is a dialog for displaying a current value of an item included in the imaging condition in the corresponding imaging unit 8 and accepting a change operation of the value. More specifically, the lens adjustment setting area 360 includes three items of “zoom”, “focus”, and “iris”. These items are for setting conditions such as the size, focus, and brightness of the field of the imaging unit 8.

  On the other hand, when the set setting button 324 is selected on the user interface screen 300A shown in FIG. 4, among the sets that constitute the combination of the selected sets, the corresponding set (second set) is set. The imaging condition can be set / changed for the included imaging unit 8 (in this example, the imaging unit 8c). In this case, a user interface screen 300C as shown in FIG. 7 is provided. In the user interface screen 300C, a display image 356 obtained by rendering image data generated by the imaging unit 8c included in the selected set is selectively displayed on the display 102. Further, a lens adjustment setting area 360 similar to that described above is displayed in association with these display images 356.

  Further, when the set setting button 326 is selected on the user interface screen 300A shown in FIG. 4, a user interface screen similar to the user interface screen 300C shown in FIG. 7 is provided.

  As described above, this is a typical example of an individual setting screen for setting / changing the imaging condition for each of one or a plurality of imaging units 8 included in each set in units of sets constituting the selected combination. A lens adjustment setting area 360 is displayed. Therefore, the user can set and change the imaging conditions for the plurality of imaging units 8 used for the same measurement item while comparing the results (display contents of the display images 352 and 354) with each other. Therefore, even a user unfamiliar with 3D image processing can determine appropriate imaging conditions.

(3. Common image processing)
At the same time, as shown in FIGS. 6 and 7, since a user interface for individually setting the imaging conditions for each imaging unit 8 is provided in units of each set, a plurality of imaging units 8 are connected to the image processing apparatus. Even when connected to 100, it is possible to avoid the problem of mistaking the destination imaging unit 8 for setting / changing the imaging conditions.

  Although not explicitly shown, FIGS. 6 and 7 show setting screens for receiving processing conditions (setting values) for each of the input processing units 211, 212, 213, and 214 shown in FIG. You may display similarly to the lens adjustment setting area 360. FIG. Also in this case, it is preferable to display the setting screen at a position associated with display images 352, 354, 356, and 358 indicating the contents captured by the target imaging unit 8.

  As shown in FIGS. 6 and 7, in the same user interface screen, a common image processing is performed for the image data generated by each of the plurality of imaging units 8 included in the same set. A set value can be entered. As an example, the user interface screens 300B and 300C include an image composition setting area 370 and an HDR image setting area 380.

  The image processing apparatus 100 according to the present embodiment provides an HDR synthesis process and an image integration process as a typical example of the measurement processing unit 220 illustrated in FIG. The HDR synthesizing process is an image synthesizing process for expanding the dynamic range by synthesizing a plurality of image data generated by the same imaging unit 8. The image integration process is a filter process for integrating the image data to increase the gradation difference and clarify the image content with respect to the image data with a small gradation difference.

  The measurement processing in these measurement processing units 220 (FIG. 3) is executed according to common setting values set in association with each set. This is considered that at least the image data included in the same set is processed so that the states coincide with each other at the time of output from the input processing units 211, 212, 213, and 214 (FIG. 3). Therefore, the subsequent measurement process is based on the technical idea that a common process can be applied. This common setting value is set in the image composition setting area 370 and the HDR image setting area 380 as an example.

  The image composition setting area 370 is referred to as “none” indicating that image composition processing is not performed, “HDR composition” for enabling HDR composition processing, and “image integration” for validating image integration processing. Includes three radio buttons. When the user selects one of the radio buttons, the corresponding process is executed (or bypassed).

  6 and 7 show a state where “HDR synthesis” is selected. That is, when “HDR composition” is selected, an HDR image setting area 380 corresponding to a common setting screen for receiving setting values for the HDR composition processing is displayed. The HDR image setting area 380 includes a histogram display 382 for the image data after HDR composition, a brightness range setting area 384, a number-of-images setting area 386, and a filter setting area 388.

  In the HDR image setting area 380, a frequency distribution of the brightness (brightness) of the pixels included in the image data after the HDR synthesis process is displayed. The brightness range setting area 384 receives a setting of which range of brightness the image data after the HDR synthesis process is associated with. The number-of-images setting area 386 accepts the setting of the number of images to be used for HDR synthesis processing. The filter setting area 388 accepts the setting of the maximum mask size that is the unit of the filter processing when it is desired to enhance the contrast.

  The common setting value input in the HDR image setting area 380 of the user interface screen 300B in FIG. 6 is applied to the image data generated by the imaging unit 8 (8a and 8b) included in the corresponding first set, The common setting value input in the HDR image setting area 380 of the user interface screen 300C in FIG. 7 is applied to the image data generated by the imaging unit 8 (8c) included in the corresponding second set.

  Further, as an example of common image processing, in addition to the above-described image composition processing, filter processing as shown on the user interface screen 300D in FIG. 8 may be applied. Specifically, the user interface screen 300D includes a display switching setting area 390, a filter method selection area 392, and a filter type selection area 394.

  The display switching setting area 390 is used for switching whether or not to display the image data generated by the imaging unit 8 in real time. Further, the filter method selection area 392 is used for setting which color system of “RGB method” or “HSV method” to perform filtering.

  Further, the filter type selection area 394 is used for selecting a filter type. Note that the filter type candidates displayed in the filter type selection area 394 are changed according to the selection contents in the filter method selection area 392.

  In this way, in addition to the lens adjustment setting area 360 that is an individual setting screen, an image composition setting area 370 and an HDR image setting area 380 that are common setting screens for accepting setting / changing of common setting values are on the same screen. Is displayed.

  Alternatively, a common setting value that is uniformly applied may be accepted for image processing for image data generated by all the imaging units 8.

(4. Modifications)
FIG. 9 is a diagram showing a modification of a user interface screen for selecting a combination of sets to be set for imaging conditions and a set provided by the image processing apparatus 100 according to the embodiment of the present invention.

  In the user interface screen 300A shown in FIG. 4 described above, when the user designates one of the measurement camera selection areas 330, a combination of sets and a set included in the combination are simultaneously selected.

  On the other hand, on the user interface screen 300 </ b> E shown in FIG. 9, radio buttons 336 are displayed in association with the row displays 331 to 335 in the measurement camera selection area 330. When the user selects one of the radio buttons 336 with the cursor CRS or the like, a corresponding set combination is selected. Then, each set included in the combination of the selected sets is assigned to the set setting buttons 322, 324, 326, and 328. Therefore, the user can set a target set by pressing the set setting buttons 322, 324, 326, and 328. Hereinafter, by performing the same operation as described above, necessary imaging conditions and the like can be set / changed.

<Processing procedure>
Next, a processing procedure in the above-described image processing apparatus 100 will be described.

  FIG. 10 is a flowchart showing a processing procedure provided by the image processing apparatus 100 according to the embodiment of the present invention. Each step shown below is typically provided by the CPU 110 of the image processing apparatus 100 executing a program.

  Referring to FIG. 10, when the CPU 110 of the image processing apparatus 100 is instructed to execute the setting mode, a combination of sets obtained by grouping a plurality of imaging units 8 that can be connected to the image processing apparatus 100 is obtained. A plurality are determined (step S100). Further, the CPU 110 acquires image data generated when each imaging unit 8 images the workpiece 2 from the imaging unit 8 connected to the image processing apparatus 100 (step S102). Then, the CPU 110 issues an internal command to the display controller 120 to thereby display the measurement camera selection area 330 associated with the set combination determined in step S100 and the display image obtained by rendering the image data acquired in step S102. The user interface screen 300A (FIG. 4) including 352, 354, 356, and 358 is displayed (step S104).

  Subsequently, CPU 110 determines whether any one of the combinations of the plurality of sets determined in step S100 has been selected (step S106). If no combination has been selected (NO in step S106), the processes in and after step S106 are repeated.

  On the other hand, when any one combination is selected (YES in step S106), CPU 110 sets set button on user interface screen 300A according to the grouping in the selected set combination. The imaging unit 8 is dynamically associated with 322, 324, 326, 328 (step S108).

  Further, CPU 110 determines whether any one of the sets constituting the combination of the selected sets has been selected (step S110). If no set is selected (NO in step S110), the processes in and after step S106 are repeated.

  On the other hand, when any one set is selected (YES in step S110), CPU 110 selects the set selected from the display area of measurement camera selection area 330 and the display image of area 350. The one corresponding to is highlighted (step S112).

  As described above, in the user interface screen 300A shown in FIG. 4, selection for a plurality of combinations and selection for a set constituting the selected combination are performed at the same time. S110 may be “YES” at the same time.

  Subsequently, the CPU 110 determines whether or not an imaging condition setting / change for the imaging unit 8 included in the selected set has been requested (step S114). If setting / changing of the imaging condition is not requested (NO in step S114), the processes in and after step S106 are repeated.

  On the other hand, when the setting / change of the imaging condition is requested (YES in step S114), the CPU 110 issues an internal command to the display controller 120, thereby imaging included in the selected set. The display image generated by the unit 8, the individual setting screen (lens adjustment setting area 360) corresponding to the selected set, and the common setting screen (image composition setting area 370) associated with the combination of the selected set. Then, the user interface screen 300B or 300C (FIG. 5 or 6) including the HDR image setting area 380) is displayed (step S116).

  Subsequently, CPU 110 determines whether any setting operation has been performed on the individual setting screen (lens adjustment setting area 360) (step S118). When the setting operation is performed (YES in step S118), CPU 110 changes the imaging setting in corresponding imaging unit 8 according to the set content (step S120).

  Subsequently, CPU 110 determines whether any setting operation has been performed on the common setting screen (image composition setting area 370 and HDR image setting area 380) (step S122). When the setting operation is performed (YES in step S122), CPU 110 sets the common setting value in measurement processing unit 220 (FIG. 2) associated with the selected combination according to the set content. Change (step S124).

  If the setting operation has not been performed (NO in step S122), CPU 110 determines whether an end instruction has been issued (step S126). If termination is instructed (YES in step S126), the process ends.

  On the other hand, when termination is not instructed (NO in step S126), CPU 110 re-acquires (updates) image data generated by imaging unit 8 of the selected set (step). S128). And the process after step S118 is repeatedly performed.

<Effect>
According to the image processing apparatus according to the present embodiment, when a measurement process is performed on image data generated from each of a plurality of imaging units 8 such as a three-dimensional image process, a plurality of necessary image data are obtained. Various settings for the plurality of imaging units 8 to be generated can be easily performed.

  The embodiment disclosed this time should be considered as illustrative in all points and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

  DESCRIPTION OF SYMBOLS 1 3D measuring system, 2 to-be-measured object (work), 8 imaging part, 8a, 8b, 8c, 8d Imaging part, 9a, 9b, 9c, 9d connector, 100 image processing apparatus, 102 display, 104 mouse, 106 memory Card, 112 main memory, 114 hard disk, 116 camera interface, 116a, 116b, 116c, 116d buffer, 118 input interface, 120 display controller, 122 interface, 124 communication interface, 126 data reader / writer, 128 bus, 211, 212, 213, 214 Input processing unit, 220 Measurement processing unit, 222 Setting screen display module, 224 set generation module, 226 Combination selection input module, 228 set selection input module 230 image data display module, CRS cursor.

Claims (7)

An image processing apparatus,
A camera interface capable of connecting a plurality of imaging units each imaging an object to be measured and generating image data;
A display control unit connected to the display unit for controlling display on the display unit;
An input interface that accepts external input;
A set generation means for generating a plurality of combinations of sets obtained by grouping a plurality of the imaging units, each set is a group of one or a plurality of the imaging units as a group,
A combination selection input means for accepting selection of any one of a plurality of combinations of the sets via the input interface;
By giving a command to the display control unit, individual setting screens for accepting setting / change of imaging conditions for each of the imaging units included in the set in units of a set constituting the selected combination, respectively An image processing apparatus comprising setting screen display means for displaying on a display unit. Set selection input means for accepting selection of any one of the sets constituting the selected combination via the input interface;
The image processing according to claim 1, further comprising: an image data display unit configured to display image data generated by each of the imaging units included in the selected set on the display unit by giving a command to the display control unit. apparatus. The set selection input means includes
Means for displaying a plurality of selection reception areas for selecting a set on the display unit by giving a command to the display control unit;
3. The image according to claim 2, further comprising means for allocating a set constituting the selected combination to each of the plurality of selection reception areas in response to selection of a combination by the combination selection input unit. Processing equipment. The image processing apparatus further includes individual processing means for performing image processing independently of each other for the plurality of image data generated by the plurality of imaging units, respectively.
The image processing apparatus according to claim 1, wherein the setting screen display unit receives a setting value for the individual processing unit, separately from the plurality of imaging units.   The image processing apparatus according to claim 1, wherein the combination selection input unit displays a list of combinations of the plurality of sets generated by the set generation unit. A common processing means for performing image processing on the plurality of image data respectively generated by the imaging units included in the same set according to a common setting value set in association with the set,
The setting screen display means includes
The image processing apparatus according to claim 1, wherein a common setting screen for accepting setting / change of the common setting value is displayed on the display unit in addition to the individual setting screen. A camera interface capable of connecting a plurality of imaging units each for imaging an object to be measured and generating image data, a display control unit connected to the display unit for controlling display on the display unit, and an external input An image processing program executed by a computer having an input interface for receiving the computer,
It functions as a set generation means for generating a plurality of combinations of sets obtained by grouping a plurality of the imaging units, and each set is a group of one or a plurality of the imaging units,
A combination selection input means for accepting selection of any one of a plurality of combinations of the sets via the input interface;
By giving a command to the display control unit, individual setting screens for accepting setting / change of imaging conditions for each of the imaging units included in the set in units of a set constituting the selected combination, respectively An image processing program for causing a setting screen display unit to display on a display unit.