A method and device for dynamically monitoring the surface temperature field of biological tissues in multiple modes

Abstract

The present invention provides a method and device for dynamically monitoring the surface temperature field of biological tissues in multiple modes. For the surface temperature field of biological tissues, especially the temperature field during the cauterization of the surface of biological tissues, a three-mode fusion technology of thermocouples, infrared imaging, and three-dimensional structured light is adopted to provide a method for dynamically monitoring the temperature field that is large-area, fast-response, high-precision, and three-dimensional, so as to solve the technical problems in the existing methods, such as difficult large-area temperature measurement, poor real-time performance, low reliability, and inability to reflect the deformation information of biological tissues.

Description

Technical Field

[0001] The present invention relates to the technical field of temperature field measurement, and more specifically, to a method and device for dynamically monitoring the surface temperature field of biological tissues in multiple modes. Background Art

[0002] Temperature is a physical quantity that characterizes the degree of hotness or coldness of an object and is an important condition for various physical and chemical changes of substances. There is a large demand for temperature measurement in industrial and agricultural production and other fields of life. Especially in cauterization biological experiments and clinical surgeries, it is an important indicator that needs to be monitored throughout the process.

[0003] During the process of cauterizing biological tissues, the area of the heated region is often large, the temperature changes rapidly and within a wide range, and moreover, the biological tissue structure is prone to deformation after being heated.

[0004] Therefore, in order to cauterize biological tissues more precisely, it is necessary to conduct large-area, fast-response, high-precision, and three-dimensional dynamic monitoring of the temperature field on the surface of biological tissues.

[0005] Then, how to provide a method for dynamically monitoring the surface temperature field of biological tissues that is large-area, fast-response, high-precision, and three-dimensional is a technical problem that needs to be solved urgently by those skilled in the art. Summary of the Invention

[0006] In view of this, to solve the above problems, the present invention provides a method and device for dynamically monitoring the surface temperature field of biological tissues in multiple modes, and the technical solutions are as follows:

[0007] A method for dynamically monitoring the surface temperature field of biological tissues in multiple modes, the method includes:

[0008] Establish a temperature monitoring system, the temperature monitoring system at least includes a first color camera, a second color camera, a projector, an infrared camera, a thermocouple array, and a host computer;

[0009] Determine the geometric positions of the first color camera, the second color camera, and the infrared camera, and the structure light equation of the structure light emitted by the projector;

[0010] Dynamically calibrate the temperature information of the infrared texture image in combination with the thermocouple array, where the infrared texture image is the infrared texture image of the surface of the biological tissue to be measured captured by the infrared camera;

[0011] Obtain a color image, an infrared texture image, and three-dimensional spatial information of the surface of the biological tissue to be measured, and determine the three-dimensional surface of the surface of the biological tissue to be measured. The color image includes the color images of the surface of the biological tissue to be measured captured by the first color camera and the second color camera;

[0012] Map the temperature information of the surface of the biological tissue to be measured onto the three-dimensional surface.

[0013] Preferably, in the above method, after mapping the temperature information of the surface of the biological tissue to be measured onto the three-dimensional surface, the method further includes:

[0014] Display it in real time on the display screen of the host computer for dynamic monitoring.

[0015] Preferably, in the above method, determining the geometric positions of the first color camera and the second color camera includes:

[0016] Determine the relative positions of the first color camera and the second color camera.

[0017] Preferably, in the above method, mapping the temperature information of the surface of the biological tissue to be measured onto the three-dimensional surface includes:

[0018] Perform anti-aliasing processing based on the texture mapping method of reprojection and the surface difference method to map the temperature information of the surface of the biological tissue to be measured onto the three-dimensional surface.

[0019] A device for dynamically monitoring the temperature field of the surface of biological tissue in multiple modes, the device includes:

[0020] A building module, used to build a temperature monitoring system, the temperature monitoring system at least includes a first color camera, a second color camera, a projector, an infrared camera, a thermocouple array, and a host computer;

[0021] A determination module, used to determine the geometric positions of the first color camera, the second color camera, and the infrared camera, and the structural light equation of the structural light emitted by the projector;

[0022] A calibration module, used to dynamically calibrate the temperature information of the infrared texture image in combination with the thermocouple array, and the infrared texture image is the infrared texture image of the surface of the biological tissue to be measured captured by the infrared camera;

[0023] An acquisition module, used to acquire a color image, an infrared texture image, and three-dimensional spatial information of the surface of the biological tissue to be measured, and determine the three-dimensional surface of the surface of the biological tissue to be measured. The color image includes the color images of the surface of the biological tissue to be measured captured by the first color camera and the second color camera;

[0024] A mapping module, configured to map the temperature information on the surface of the biological tissue to be measured onto the three-dimensional surface.

[0025] Preferably, in the above device, the device further includes:

[0026] A display module, configured to display in real time on the display screen of the host computer for dynamic monitoring.

[0027] Preferably, in the above device, the determining module is specifically configured to:

[0028] Determine the relative positions of the first color camera and the second color camera.

[0029] Preferably, in the above device, the mapping module is specifically configured to:

[0030] Perform anti-aliasing processing based on a texture mapping method based on reprojection and a surface difference method, so as to map the temperature information on the surface of the biological tissue to be measured onto the three-dimensional surface.

[0031] Compared with the prior art, the beneficial effects achieved by the present invention are:

[0032] A method for multi-mode dynamic monitoring of the surface temperature field of biological tissues provided by the present invention, aiming at the surface temperature field of biological tissues, especially the temperature field during the cauterization process of the surface of biological tissues, adopts a three-mode fusion technology of thermocouples, infrared imaging, and three-dimensional structured light, and provides a large-area, fast-response, high-precision, and three-dimensional temperature field dynamic monitoring method to solve the technical problems in the existing methods, such as difficult large-area temperature measurement, poor real-time performance, low reliability, and inability to reflect the deformation information of biological tissues. Description of the Drawings

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only the embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained according to the provided drawings without creative efforts.

[0034] Figure 1 It is a schematic flow chart of a method for multi-mode dynamic monitoring of the surface temperature field of biological tissues provided by an embodiment of the present invention;

[0035] Figure 2 It is a schematic principle structure diagram of a hardware platform provided by an embodiment of the present invention;

[0036] Figure 3Schematic flow chart of another method for multi-mode dynamic monitoring of the surface temperature field of biological tissues provided by an embodiment of the present invention;

[0037] Figure 4 Schematic diagram of the principle structure of a device for multi-mode dynamic monitoring of the surface temperature field of biological tissues provided by an embodiment of the present invention;

[0038] Figure 5 Schematic diagram of the principle structure of another device for multi-mode dynamic monitoring of the surface temperature field of biological tissues provided by an embodiment of the present invention. Detailed implementation manners

[0039] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0040] In the process of the invention of the present invention, the inventor found that there are mainly two common temperature monitoring methods for cauterizing biological tissues at present, as follows:

[0041] First: Thermocouple temperature measurement method;

[0042] The characteristic of the thermocouple temperature measurement method is that the temperature sensing element is directly in contact with the biological tissue to be measured, and sufficient heat exchange occurs between the two until thermal equilibrium is reached. At this time, the voltage value at both ends of the thermocouple represents the temperature value of the biological tissue to be measured.

[0043] The advantages of this thermocouple temperature measurement method are intuitive and reliable, and the temperature measurement accuracy is high; the disadvantage is that it can only measure the temperature of a single point in contact with the temperature sensing element, and it is impossible to measure the temperatures of multiple points, the temperature distribution of a limited length or a plane at the same time.

[0044] Based on this, there is currently a technology that uses multiple thermocouples to form a multi-segment or array for temperature measurement. However, this will make the temperature measuring device complex in structure, with numerous connecting wires, and the temperature measurement range is not precise enough, and it is not suitable for applications in scenarios such as biological experiments and clinical surgeries that require high-precision temperature control.

[0045] Second: Infrared temperature measurement method;

[0046] The characteristic of the infrared temperature measurement method is that the temperature sensing element is not in contact with the biological tissue to be measured, but heat exchange is carried out through radiation. Therefore, the disadvantages of the thermocouple temperature measurement method can be avoided, and it has a relatively high temperature measurement upper limit.

[0047] Moreover, the infrared temperature measurement method has a small thermal inertia, which can reach 1 / 1000 s, so it is convenient to measure the temperature of moving objects and rapidly changing temperatures.

[0048] This infrared temperature measurement method is generally used for measuring two-dimensional plane temperatures. However, due to the influence of factors such as the emissivity of the object, the distance between the measured object and the instrument, and other media such as soot and water vapor, the temperature measurement error of this infrared temperature measurement method is relatively large.

[0049] That is to say, currently, whether it is the thermocouple temperature measurement method or the infrared temperature measurement method, when monitoring the surface temperature field of biological tissues, there is a common drawback, that is, the deformation of the biological tissue surface due to heat cannot be observed, resulting in the existing temperature monitoring methods being unable to meet the temperature field monitoring requirements of cauterization biological experiments or clinical surgeries.

[0050] Based on this, the present invention proposes a method and system for multi-mode dynamic monitoring of the surface temperature field of biological tissues. For the surface temperature field of biological tissues, especially the temperature field during the cauterization of the biological tissue surface, a fusion technology of three modes, namely thermocouple, infrared imaging, and three-dimensional structured light, is adopted to provide a large-area, fast-response, high-precision, and three-dimensional temperature field dynamic monitoring method to solve technical problems such as difficult large-area temperature measurement, poor real-time performance, low reliability, and inability to reflect the deformation information of biological tissues in the existing methods.

[0051] To make the above objects, features, and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0052] Refer to Figure 1 , Figure 1 which is a schematic flow chart of a method for multi-mode dynamic monitoring of the surface temperature field of biological tissues provided by an embodiment of the present invention.

[0053] The method includes:

[0054] S101: Establish a temperature monitoring system, and the temperature monitoring system at least includes a first color camera, a second color camera, a projector, an infrared camera, a thermocouple array, and a host computer.

[0055] In this step, the temperature monitoring system at least includes a hardware platform and a software platform. Refer to Figure 2 , Figure 2 which is a schematic principle structure diagram of a hardware platform provided by an embodiment of the present invention.

[0056] The hardware platform at least includes a first color camera, a second color camera, a projector, an infrared camera, a thermocouple array, and a host computer.

[0057] Among them, the host computer is at least equipped with a data acquisition card and an interface card to realize communication connection with other components.

[0058] The software platform at least includes a projection template generation software, a camera data acquisition software, a structured light projection software, a color camera calibration software, an infrared camera calibration software, a structured light calibration software, an image information acquisition software, and a three-dimensional data processing software.

[0059] S102: Determine the geometric positions of the first color camera, the second color camera, and the infrared camera, and the structured light equation of the structured light emitted by the projector.

[0060] In this step, based on the geometric positions of the first color camera, the second color camera, and the infrared camera, the structured light equation of the structured light emitted by the projector, and the internal and external parameters of each camera, it is mainly used to accurately establish the correspondence between the three-dimensional spatial information and the color image and the infrared texture image.

[0061] Optionally, calibrate the first color camera and the second color camera through a calibration board and calibration software. The calibration process for the first color camera and the second color camera is as follows: First, use the color camera calibration board generation software to generate a standard checkerboard, display it on the LCD screen, adjust its size by adjusting the number of pixels that make up the checkerboard, and then control the two color cameras to capture the calibration board images at different positions. Then, use the color camera calibration software to correspond the images captured by the two color cameras, so as to calibrate the color cameras, and then obtain their relative positions at the same time, that is, determine the relative positions of the first color camera and the second color camera.

[0062] Optionally, the calibration process for the structured light is as follows: First, prepare a calibration board with a black background and white lines, display it on the LCD screen, and then control the projector to project the structured light onto the calibration board. The intersection points of the structured light and the white lines in the calibration board can be captured by the left and right color cameras (i.e., the first color camera and the second color camera). Then, use the structured light calibration software to correspond the structured light points on the calibration board images captured by the two color cameras at different positions. With the help of the calibrated information of the color cameras, the positions of these structured light points in space can be calculated, so as to realize the calibration of the structured light and obtain the structured light equation of the structured light.

[0063] Optionally, the calibration process for the infrared camera is as follows: First, prepare an infrared calibration board with several colored light points with temperature information set on it. Then, use the color cameras (including the first color camera and the second color camera) and the infrared camera to collect the color image and the infrared image of the infrared calibration board respectively. Then, use the infrared camera calibration software to correspond the structured light points of the calibration board images at different positions. With the help of the calibrated information of the color cameras, calculate the positions of these points in space, so as to realize the calibration of the geometric position of the infrared camera.

[0064] S103: Dynamically calibrate the temperature information of the infrared texture image in combination with the thermocouple array, where the infrared texture image is the infrared texture image of the surface of the biological tissue to be measured by the infrared camera.

[0065] In this step, the temperature information of the infrared texture image is dynamically calibrated by the thermocouple array. The specific calibration process is as follows: Place the thermocouple temperature measuring needles on the surface of the biological tissue to be measured in an array manner, then use the infrared camera to collect the infrared image of the biological tissue surface. With the help of the previous geometric calibration information, correspond the gray information of the infrared image in the area where each thermocouple is located to the temperature information transmitted from the thermocouple to the PC, and then calculate through the infrared camera calibration software to achieve the dynamic temperature calibration of the infrared camera.

[0066] S104: Obtain the color image, infrared texture image and three-dimensional space information of the surface of the biological tissue to be measured, and determine the three-dimensional surface of the surface of the biological tissue to be measured. The color image includes the color images of the surface of the biological tissue to be measured by the first color camera and the second color camera.

[0067] In this step, the specific process of obtaining the three-dimensional space information is as follows: First, generate a projection template through the projection template generation software. The projector projects the coded structured light on the surface of the biological tissue to be measured according to the projection template. Two color cameras (i.e., the first color camera and the second color camera) take pictures of the biological tissue to be measured. Then, use the method combining the Steger curve structure detector and the zero-crossing detection to extract the sub-pixel positions in the captured images. Using the previously calibrated camera parameters and system parameters, calculate the corresponding spatial positions of these points, and use the connection algorithm to connect the sub-pixel points on each light stripe in sequence, and a complete three-dimensional data of a space can be obtained.

[0068] Among them, the specific process of determining the three-dimensional surface of the surface of the biological tissue to be measured is as follows: First, connect the sub-pixel points on the same light stripe in the structured light stripe image to form a light stripe set. The sub-pixel points on these light stripes have a one-to-one correspondence with the coordinate points on the three-dimensional surface. Connect the three-dimensional coordinate points into lines to obtain the corresponding three-dimensional coordinate point set, and then use the improved edge flipping algorithm to globally optimize the initial mesh.

[0069] The projection template can adopt a gray-scale and line-shift coded structured light template, so that each light stripe in the captured image has only a unique identification code. Other types of templates can also be used to code the structured light.

[0070] S105: Map the temperature information of the surface of the biological tissue to be measured onto the three-dimensional surface.

[0071] In this step, the acquired image data (including the color image and infrared texture image of the surface of the biological tissue to be measured) is processed to map the temperature information on the surface of the biological tissue to be measured onto the three-dimensional surface.

[0072] Among them, the method for processing the image data is specifically as follows: First, the three-dimensional surface of the object is flattened onto the texture image plane, and then the texture values of the vertices of these surface triangles are obtained through surface interpolation. To prevent the loss of texture information, all the pixel points on the texture image are re-projected onto the three-dimensional object surface, and the projection process is optimized through an algorithm.

[0073] Among them, the method for mapping the temperature information onto the three-dimensional surface is: a texture mapping method based on reprojection, and anti-aliasing processing is performed using the surface interpolation method to achieve accurate texture mapping. However, other methods such as forward mapping, inverse mapping, and local area mapping can also be used here.

[0074] In this embodiment, the method for multi-mode dynamic monitoring of the surface temperature field of biological tissue combines the advantages of thermocouple temperature measurement and infrared temperature measurement. It can not only directly observe the large-area temperature changes on the surface of biological tissue, but also improve the accuracy and stability of temperature measurement through real-time temperature calibration of the thermocouple. At the same time, the three-dimensional information of the surface of biological tissue is collected using structured light, and the deformation of the tissue surface caused by temperature changes can be monitored more clearly, which is of great significance for us to analyze the experimental process and ensure the quality of surgery.

[0075] Optionally, in another embodiment of the present invention, refer to Figure 3 , Figure 3 which is a schematic flowchart of another method for multi-mode dynamic monitoring of the surface temperature field of biological tissue provided by the embodiment of the present invention.

[0076] After mapping the temperature information on the surface of the biological tissue to be measured onto the three-dimensional surface, the method further includes:

[0077] S106: Real-time display on the display screen of the host computer for dynamic monitoring.

[0078] In this embodiment, by real-time displaying the temperature information and the three-dimensional surface information of the surface of the biological tissue to be measured on the display screen of the host computer, the dynamic monitoring of the surface information of the biological tissue to be measured is realized.

[0079] Optionally, based on all the above embodiments of the present invention, in another embodiment of the present invention, a device for multi-mode dynamic monitoring of the surface temperature field of biological tissue is further provided. Refer to Figure 4 , Figure 4 which is a schematic diagram of the principle structure of a device for multi-mode dynamic monitoring of the surface temperature field of biological tissue provided by the embodiment of the present invention.

[0080] The device includes:

[0081] A building module 11, configured to build a temperature monitoring system, where the temperature monitoring system at least includes a first color camera, a second color camera, a projector, an infrared camera, a thermocouple array, and a host computer.

[0082] A determining module 12, configured to determine the geometric positions of the first color camera, the second color camera, and the infrared camera, and the structured light equation of the structured light emitted by the projector.

[0083] A calibration module 13, configured to dynamically calibrate the temperature information of an infrared texture image in combination with the thermocouple array, where the infrared texture image is an infrared texture image of the surface of a biological tissue to be measured by the infrared camera.

[0084] An obtaining module 14, configured to obtain a color image, an infrared texture image, and three-dimensional spatial information of the surface of a biological tissue to be measured, and determine the three-dimensional surface of the surface of the biological tissue to be measured, where the color image includes color images of the surface of the biological tissue to be measured by the first color camera and the second color camera.

[0085] A mapping module 15, configured to map the temperature information of the surface of the biological tissue to be measured onto the three-dimensional surface.

[0086] In this embodiment, for the temperature field on the surface of a biological tissue, especially for the temperature field during the cauterization process of the surface of a biological tissue, the device adopts a fusion technology of three modes, namely thermocouple, infrared imaging, and three-dimensional structured light, to provide a large-area, fast-response, high-precision, and three-dimensional dynamic monitoring method for the temperature field, so as to solve the technical problems in the existing methods, such as difficult large-area temperature measurement, poor real-time performance, low reliability, and inability to reflect the deformation information of biological tissues.

[0087] Optionally, in another embodiment of the present invention, refer to Figure 5 , Figure 5 which is a schematic diagram of the principle structure of another device for dynamically monitoring the temperature field on the surface of a biological tissue provided by an embodiment of the present invention.

[0088] The device further includes:

[0089] A display module 16, configured to perform real-time display on the display screen of the host computer for dynamic monitoring.

[0090] Optionally, in another embodiment of the present invention, the determining module 12 is specifically configured to:

[0091] Determine the relative positions of the first color camera and the second color camera.

[0092] Optionally, in another embodiment of the present invention, the mapping module 15 is specifically configured to:

[0093] Perform anti-aliasing processing based on a texture mapping method using reprojection and a surface interpolation method, so as to map the temperature information on the surface of the biological tissue to be measured onto the three-dimensional surface.

[0094] It should be noted that the principle of the device provided in the embodiments of the present invention is the same as that provided in the above embodiments of the present invention, and will not be elaborated here.

[0095] The above has introduced in detail a method and a device for dynamically monitoring the surface temperature field of biological tissues in multiple modes. Specific examples are used herein to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present invention.

[0096] It should be noted that the embodiments in this specification are all described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The same or similar parts among the embodiments can be referred to each other. For the device disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the description of the method part.

[0097] It should also be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements inherent to the process, method, article or device, but also other identical elements inherent to these process, method, article or device. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of another identical element in the process, method, article or device including the element.

[0098] The foregoing description of the disclosed embodiments enables those skilled in the art to practice or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for multi-mode dynamic monitoring of the surface temperature field of biological tissues, characterized in that, The method includes: Establishing a temperature monitoring system, which at least includes a first color camera, a second color camera, a projector, an infrared camera, a thermocouple array, and a host computer; Determining the geometric positions of the first color camera, the second color camera, and the infrared camera, as well as the structured light equation of the structured light emitted by the projector; Dynamically calibrating the temperature information of the infrared texture image in combination with the thermocouple array, where the infrared texture image is the infrared texture image of the surface of the biological tissue to be measured captured by the infrared camera; Obtaining a color image, an infrared texture image, and three-dimensional spatial information of the surface of the biological tissue to be measured, and determining the three-dimensional surface of the surface of the biological tissue to be measured, where the color image includes the color images of the surface of the biological tissue to be measured captured by the first color camera and the second color camera; Mapping the temperature information of the surface of the biological tissue to be measured onto the three-dimensional surface.

2. The method according to claim 1, characterized in that, After mapping the temperature information of the surface of the biological tissue to be measured onto the three-dimensional surface, the method further includes: Real-time displaying on the display screen of the host computer for dynamic monitoring.

3. The method according to claim 1, characterized in that, The determining the geometric positions of the first color camera and the second color camera includes: Determining the relative positions of the first color camera and the second color camera.

4. The method according to claim 1, characterized in that, The mapping the temperature information of the surface of the biological tissue to be measured onto the three-dimensional surface includes: Performing anti-aliasing processing based on the texture mapping method of reprojection and the surface difference method to map the temperature information of the surface of the biological tissue to be measured onto the three-dimensional surface.

5. A device for multi-mode dynamic monitoring of the surface temperature field of biological tissues, characterized in that, The device includes: An establishing module for establishing a temperature monitoring system, which at least includes a first color camera, a second color camera, a projector, an infrared camera, a thermocouple array, and a host computer; A determining module for determining the geometric positions of the first color camera, the second color camera, and the infrared camera, as well as the structured light equation of the structured light emitted by the projector; A calibrating module for dynamically calibrating the temperature information of the infrared texture image in combination with the thermocouple array, where the infrared texture image is the infrared texture image of the surface of the biological tissue to be measured captured by the infrared camera; An obtaining module for obtaining a color image, an infrared texture image, and three-dimensional spatial information of the surface of the biological tissue to be measured, and determining the three-dimensional surface of the surface of the biological tissue to be measured, where the color image includes the color images of the surface of the biological tissue to be measured captured by the first color camera and the second color camera; A mapping module for mapping the temperature information of the surface of the biological tissue to be measured onto the three-dimensional surface.

6. The device according to claim 5, characterized in that, The device further includes: A display module for real-time displaying on the display screen of the host computer for dynamic monitoring.

7. The device according to claim 5, characterized in that, The determining module is specifically used for: Determining the relative positions of the first color camera and the second color camera.

8. The device according to claim 5, characterized in that, The mapping module is specifically used for: Performing anti-aliasing processing based on the texture mapping method of reprojection and the surface difference method to map the temperature information of the surface of the biological tissue to be measured onto the three-dimensional surface.

Images