A hyperspectral camera calibration method, device, equipment and storage medium

Abstract

The present invention discloses a hyperspectral camera calibration method, device, equipment and storage medium. By obtaining the initial position of the hyperspectral camera, the dark background of the hyperspectral camera is obtained based on the initial position, and then a double-slit image is obtained according to the dark background, the resolution result of the double-slit image is determined, wherein the resolution result includes resolution and non-resolution, and finally the spatial resolution of the hyperspectral camera is calibrated based on the resolution result. By determining the minimum resolvable slit width, the optimal spatial resolution of the hyperspectral camera or hyperspectral module can be automatically and accurately calibrated. By adjusting the angle through a turntable, the sub-space resolution corresponding to different angles can be obtained, which improves the accuracy of the calibration, simplifies the calibration process, and thus saves the production cost of the hyperspectral camera and improves the production efficiency.

Description

Technical Field

[0001] The present invention relates to the field of camera calibration, and in particular to a hyperspectral camera calibration method, device, equipment and storage medium. Background Art

[0002] Hyperspectral cameras can not only obtain spatial distribution information of objects, but also obtain spectral information of objects simultaneously. Hyperspectral cameras are mainly used to analyze material composition and play an important role in agricultural pest detection, forestry tree species identification, water environment detection and other fields.

[0003] The generation scheme of hyperspectral cameras in the existing technology does not take into account the cost. As hyperspectral cameras are gradually shifting from high-precision and advanced equipment for satellite remote sensing to application-level products for industry and scientific research, the production scheme of the existing technology is not only complicated, but also has various problems such as high cost, low efficiency and difficult maintenance, which affects the mass production of hyperspectral cameras. Summary of the invention

[0004] The purpose of the present invention is to overcome the problems of complex, high cost, low efficiency and difficult maintenance of the existing technical solutions, and to provide a hyperspectral camera calibration method, device, equipment and storage medium, which can automatically calibrate the spatial resolution of the hyperspectral camera and save the mass production cost of the hyperspectral camera.

[0005] In a first aspect, an embodiment of the present disclosure provides a hyperspectral camera calibration method, the method comprising:

[0006] Obtaining an initial position of the hyperspectral camera, and obtaining a dark background of the hyperspectral camera based on the initial position;

[0007] Acquire a double-slit image according to a dark background, and determine a resolution result of the double-slit image, wherein the resolution result includes resolution and non-resolution;

[0008] The spatial resolution of the hyperspectral camera is calibrated based on the resolution results.

[0009] Optionally, obtaining the initial position of the hyperspectral camera includes: obtaining the position of the first translation stage and installing the hyperspectral camera to the position of the first translation stage; obtaining the direction of the collimator and determining a vertical direction perpendicular to the direction of the collimator; adjusting the direction corresponding to the position of the first translation stage to the vertical direction to obtain the initial position of the hyperspectral camera.

[0010] Optionally, the dark background of the hyperspectral camera is obtained based on the initial position, including: obtaining the coverage area of ​​the light hood, adjusting the initial position to the coverage area through the upper computer software to obtain the adjusted position; obtaining the position of the second translation stage, and determining the current distance between the light hood and the hyperspectral camera; adjusting the current distance based on the position of the second translation stage to obtain an updated distance, wherein the updated distance satisfies a preset threshold; obtaining image data of the hyperspectral camera according to the adjusted position and the updated distance, and extracting the dark background from the image data.

[0011] Optionally, a double-slit image is obtained based on a dark background, including: obtaining a backlight-on scene based on the dark background; in the backlight-on scene, obtaining an initial angle of the turntable and an angle adjustment instruction, wherein the angle adjustment instruction includes an angle adjustment range of the turntable; adjusting the initial angle according to the angle adjustment instruction to obtain an adjusted angle, and obtaining a double-slit image taken by a hyperspectral camera based on the adjusted angle.

[0012] Optionally, determining the resolution result of the double-slit image includes: obtaining the set image color and slit width; obtaining monochrome image data corresponding to the double-slit image based on the image color; and determining the resolution result corresponding to the monochrome image data based on the slit width and a pre-configured spatial resolution algorithm.

[0013] Optionally, determining a resolution result corresponding to the monochrome image data based on the slit width and a pre-configured spatial resolution algorithm includes: judging whether the slit width in the monochrome image data can be identified based on the spatial resolution algorithm, and if so, determining that the resolution result is resolvable; otherwise, determining that the resolution result is unresolvable.

[0014] Optionally, the spatial resolution of the hyperspectral camera is calibrated based on the resolution result, including: adjusting the slit width according to the resolution result to determine the minimum slit width that can be resolved, and using the minimum slit width as the subspace resolution; obtaining the subspace resolution corresponding to each adjustment angle of the turntable according to the angle adjustment range; and calibrating the spatial resolution of the hyperspectral camera according to each subspace resolution.

[0015] In a second aspect, the present disclosure also provides a hyperspectral camera calibration device, the device comprising:

[0016] A dark background acquisition module is used to acquire the initial position of the hyperspectral camera and acquire the dark background of the hyperspectral camera based on the initial position; a resolution result determination module is used to acquire the double-slit image according to the dark background and determine the resolution result of the double-slit image, wherein the resolution result includes resolution and non-resolution;

[0017] The spatial resolution calibration module is used to calibrate the spatial resolution of the hyperspectral camera based on the resolution results.

[0018] In a third aspect, an embodiment of the present disclosure further provides an electronic device, the electronic device comprising:

[0019] at least one processor; and

[0020] a memory communicatively connected to at least one processor; wherein,

[0021] When the memory stores a computer program executable by at least one processor, the computer program is executed by the at least one processor, so that the at least one processor can execute a hyperspectral camera calibration method as described in any embodiment of the present disclosure.

[0022] In a fourth aspect, an embodiment of the present disclosure provides a computer storage medium having a computer program stored thereon, which, when executed by a processor, implements a hyperspectral camera calibration method as in any embodiment of the present disclosure.

[0023] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description.

[0024] Therefore, the present invention has the following beneficial effects:

[0025] 1. Automatically and accurately calibrate the optimal spatial resolution of a hyperspectral camera or hyperspectral module by determining the minimum resolvable slit width.

[0026] 2. By adjusting the angle through the turntable, the subspace resolution corresponding to different angles can be obtained, which improves the accuracy of calibration.

[0027] 3. The calibration process is simplified, thereby saving the production cost of the hyperspectral camera and improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0029] Figure 1 is a flow chart of a hyperspectral camera calibration method provided according to Embodiment 1 of the present invention;

[0030] Figure 2 This is a schematic diagram of an application of a hyperspectral camera calibration method provided in Embodiment 2 of the present invention;

[0031] Figure 3is an application schematic diagram of another hyperspectral camera calibration method provided in Embodiment 2 of the present invention;

[0032] Figure 4 is an application schematic diagram of another hyperspectral camera calibration method provided in Embodiment 2 of the present invention;

[0033] Figure 5 is an application schematic diagram of another hyperspectral camera calibration method provided in Embodiment 2 of the present invention;

[0034] Figure 6 is an application schematic diagram of another hyperspectral camera calibration method provided in Embodiment 2 of the present invention;

[0035] Figure 7 is an application schematic diagram of another hyperspectral camera calibration method provided in Embodiment 2 of the present invention;

[0036] Figure 8 is an application schematic diagram of another hyperspectral camera calibration method provided in Embodiment 2 of the present invention;

[0037] Fig. 9 2 is a schematic diagram of the structure of a hyperspectral camera calibration device provided according to Embodiment 3 of the present invention;

[0038] Fig.10 It is a schematic diagram of the structure of an electronic device provided according to Embodiment 4 of the present invention. DETAILED DESCRIPTION

[0039] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0040] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0041] Embodiment 1

[0042] Figure 1 A flowchart of a hyperspectral camera calibration method is provided for the first embodiment of the present invention. This embodiment is applicable to the case of hyperspectral camera calibration. The method can be executed by a hyperspectral camera calibration device provided by an embodiment of the present disclosure. The device can be implemented in software and / or hardware and can generally be integrated in a computer device. The method of the embodiment of the present disclosure specifically includes:

[0043] S110: Acquire an initial position of the hyperspectral camera, and acquire a dark background of the hyperspectral camera based on the initial position.

[0044] Optionally, obtaining the initial position of the hyperspectral camera includes: obtaining the position of the first translation stage and installing the hyperspectral camera to the position of the first translation stage; obtaining the direction of the collimator and determining a vertical direction perpendicular to the direction of the collimator; adjusting the direction corresponding to the position of the first translation stage to the vertical direction to obtain the initial position of the hyperspectral camera.

[0045] Specifically, by installing the hyperspectral camera on the first translation stage and adjusting the position of the first translation stage so that the hyperspectral camera is perpendicular to the direction of the parallel light tube, the hyperspectral camera is pre-adjusted and the corresponding position is the initial position of the hyperspectral camera.

[0046] Optionally, the dark background of the hyperspectral camera is obtained based on the initial position, including: obtaining the coverage area of ​​the light hood, adjusting the initial position to the coverage area through the upper computer software to obtain the adjusted position; obtaining the position of the second translation stage, and determining the current distance between the light hood and the hyperspectral camera; adjusting the current distance based on the position of the second translation stage to obtain an updated distance, wherein the updated distance satisfies a preset threshold; obtaining image data of the hyperspectral camera according to the adjusted position and the updated distance, and extracting the dark background from the image data.

[0047] Specifically, the executor of this embodiment is a computing processing unit, which includes a host computer software. The communication module 2 and the driving module 1 of the host computer software can control the movement of the first displacement stage to move the hyperspectral camera to the coverage area of ​​the light shield. Then, the host computer software of the computing processing unit controls the movement of the second displacement stage through the communication module 6 and the driving module 5 to make the light shield close to the hyperspectral camera lens, that is, the current spacing is adjusted based on the position of the second displacement stage to obtain an updated spacing, wherein the updated spacing meets a preset threshold, and the preset threshold is set by the user according to needs. After determining the updated spacing, the hyperspectral camera image data can be further obtained through the communication module of the host computer software of the computer processing unit, thereby obtaining the dark background of the hyperspectral camera.

[0048] S120: Acquire a double-slit image based on a dark background, and determine a resolution result of the double-slit image, wherein the resolution result includes resolution and non-resolution.

[0049] Optionally, a double-slit image is obtained based on a dark background, including: obtaining a backlight-on scene based on the dark background; in the backlight-on scene, obtaining an initial angle of the turntable and an angle adjustment instruction, wherein the angle adjustment instruction includes an angle adjustment range of the turntable; adjusting the initial angle according to the angle adjustment instruction to obtain an adjusted angle, and obtaining a double-slit image taken by a hyperspectral camera based on the adjusted angle.

[0050] Specifically, the backlight can be made to emit light through the communication module 1 and the driving module 3 to obtain the backlight on scene, and then the turntable is controlled through the communication module 5 and the driving module 4 to adjust the turntable angle; at the same time, the host computer software of the computing processing unit controls the first displacement stage through the communication module 2 and the driving module 1 to adjust the position of the hyperspectral camera. The double slit image taken by the hyperspectral camera is obtained through the communication module 4.

[0051] Optionally, determining the resolution result of the double-slit image includes: obtaining the set image color and slit width; obtaining monochrome image data corresponding to the double-slit image based on the image color; and determining the resolution result corresponding to the monochrome image data based on the slit width and a pre-configured spatial resolution algorithm.

[0052] Specifically, the image color refers to the color of the electronic screen line graph set through the communication module 1 and the driving module 3, the slit width refers to the initial width d generated by the electronic screen set through the communication module 1 and the driving module 3, and finally the monochrome image data of the hyperspectral camera is obtained through the communication module 4, and the resolution index result is calculated according to the spatial resolution algorithm, and the upper computer software automatically determines whether the index result can be clearly distinguished.

[0053] Optionally, determining a resolution result corresponding to the monochrome image data based on the slit width and a pre-configured spatial resolution algorithm includes: judging whether the slit width in the monochrome image data can be identified based on the spatial resolution algorithm, and if so, determining that the resolution result is resolvable; otherwise, determining that the resolution result is unresolvable.

[0054] S130: Calibrate the spatial resolution of the hyperspectral camera based on the resolution result.

[0055] Optionally, the spatial resolution of the hyperspectral camera is calibrated based on the resolution result, including: adjusting the slit width according to the resolution result to determine the minimum slit width that can be resolved, and using the minimum slit width as the subspace resolution; obtaining the subspace resolution corresponding to each adjustment angle of the turntable according to the angle adjustment range; and calibrating the spatial resolution of the hyperspectral camera according to each subspace resolution.

[0056] Specifically, if the image can be distinguished, the double slit width of the electronic screen line image is reduced; if the image cannot be distinguished, the double slit width of the electronic screen line image is increased, and then the distinction judgment is repeated to determine the minimum distinguishable slit width, which is the spatial resolution at the angle and color, and then the angle, color, etc. are changed to obtain the sub-spatial resolution corresponding to each angle and each color wavelength, that is, the spatial resolution representing different spatial positions and different wavelengths.

[0057] It should be noted that the present application adopts an electronic screen target plus a collimator solution, and through pixel-level control, infinite double slit images of different spacings are obtained, thereby measuring the spatial resolution of the hyperspectral module, and realizing accurate calibration of the hyperspectral camera or the optimal spatial resolution of the hyperspectral module. Through the turntable behind the collimator, the hyperspectral camera can obtain infinite double slit images at different angles, thereby equivalently measuring infinite double slit images at different spatial positions, and the spatial resolution of different spatial points can be obtained by calculation. By controlling the display color of the electronic screen, the wavelength of the slit image is controlled. Through the monochrome display test, the result of the single-wavelength spatial resolution is obtained, and the calibration results of the spatial resolution of different wavelengths are obtained by repeating the different monochrome tests.

[0058] The technical solution of the embodiment of the present invention obtains the initial position of the hyperspectral camera, obtains the dark background of the hyperspectral camera based on the initial position, and then obtains the double-slit image based on the dark background, determines the resolution result of the double-slit image, wherein the resolution result includes resolution and non-resolution, and finally calibrates the spatial resolution of the hyperspectral camera based on the resolution result. By determining the minimum resolvable slit width, automatic and accurate calibration of the optimal spatial resolution of the hyperspectral camera or hyperspectral module is achieved. By adjusting the angle through the turntable, the sub-space resolution corresponding to different angles can be obtained, which improves the accuracy of calibration, simplifies the calibration process, and thus saves the production cost of the hyperspectral camera and improves production efficiency.

[0059] Embodiment 2

[0060] This embodiment is a hyperspectral camera calibration method. Based on the above embodiment 1, this embodiment adds a specific application scenario of hyperspectral camera calibration.

[0061] Figure 2 A schematic diagram of an application of a hyperspectral camera calibration method is provided for the second embodiment of the present invention. Figure 2In the figure, the computing processing unit is connected to the communication module 1, the communication module 2, the communication module 4, the communication module 5 and the communication module 6 respectively; the communication module 1 is connected to the driving module 3, and the driving module 3 is connected to the electronic screen and the backlight; the communication module 2 is connected to the driving module 1, and the driving module 1 is connected to the displacement stage 1; the communication module 4 is connected to the hyperspectral camera; the hyperspectral camera is fixed on the displacement stage 1; the communication module 5 is connected to the driving module 4, and the driving module 4 is connected to the turntable 2; the reflector is fixed on the turntable 2; the communication module 6 is connected to the driving module 5, and the driving module 5 is connected to the displacement stage 2; the position of the light shield is fixed to the displacement stage 2; the electronic screen is placed at the focus of the collimator; the turntable 2 is placed at the collimated light outlet of the collimator.

[0062] Figure 3 Another application schematic diagram of a hyperspectral camera calibration method is provided for the second embodiment of the present invention. Figure 3 In the figure, the computing processing unit is connected to the communication module 1, the communication module 2, the communication module 3 and the communication module 4 respectively; the communication module 1 is connected to the driving module 3, and the driving module 3 is connected to the electronic screen and the backlight; the communication module 2 is connected to the driving module 1, and the driving module 1 is connected to the displacement stage 1; the communication module 3 is connected to the driving module 2, and the driving module 2 is connected to the turntable 1; the communication module 4 is connected to the hyperspectral camera; the hyperspectral camera is fixed to the displacement stage 1 and the turntable 1; the electronic screen is placed at the focus of the collimator; the hyperspectral camera lens is aligned with the collimated light outlet of the collimator.

[0063] Figure 4 Another application schematic diagram of a hyperspectral camera calibration method is provided for the second embodiment of the present invention. Figure 4 In the method, the computing processing unit is connected to the communication module 1, the communication module 2, the communication module 3 and the communication module 4 respectively; the communication module 1 is connected to the driving module 3, and the driving module 3 is connected to the electronic screen and the backlight; the communication module 2 is connected to the driving module 1, and the driving module 1 is connected to the displacement stage 1; the communication module 3 is connected to the driving module 2, and the driving module 2 is connected to the turntable 1; the communication module 4 is connected to the hyperspectral camera; the hyperspectral camera is fixed to the displacement stage 1 and the turntable 1; the light shield is movable and can be placed in front of the hyperspectral camera lens or removed; the electronic screen is placed at the focus of the collimator; the hyperspectral camera lens is aligned with the collimated light outlet of the collimator.

[0064] Figure 5 Another application schematic diagram of a hyperspectral camera calibration method is provided for the second embodiment of the present invention. Figure 5In the figure, the computing processing unit is connected to the communication module 1, the communication module 3 and the communication module 4 respectively; the communication module 1 is connected to the driving module 3, the driving module 3 is connected to the electronic screen and the backlight; the communication module 3 is connected to the driving module 2, the driving module 2 is connected to the turntable 1; the communication module 4 is connected to the hyperspectral camera; the hyperspectral camera and the displacement stage 1 are fixed to each other; the electronic screen is placed at the focus of the collimator; the hyperspectral camera lens is aligned with the collimated light outlet of the collimator.

[0065] Figure 6 Another application schematic diagram of a hyperspectral camera calibration method is provided for the second embodiment of the present invention. Figure 6 In the figure, the computing processing unit is connected to the communication module 1 and the communication module 4 respectively; the communication module 1 is connected to the driving module 3, and the driving module 3 is connected to the electronic screen and the backlight; the communication module 4 is connected to the hyperspectral camera; the electronic screen is placed at the focus of the collimator; the hyperspectral camera lens is aligned with the collimated light outlet of the collimator.

[0066] Figure 7 Another application schematic diagram of a hyperspectral camera calibration method is provided for the second embodiment of the present invention. Figure 7 In the figure, the computing processing unit is connected to the communication module 1, the communication module 2, the communication module 3 and the communication module 4 respectively; the communication module 1 is connected to the driving module 3, and the driving module 3 is connected to the electronic screen and the backlight; the communication module 2 is connected to the driving module 1, and the driving module 1 is connected to the displacement stage 1; the communication module 3 is connected to the driving module 2, and the driving module 2 is connected to the turntable 1; the communication module 4 is connected to the hyperspectral camera; the hyperspectral camera is fixed to the displacement stage 1 and the turntable 1; the communication module 6 is connected to the driving module 5, and the driving module 5 is connected to the displacement stage 2; the position of the light shield is fixed to the displacement stage 2; the electronic screen is placed at the focus of the collimator; and the reflector is placed at the collimated light outlet of the collimator.

[0067] Figure 8 Another application schematic diagram of a hyperspectral camera calibration method is provided for the second embodiment of the present invention. Figure 8 In the figure, the computing processing unit is connected to the communication module 1, the communication module 2, the communication module 4 and the communication module 5 respectively; the communication module 1 is connected to the driving module 3, and the driving module 3 is connected to the electronic screen and the backlight; the communication module 2 is connected to the driving module 1, and the driving module 1 is connected to the displacement stage 1; the communication module 4 is connected to the hyperspectral camera; the hyperspectral camera is fixed on the displacement stage 1; the communication module 5 is connected to the driving module 4, and the driving module 4 is connected to the turntable 2; the reflector is fixed on the turntable 2; the electronic screen is placed at the focus of the collimator; the turntable 2 is placed at the collimated light outlet of the collimator.

[0068] It should be noted that the function of the computing unit is to run the upper computer software, communicate data with the communication modules 1 to 6, control the driving modules 1 to 5 and the hyperspectral camera by sending instructions, and obtain the data returned by the driving modules 1 to 5 and the data of the hyperspectral camera by receiving instructions; the function of the communication module 1 is to establish the connection between the driving module 3 and the computing unit, and send and receive instructions from both sides; the function of the communication module 2 is to establish the connection between the driving module 1 and the computing unit, and send and receive instructions from both sides; the function of the communication module 3 is to establish the connection between the driving module 2 and the computing unit, and send and receive instructions from both sides; the function of the communication module 4 is to establish the connection between the driving hyperspectral camera and the computing unit, and send and receive instructions from both sides; the function of the communication module 5 is to establish the connection between the driving module 4 and the computing unit, and send and receive instructions from both sides;

[0069] The function of the communication module 6 is to establish a connection between the driving module 5 and the computing processing unit, and to send and receive instructions from both parties; the function of the driving module 1 is to control the displacement stage 1 according to the instructions issued by the communication module 2, and return information to the communication module 2 according to the control situation; the function of the driving module 2 is to control the turntable 1 according to the instructions issued by the communication module 3, and return information to the communication module 3 according to the control situation; the function of the driving module 3 is to control the electronic screen and the backlight according to the instructions issued by the communication module 1, so that the electronic screen displays different image contents; and return information to the communication module 1 according to the control situation; the function of the driving module 4 is to control the turntable 2 according to the instructions issued by the communication module 5, and return information to the communication module 5 according to the control situation; the function of the driving module 5 The function is: control the displacement stage 2 according to the command sent by the communication module 6, and return information to the communication module 6 according to the control situation; displacement stage 1: function is: parallel movement according to the control command; displacement stage 2: function is: parallel movement according to the control command; turntable 1: function is: rotation angle according to the control command; turntable 2: function is: rotation angle according to the control command; the function of the reflector is: change the angle of the collimated output light of the parallel light tube; the function of the light shield is: block the light entering the lens of the hyperspectral camera; the function of the electronic screen is: according to the control command, change the transmittance of different positions and different colors to form different target patterns; the function of the backlight is: turn on the surface light source according to the control command, and the emitted light passes through the electronic screen to display the target image. Different combinations of the above modules can fully or partially calibrate the spatial resolution of the hyperspectral camera, and different combination schemes are within the scope of application of this patent.

[0070] The technical solution of the embodiment of the present invention obtains the initial position of the hyperspectral camera, obtains the dark background of the hyperspectral camera based on the initial position, and then obtains the double-slit image based on the dark background, determines the resolution result of the double-slit image, wherein the resolution result includes resolution and non-resolution, and finally calibrates the spatial resolution of the hyperspectral camera based on the resolution result. By determining the minimum resolvable slit width, automatic and accurate calibration of the optimal spatial resolution of the hyperspectral camera or hyperspectral module is achieved. By adjusting the angle through the turntable, the sub-space resolution corresponding to different angles can be obtained, which improves the accuracy of calibration, simplifies the calibration process, and thus saves the production cost of the hyperspectral camera and improves production efficiency.

[0071] Embodiment 3

[0072] Fig. 9 This is a schematic diagram of the structure of a hyperspectral camera calibration device provided in the third embodiment of the present invention. The device can be implemented in software and / or hardware, and can generally be integrated in an electronic device that executes the method. Fig. 9 As shown, the device includes: a dark background acquisition module 310, which is used to acquire the initial position of the hyperspectral camera, and acquire the dark background of the hyperspectral camera based on the initial position; a resolution result determination module 320, which is used to acquire a double-slit image according to the dark background, and determine the resolution result of the double-slit image, wherein the resolution result includes resolution and non-resolution;

[0073] The spatial resolution calibration module 330 is used to calibrate the spatial resolution of the hyperspectral camera based on the resolution result.

[0074] Optionally, the dark background acquisition module 310 specifically includes: an initial position acquisition unit, used to: obtain the position of the first translation stage and install the hyperspectral camera to the first translation stage position; obtain the direction of the parallel light tube and determine the vertical direction perpendicular to the direction of the parallel light tube; adjust the direction corresponding to the first translation stage position to the vertical direction to obtain the initial position of the hyperspectral camera.

[0075] Optionally, the dark background acquisition module 310 also includes: a dark background acquisition unit, used to: obtain the coverage area of ​​the light shield, adjust the initial position to the coverage area through the upper computer software to obtain the adjusted position; obtain the position of the second displacement stage, determine the current distance between the light shield and the hyperspectral camera; adjust the current distance based on the position of the second displacement stage to obtain an updated distance, wherein the updated distance satisfies a preset threshold; obtain image data of the hyperspectral camera according to the adjusted position and the updated distance, and extract the dark background from the image data.

[0076] Optionally, the resolution result determination module 320 specifically includes: a dual-slit image acquisition unit, used to: acquire a backlight-on scene based on a dark background; in the backlight-on scene, acquire an initial angle of the turntable and an angle adjustment instruction, wherein the angle adjustment instruction includes an angle adjustment range of the turntable; adjust the initial angle according to the angle adjustment instruction to acquire an adjusted angle, and acquire a dual-slit image taken by the hyperspectral camera based on the adjusted angle.

[0077] Optionally, the resolution result determination module 320 also includes: a resolution result determination unit, specifically including: a parameter setting subunit, used to obtain the set image color and slit width; a monochrome image data acquisition subunit, used to obtain the monochrome image data corresponding to the double-slit image based on the image color; a resolution result determination subunit, used to determine the resolution result corresponding to the monochrome image data based on the slit width and a pre-configured spatial resolution algorithm.

[0078] Optionally, the resolution result determination subunit is specifically used to: determine whether the slit width in the monochrome image data can be identified based on the spatial resolution algorithm, and if so, determine the resolution result as being resolvable; otherwise, determine the resolution result as being unresolvable.

[0079] Optionally, the spatial resolution calibration module 330 is specifically used to: adjust the slit width according to the resolution result to determine the minimum slit width that can be resolved, and use the minimum slit width as the subspace resolution; obtain the subspace resolution corresponding to each adjustment angle of the turntable according to the angle adjustment range; calibrate the spatial resolution of the hyperspectral camera according to each subspace resolution.

[0080] The technical solution of the embodiment of the present invention obtains the initial position of the hyperspectral camera, obtains the dark background of the hyperspectral camera based on the initial position, and then obtains the double-slit image based on the dark background, determines the resolution result of the double-slit image, wherein the resolution result includes resolution and non-resolution, and finally calibrates the spatial resolution of the hyperspectral camera based on the resolution result. By determining the minimum resolvable slit width, automatic and accurate calibration of the optimal spatial resolution of the hyperspectral camera or hyperspectral module is achieved. By adjusting the angle through the turntable, the sub-space resolution corresponding to different angles can be obtained, which improves the accuracy of calibration, simplifies the calibration process, and thus saves the production cost of the hyperspectral camera and improves production efficiency.

[0081] A hyperspectral camera calibration device provided in an embodiment of the present invention can execute a hyperspectral camera calibration method provided in any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution method.

[0082] Embodiment 4

[0083] Fig.10A schematic diagram of the structure of an electronic device 400 provided for Embodiment 4 of the present invention. The electronic device in the disclosed embodiment may be a device corresponding to the backend service platform of the application, or may be a mobile terminal device with an application client installed. Specifically, the electronic device may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Fig.10 The electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0084] like Fig.10 As shown, the electronic device 400 may include a processing device (e.g., a central processing unit, a graphics processing unit, etc.) 401, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 402 or a program loaded from a storage device 408 into a random access memory (RAM) 403. In the RAM 403, various programs and data required for the operation of the electronic device 400 are also stored. The processing device 401, the ROM 402, and the RAM 403 are connected to each other via a bus 404. An input / output (I / O) interface 405 is also connected to the bus 404.

[0085] Typically, the following devices may be connected to the I / O interface 405: an input device 406 including, for example, a touch screen, a touch pad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; an output device 407 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 408 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 409. The communication device 409 may allow the electronic device 400 to communicate with other devices wirelessly or by wire to exchange data. Although Fig.10 The electronic device 400 is shown with various devices, but it should be understood that it is not required to implement or possess all the devices shown. More or fewer devices may be implemented or possessed instead.

[0086] In particular, according to an embodiment of the present disclosure, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a non-transitory computer-readable medium, and the computer program contains program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication device 409, or installed from the storage device 408, or installed from the ROM 402. When the computer program is executed by the processing device 401, the above-mentioned functions defined in the method of the embodiment of the present disclosure are executed.

[0087] It should be noted that the computer-readable medium disclosed above may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in combination with an instruction execution system, device or device. In the present disclosure, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, in which a computer-readable program code is carried. This propagated data signal may take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. The computer readable signal medium may also be any computer readable medium other than a computer readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer readable medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0088] In some embodiments, the client and the server may communicate using any currently known or future developed network protocol such as HTTP (HyperText Transfer Protocol), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), an internet (e.g., the Internet), and a peer-to-peer network (e.g., an ad hoc peer-to-peer network), as well as any currently known or future developed network.

[0089] The computer-readable medium may be included in the electronic device, or may exist independently without being incorporated into the electronic device.

[0090] The computer-readable medium carries one or more programs. When the one or more programs are executed by the electronic device, the internal process of the electronic device is executed: obtaining the initial position of the hyperspectral camera, and obtaining the dark background of the hyperspectral camera based on the initial position; obtaining a double-slit image based on the dark background, and determining the resolution result of the double-slit image, wherein the resolution result includes resolution and inresolution; and calibrating the spatial resolution of the hyperspectral camera based on the resolution result.

[0091] Computer program code for performing the operations of the present disclosure may be written in one or more programming languages ​​or combinations thereof, including, but not limited to, object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0092] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some implementations as replacements, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0093] The units involved in the embodiments described in the present disclosure may be implemented by software or hardware, wherein the name of a unit does not, in some cases, limit the unit itself.

[0094] The functions described above herein may be performed at least in part by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), and the like.

[0095] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0096] The above description is only a preferred embodiment of the present disclosure and an explanation of the technical principles used. Those skilled in the art should understand that the scope of disclosure involved in the present disclosure is not limited to the technical solutions formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosed concept. For example, the above features are replaced with the technical features with similar functions disclosed in the present disclosure (but not limited to) by each other to form a technical solution.

[0097] In addition, although each operation is described in a specific order, this should not be understood as requiring these operations to be performed in the specific order shown or in a sequential order. Under certain circumstances, multitasking and parallel processing may be advantageous. Similarly, although some specific implementation details are included in the above discussion, these should not be interpreted as limiting the scope of the present disclosure. Some features described in the context of a separate embodiment can also be implemented in a single embodiment in combination. On the contrary, the various features described in the context of a single embodiment can also be implemented in multiple embodiments individually or in any suitable sub-combination mode.

[0098] Although the subject matter has been described in language specific to structural features and / or methodological logical actions, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. On the contrary, the specific features and actions described above are merely example forms of implementing the claims.

Claims

1. A hyperspectral camera calibration method, characterized in that: include: Acquire an initial position of a hyperspectral camera, and acquire a dark background of the hyperspectral camera based on the initial position; Acquire a double-slit image according to the dark background, and determine a resolution result of the double-slit image, wherein the resolution result includes resolution and non-resolution; Calibrate the spatial resolution of the hyperspectral camera based on the resolution result; Wherein, acquiring a double-slit image according to the dark background comprises: Acquire a backlight-on scene based on the dark background; In the backlight-on scenario, obtaining an initial angle of the turntable and an angle adjustment instruction, wherein the angle adjustment instruction includes an angle adjustment range of the turntable; Adjusting the initial angle according to the angle adjustment instruction to obtain an adjusted angle, and acquiring the double-slit image taken by the hyperspectral camera based on the adjusted angle; Wherein, determining the resolution result of the double-slit image includes: Get the set image color and slit width; Acquire monochrome image data corresponding to the double-slit image based on the image color; Determine a resolution result corresponding to the monochrome image data based on the slit width and a pre-configured spatial resolution algorithm; Wherein, determining the resolution result corresponding to the monochrome image data based on the slit width and a pre-configured spatial resolution algorithm includes: Determining whether the slit width in the monochrome image data can be identified based on the spatial resolution algorithm, and if so, determining that the resolution result is resolvable; Otherwise, determining that the resolution result is indistinguishable; Wherein, calibrating the spatial resolution of the hyperspectral camera based on the resolution result includes: Adjusting the slit width according to the resolution result to determine the minimum resolvable slit width, and using the minimum slit width as the subspace resolution; Acquire the subspace resolution corresponding to each adjustment angle of the turntable according to the angle adjustment range; The spatial resolution of the hyperspectral camera is calibrated according to each of the sub-spatial resolutions.

2. A hyperspectral camera calibration method according to claim 1, characterized in that: The obtaining of the initial position of the hyperspectral camera comprises: Acquire a first translation stage position, and install the hyperspectral camera at the first translation stage position; Obtaining a direction of a collimator and determining a vertical direction perpendicular to the direction of the collimator; The direction corresponding to the position of the first translation stage is adjusted to the vertical direction to obtain the initial position of the hyperspectral camera.

3. A hyperspectral camera calibration method according to claim 1, characterized in that: The step of acquiring a dark background of the hyperspectral camera based on the initial position includes: Obtaining the coverage area of ​​the light shield, and adjusting the initial position to the coverage area through the host computer software to obtain the adjusted position; Acquire the position of the second translation stage to determine the current distance between the light shield and the hyperspectral camera; Adjusting the current spacing based on the position of the second translation stage to obtain an updated spacing, wherein the updated spacing satisfies a preset threshold; Image data of a hyperspectral camera is acquired according to the adjustment position and the update interval, and the dark background is extracted from the image data.

4. A hyperspectral camera calibration device, characterized in that: include: A dark background acquisition module, used to acquire an initial position of a hyperspectral camera, and acquire a dark background of the hyperspectral camera based on the initial position; A resolution result determination module, used for acquiring a double-slit image according to the dark background, and determining a resolution result of the double-slit image, wherein the resolution result includes resolution and non-resolution; A spatial resolution calibration module, used for calibrating the spatial resolution of the hyperspectral camera based on the resolution result; The resolution result determination module specifically includes: a dual-slit image acquisition unit, which is used to: acquire a backlight-on scene based on the dark background; acquire an initial angle of the turntable and an angle adjustment instruction in the backlight-on scene, wherein the angle adjustment instruction includes an angle adjustment range of the turntable; adjust the initial angle according to the angle adjustment instruction to acquire an adjustment angle, and acquire the dual-slit image taken by the hyperspectral camera based on the adjustment angle; The resolution result determination module further includes: a resolution result determination unit, specifically including: a parameter setting subunit, used to obtain the set image color and slit width; a monochrome image data acquisition subunit, used to obtain the monochrome image data corresponding to the double-slit image based on the image color; a resolution result determination subunit, used to determine the resolution result corresponding to the monochrome image data based on the slit width and a pre-configured spatial resolution algorithm; The resolution result determination subunit is specifically used to: determine whether the slit width in the monochrome image data can be identified based on the spatial resolution algorithm, and if so, determine that the resolution result is resolvable; Otherwise, determining that the resolution result is indistinguishable; The spatial resolution calibration module is specifically used to: adjust the slit width according to the resolution result to determine the minimum resolvable slit width, and use the minimum slit width as the sub-space resolution; Acquire the subspace resolution corresponding to each adjustment angle of the turntable according to the angle adjustment range; The spatial resolution of the hyperspectral camera is calibrated according to each of the sub-spatial resolutions.

5. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can perform the method according to any one of claims 1 to 3.

6. A computer storage medium, characterized in that: The computer storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the method according to any one of claims 1 to 3 when executed.

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