Method and device for realizing central point exposure alignment based on image data

Abstract

The invention relates to a method and device for achieving center point exposure alignment based on image data, and the method comprises the steps: obtaining the exposure information of a scanning camera and a positioning camera when a previous frame of image is collected, and enabling the exposure information to at least comprise an exposure starting moment and an exposure ending moment; based on the exposure information of the scanning camera and the positioning camera, calculating the exposure starting time delay of the positioning camera when the previous frame of image is acquired; based on the exposure starting moment delay of the positioning camera, adjusting the difference value of the exposure starting moments of the scanning camera and the positioning camera when the current frame of image is acquired, so that the exposure center point moments of the scanning camera and the positioning camera are synchronous when the current triggering is carried out; the exposure time of the scanning camera and the positioning camera of the next frame is adjusted by acquiring the exposure information of the scanning camera and the positioning camera, so that the exposure center points of the scanning camera and the positioning camera of the next frame are synchronous at the same time, and the scanning forming precision is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of scanning equipment, and in particular to a method and a device for realizing central point exposure alignment based on image data. Background Art

[0002] At present, most of the 3D high-precision, high-frame rate scanning devices on the market basically use multi-camera synchronous triggering to realize the three-dimensional coordinate confirmation of the scanning device, and then construct a 3D image by extracting the scanning camera image.

[0003] Specifically, the confirmation of three-dimensional coordinates is generally achieved by positioning a camera, providing the three-dimensional coordinates of the image through a calibration algorithm, and simultaneously confirming the features of the scanned object in combination with the image collected by the scanning camera, thereby achieving 3D image construction.

[0004] However, for moving objects, the camera is in the exposure moment, and the three-dimensional coordinates of the scanning camera are relatively offset, resulting in poor scanning imaging accuracy. Summary of the invention

[0005] In view of this, it is necessary to provide a method and device for realizing center point exposure alignment based on image data, so as to solve the problem that for moving objects, when the camera is at the exposure moment, the three-dimensional coordinates of the scanning camera are relatively offset, resulting in poor scanning imaging accuracy.

[0006] In a first aspect, the present invention provides a method for realizing center point exposure alignment based on image data, comprising: Acquire exposure information of the scanning camera and the positioning camera when the previous frame of image is captured, wherein the exposure information at least includes an exposure start time and an exposure end time; Based on the exposure information of the scanning camera and the positioning camera, calculating the exposure start time delay of the positioning camera when the previous frame of image was captured; Based on the exposure start time delay of the positioning camera, the difference between the exposure start times of the scanning camera and the positioning camera during the current frame image acquisition is adjusted to synchronize the exposure center points of the scanning camera and the positioning camera during this triggering.

[0007] In some embodiments, the step of calculating the exposure start time delay of the positioning camera when the previous frame of image is captured based on the exposure information of the scanning camera and the positioning camera includes: Based on the exposure start time and exposure end time of the scanning camera when the previous frame of image is collected, the central exposure time point of the scanning camera is calculated; Based on the exposure start time and exposure end time of the positioning camera when the previous frame of image is collected, the central exposure time point of the positioning camera is calculated; Based on the central exposure time point of the scanning camera and the central exposure time point of the positioning camera, the exposure start time delay of the positioning camera when the previous frame of image is collected is calculated.

[0008] In some embodiments, the central exposure time point of the scanning camera is the middle value between the exposure start time and the exposure end time of the scanning camera.

[0009] In some embodiments, the central exposure time point of the positioning camera is the middle value between the exposure start time and the exposure end time of the positioning camera.

[0010] In some embodiments, the exposure start time delay of the positioning camera is the difference between the central exposure time point of the scanning camera and the central exposure time point of the positioning camera.

[0011] In some embodiments, based on the exposure start time delay of the positioning camera, adjusting the difference between the exposure start time of the scanning camera and the positioning camera when the current frame image is captured includes: Based on the exposure start time delay of the positioning camera, adjusting the exposure start time of the scanning camera when acquiring the current frame image; or Based on the exposure start time delay of the positioning camera, adjusting the exposure start time of the positioning camera when capturing the current frame image; or Based on the exposure start time delay of the positioning camera, the exposure start time of the scanning camera and the positioning camera is adjusted when the current frame image is captured.

[0012] In some embodiments, the scanning camera and the positioning camera use edge exposure, the exposure start time is the rising edge time of the edge trigger, and the exposure end time is the falling edge time of the edge trigger.

[0013] In a second aspect, the present invention further provides a device for realizing center point exposure alignment based on image data, comprising: An acquisition module, used to acquire exposure information of the scanning camera and the positioning camera when the previous frame of image is captured, wherein the exposure information at least includes an exposure start time and an exposure end time; A calculation module, used to calculate the exposure start time delay of the positioning camera when the previous frame of image is collected based on the exposure information of the scanning camera and the positioning camera; The adjustment module is used to adjust the difference between the exposure start time of the scanning camera and the positioning camera when the current frame image is collected based on the exposure start time delay of the positioning camera, so that the exposure center point time of the scanning camera and the positioning camera during this triggering is synchronized.

[0014] In a third aspect, the present invention further provides an electronic device, comprising: a processor and a memory; The memory stores a computer program executable by the processor; When the processor executes the computer program, the steps in the method for realizing center point exposure alignment based on image data as described above are implemented.

[0015] In a fourth aspect, the present invention also provides a computer-readable storage medium, which stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps in the method for achieving center point exposure alignment based on image data as described above.

[0016] Compared with the prior art, the exposure information of the scanning camera and the positioning camera is obtained to adjust the exposure time of the scanning camera and the positioning camera of the next frame, so that the exposure center points of the scanning camera and the positioning camera of the next frame are synchronized at all times to improve the accuracy of scanning forming. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic flow chart of a method for realizing center point exposure alignment based on image data provided by an embodiment of the present invention; Figure 2 A method for realizing central point exposure alignment based on image data provided by an embodiment of the present invention, a flowchart of step S200; Figure 3 A schematic diagram of the operation of a scanning camera and a three-dimensional positioning camera in a method for realizing center point exposure alignment based on image data provided by an embodiment of the present invention; Figure 4 A schematic diagram of images and three-dimensional coordinates acquired at different times by a scanning camera and a positioning camera in a method for realizing center point exposure alignment based on image data provided by an embodiment of the present invention; Figure 5 A schematic diagram of aligning the exposure center point at each moment in a method for realizing center point exposure alignment based on image data provided by an embodiment of the present invention; Figure 6 A flowchart of an embodiment of a method for realizing center point exposure alignment based on image data provided by an embodiment of the present invention; Figure 7 is a schematic block diagram of a device for realizing central point exposure alignment based on image data provided by an embodiment of the present invention; Figure 8 A schematic block diagram of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0018] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not used to limit the scope of the present invention.

[0019] like Figure 3-4 As shown, for ease of understanding, the working principle of scanning is first explained. It is assumed that the object moves relative to the scanning camera during the exposure time, generating images T1, T2, T3, and T4. During this process, the coordinates of the scanning camera collected by the positioning camera are t1, t2, t3, and t4 respectively. The closer the exposure time of image T1 is to t1, the better the scanning accuracy at this time. Since the exposure time is generally short, the relative movement of the object is short. The image at the center of the scanning exposure can be taken as the best exposure image. Then, the closer the positioning time of the positioning camera is to the center, the closer the three-dimensional coordinates are to the best exposure time, and the higher the scanning accuracy.

[0020] Therefore, during the relative motion of the object, the camera can capture image data at different times during exposure. The higher the frame rate, the shorter the exposure time, and the shorter the relative motion distance of the object, then the exposure center moment can be taken as the optimal exposure moment, that is, the optimal moment for the scanning camera is T3, and the optimal moment for the positioning camera is t3. At this time, the camera can collect the best image data. In order to achieve the best three-dimensional image construction, the closer the image moment when the positioning camera captures the scanning camera is to the center point, the more accurate the three-dimensional coordinates, that is, t3 is close to T3, and the final image accuracy is higher.

[0021] In order to achieve the center point exposure alignment of the above-mentioned scanning camera and positioning camera, the present application proposes a method for realizing center point exposure alignment based on image data.

[0022] like Figure 1 As shown, the present invention provides a method for realizing center point exposure alignment based on image data, comprising: S100, obtaining exposure information of a scanning camera and a positioning camera when capturing a previous frame of image, wherein the exposure information at least includes an exposure start time and an exposure end time; S200, calculating the exposure start time delay of the positioning camera when the previous frame of image was captured based on the exposure information of the scanning camera and the positioning camera; S300. Based on the exposure start time delay of the positioning camera, adjust the difference between the exposure start times of the scanning camera and the positioning camera when the current frame image is captured, so that the exposure center points of the scanning camera and the positioning camera are synchronized during this triggering.

[0023] like Figure 2As shown, in step S200, the exposure start time delay of the positioning camera when the previous frame image is captured is calculated based on the exposure information of the scanning camera and the positioning camera, including: S210, calculating the central exposure time point of the scanning camera based on the exposure start time and exposure end time of the scanning camera when the previous frame of image is captured; S220, calculating the central exposure time point of the positioning camera based on the exposure start time and exposure end time of the positioning camera when the previous frame of image is captured; S230: Calculate the exposure start time delay of the positioning camera when the previous frame of image is captured based on the central exposure time point of the scanning camera and the central exposure time point of the positioning camera.

[0024] Specifically, the central exposure time point of the scanning camera is the middle value between the exposure start time and the exposure end time of the scanning camera. .

[0025] The central exposure time point of the positioning camera is the middle value between the exposure start time and the exposure end time of the positioning camera. The exposure center point time of the positioning camera is .

[0026] The exposure start time delay of the positioning camera is the difference between the central exposure time point of the scanning camera and the central exposure time point of the positioning camera. .

[0027] in, is the exposure start time of the scanning camera, is the end time of exposure of the scanning camera, To locate the camera's exposure start time, To locate the end time of camera exposure.

[0028] In step S300, based on the exposure start time delay of the positioning camera, the difference between the exposure start time of the scanning camera and the positioning camera when the current frame image is captured is adjusted, including: Based on the exposure start time delay of the positioning camera, adjusting the exposure start time of the scanning camera when acquiring the current frame image; or Based on the exposure start time delay of the positioning camera, adjusting the exposure start time of the positioning camera when capturing the current frame image; or Based on the exposure start time delay of the positioning camera, the exposure start time of the scanning camera and the positioning camera is adjusted when the current frame image is captured.

[0029] It only needs to be adjusted so that the exposure center points of the scanning camera and the positioning camera are synchronized at the time of this triggering.

[0030] like Figure 5 As shown, it should be noted that in the present application, the scanning camera and the positioning camera are edge-triggered exposures, the exposure start time is the rising edge time of the edge trigger, and the exposure end time is the falling edge time of the edge trigger.

[0031] like Figure 6 As shown, the workflow is as follows: 1) The user confirms the trigger mode, sets the exposure time of the scanning camera and the positioning camera, sets the exposure delay time of the 3D positioning camera to 0, ensures that the first frame image is triggered by the rising edge or falling edge, and the signal source starts to send the first frame trigger signal; 2) After receiving the trigger signal, the scanning camera records the current time and starts exposure. After the exposure ends, it records the end time. When compressing the image data, the two moments are added to the image data and returned to the trigger source; 3) After the positioning camera receives the trigger signal, it operates in the same way as the scanning camera and returns the 3D coordinate information, trigger start time, and trigger end time to the trigger source; 4) After the trigger source receives the first frame of image data, it analyzes the additional time of each camera and calculates the exposure center point time of the scanning camera, the exposure center point time of the positioning camera, and the exposure start time delay of the positioning camera. ; 5) After calculating the delay time of the exposure start time, configure the positioning camera to delay the exposure and send the next frame trigger signal; 6) Repeat steps 2 to 5 during the entire scanning process, dynamically adjust the exposure center point alignment, and improve scanning accuracy.

[0032] The embodiment of the present invention further provides a device for realizing center point exposure alignment based on image data, the device for realizing center point exposure alignment based on image data is used to execute any embodiment of the method for realizing center point exposure alignment based on image data, and the device for realizing center point exposure alignment based on image data is applied to a host computer, and the host computer is connected to the device for realizing center point exposure alignment based on image data in communication. Specifically, please refer to Figure 7 , Figure 7 It is a schematic block diagram of an apparatus 100 for implementing center point exposure alignment based on image data provided by an embodiment of the present invention.

[0033] like Figure 7 As shown, the device 100 for implementing center point exposure alignment based on image data includes an acquisition module 110 , a calculation module 120 and an adjustment module 130 .

[0034] An acquisition module 110 is used to acquire exposure information of a scanning camera and a positioning camera when capturing a previous frame of image, wherein the exposure information at least includes an exposure start time and an exposure end time; A calculation module 120, configured to calculate the exposure start time delay of the positioning camera when the previous frame of image is captured based on the exposure information of the scanning camera and the positioning camera; The adjustment module 130 is used to adjust the difference between the exposure start time of the scanning camera and the positioning camera when the current frame image is captured based on the exposure start time delay of the positioning camera, so that the exposure center point time of the scanning camera and the positioning camera during this triggering is synchronized.

[0035] The above-mentioned device for realizing center point exposure alignment based on image data can be realized in the form of a computer program. The computer program can be used in Figure 8 The electronic device shown is running.

[0036] See also Figure 8 , Figure 8 1 is a schematic block diagram of a computer device provided by an embodiment of the present invention. The electronic device 500 is a host computer or a server.

[0037] See also Figure 8 The electronic device 500 includes a processor 502 , a memory and a network interface 505 connected via a device bus 501 , wherein the memory may include a storage medium 503 and an internal memory 504 .

[0038] The storage medium 503 may store an operating system 5031 and a computer program 5032. When the computer program 5032 is executed, the processor 502 may execute a method for realizing central point exposure alignment based on image data.

[0039] The processor 502 is used to provide computing and control capabilities to support the operation of the entire electronic device 500 .

[0040] The internal memory 504 provides an environment for the operation of the computer program 5032 in the storage medium 503. When the computer program 5032 is executed by the processor 502, the processor 502 can execute a method for realizing center point exposure alignment based on image data.

[0041] The network interface 505 is used for network communication, such as providing data information transmission, etc. Those skilled in the art will understand that Figure 8 The structure shown in the figure is merely a block diagram of a partial structure related to the solution of the present invention, and does not constitute a limitation on the electronic device 500 to which the solution of the present invention is applied. The specific electronic device 500 may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0042] The processor 502 is used to run a computer program 5032 stored in the memory to implement the method for realizing center point exposure alignment based on image data disclosed in an embodiment of the present invention.

[0043] Those skilled in the art will understand that Figure 8 The embodiments of the computer device shown in the figure do not constitute a limitation on the specific composition of the computer device. In other embodiments, the computer device may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently. For example, in some embodiments, the computer device may only include a memory and a processor. In such embodiments, the structure and function of the memory and the processor are the same as those of the embodiment of the present invention. Figure 8 The embodiments shown are consistent and will not be described again here.

[0044] It should be understood that in the embodiment of the present invention, the processor 502 may be a central processing unit (CPU), and the processor 502 may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0045] In another embodiment of the present invention, a computer-readable storage medium is provided. The computer-readable storage medium may be a non-volatile computer-readable storage medium or a volatile computer-readable storage medium. The computer-readable storage medium stores a computer program, wherein when the computer program is executed by a processor, the method for realizing center point exposure alignment based on image data disclosed in an embodiment of the present invention is implemented.

[0046] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process of the above-described equipment, devices and units can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here. Those of ordinary skill in the art can appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented with electronic hardware, computer software or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to the function. Whether these functions are executed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0047] In the several embodiments provided by the present invention, it should be understood that the disclosed equipment, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. Units with the same function may also be combined into one unit. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interfaces, devices or units, or may be electrical, mechanical or other forms of connection.

[0048] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiments of the present invention.

[0049] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0050] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for an electronic device (which can be a personal computer, a backend server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), disk or optical disk and other media that can store program code.

[0051] The specific implementation of the present invention described above does not constitute a limitation on the protection scope of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the protection scope of the claims of the present invention.

[0052] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A method for realizing center point exposure alignment based on image data, characterized in that: include: Acquire exposure information of the scanning camera and the positioning camera when the previous frame of image is captured, wherein the exposure information at least includes an exposure start time and an exposure end time; Based on the exposure information of the scanning camera and the positioning camera, calculating the exposure start time delay of the positioning camera when the previous frame of image was captured; Based on the exposure start time delay of the positioning camera, the difference between the exposure start times of the scanning camera and the positioning camera during the current frame image acquisition is adjusted to synchronize the exposure center points of the scanning camera and the positioning camera during this triggering.

2. The method for realizing center point exposure alignment based on image data according to claim 1, characterized in that: The step of calculating the exposure start time delay of the positioning camera when the previous frame of image is captured based on the exposure information of the scanning camera and the positioning camera comprises: Based on the exposure start time and exposure end time of the scanning camera when the previous frame of image is collected, the central exposure time point of the scanning camera is calculated; Based on the exposure start time and exposure end time of the positioning camera when the previous frame of image is collected, the central exposure time point of the positioning camera is calculated; Based on the central exposure time point of the scanning camera and the central exposure time point of the positioning camera, the exposure start time delay of the positioning camera when the previous frame of image is collected is calculated.

3. The method for realizing center point exposure alignment based on image data according to claim 2, characterized in that: The central exposure time point of the scanning camera is the middle value between the exposure start time and the exposure end time of the scanning camera.

4. The method for realizing center point exposure alignment based on image data according to claim 2, characterized in that: The central exposure time point of the positioning camera is the middle value between the exposure start time and the exposure end time of the positioning camera.

5. The method for realizing center point exposure alignment based on image data according to claim 2, characterized in that: The exposure start time delay of the positioning camera is the difference between the central exposure time point of the scanning camera and the central exposure time point of the positioning camera.

6. The method for realizing center point exposure alignment based on image data according to claim 1, characterized in that: Based on the exposure start time delay of the positioning camera, adjusting the difference between the exposure start time of the scanning camera and the positioning camera when the current frame image is acquired, including: Based on the exposure start time delay of the positioning camera, adjusting the exposure start time of the scanning camera when acquiring the current frame image; or Based on the exposure start time delay of the positioning camera, adjusting the exposure start time of the positioning camera when capturing the current frame image; or Based on the exposure start time delay of the positioning camera, the exposure start time of the scanning camera and the positioning camera is adjusted when the current frame image is captured.

7. The method for realizing center point exposure alignment based on image data according to claim 1, characterized in that: The scanning camera and the positioning camera adopt edge exposure, the exposure start time is the rising edge time of edge triggering, and the exposure end time is the falling edge time of edge triggering.

8. A device for realizing center point exposure alignment based on image data, characterized in that: include: An acquisition module, used to acquire exposure information of the scanning camera and the positioning camera when the previous frame of image is captured, wherein the exposure information at least includes an exposure start time and an exposure end time; A calculation module, used to calculate the exposure start time delay of the positioning camera when the previous frame of image is collected based on the exposure information of the scanning camera and the positioning camera; The adjustment module is used to adjust the difference between the exposure start time of the scanning camera and the positioning camera when the current frame image is collected based on the exposure start time delay of the positioning camera, so that the exposure center point time of the scanning camera and the positioning camera during this triggering is synchronized.

9. An electronic device, characterized in that: include: Processor and memory; The memory stores a computer program executable by the processor; When the processor executes the computer program, the steps in the method for realizing center point exposure alignment based on image data as described in any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium, characterized in that: include: Processor and memory; The memory stores a computer program executable by the processor; When the processor executes the computer program, the steps in the method for realizing center point exposure alignment based on image data as described in any one of claims 1 to 7 are implemented.

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