Cylinder part defect positioning method based on ray image

Abstract

The invention relates to a cylindrical part defect positioning method based on a ray image, belongs to the technical field of cylindrical part defect positioning, and solves the problems of complicated operation and low efficiency in the prior art. The method comprises the following steps: dividing a cylinder part into a plurality of imaging areas, and sequentially carrying out single-wall transillumination imaging on each imaging area of the cylinder part according to a preset scanning path through an imaging device to obtain a single image of each imaging area; splicing the single images into one image according to the scanning path to obtain a spliced image; identifying a defect on the spliced image, and acquiring the position of the defect on the spliced image; and acquiring the position of the defect on the cylinder part according to the position of the defect on the spliced image and the imaging parameter of the imaging device. According to the invention, rapid detection and positioning of defects of the cylinder part are realized, when ray transillumination imaging is carried out on the cylinder part, only one single image is acquired for each imaging area, ray images of all areas of the cylinder part are obtained through splicing, the operation is simple, and the efficiency is high.

Description

Technical Field

[0001] The invention relates to the technical field of cylindrical part defect positioning, and in particular to a cylindrical part defect positioning method based on radiographic images. Background Art

[0002] Digital radiographic nondestructive testing technology has been widely used in the industrial field. By using X-rays to perform transillumination imaging of workpieces, the quality of workpieces can be judged based on the radiographic images, and nondestructive testing can be performed on workpieces. After confirming the defect location and type on the radiographic image, its actual location in the three-dimensional space of the workpiece needs to be determined, and repair processing must be performed based on the defect location and type.

[0003] Among them, the X-ray image is a two-dimensional image, and the correspondence between the defect position on the image and the position of the workpiece in the three-dimensional space is unclear. The current methods for determining the actual position of the defect through X-ray images include manually performing multiple marking tests to confirm the defect position, or collecting multiple X-ray images to obtain the spatial information of the workpiece to determine the three-dimensional spatial position of the defect. The multiple marking detection method requires multiple marking and detection processes, which is complicated to operate and inefficient, and some marking methods will damage the workpiece. The method of collecting multiple pictures to determine the defect position requires multi-angle shooting of the same position, and the process of determining the three-dimensional position from multiple pictures is computationally intensive. Summary of the invention

[0004] In view of the above analysis, an embodiment of the present invention aims to provide a method for locating defects of cylindrical parts based on radiographic images, so as to solve the technical problems of complex operation and low efficiency in the prior art.

[0005] On the one hand, an embodiment of the present invention provides a method for locating defects of a cylindrical part based on a radiographic image, the method comprising:

[0006] The cylindrical member is divided into a plurality of imaging regions, and a single-wall transillumination imaging is performed on each imaging region of the cylindrical member in sequence according to a preset scanning path by an imaging device to obtain a single image of each imaging region;

[0007] splicing the single images into one image according to the scanning path to obtain a spliced ​​image;

[0008] Identify defects on the stitched image and obtain positions of the defects on the stitched image;

[0009] The position of the defect on the cylindrical member is obtained according to the position of the defect on the stitched image.

[0010] Based on further improvements of the above method, when performing single-wall transillumination imaging, the detector of the imaging device is located on the central axis of the cylinder, the radiation source of the imaging device is located outside the cylinder, and the central beam of the radiation source coincides with the central axis of the detector.

[0011] Based on a further improvement of the above method, obtaining the position of the defect on the cylindrical member according to the position of the defect on the stitched image includes:

[0012] The single image where the defect is located is defined as a defect image, and the imaging area where the defect is located is defined as a target area;

[0013] Acquire the position of the defect on the defect image and the position of the target area on the cylindrical member according to the position of the defect on the stitched image;

[0014] Acquire the position of the defect on the target area according to the position of the defect on the defect image;

[0015] The position of the defect on the cylindrical member is acquired according to the position of the defect on the target area and the position of the target area on the cylindrical member.

[0016] Based on a further improvement of the above method, obtaining the position of the defect on the defect image according to the position of the defect on the stitched image includes:

[0017] The number of pixels in the horizontal direction of the detector is w and the number of pixels in the vertical direction is h;

[0018] The coordinates of the position of the defect on the stitched image are defined as (x, y); the coordinates of the position of the defect on the defect image are defined as (x', y');

[0019] Let x' be equal to the modulo of x over w, and y' be equal to the modulo of y over h, so as to obtain the coordinates (x', y') of the position of the defect on the defect image.

[0020] Based on a further improvement of the above method, obtaining the position of the defect on the target area according to the position of the defect on the defect image includes:

[0021] The coordinates of the position of the defect on the target area are defined as (θ, H I );θ is the angle coordinate, H I is the height coordinate;

[0022] The horizontal distance W between the defect and the center of the detector is obtained according to the two-dimensional coordinates (x', y') of the position of the defect on the defect image and the detector pixel parameters. Dand vertical distance H D ;

[0023] Based on the projection principle, according to the horizontal distance W between the defect and the center of the detector D and vertical distance H D Calculate the coordinates (θ, H) of the defect position on the target area I ).

[0024] Based on the further improvement of the above method, the horizontal distance W between the defect and the center of the detector is calculated. D and vertical distance H D The formula is:

[0025] W D =(x'-w / 2)*s;

[0026] H D =(y'-h / 2)*s;

[0027] Where w is the number of pixels in the horizontal direction of the detector, h is the number of pixels in the vertical direction of the detector, and s is the size of a single pixel of the detector.

[0028] Based on the further improvement of the above method, the formula for calculating the coordinate θ of the position of the defect on the target area is:

[0029]

[0030] a=(F 2 +W D 2 )*R0 2 ;

[0031] b=-2W D 2 *L*R;

[0032] c=W D 2 *L 2 +F 2 *R 2 ;

[0033] Where a, b, c are parameters, L is the distance between the ray source and the central axis of the cylinder, and F is the distance between the ray source and the center of the detector.

[0034] Based on the further improvement of the above method, the coordinates H of the position of the defect on the target area are calculated. I The formula is:

[0035]

[0036] Based on the further improvement of the above method, the method further includes:

[0037] Before performing single-wall transillumination imaging, a laser pointer is fixed to one side of the radiation source of the imaging device, and the position where the laser emitted by the laser pointer irradiates the cylindrical member is the same as the position where the central radiation beam of the radiation source of the imaging device transilluminates the cylindrical member;

[0038] Acquire the position of the defect image on the stitched image according to the position of the defect on the stitched image and the imaging parameters of the imaging device;

[0039] Determining the position of the imaging device when acquiring the defect image according to the position of the defect image on the stitched image and the scanning path;

[0040] Obtaining an indication position according to a position of the defect on the target area and a position at which the imaging device acquires the defect image;

[0041] The imaging device is moved to the indicating position so that the defect is marked on the cylindrical member by the laser light emitted by the laser pointer.

[0042] Based on a further improvement of the above method, according to the position of the defect on the stitched image and the imaging parameters of the imaging device, obtaining the position of the defect image on the stitched image includes:

[0043] Define the position coordinates (c, r) of the defect image on the stitched image; c is the number of rows, and r is the number of columns;

[0044] The number of rows c of the defect image on the stitched image is equal to the integer of x and w, and the number of columns r is equal to the integer of y and h, so as to obtain the position (c, r) of the defect image on the stitched image. Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

[0045] 1. The present invention provides a method for locating defects of cylindrical parts based on radiographic images, which realizes rapid detection and positioning of defects of cylindrical parts. When performing radiographic transillumination imaging on the cylindrical parts, only a single image is collected for an imaging area of ​​the cylindrical parts, and radiographic images of all imaging areas of the cylindrical parts are obtained by splicing, i.e., a spliced ​​image. Then, the position of the defect on the cylindrical part (the position in the three-dimensional space) is determined according to the position of the defect on the spliced ​​image (the position in the two-dimensional plane). There is no need to collect multiple images for the same position and perform repeated marking and detection operations. The operation is simple and efficient, and no damage to the workpiece is caused.

[0046] 2. In the present invention, a laser pointer is provided for marking the position of the defect on the cylindrical member, so as to realize the rapid visual positioning of the defect. Specifically, the position of the imaging device when acquiring the defect image can be calculated according to the position of the defect on the spliced ​​image, and then the indicated position is obtained. Since the position where the laser emitted by the laser pointer is irradiated on the cylindrical member is the same as the position where the beam of rays emitted by the radiation source of the imaging device is transilluminated on the cylindrical member, when the imaging device is moved to the indicated position, the position of the laser mark on the cylindrical member is the position where the central beam of rays from the radiation source passes during transilluminated imaging, that is, the defect position, so that the defect is marked on the cylindrical member by the laser emitted by the laser pointer.

[0047] In the present invention, the above-mentioned technical solutions can also be combined with each other to achieve more preferred combination solutions. Other features and advantages of the present invention will be described in the subsequent description, and some advantages can become obvious from the description, or can be understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained through the contents particularly pointed out in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] The drawings are only for the purpose of illustrating particular embodiments and are not to be considered limiting of the present invention. Like reference symbols denote like components throughout the drawings.

[0049] Figure 1 It is a flow chart of a method for locating defects of a cylindrical part based on a radiographic image according to an embodiment of the present invention;

[0050] Figure 2 Schematic diagram of projections of a cylindrical member, a ray source, a detector, and a transmission point (defect) on a horizontal plane according to an embodiment of the present invention;

[0051] Figure 3 Schematic diagram of the projection of the ray source, detector and transmission point (defect) etc. on the vertical plane according to an embodiment of the present invention

[0052] Figure 4 It is a schematic diagram of the projection of the ray source, detector and transmission point (defect) etc. on the horizontal plane according to an embodiment of the present invention. DETAILED DESCRIPTION

[0053] 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.

[0054] A specific embodiment of the present invention discloses a method for locating defects of a cylindrical part based on a radiographic image, such as Figure 1 The method comprises:

[0055] Step 1, dividing the cylindrical member into a plurality of imaging regions, and sequentially performing single-wall transillumination imaging on each imaging region of the cylindrical member according to a preset scanning path by an imaging device to obtain a single image of each imaging region;

[0056] Step 2, stitching the single images into one image according to the scanning path to obtain a stitched image;

[0057] Step 3, identifying defects on the stitched image and obtaining positions of the defects on the stitched image;

[0058] Step 4: acquiring the position of the defect on the cylindrical part according to the position of the defect on the stitched image.

[0059] Compared with the prior art, the embodiment of the present invention provides a method for locating defects of cylindrical parts based on radiographic images, which realizes rapid detection and positioning of defects of cylindrical parts. When performing radiographic transillumination imaging on the cylindrical parts, only a single image is collected once for an imaging area of ​​the cylindrical parts, and radiographic images of all imaging areas of the cylindrical parts are obtained by splicing, i.e., a spliced ​​image. Then, the position of the defect on the cylindrical part (the position in the three-dimensional space) is determined according to the position of the defect on the spliced ​​image (the position in the two-dimensional plane). There is no need to collect multiple images at the same position and perform repeated marking and detection operations. The operation is simple and efficient, and no damage to the workpiece is caused.

[0060] It should be noted that the imaging device includes a detector and a radiation source. The radiation source is responsible for emitting radiation that penetrates the object to be measured in the imaging device, while the detector captures the penetrated radiation and converts it into an image.

[0061] Step 1: divide the cylindrical member into a plurality of imaging regions, and use an imaging device to perform single-wall transillumination imaging on each imaging region of the cylindrical member in sequence according to a preset scanning path to obtain a single image of each imaging region.

[0062] Specifically, when performing single-wall transillumination imaging, the detector of the imaging device is located on the central axis of the cylinder, the radiation source of the imaging device is located outside the cylinder, and the central beam of the radiation source coincides with the central axis of the detector.

[0063] During implementation, the cylindrical member is divided into a plurality of imaging regions according to the imaging area of ​​the imaging device, and then the scanning path is planned so that the imaging device can completely scan each imaging region of the cylindrical member according to the planned scanning path.

[0064] The imaging area refers to the area that the imaging device can effectively image, that is, the area covered by the image finally generated.

[0065] The movement direction between each scanning point on the scanning path includes the rotation of the cylinder shaft with its central axis as the rotation axis and the vertical translation of the imaging device. Specifically, the trajectory of the scanning path can be that the imaging device starts from one end (upper end or lower end) of the cylinder and sequentially performs transillumination imaging of the imaging area at each height. After completing the transillumination imaging of one height, the imaging device moves to the next height until the transillumination imaging of the other end of the cylinder is completed. Among them, after the imaging device moves to the preset height, it first performs transillumination on the imaging area corresponding to the initial position to obtain a single image of the area, and then rotates the cylinder or the imaging device by a preset angle to sequentially perform transillumination imaging on adjacent imaging areas until one rotation completes the transillumination imaging of each imaging area at the height.

[0066] Step 2: stitching the single images into one image according to the scanning path, so as to obtain a stitched image.

[0067] The scanning path refers to the path along which the radiation source and the detector move along a specific trajectory to obtain the internal information of the object being measured during the imaging process. Therefore, the single images are spliced ​​into one image according to the scanning path to obtain a complete radiation image of the cylindrical part.

[0068] Step 3: Identify defects on the stitched image and obtain positions of the defects on the stitched image.

[0069] When implemented, the location of the defect on the spliced ​​image can be determined by manual judgment or intelligent judgment (for example, by an artificial intelligence model). When the defect is determined manually, the inspector manually selects the defect location in the image and then passes the defect location to the subsequent calculation process; when the defect location is determined by intelligent judgment, the software automatically determines the defect location and passes it to the subsequent calculation process.

[0070] Step 4, obtaining the position of the defect on the cylindrical member according to the position of the defect on the stitched image, comprises:

[0071] The single image where the defect is located is defined as a defect image, and the imaging area where the defect is located is defined as a target area;

[0072] Acquire the position of the defect on the defect image and the position of the target area on the cylindrical member according to the position of the defect on the stitched image;

[0073] Acquire the position of the defect on the target area according to the position of the defect on the defect image;

[0074] The position of the defect on the cylindrical member is acquired according to the position of the defect on the target area and the position of the target area on the cylindrical member.

[0075] Specifically, obtaining the position of the defect on the defect image according to the position of the defect on the stitched image includes:

[0076] The number of pixels in the horizontal direction of the detector is w and the number of pixels in the vertical direction is h;

[0077] The coordinates of the position of the defect on the stitched image are defined as (x, y); the coordinates of the position of the defect on the defect image are defined as (x', y');

[0078] Let x' be equal to the modulo of x over w, and y' be equal to the modulo of y over h, so as to obtain the coordinates (x', y') of the position of the defect on the defect image.

[0079] Specifically, obtaining the position of the defect on the target area according to the position of the defect on the defect image includes:

[0080] The coordinates of the position of the defect on the target area are defined as (θ, H I );θ is the angle coordinate, H I is the height coordinate;

[0081] The horizontal distance W between the defect and the center of the detector is obtained according to the two-dimensional coordinates (x', y') of the position of the defect on the defect image and the detector pixel parameters. D and vertical distance H D ;

[0082] Based on the projection principle, according to the horizontal distance W between the defect and the center of the detector D and vertical distance H D Calculate the coordinates (θ, H) of the defect position on the target area I ).

[0083] Calculate the horizontal distance W between the defect and the center of the detector D and vertical distance H D The formula is:

[0084] W D =(x'-w / 2)*s;

[0085] H D =(y'-h / 2)*s;

[0086] Where w is the number of pixels in the horizontal direction of the detector, h is the number of pixels in the vertical direction of the detector, and s is the size of a single pixel of the detector.

[0087] Calculate the horizontal distance W of the detector center D and vertical distance H DAfterwards, the position of the defect (transmission point) is calculated. The calculation principle is as follows Figures 2 to 4 shown.

[0088] Project the cylinder, the ray source, the detector and the transmission point (defect) on the horizontal plane, such as Figure 2 As shown. Figure 2 The geometric relationship shown in FIG. 1 shows that the formula for calculating the coordinate θ of the position of the defect on the target area is:

[0089]

[0090] a=(F 2 +W D 2 )*R0 2 ;

[0091] b=-2W D 2 *L*R;

[0092] c=W D 2 *L 2 +F 2 *R 2 ;

[0093] Where a, b, c are parameters, L is the distance between the ray source and the central axis of the cylinder, and F is the distance between the ray source and the center of the detector.

[0094] Among them, the distance L between the radiation source and the central axis of the cylinder and the distance F between the radiation source and the center of the detector are known parameters, which are set according to actual test requirements before radiation exposure, and then the detector and radiation source are moved to corresponding positions.

[0095] Define the position of the ray source as point S, the position where the ray passes through the cylinder as point I, the point where the ray hits the detector as point D, and the projections of point I and point D on the horizontal plane passing through point S are points I' and D' respectively. On the vertical plane, the relationship between the points is as follows: Figure 3 As shown. On the horizontal plane of projection, the distance relationship is as follows Figure 4 As shown. Figure 3 and Figure 4 The geometric relationship in can be used to calculate the coordinates H of the position of the defect on the target area. I The formula is:

[0096]

[0097] In one embodiment, the method further comprises:

[0098] Step 0, before performing single-wall transillumination imaging, fix a laser pointer on one side of the radiation source of the imaging device, and make the position where the laser emitted by the laser pointer irradiates on the cylindrical member be the same as the position where the central radiation beam of the radiation source of the imaging device transilluminates on the cylindrical member;

[0099] Step 5, acquiring the position of the defect image on the stitched image according to the position of the defect on the stitched image and the imaging parameters of the imaging device;

[0100] Step 6, determining the position of the imaging device when acquiring the defect image according to the position of the defect image on the stitched image and the scanning path;

[0101] Step 7, obtaining an indication position according to the position of the defect on the target area and the position where the imaging device acquires the defect image;

[0102] Step 8: Move the imaging device to the indicating position, so that the defect is marked on the cylindrical member by the laser emitted by the laser pointer.

[0103] Compared with the prior art, in the embodiment of the present invention, a laser pointer is provided for marking the defect position on the cylindrical member, so as to realize the rapid visual positioning of the defect. Specifically, the position of the imaging device when acquiring the defect image can be calculated according to the position of the defect on the spliced ​​image, and then the indicated position is obtained. Since the position where the laser emitted by the laser pointer irradiates on the cylindrical member is the same as the position where the beam of rays emitted by the radiation source of the imaging device is transilluminated on the cylindrical member, when the imaging device is moved to the indicated position, the position of the laser mark on the cylindrical member is the position where the central beam of rays from the radiation source passes during transilluminated imaging, that is, the defect position, so that the defect is marked on the cylindrical member by the laser emitted by the laser pointer.

[0104] Specifically, obtaining the position of the defect image on the stitched image according to the position of the defect on the stitched image and the imaging parameter of the imaging device includes:

[0105] Define the position coordinates (c, r) of the defect image on the stitched image; c is the number of rows, and r is the number of columns;

[0106] The number of rows c of the defect image on the stitched image is equal to the integer of x and w, and the number of columns r is equal to the integer of y and h, so as to obtain the position (c, r) of the defect image on the stitched image.

[0107] After the position (c, r) of the defect image on the stitched image is determined, the position of the imaging device when acquiring the defect image is determined in combination with the scanning path.

[0108] During implementation, the position of the imaging device is defined as the three-dimensional coordinates (r, φ, z) in the cylindrical coordinate system, where r is the radial distance coordinate, φ is the angle coordinate, and z is the height coordinate. When performing defect detection, its radial distance coordinate r=r0 is fixed, that is, the distance between the laser source and the cylinder wall is fixed. Assuming that the position coordinates of the imaging device when acquiring the defect image are (r0, φ0, z0), the angle coordinates and height coordinates of the imaging device when acquiring the defect image are added to the angle coordinates and height coordinates of the defect on the target area to obtain the coordinates of the indicated position, that is, the coordinates of the indicated position are (r0, φ0+θ, z0+H I ).

[0109] Those skilled in the art will appreciate that all or part of the processes of the above-mentioned embodiments can be implemented by instructing related hardware through a computer program, and the program can be stored in a computer-readable storage medium, wherein the computer-readable storage medium is a disk, an optical disk, a read-only storage memory, or a random access memory, etc.

[0110] 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 locating defects of cylindrical parts based on radiographic images, characterized in that: The method comprises: The cylindrical member is divided into a plurality of imaging regions, and a single-wall transillumination imaging is performed on each imaging region of the cylindrical member in sequence according to a preset scanning path by an imaging device to obtain a single image of each imaging region; splicing the single images into one image according to the scanning path to obtain a spliced ​​image; Identify defects on the stitched image and obtain positions of the defects on the stitched image; The position of the defect on the cylindrical member is obtained according to the position of the defect on the stitched image.

2. The method according to claim 1, characterized in that When performing single-wall transillumination imaging, the detector of the imaging device is located on the central axis of the cylinder, the radiation source of the imaging device is located outside the cylinder, and the central beam of the radiation source coincides with the central axis of the detector.

3. The method according to claim 1 or 2, characterized in that: The step of obtaining the position of the defect on the cylindrical member according to the position of the defect on the stitched image comprises: The single image where the defect is located is defined as a defect image, and the imaging area where the defect is located is defined as a target area; Acquire the position of the defect on the defect image and the position of the target area on the cylindrical member according to the position of the defect on the stitched image; Acquire the position of the defect on the target area according to the position of the defect on the defect image; The position of the defect on the cylindrical member is acquired according to the position of the defect on the target area and the position of the target area on the cylindrical member.

4. The method according to claim 3, characterized in that The obtaining the position of the defect on the defect image according to the position of the defect on the stitched image comprises: The number of pixels in the horizontal direction of the detector is w and the number of pixels in the vertical direction is h; The coordinates of the position of the defect on the stitched image are defined as (x, y); the coordinates of the position of the defect on the defect image are defined as (x', y'); Let x' be equal to the modulo of x over w, and y' be equal to the modulo of y over h, so as to obtain the coordinates (x', y') of the position of the defect on the defect image.

5. The method according to claim 4, characterized in that Acquiring the position of the defect on the target area according to the position of the defect on the defect image includes: The coordinates of the position of the defect on the target area are defined as (θ, H I );θ is the angle coordinate, H I is the height coordinate; The horizontal distance W between the defect and the center of the detector is obtained according to the two-dimensional coordinates (x', y') of the position of the defect on the defect image and the detector pixel parameters. D and vertical distance H D ; Based on the projection principle, according to the horizontal distance W between the defect and the center of the detector D and vertical distance H D Calculate the coordinates (θ, H) of the defect position on the target area I ).

6. The method according to claim 5, characterized in that Calculate the horizontal distance W between the defect and the center of the detector D and vertical distance H D The formula is: W D =(x'-w / 2)*s; H D =(y'-h / 2)*s; Where w is the number of pixels in the horizontal direction of the detector, h is the number of pixels in the vertical direction of the detector, and s is the size of a single pixel of the detector.

7. The method according to claim 5, characterized in that The formula for calculating the coordinate θ of the position of the defect on the target area is: a=(F 2 +W D 2 )*R0 2 ; b=-2W D 2 *L*R; c=W D 2 *L 2 +F 2 *R 2 ; Where a, b, c are parameters, L is the distance between the ray source and the central axis of the cylinder, and F is the distance between the ray source and the center of the detector.

8. The method according to claim 5, characterized in that Calculate the coordinates H of the defect position on the target area I The formula is:

9. The method according to claim 3, characterized in that: The method further comprises: Before performing single-wall transillumination imaging, a laser pointer is fixed to one side of the radiation source of the imaging device, and the position where the laser emitted by the laser pointer irradiates the cylindrical member is the same as the position where the central radiation beam of the radiation source of the imaging device transilluminates the cylindrical member; Acquire the position of the defect image on the stitched image according to the position of the defect on the stitched image and the imaging parameters of the imaging device; Determining the position of the imaging device when acquiring the defect image according to the position of the defect image on the stitched image and the scanning path; Obtaining an indication position according to a position of the defect on the target area and a position at which the imaging device acquires the defect image; The imaging device is moved to the indicating position so that the defect is marked on the cylindrical member by the laser light emitted by the laser pointer.

10. The method according to claim 9, characterized in that Acquiring the position of the defect image on the stitched image according to the position of the defect on the stitched image and the imaging parameter of the imaging device includes: Define the position coordinates (c, r) of the defect image on the stitched image; c is the number of rows, and r is the number of columns; The number of rows c of the defect image on the stitched image is equal to the integer of x and w, and the number of columns r is equal to the integer of y and h, so as to obtain the position (c, r) of the defect image on the stitched image.

Images