Water ripple suppression method, system and device for laser measurement and medium

Abstract

The invention relates to a water ripple suppression method, system and device for laser measurement and a medium, and the method comprises the steps: sequentially carrying out the image partitioning and contrast adjustment of an obtained laser strip image based on a preset partitioning size and a preset contrast limit, obtaining a plurality of laser strip image blocks, carrying out the histogram equalization, and obtaining a plurality of laser strip image blocks; a corresponding equalization image block is obtained; performing transition processing on the adjacent equalized image blocks through a preset interpolation algorithm to obtain a laser strip image after water ripple suppression; and executing water ripple detection, and if the water ripple detection does not pass, performing water ripple suppression again. Through the method and the device, the light strip image is divided into a plurality of small blocks, contrast limit is performed on each small block to prevent excessive enhancement of a local area and reduce the water ripple phenomenon of the image, and histogram equalization is further applied to adjust gray level distribution of the image, so that detail textures of the image are highlighted and water ripples are desalted, and the image quality is improved. The problem of how to improve the light strip center extraction precision in laser measurement is solved.

Description

Technical Field

[0001] The present application relates to the technical field of optical image processing, and in particular to a method, system, device and medium for suppressing water ripples in laser measurement. Background Art

[0002] In optical profiling, the profilometer projects laser onto the surface of the object to be measured and collects its reflected image to perform three-dimensional reconstruction. However, due to problems such as overexposure or underexposure of the light strip image, the extraction of the center line of the light strip is often inaccurate, which affects the quality of the final generated three-dimensional point cloud. Among them, the "water ripple" phenomenon of the image particularly affects the measurement accuracy, which is specifically manifested as periodic ups and downs or fluctuations on the surface of the three-dimensional point cloud, affecting the measurement accuracy.

[0003] Currently common image enhancement algorithms include histogram equalization, Laplace enhancement, logarithmic transform and gamma transform. However, traditional enhancement algorithms are not ideal when processing light streak images. There are problems such as noise amplification, halo increase, or local detail loss caused by excessive enhancement.

[0004] Currently, no effective solution has been proposed for the problem of how to improve the accuracy of light strip center extraction in laser measurement in related technologies. Summary of the invention

[0005] The embodiments of the present application provide a method, system, device and medium for suppressing water ripples in laser measurement, so as to at least solve the problem in the related art of how to improve the accuracy of extracting the center of a light strip in laser measurement.

[0006] In a first aspect, an embodiment of the present application provides a method for suppressing water ripples in laser measurement, the method comprising:

[0007] Based on a preset block size and a preset contrast limit, the acquired laser stripe image is sequentially divided into blocks and the contrast is adjusted to obtain a plurality of laser stripe image blocks;

[0008] Performing histogram equalization on the plurality of laser bar image blocks to obtain corresponding equalized image blocks;

[0009] Adjacent equalized image blocks are subjected to transition processing by a preset interpolation algorithm to obtain a laser stripe image after water ripple suppression;

[0010] A water ripple detection is performed on the laser bar image after the water ripple suppression. If the water ripple detection fails, the water ripple suppression is performed again based on a new preset block size and a preset contrast limit.

[0011] In some embodiments, based on a preset block size and a preset contrast limit, the acquired laser bar image is sequentially divided into blocks and the contrast is adjusted to obtain a plurality of laser bar image blocks including:

[0012] Based on a preset block size, the acquired laser bar image is divided into blocks to obtain a plurality of laser bar image blocks;

[0013] Based on the preset contrast limit, the contrast of each of the laser stripe image blocks is adjusted respectively to obtain a plurality of adjusted laser stripe image blocks.

[0014] In some embodiments, based on a preset contrast limit, contrast adjustment is performed on each of the laser stripe image blocks, and the adjusted laser stripe image blocks include:

[0015] Based on the preset contrast limit, it is determined one by one whether the contrast of each laser bar image block exceeds the preset contrast limit. If so, the contrast of the corresponding laser bar image block is adjusted so that the contrast does not exceed the preset contrast limit, thereby obtaining a plurality of adjusted laser bar image blocks.

[0016] In some embodiments, performing histogram equalization on the plurality of laser bar image blocks to obtain corresponding equalized image blocks includes:

[0017] Based on the grayscale value of each laser stripe image block, the number of laser stripe image blocks at different grayscale values ​​is counted respectively;

[0018] Based on the number of laser bar image blocks at each grayscale value, the probability distribution value of each laser bar image block is calculated by a cumulative distribution function;

[0019] Based on the probability distribution value, histogram equalization is performed on each laser bar image block to obtain a corresponding equalized image block.

[0020] In some embodiments, based on the probability distribution value, histogram equalization is performed on each laser bar image block to obtain a corresponding equalized image block including:

[0021] Through the histogram equalization formula Perform histogram equalization on the laser stripe image blocks at each grayscale value to obtain the corresponding equalized image blocks, where h(v) is the grayscale value of the laser stripe image block after equalization, cdf(v) is the probability distribution value of the laser stripe image block, and cdf min is the minimum probability distribution value of the laser bar image block, N is the number of laser bar image blocks, and round() is the rounding function.

[0022] In some embodiments, based on the number of laser bar image blocks at each gray value, calculating the probability distribution value of each laser bar image block by using a cumulative distribution function includes:

[0023] Sort the grayscale values ​​in ascending order to obtain the sorting position of each grayscale value;

[0024] By cumulative distribution function Calculate the probability distribution value of each laser bar image block, where m is the sorting position of the gray value, Count m is the number of laser stripe image blocks under the gray value of sorting position m, and cdf(v) is the probability distribution value of the laser stripe image blocks under the gray value v.

[0025] In some embodiments, performing transition processing on adjacent equalized image blocks by using a preset interpolation algorithm to obtain a laser bar image after water ripple suppression includes:

[0026] Performing smooth transition processing on the boundary area between adjacent equalized image blocks by using a preset interpolation algorithm to obtain a transition-processed equalized image block, wherein the preset interpolation algorithm includes a lookup table interpolation algorithm, a linear interpolation algorithm, a polynomial interpolation algorithm, and a Lagrange interpolation algorithm;

[0027] The transition-processed equalized image blocks are spliced ​​to obtain a laser bar image after water ripple suppression.

[0028] In a second aspect, an embodiment of the present application provides a water ripple suppression system for laser measurement, the system being used in the method described in the first aspect above, the system comprising a water ripple suppression module and a water ripple detection module;

[0029] The water ripple suppression module is used to sequentially perform image block division and contrast adjustment on the acquired laser bar image according to a preset block size and a preset contrast limit to obtain a plurality of laser bar image blocks; perform histogram equalization on the plurality of laser bar image blocks to obtain corresponding equalized image blocks; perform transition processing on adjacent equalized image blocks by a preset interpolation algorithm to obtain a laser bar image after water ripple suppression;

[0030] The water ripple detection module is used to perform water ripple detection on the laser bar image after water ripple suppression. If the water ripple detection fails, water ripple suppression is performed again based on a new preset block size and preset contrast limit.

[0031] In a third aspect, an embodiment of the present application provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method described in the first aspect when executing the computer program.

[0032] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in the first aspect above.

[0033] Compared with the related art, the embodiments of the present application provide a method, system, device and medium for suppressing water ripples in laser measurement, wherein the method sequentially performs image blocking and contrast adjustment on the acquired laser bar image based on a preset block size and a preset contrast limit to obtain a plurality of laser bar image blocks; performs histogram equalization on the plurality of laser bar image blocks to obtain corresponding equalized image blocks; performs transition processing on adjacent equalized image blocks through a preset interpolation algorithm to obtain a laser bar image after water ripple suppression; performs water ripple detection on the laser bar image after water ripple suppression, and if the water ripple detection fails, re-suppresses water ripples based on a new preset block size and a preset contrast limit, thereby realizing the division of the light bar image into a plurality of small blocks, and performing contrast limitation on each small block respectively to prevent excessive enhancement of the local area, reduce the water ripple phenomenon of the image, and further applies histogram equalization to adjust the grayscale distribution of image pixels, thereby highlighting the image detail texture and weakening the water ripples, and finally ensures the effect of water ripple suppression based on water ripple detection, thereby solving the problem of how to improve the accuracy of light bar center extraction in laser measurement. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0035] Figure 1 is a flowchart of the steps of the water ripple suppression method for laser measurement according to an embodiment of the present application;

[0036] Figure 2 is a grayscale schematic diagram of an image block in a laser bar image according to an embodiment of the present application;

[0037] Figure 3 is a grayscale schematic diagram of a laser bar image after equalization according to an embodiment of the present application;

[0038] Figure 4 is a schematic diagram comparing the laser bar image before and after equalization according to an embodiment of the present application;

[0039] Figure 5 is a schematic diagram of point cloud comparison before and after water ripple suppression according to an embodiment of the present application;

[0040] Figure 6 is a schematic diagram comparing laser bar images before and after water ripple suppression according to an embodiment of the present application;

[0041] Figure 7 It is a schematic diagram of the internal structure of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application is described and illustrated below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. Based on the embodiments provided in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present application.

[0043] Obviously, the drawings described below are only some examples or embodiments of the present application. For ordinary technicians in this field, the present application can also be applied to other similar scenarios based on these drawings without creative work. In addition, it can also be understood that although the efforts made in this development process may be complicated and lengthy, for ordinary technicians in this field related to the content disclosed in this application, some changes in design, manufacturing or production based on the technical content disclosed in this application are just conventional technical means, and should not be understood as insufficient content disclosed in this application.

[0044] Reference to "embodiments" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those of ordinary skill in the art that the embodiments described in this application may be combined with other embodiments without conflict.

[0045] Unless otherwise defined, the technical terms or scientific terms involved in this application should be understood by people with ordinary skills in the technical field to which this application belongs. The words "one", "a", "a", "the" and the like involved in this application do not indicate a quantitative limitation, and may represent the singular or plural. The terms "include", "comprise", "have" and any of their variations involved in this application are intended to cover non-exclusive inclusions; for example, a process, method, system, product or device that includes a series of steps or modules (units) is not limited to the listed steps or units, but may also include steps or units that are not listed, or may also include other steps or units inherent to these processes, methods, products or devices. The words "connect", "connected", "coupled" and the like involved in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The "multiple" involved in this application refers to two or more. "And / or" describes the association relationship of associated objects, indicating that there may be three relationships, for example, "A and / or B" can represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the objects before and after are in an "or" relationship. The terms "first", "second", "third", etc. involved in this application are only used to distinguish similar objects and do not represent a specific ordering of the objects.

[0046] The present application provides a method for suppressing water ripples in laser measurement. Figure 1 is a flow chart of the steps of the water ripple suppression method for laser measurement according to an embodiment of the present application, such as Figure 1 As shown, the method comprises the following steps:

[0047] Step S102, based on a preset block size and a preset contrast limit, sequentially performing image block division and contrast adjustment on the acquired laser stripe image to obtain a plurality of laser stripe image blocks;

[0048] Step S102 specifically includes the following steps:

[0049] Step S1021, dividing the acquired laser bar image into blocks based on a preset block size to obtain a plurality of laser bar image blocks;

[0050] Step S1022 : Based on a preset contrast limit, contrast adjustment is performed on each laser stripe image block to obtain a plurality of adjusted laser stripe image blocks.

[0051] Specifically, step S1022 determines whether the contrast of each laser stripe image block exceeds the preset contrast limit based on the preset contrast limit. If so, adjust the contrast of the corresponding laser stripe image block so that the contrast does not exceed the preset contrast limit, thereby obtaining a plurality of adjusted laser stripe image blocks.

[0052] In some preferred embodiments, for step S102, it is assumed that the size of the laser bar image is 640x480 pixels, the preset contrast limit is 2.0, and the preset block size is 8x8 (i.e., the image is divided into 64 small blocks, each of which is 80x60 pixels in size). In other words, the laser bar image is divided into 8x8 small blocks according to the set block size, and a contrast limit parameter of 2.0 is applied to each small block to prevent the halo phenomenon caused by excessive brightness in certain areas of the image. For example, the light bar area in the center of the image may have a halo after enhancement due to the strong light. This phenomenon can be effectively reduced by contrast limitation to keep the outline natural.

[0053] Step S104, performing histogram equalization on a plurality of laser bar image blocks to obtain corresponding equalized image blocks;

[0054] Step S104 specifically includes the following steps:

[0055] Step S1041, based on the grayscale value of each laser stripe image block, respectively counting the number of laser stripe image blocks at different grayscale values;

[0056] In some preferred embodiments, for step S1041, Figure 2 is a grayscale schematic diagram of an image block in a laser bar image according to an embodiment of the present application, such as Figure 2 As shown, the number of laser stripe image blocks at different grayscale values ​​in the grayscale schematic diagram is counted respectively, and the statistical results are shown in Table 1.

[0057] Table 1

[0058] Value 52 55 58 59 60 61 62 63 64 65 Count 1 3 2 3 1 4 1 2 2 3 Value 66 67 68 69 70 71 72 73 75 76 Count 2 1 5 3 4 2 1 2 1 1 Value 77 78 79 83 85 87 88 90 94 104 Count 1 1 2 1 2 1 1 1 1 2 Value 106 109 113 122 126 144 154 Count 1 1 1 1 1 1 1

[0059] Step S1042, based on the number of laser bar image blocks at each gray value, the probability distribution value of each laser bar image block is calculated by a cumulative distribution function;

[0060] Step S1042 specifically, sort the grayscale values ​​in ascending order to obtain the sorting position of each grayscale value; and use the cumulative distribution function Calculate the probability distribution value of each laser bar image block, where m is the sorting position of the gray value, Count m is the number of laser stripe image blocks under the gray value of sorting position m, and cdf(v) is the probability distribution value of the laser stripe image blocks under the gray value v.

[0061] In some preferred embodiments, for step S1042, as shown in Table 1, the gray values ​​are sorted in ascending order, and then the gray values ​​are sorted by the cumulative distribution function. The probability distribution value cdf(v) of the laser stripe image block at each gray value is calculated, as shown in Table 2.

[0062] Table 2

[0063] Value 52 55 58 59 60 61 62 63 64 65 cdf(v) 1 4 6 9 10 14 15 17 19 22 Value 66 67 68 69 70 71 72 73 75 76 cdf(v) 24 25 30 33 37 39 40 42 43 44 Value 77 78 79 83 85 87 88 90 94 104 cdf(v) 45 46 48 49 51 52 53 54 55 57 Value 106 109 113 122 126 144 154 cdf(v) 58 59 60 61 62 63 64

[0064] Step S1043 : performing histogram equalization on each laser bar image block based on the probability distribution value to obtain a corresponding equalized image block.

[0065] Step S1043 specifically, through the histogram equalization formula Perform histogram equalization on the laser stripe image blocks at each grayscale value to obtain the corresponding equalized image blocks, where h(v) is the grayscale value of the laser stripe image block after equalization, cdf(v) is the probability distribution value of the laser stripe image block, and cdf min is the minimum probability distribution value of the laser bar image block, N is the number of laser bar image blocks, and round() is the rounding function.

[0066] In some preferred embodiments, for step S1043, it is necessary to illustrate that, for the laser stripe image block with a gray value of 78 in Table 2 above, its probability distribution value cdf(v) is 46, the number of laser stripe image blocks N is 64, and the minimum probability distribution value cdf(v) of the laser stripe image block is min is 1, so the gray value of the laser stripe image block is 78 Figure 3 is a grayscale schematic diagram of a laser bar image after equalization according to an embodiment of the present application, Figure 4 3 is a schematic diagram comparing the laser bar image before and after equalization according to an embodiment of the present application.

[0067] It should be noted that step S104 performs histogram equalization on each laser stripe image block after segmentation and contrast limitation to highlight the light stripe details in the small block. For example, when processing small blocks at the edge of the image, the light stripe contour is enhanced to significantly improve its contrast for subsequent extraction.

[0068] Step S106, performing transition processing on adjacent equalized image blocks by using a preset interpolation algorithm to obtain a laser stripe image after water ripple suppression;

[0069] Specifically, step S106 performs smooth transition processing on the boundary areas between adjacent equalized image blocks through a preset interpolation algorithm to obtain equalized image blocks with transition processing, wherein the preset interpolation algorithm includes a lookup table interpolation algorithm, a linear interpolation algorithm, a polynomial interpolation algorithm and a Lagrange interpolation algorithm; the equalized image blocks with transition processing are spliced ​​to obtain a laser bar image after water ripple suppression.

[0070] Preferably, step S106 uses a lookup table interpolation algorithm to perform transition processing on the boundary areas between the equalized image blocks to make the brightness between the small blocks uniform and avoid sudden contrast changes in different areas. Compared with the initial laser strip image, the light strip details are clearer, which facilitates the subsequent extraction of the light strip center.

[0071] Step S108, performing water ripple detection on the laser bar image after water ripple suppression, if the water ripple detection fails, re-performing water ripple suppression based on a new preset block size and preset contrast limit.

[0072] It should be noted that step S108 dynamically adjusts the block size and contrast limit according to the characteristics of the laser stripe image to further improve the water ripple suppression effect and generate an image after water ripple suppression for subsequent light stripe center extraction and three-dimensional reconstruction. Figure 5 is a schematic diagram of point cloud comparison before and after water ripple suppression according to an embodiment of the present application, such as Figure 5 As shown, before inhibition ( Figure 5 The point cloud on the left side has obvious water ripples in some areas (especially in areas with uneven lighting). After suppression ( Figure 5 The point cloud surface of the image (on the right) is smooth, and the water ripple phenomenon is significantly reduced. In other words, in the laser bar image after water ripple suppression, the light bar outline is clearer, the local details are significantly improved, and the generated 3D point cloud surface is smooth, reducing the noise caused by uneven lighting areas and optimizing the accuracy of subsequent 3D reconstruction. By comparing the point cloud effects of the images before and after water ripple suppression, it can be seen that the water ripple phenomenon is reduced by about 90%; it provides more reliable data for high-precision 3D reconstruction. Specifically, Figure 6 is a schematic diagram comparing laser bar images before and after water ripple suppression according to an embodiment of the present application, such as Figure 6 As shown, by comparing the original laser stripe image with the laser stripe image after water ripple suppression, it can be seen that this embodiment has significant advantages in terms of local contrast and improved light stripe clarity.

[0073] Through the above steps in the embodiment of the present application, the light stripe image is divided into several small blocks, and the contrast of each small block is limited to prevent excessive enhancement of the local area and reduce the water ripple phenomenon of the image. Histogram equalization is further applied to adjust the grayscale distribution of image pixels to highlight the image detail texture and weaken the water ripples. Finally, the water ripple suppression effect is ensured based on water ripple detection, which solves the problem of how to improve the accuracy of light stripe center extraction in laser measurement.

[0074] It should be noted that the steps shown in the above process or the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0075] The embodiment of the present application provides a water ripple suppression system for laser measurement, which includes a water ripple suppression module and a water ripple detection module;

[0076] The water ripple suppression module is used to sequentially perform image block division and contrast adjustment on the acquired laser bar image according to a preset block size and a preset contrast limit to obtain a number of laser bar image blocks; perform histogram equalization on the several laser bar image blocks to obtain corresponding equalized image blocks; perform transition processing on adjacent equalized image blocks through a preset interpolation algorithm to obtain a laser bar image after water ripple suppression;

[0077] The water ripple detection module is used to perform water ripple detection on the laser bar image after water ripple suppression. If the water ripple detection fails, water ripple suppression is performed again based on a new preset block size and preset contrast limit.

[0078] Through the water ripple suppression module and water ripple detection module in the embodiments of the present application, it is possible to divide the light strip image into several small blocks, and perform contrast limitation on each small block to prevent excessive enhancement of the local area, reduce the water ripple phenomenon in the image, and further apply histogram equalization to adjust the grayscale distribution of image pixels to highlight the image detail texture and weaken the water ripples. Finally, water ripple detection is used to ensure the effect of water ripple suppression, thereby solving the problem of how to improve the accuracy of light strip center extraction in laser measurement.

[0079] It should be noted that the above modules can be functional modules or program modules, and can be implemented by software or hardware. For modules implemented by hardware, the above modules can be located in the same processor; or the above modules can be located in different processors in any combination.

[0080] This embodiment further provides an electronic device, including a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0081] Optionally, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0082] It should be noted that the specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementation modes, and this embodiment will not be described in detail here.

[0083] In addition, in combination with the water ripple suppression method for laser measurement in the above embodiments, the present application embodiment can provide a storage medium for implementation. The storage medium stores a computer program; when the computer program is executed by a processor, any of the water ripple suppression methods for laser measurement in the above embodiments is implemented.

[0084] In one embodiment, a computer device is provided, which may be a terminal. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, a method for suppressing water ripples in laser measurement is implemented. The display screen of the computer device may be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device may be a touch layer covered on the display screen, or a key, trackball, or touchpad provided on the housing of the computer device, or an external keyboard, touchpad, or mouse, etc.

[0085] In one embodiment, Figure 7 is a schematic diagram of the internal structure of an electronic device according to an embodiment of the present application, such as Figure 7 As shown, an electronic device is provided, which may be a server, and its internal structure diagram may be as shown in Figure 7 As shown. The electronic device includes a processor, a network interface, an internal memory and a non-volatile memory connected through an internal bus, wherein the non-volatile memory stores an operating system, a computer program and a database. The processor is used to provide computing and control capabilities, the network interface is used to communicate with an external terminal through a network connection, the internal memory is used to provide an environment for the operation of the operating system and the computer program, the computer program is executed by the processor to implement a water ripple suppression method for laser measurement, and the database is used to store data.

[0086] Those skilled in the art will understand that Figure 7 The structure shown in the figure is merely a block diagram of a partial structure related to the scheme of the present application, and does not constitute a limitation on the electronic device to which the scheme of the present application is applied. The specific electronic device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0087] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0088] Those skilled in the art should understand that the technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0089] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A method for suppressing water ripples in laser measurement, characterized in that: The method comprises: Based on a preset block size and a preset contrast limit, the acquired laser stripe image is sequentially divided into blocks and the contrast is adjusted to obtain a plurality of laser stripe image blocks; Performing histogram equalization on the plurality of laser bar image blocks to obtain corresponding equalized image blocks; Adjacent equalized image blocks are subjected to transition processing by a preset interpolation algorithm to obtain a laser stripe image after water ripple suppression; A water ripple detection is performed on the laser bar image after the water ripple suppression. If the water ripple detection fails, the water ripple suppression is performed again based on a new preset block size and a preset contrast limit.

2. The method according to claim 1, characterized in that Based on the preset block size and the preset contrast limit, the acquired laser stripe image is sequentially divided into blocks and the contrast is adjusted to obtain a number of laser stripe image blocks including: Based on a preset block size, the acquired laser bar image is divided into blocks to obtain a plurality of laser bar image blocks; Based on the preset contrast limit, the contrast of each of the laser stripe image blocks is adjusted respectively to obtain a plurality of adjusted laser stripe image blocks.

3. The method according to claim 2, characterized in that Based on the preset contrast limit, the contrast of each of the laser stripe image blocks is adjusted respectively, and the adjusted laser stripe image blocks include: Based on the preset contrast limit, it is determined one by one whether the contrast of each laser bar image block exceeds the preset contrast limit. If so, the contrast of the corresponding laser bar image block is adjusted so that the contrast does not exceed the preset contrast limit, thereby obtaining a plurality of adjusted laser bar image blocks.

4. The method according to claim 1, characterized in that: Performing histogram equalization on the plurality of laser bar image blocks to obtain corresponding equalized image blocks includes: Based on the grayscale value of each laser stripe image block, the number of laser stripe image blocks at different grayscale values ​​is counted respectively; Based on the number of laser bar image blocks at each grayscale value, the probability distribution value of each laser bar image block is calculated by a cumulative distribution function; Based on the probability distribution value, histogram equalization is performed on each laser bar image block to obtain a corresponding equalized image block.

5. The method according to claim 4, characterized in that Based on the probability distribution value, each laser bar image block is subjected to histogram equalization to obtain a corresponding equalized image block including: Through the histogram equalization formula Perform histogram equalization on the laser stripe image blocks at each grayscale value to obtain the corresponding equalized image blocks, where h(v) is the grayscale value of the laser stripe image block after equalization, cdf(v) is the probability distribution value of the laser stripe image block, and cdf min is the minimum probability distribution value of the laser bar image block, N is the number of laser bar image blocks, and round() is the rounding function.

6. The method according to claim 4, characterized in that Based on the number of laser stripe image blocks at each grayscale value, the probability distribution value of each laser stripe image block is calculated by the cumulative distribution function, including: Sort the grayscale values ​​in ascending order to obtain the sorting position of each grayscale value; By cumulative distribution function Calculate the probability distribution value of each laser bar image block, where m is the sorting position of the gray value, Count m is the number of laser stripe image blocks under the gray value of sorting position m, and cdf(v) is the probability distribution value of the laser stripe image blocks under the gray value v.

7. The method according to claim 1, characterized in that Adjacent equalized image blocks are subjected to transition processing by a preset interpolation algorithm, and the laser stripe image after water ripple suppression is obtained, including: Performing smooth transition processing on the boundary area between adjacent equalized image blocks by using a preset interpolation algorithm to obtain a transition-processed equalized image block, wherein the preset interpolation algorithm includes a lookup table interpolation algorithm, a linear interpolation algorithm, a polynomial interpolation algorithm, and a Lagrange interpolation algorithm; The transition-processed equalized image blocks are spliced ​​to obtain a laser bar image after water ripple suppression.

8. A water ripple suppression system for laser measurement, characterized in that: The system is used to perform the method according to any one of claims 1 to 7, and the system includes a water ripple suppression module and a water ripple detection module; The water ripple suppression module is used to sequentially perform image block division and contrast adjustment on the acquired laser bar image according to a preset block size and a preset contrast limit to obtain a plurality of laser bar image blocks; perform histogram equalization on the plurality of laser bar image blocks to obtain corresponding equalized image blocks; perform transition processing on adjacent equalized image blocks by a preset interpolation algorithm to obtain a laser bar image after water ripple suppression; The water ripple detection module is used to perform water ripple detection on the laser bar image after water ripple suppression. If the water ripple detection fails, water ripple suppression is performed again based on a new preset block size and preset contrast limit.

9. An electronic device comprising a memory and a processor, characterized in that: A computer program is stored in the memory, and the processor is configured to run the computer program to perform the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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