Image processing device, image processing method, and image processing program

Abstract

The present invention provides an image processing device, an image processing method, and an image processing program for correcting positional misalignment between multiple pieces of image information. [Solution] The image processing device includes: an acquisition unit that acquires a plurality of image information; a first identification unit that identifies the first region with the highest brightness in the first image information (first image) among the plurality of image information; a second identification unit that identifies the second region with the highest brightness in the second image information (second image) among the plurality of image information; a first correction unit that moves at least one of the first image and the second image so that the first region and the second region overlap; and a second correction unit that identifies a plurality of pixel rows along a first direction along one edge of a plurality of pixels constituting the second image, identifies the pixel with the highest brightness in each of the plurality of pixel rows, approximates the positions of the plurality of identified pixels with a straight line to find the slope of the straight line, and rotates the second image by transforming the straight line in a predetermined direction based on the slope.

Description

【Technical Field】 【0001】 The present disclosure relates to an image processing apparatus, an image processing method, and an image processing program. 【Background Art】 【0002】 Conventionally, there is an apparatus for calculating a correction amount when matching the positions of a reference radiation image and other radiation images among a plurality of radiation images (see Patent Document 1). The apparatus extracts the center-of-gravity position of the breast shown in the radiation image and calculates a correction amount that matches the center-of-gravity position and the shape of the breast. 【Prior Art Documents】 【Patent Documents】 【0003】 【Patent Document 1】 Japanese Patent Application Laid-Open No. 2014-188250 【Summary of the Invention】 【Problems to be Solved by the Invention】 【0004】 By the way, when aligning a plurality of image informations, depending on the object recorded in the image information, alignment may not be possible with the technique described in Patent Document 1. Therefore, it is required to correct misalignment between a plurality of image informations even for various relatively large objects such as industrial products. 【0005】 The present disclosure provides an image processing apparatus, an image processing method, and an image processing program for correcting misalignment between a plurality of image informations. 【Means for Solving the Problems】 【0006】 One embodiment of an image processing apparatus includes: an acquisition unit that acquires a plurality of image information generated by detecting radiation irradiated from a radiation source with a detection unit; a first identification unit that identifies a first region with the highest brightness in a first image recorded in a first image information among the plurality of image information acquired by the acquisition unit; a second identification unit that identifies a second region with the highest brightness in a second image recorded in a second image information different from the first image information among the plurality of image information acquired by the acquisition unit; a first correction unit that moves at least one of the first image and the second image so that the first region identified by the first identification unit and the second region identified by the second identification unit overlap; and a second correction unit that identifies a plurality of pixel rows from among a plurality of pixels constituting the second image, where each row of pixels is a group of pixels along a first direction along one edge of the second image, identifies the pixel with the highest brightness in each of the plurality of pixel rows, approximates the positions of the plurality of identified pixels with a straight line to find the slope of the straight line, and rotates the second image by transforming the straight line in a predetermined direction based on the slope. [Effects of the Invention] 【0007】 The image processing apparatus, image processing method, and image processing program disclosed herein can correct positional misalignment between multiple pieces of image information. [Brief explanation of the drawing] 【0008】 [Figure 1] This is a diagram (schematic diagram) illustrating an image processing apparatus according to one embodiment. [Figure 2] This is a block diagram illustrating an image processing device (processing unit) according to one embodiment. [Figure 3] This diagram illustrates the positional relationship between the X-ray source and the X-ray detector. [Figure 4] This diagram illustrates the first region of the first image information (first image) and the second region of the second image information (second image). [Figure 5]This diagram illustrates the rotation of the second image. (A) shows an example of a pixel sequence, (B) shows an example of a linear function approximating the sequence, and (C) shows an example after rotation. [Figure 6] This diagram illustrates an example of a linear function approximation using straight lines (first line, second line). [Figure 7] This is a flowchart illustrating an image processing method according to one embodiment. [Modes for carrying out the invention] 【0009】 One embodiment will be described below. 【0010】 [Overview of Image Processing Device 1] First, an overview of the image processing apparatus 1 according to one embodiment will be described. Figure 1 is a schematic diagram illustrating an image processing apparatus 1 according to one embodiment. 【0011】 This disclosure provides an image processing device 1 that applies tomosynthesis technology. The image processing device 1 comprises a radiation source 2, a detection unit 3, and a processing unit (information processing device) 10. 【0012】 Radiation source 2 is a radiation generating device that generates radiation to irradiate target 20. Examples of radiation include X-rays and gamma rays, or radiation of other wavelengths other than X-rays and gamma rays. Therefore, radiation source 2 may be, for example, an X-ray source, a gamma-ray source, or an electromagnetic wave source. 【0013】 For example, if radiation source 2 is an X-ray source, then radiation source (X-ray source) 2 is an X-ray generator that generates X-rays. X-ray source 2 includes, for example, a fixed anode X-ray tube. For the anode of the X-ray tube, for example, a metal such as tungsten or molybdenum is used as a target. X-ray source 2 sets the amount of X-rays to be generated (energy amount) according to the thickness and material of the object 20 to which the X-rays are to be transmitted, based on the control of the processing unit (information processing unit) 10, for example. For X-ray source 2, for example, a known X-ray irradiation device may be used. The object 20 may be, for example, a component made of various materials, including metal components. In the following explanation, X-rays (X-ray source 2) will be used as an example of radiation (radiation source 2). 【0014】 The radiation source (X-ray source) 2 may be positioned at the tip of the first articulated robot 301. The first articulated robot 301 is a robot equipped with multiple joints and arms (multiple arms) connecting two joints. The X-ray source 2 is positioned at the tip of an arm of the first articulated robot 301 and is movable in accordance with the operation of the first articulated robot 301. 【0015】 The detection unit 3 detects, for example, radiation (X-rays) that have been irradiated from the radiation source (X-ray source) 2 and then passed through the object 20. When detecting X-rays as an example of radiation, the detection unit 3 may function as an X-ray detection unit. The detection unit (X-ray detection unit) 3 detects, for example, the intensity of the transmitted X-rays that have passed through the object 20 (for example, dose and irradiation dose). The X-ray detection unit 3 may use, for example, a known X-ray detection device. The X-ray detection unit 3 may also generate image information (transmitted X-ray image information) based on the detection of transmitted X-rays. 【0016】 The detection unit (X-ray detection unit) 3 may be arranged at the tip of a second multi-joint robot 302 different from the first multi-joint robot 301. The second multi-joint robot 302 is a robot including a plurality of joints and arms (a plurality of arms) connecting between two joints. The X-ray detection unit 3 is arranged at the tip of the arm of the second multi-joint robot 302 and is movable according to the operation of the second multi-joint robot 302. 【0017】 The processing unit 10 may transmit and receive information to and from, for example, each of the radiation source (X-ray source) 2 and the detection unit (X-ray detection unit) 3. The processing unit 10 may be, for example, a computer (information processing device) such as a server, a desktop, and a laptop. 【0018】 The processing unit 10 acquires a plurality of image information generated by detecting the radiation (X-ray) irradiated from the radiation source (X-ray source) 2 by the detection unit (X-ray detection unit) 3. That is, the processing unit 10 acquires a plurality of image information (for example, first image information and second image information) from the X-ray detection unit 3. After the processing unit 10 acquires the first image information by the X-ray detection unit 3, at least the X-ray source 2 among the X-ray source 2 and the X-ray detection unit 3 is moved along the detection surface 31 of the X-ray detection unit 3 (in the plane direction of the X-ray detection unit 3), and the second image information is acquired by the X-ray detection unit 3. The processing unit 10 acquires the first image information and the second image information from the X-ray detection unit 3. The first image information and the second image information are different image information. 【0019】 In each of the plurality of image information (first image information and second image information), the luminance of the image generated by pixels (one or a plurality of pixels) at a position (center-facing position) facing the center of the X-ray source on the X-ray detection unit 3 (detection surface) is the highest. Also, in each of the plurality of image information (first image information and second image information), the luminance of the image generated by pixels away from the center-facing position of the X-ray source decreases as the distance from the center-facing position increases. 【0020】 As illustrated in Figure 4, the processing unit 10 identifies the first region 401 with the highest brightness in the first image recorded in the first image information. For example, among the multiple pixels constituting the X-ray detection unit 3, the brightness of the image generated by the pixels of the X-ray detection unit 3 facing the center of the X-ray source 2 (the brightness of the first pixel 411 (multiple first pixels) in the first image) will be the highest. On the other hand, among the multiple pixels constituting the X-ray detection unit 3, the brightness of the image generated by pixels far from the center-facing position of the X-ray source 2 (the brightness of other pixels (second pixels 412 (multiple pixels)) different from the first pixel 411) will decrease as the distance between the first pixel 411 and the second pixel 412 increases. Therefore, the processing unit 10 refers to the brightness value of the entire first image (the brightness value of each of the multiple pixels constituting the first image) and identifies the region of pixels with the highest brightness value (or brightness values ​​within a predetermined range from the highest brightness value) as the first region 401. 【0021】 As illustrated in Figure 4, the processing unit 10 identifies the second region 402 with the highest brightness in the second image recorded in the second image information. Similar to the case of the first image information, the processing unit 10 also identifies the second region 402 in the second image information (second image). Among the multiple pixels constituting the X-ray detection unit 3, the brightness of the image generated by the pixels of the X-ray detection unit 3 facing the center of the X-ray source 2 (the brightness of the third pixels 413 (multiple third pixels) in the second image) is the highest. On the other hand, among the multiple pixels constituting the X-ray detection unit 3, the brightness of the image generated by pixels far from the center opposite position of the X-ray source 2 (the brightness of pixels other than the third pixel 413 (the fourth pixel 414 (multiple pixels)) decreases as the distance between the third pixel 413 and the fourth pixel 414 increases. Therefore, the processing unit 10 refers to the brightness value of the entire second image (the brightness value of each of the multiple pixels constituting the second image) and identifies the region of pixels with the highest brightness value (or brightness values ​​within a predetermined range from the highest brightness value) as the second region 402. 【0022】 As illustrated in Figure 4, the processing unit 10 superimposes the first image and the second image. That is, the processing unit 10 moves at least one of the first image and the second image so that the first region 401 of the first image and the second region 402 of the second image overlap. In other words, the processing unit 10 moves at least one of the first image and the second image in a direction along the plane (image plane) of the first image and the second image, respectively. 【0023】 The processing unit 10 identifies multiple pixel sequences 421 from among the multiple pixels that make up the second image, each sequence being a group of pixels that align with a first direction (either vertical or horizontal) along one edge of the second image (either the vertical edge or the horizontal edge) (see Figure 5(A)). Since the image has multiple pixels arranged regularly in both the vertical and horizontal directions, the processing unit 10 identifies, for example, multiple pixel sequences 421 aligned with the vertical direction (sequences of multiple pixels arranged in the vertical direction), or multiple pixel sequences aligned with the horizontal direction (sequences of multiple pixels arranged in the horizontal direction) (see Figure 5(B)). 【0024】 The processing unit 10 identifies the pixel 422 with the highest brightness in each of the multiple pixel sequences 421 that make up the second image (see Figure 5(B)). The processing unit 10 approximates the position (position within the second image) of each of the pixels 422 with the highest brightness identified in each of the multiple pixel sequences 421 with a line 423 using the least squares method (see Figure 5(B)), and determines the slope of the line 423. The slope of the line 423 may be the slope when the edges of the second image (vertical edges and horizontal edges) are used as two axes (for example, the X-axis and the Y-axis), and the line 423 is approximated by a linear function of x and y on those two axes (X-axis, Y-axis). When the processing unit 10 identifies a pixel row 421 along the vertical direction of the second image, it rotates and moves the second image in a plane (image plane) by transforming the line 423 so that it is parallel to the horizontal direction of the second image based on the slope of the line 423 (slope adjustment transformation) (see Figure 5(C)). On the other hand, when the processing unit 10 identifies a pixel row along the horizontal direction of the second image, it rotates and moves the second image in a plane (image plane) by transforming the line so that it is parallel to the vertical direction of the second image based on the slope of the line 423 (slope adjustment transformation). 【0025】 [Details of Image Processing Device 1] Next, a processing unit 10 (image processing device 1) according to one embodiment will be described in detail. Here, in particular, an example of the processing unit (information processing device) 10 will be described. Figure 2 is a block diagram illustrating an image processing apparatus 1 (processing unit 10) according to one embodiment. 【0026】 The image processing device 1 (processing unit (information processing device) 10) includes, for example, a communication unit 121, a storage unit 122, a display unit 123, and a control unit 110. The communication unit 121, the storage unit 122, and the display unit 123 may be embodiments of the output unit. The control unit 110 includes, for example, a position control unit 111, an acquisition unit 112, a first identification unit 113, a second identification unit 114, a first correction unit 115, a second correction unit 116, and an output control unit 117. The control unit 110 may be configured by, for example, the arithmetic processing unit of the image processing device 1. The control unit 110 (for example, the arithmetic processing unit) may realize the functions of each unit (for example, the position control unit 111, the acquisition unit 112, the first identification unit 113, the second identification unit 114, the first correction unit 115, the second correction unit 116, and the output control unit 117) by appropriately reading and executing various programs stored in the storage unit 122, etc. In other words, the functions of each part may be realized through computer implementation. 【0027】 The communication unit 121 is a communication interface that enables the transmission and reception of various types of information with, for example, an external device (external device) located outside the image processing device 1. 【0028】 The storage unit 122 may store, for example, various information and programs. Examples of the storage unit 122 include memory, solid-state drives, and hard disk drives. The storage unit 122 may also be, for example, a storage area and server located in the cloud. 【0029】 The display unit 123 is a display capable of displaying various characters, symbols, images, etc. 【0030】 Figure 3 is a diagram illustrating the positional relationship between the X-ray source 2 and the X-ray detection unit 3. 【0031】 The position control unit 111 controls the first articulated robot 301 and the second articulated robot 302, for example, via the communication unit 121. The position control unit 111 controls at least one of the first articulated robot 301 and the second articulated robot 302 to move the positional relationship between the X-ray source 2 and the X-ray detection unit 3. By controlling at least the first articulated robot 301 of the first articulated robot 301 and the second articulated robot 302, the position control unit 111 can control the relative position between the X-ray source 2 and the X-ray detection unit 3 that detects the X-rays irradiated from the X-ray source 2. 【0032】 As an example, the position control unit 111 controls at least one of the first articulated robot 301 and the second articulated robot 302 to position the X-ray source 2 and the X-ray detection unit 3 so that they face each other across the object 20, or more specifically, that the X-ray source 2 is positioned perpendicular to the detection surface 31 of the X-ray detection unit 3 across the object 20. In this positional relationship between the X-ray source 2 and the X-ray detection unit 3 (positional relationship between the X-ray source 2 and the object 20) (first positional relationship 311), the X-ray source 2 emits X-rays I0, and the transmitted X-rays I1 that pass through the object 20 are detected by the X-ray detection unit 3. The X-ray detection unit 3 generates image information (first image information). 【0033】 As an example, the position control unit 111 controls at least the first articulated robot 301 of the first articulated robot 301 and the second articulated robot 302 to change the positional relationship between the X-ray source 2 and the X-ray detection unit 3 (the positional relationship between the X-ray source 2 and the target 20). That is, the position control unit 111 controls the first articulated robot 301 to move the X-ray source 2 parallel to the detection surface 31 of the X-ray detection unit 3, thereby moving the position of the X-ray source 2 relative to the target 20. In this case, X-rays are emitted from the X-ray source 2, and the transmitted X-rays that pass through the target 20 are detected by the X-ray detection unit 3. However, if the size (planar size) of the detection surface 31 of the X-ray detection unit 3 is relatively small, the position control unit 111 may operate the second articulated robot 302 to adjust the position of the X-ray detection unit 3 so that the transmitted X-rays that pass through the target 20 can be detected. In other words, the position control unit 111 may operate the second articulated robot 302 so that the X-ray detection unit 3 is positioned symmetrically with respect to the object 20, that is, in a position where the X-ray source 2, object 20, and X-ray detection unit 3 are aligned in a straight line. In this positional relationship between the X-ray source 2 and the X-ray detection unit 3 (positional relationship between the X-ray source 2 and the object 20) (second positional relationship 312), the X-ray source 2 emits X-rays I0, and the transmitted X-rays I2 that pass through the object 20 are detected by the X-ray detection unit 3. The X-ray detection unit 3 generates image information (second image information). 【0034】 The acquisition unit 112 acquires multiple image information generated by detecting X-rays irradiated from the X-ray source 2 with the X-ray detection unit 3. The acquisition unit 112 may acquire multiple image information from the X-ray detection unit 3, for example, via the communication unit 121. 【0035】 The acquisition unit 112 may acquire, for example, first image information and second image information as multiple pieces of image information. (A) The first image information may be, for example, image information generated by detecting X-rays emitted from the X-ray source 2 with the X-ray detection unit 3 when the positions of the X-ray source 2 and the X-ray detection unit 3 are arranged in a first positional relationship 311 by operating at least one of the first articulated robot 301 and the second articulated robot 302 by the position control unit 111. (B) The second image information may be, for example, image information generated by detecting X-rays emitted from the X-ray source 2 with the X-ray detection unit 3 when the position control unit 111 operates at least one of the first articulated robot 301 and the second articulated robot 302, so that the positions of the X-ray source 2 and the X-ray detection unit 3 are arranged by the position control unit 111 to be in a second positional relationship 312 which is different from the first positional relationship 311. 【0036】 Figure 4 is a diagram illustrating the first region 401 of the first image information (first image) and the second region 402 of the second image information (second image). 【0037】 The first identification unit 113 identifies the first region 401 with the highest brightness in the first image recorded in the first image information among the multiple image information acquired by the acquisition unit 112. That is, when the position control unit 111 arranges the X-ray source 2 and the X-ray detection unit 3 to be in a first positional relationship 311, the first identification unit 113 identifies the first region 401 with the highest brightness of radiation in the first image recorded in the first image information generated by detecting radiation irradiated from the X-ray source 2 with the X-ray detection unit 3. 【0038】 The first identification unit 113 identifies the first region 401 with the highest brightness in the first image recorded in the first image information. For example, among the multiple pixels constituting the X-ray detection unit 3, the brightness of the image generated by the pixels of the X-ray detection unit 3 facing the center of the X-ray source 2 (the brightness of the first pixel 411 (multiple first pixels) in the first image) will be the highest. On the other hand, among the multiple pixels constituting the X-ray detection unit 3, the brightness of the image generated by pixels far from the position facing the center of the X-ray source 2 (the brightness of other pixels (second pixels 412 (multiple pixels)) different from the first pixel 411) will decrease as the distance between the first pixel 411 and the second pixel 412 increases. Therefore, the first identification unit 113 refers to the brightness value of the entire first image (the brightness value of each of the multiple pixels constituting the first image) and identifies the region of pixels with the highest brightness value (or brightness values ​​within a predetermined range from the highest brightness value) as the first region 401. 【0039】 The second identification unit 114 identifies the second region 402 with the highest brightness in the second image recorded in the second image information, which is different from the first image information among the multiple image information acquired by the acquisition unit 112. In other words, when the position control unit 111 arranges the X-ray source 2 and the X-ray detection unit 3 to be in a second positional relationship 312, which is different from the first positional relationship 311, the second identification unit 114 identifies the second region 402 with the highest brightness of radiation in the second image recorded in the second image information generated by detecting radiation irradiated from the X-ray source 2 with the X-ray detection unit 3. 【0040】 The second identification unit 114 identifies the second region 402 with the highest brightness in the second image recorded in the second image information. Similar to the case of the first image information, the second identification unit 114 also identifies the second region 402 in the second image information (second image). Among the multiple pixels constituting the X-ray detection unit 3, the brightness of the image generated by the pixels of the X-ray detection unit 3 facing the center of the X-ray source 2 (the brightness of the third pixels 413 (multiple third pixels) in the second image) is the highest. On the other hand, among the multiple pixels constituting the X-ray detection unit 3, the brightness of the image generated by pixels far from the center opposite position of the X-ray source 2 (the brightness of pixels other than the third pixel 413 (the fourth pixel 414 (multiple pixels)) decreases as the distance between the third pixel 413 and the fourth pixel 414 increases. Therefore, the second identification unit 114 refers to the brightness value of the entire second image (the brightness value of each of the multiple pixels constituting the second image) and identifies the region of pixels with the highest brightness value (or brightness values ​​within a predetermined range from the highest brightness value) as the second region 402. 【0041】 The first correction unit 115 moves at least one of the first image and the second image so that the first region 401 identified by the first identification unit 113 and the second region 402 identified by the second identification unit 114 overlap. The first correction unit 115 superimposes the first image and the second image. That is, the first correction unit 115 moves at least one of the first image and the second image so that the first region 401 of the first image and the second region 402 of the second image overlap. That is, the first correction unit 115 moves at least one of the first image and the second image in a direction along the plane (image plane) of the first image and the second image, respectively. In this case, the first correction unit 115 may move at least one of the first image and the second image so that, for example, the center (approximately the center) of the first region 401 and the center (approximately the center) of the second region 402 coincide (approximately coincide). 【0042】 Figure 5 illustrates the rotational movement of the second image. Figure 5(A) shows an example of pixel sequence 421, Figure 5(B) shows an example of the approximating linear function line 423, and Figure 5(C) shows an example after rotational movement. Figure 6 is a diagram illustrating an example of a linear function approximation (first line 4231, second line 4232). 【0043】 Figure 5 shows an example of a case where multiple pixel rows 421 along the Y-axis are identified, the position of the pixel 422 with the highest brightness in each of these pixel rows 421 is approximated by a linear function line 423 (first line 4231), and the second image is rotated according to the slope (first slope) of the first line 4231. Identifying multiple pixel rows along the X-axis, approximating the position of the pixel with the highest brightness in each of these pixel rows with a linear function (the second line 4232 shown in Figure 6), and rotating the second image according to the slope (second slope) of this second line 4232 can be done in the same way as illustrated in Figure 5. 【0044】 The second correction unit 116 identifies multiple pixel sequences 421 from among the multiple pixels constituting the second image, each sequence of pixels aligned in a first direction along one edge of the second image, identifies the pixel 422 with the highest brightness in each of the multiple pixel sequences 421, approximates the positions of the multiple identified pixels 422 with a straight line 423, determines the slope of the straight line 423, and rotates the second image by transforming the straight line 423 in a predetermined direction based on the slope (for example, by an affine transformation). 【0045】 In other words, the second correction unit 116 identifies multiple pixel rows 421 (a row of pixels arranged in a single line along the first direction) (see Figure 5(A)) that are aligned in a first direction (Y-axis direction or X-axis direction) along one of the edges of the second image, either vertically (e.g., along the Y-axis direction) or horizontally (e.g., along the X-axis direction), either across the entire surface of the second image or along a second direction (X-axis direction or Y-axis direction) perpendicular to the first direction, at predetermined pixel positions. The predetermined pixel positions may be, for example, every 100 pixels, every 200 pixels, every 500 pixels, every 1000 pixels, etc., or every predetermined number of pixels along the second direction. The second correction unit 116 identifies the pixel 422 with the highest brightness of the X-ray image in each of the multiple pixel rows 421 that constitute the second image (see Figure 5(B)). 【0046】 Next, the second correction unit 116 approximates the position of the pixel 422 with the highest brightness in each of the multiple pixel rows 421 with a linear function line 423 (first and second lines 4231, 4232) (see Figure 5(B)), and determines the slope (first and second slope) of the first and second lines 4231, 4232. The first and second slopes of the first and second lines 4231, 4232 may be the slope when the edges of the second image (vertical edges and horizontal edges) are used as two axes (for example, the X axis and the Y axis), and the image is approximated by a linear function of x and y on those two axes (X axis, Y axis). In other words, the second correction unit 116 identifies the pixel 422 with the highest brightness in each of the multiple pixel rows 421 that are aligned in a first direction along any one edge of the second image, and approximates the positions of the multiple identified pixels 422 with a straight line 423 (first straight line 4231) drawn using the least squares method to determine the first slope as the slope of the first straight line 4231. Alternatively, the second correction unit 116 identifies multiple pixel sequences from among the multiple pixels constituting the second image, where each sequence is a group of pixels that align with a second direction intersecting a first direction along any one edge of the second image. The second correction unit identifies the pixel with the highest brightness in each of these multiple pixel sequences, approximates the positions of the multiple identified pixels with a second straight line 4232 using the least squares method, and determines a second slope as the slope of the second straight line 4232. 【0047】 Next, the second correction unit 116 rotates the second image based on at least one of the first and second inclinations (see Figure 5(C)). For example, if the first direction is along the vertical edge of the second image (e.g., the Y-axis direction), the second correction unit 116 rotates the second image so that the first inclination of the first line 4231 becomes 0° (so that the first line 4231 is along the second direction (e.g., the X-axis direction)) (when y is expressed as a function of x). 【0048】 Furthermore, the second correction unit 116 rotates the second image so that the second slope of the second line 4232 becomes 0° (so that the second line 4232 is aligned with the second direction (for example, the X-axis direction)) when the second direction is along the lateral edge of the second image (for example, the X-axis direction) (when y is expressed as a function of x). On the other hand, the second correction unit 116 rotates the second image so that the second inclination of the second line 4232 becomes 90° (so that the second line 4232 is aligned with the first direction (for example, the Y-axis direction)) when the second direction is along the lateral edge of the second image (for example, the X-axis direction) (when x is expressed as a function of y). 【0049】 For example, when the second correction unit 116 identifies a pixel row 421 along the vertical direction (e.g., the Y-axis direction) of the second image, it rotates the second image within the plane (image plane) by transforming the approximated straight line 423 so that it is parallel to the horizontal direction (e.g., the X-axis direction) of the second image, based on the slope of the straight line 423. Similarly, as an example, when the second correction unit 116 identifies a pixel row along the horizontal direction (for example, the X-axis direction) of the second image, it rotates the second image within the plane (image plane) by performing a tilt adjustment transformation (slope adjustment transformation) on the approximated straight line so that the straight line becomes parallel to the vertical direction (for example, the Y-axis direction) of the second image, based on the slope of the straight line. 【0050】 As another example, the second correction unit 116 may, for example, calculate the average value of the first slope of the first line 4231 (when y is expressed as a function of x) and the reciprocal of the second slope of the second line 4232 (when y is expressed as a function of x), and rotate the second image so that the average value of the slopes becomes 0°. Similarly, as an example, the second correction unit 116 may, for instance, calculate the average value of the reciprocal of the first slope of the first line 4231 (when y is expressed as a function of x) and the second slope of the second line 4232 (when y is expressed as a function of x), and rotate the second image so that the average value of the slopes becomes 90°. 【0051】 The output control unit 117 may control the output unit to output the first and second images corrected by the first correction unit 115 and the second correction unit 116. The output unit may be, for example, a communication unit 121, a storage unit 122, a display unit 123, etc. In other words, the output control unit 117 may control the communication unit 121 to transmit the first and second images, corrected by the first correction unit 115 and the second correction unit 116, to an external device (not shown). The external device here may be, for example, a server. The output control unit 117 may, for example, control the storage unit 122 to store the first and second images corrected by the first correction unit 115 and the second correction unit 116. The output control unit 117 may, for example, control the display unit 123 to display the first and second images corrected by the first correction unit 115 and the second correction unit 116. 【0052】 [Image processing method] Next, an image processing method according to one embodiment will be described. Figure 7 is a flowchart illustrating an image processing method according to one embodiment. 【0053】 In step ST101, the acquisition unit 112 acquires multiple image pieces of information generated by detecting the X-rays irradiated from the X-ray source 2 with the X-ray detection unit 3. The acquisition unit 112 may acquire, for example, first image information and second image information as multiple pieces of image information. (A) The first image information may be, for example, image information generated by detecting X-rays emitted from the X-ray source 2 with the X-ray detection unit 3 when the positions of the X-ray source 2 and the X-ray detection unit 3 are arranged in a first positional relationship 311 by operating at least one of the first articulated robot 301 and the second articulated robot 302 by the position control unit 111. (B) The second image information may be, for example, image information generated by detecting X-rays emitted from the X-ray source 2 with the X-ray detection unit 3 when the position control unit 111 operates at least one of the first articulated robot 301 and the second articulated robot 302, so that the positions of the X-ray source 2 and the X-ray detection unit 3 are arranged by the position control unit 111 to be in a second positional relationship 312 which is different from the first positional relationship 311. 【0054】 In step ST102, the first identification unit 113 identifies the first region 401 with the highest brightness in the first image recorded in the first image information among the multiple image information acquired in step ST101. That is, when the positions of the X-ray source 2 and the X-ray detection unit 3 are arranged by the position control unit 111 to be in the first positional relationship 311, the first identification unit 113 identifies the first region 401 with the highest brightness of radiation in the first image recorded in the first image information generated by detecting radiation irradiated from the X-ray source 2 with the X-ray detection unit 3. 【0055】 In step ST103, the second identification unit 114 identifies the second region 402 with the highest brightness in the second image recorded in the second image information, which is different from the first image information among the multiple image information acquired in step ST101. That is, when the position control unit 111 arranges the X-ray source 2 and the X-ray detection unit 3 to be in a second positional relationship 312, which is different from the first positional relationship 311, the second identification unit 114 identifies the second region 402 with the highest brightness of radiation in the second image recorded in the second image information generated by detecting radiation irradiated from the X-ray source 2 with the X-ray detection unit 3. 【0056】 In step ST104, the first correction unit 115 moves at least one of the first image and the second image so that the first region 401 identified in step ST102 and the second region 402 identified in step ST103 overlap. 【0057】 In step ST105, the second correction unit 116 identifies multiple pixel rows 421 from among the multiple pixels that constitute the second image obtained by superimposing the first image and the second image in step ST104, where each row of pixels is aligned in a first direction along one edge of the second image, identifies the pixel 422 with the highest brightness in each of the multiple pixel rows 421, approximates the positions of the multiple identified pixels 422 with a straight line 423 to determine the slope of the straight line 423, and rotates the second image by transforming the straight line 423 in a predetermined direction based on the slope. 【0058】 In this case, the second correction unit 116 identifies the pixel 422 with the highest brightness in each of the multiple pixel rows 421 that are aligned in a first direction along any one edge of the second image, and approximates the positions of the multiple identified pixels 422 with a first straight line 4231 to determine a first slope as the slope of the first straight line 4231. Alternatively, the second correction unit 116 identifies multiple pixel sequences from among the multiple pixels constituting the second image, where each sequence is a group of pixels that align with a second direction intersecting a first direction along any one edge of the second image. In each of these multiple pixel sequences, the unit identifies the pixel with the highest brightness, approximates the positions of the multiple identified pixels with a second straight line 4232, and determines a second slope as the slope of the second straight line 4232. Next, the second correction unit 116 rotates the second image based on at least one of the first and second inclinations. 【0059】 [Regarding the functions and circuitry of the processing unit (information processing unit) 10] Next, the functions and circuitry of the information processing device 10 described above will be explained. Each part of the information processing device 10 may be implemented as a function of a computer's arithmetic processing unit or the like. The information processing device 10 may, for example, implement the functions of the position control unit 111, acquisition unit 112, first identification unit 113, second identification unit 114, first correction unit 115, second correction unit 116, and output control unit 117 with a single control unit 110 (e.g., an arithmetic processing unit, etc.), or it may implement the functions of the position control unit 111, acquisition unit 112, first identification unit 113, second identification unit 114, first correction unit 115, second correction unit 116, and output control unit 117 in a distributed manner with multiple different control units 110 (e.g., arithmetic processing units, etc.). The position control unit 111, acquisition unit 112, first identification unit 113, second identification unit 114, first correction unit 115, second correction unit 116, and output control unit 117 (control unit 110) of the above-described information processing device 10 may be implemented as position control function, acquisition function, first identification function, second identification function, first correction function, second correction function, and output control function (control function), respectively, by the arithmetic processing unit of a computer or the like. The information processing program can enable a computer to implement each of the functions described above. The information processing program may be recorded on a computer-readable, non-temporary, tangible recording medium such as memory, a solid-state drive, a hard disk drive, or an optical disc. The storage medium may be rephrased as, for example, a non-temporary, tangible, computer-readable medium for storing the information processing program. The information processing program may also be transmitted online. The information processing program can be implemented into a product (computer program product) by the control unit 110 (for example, an arithmetic processing unit). Furthermore, as described above, each part of the information processing device 10 may be implemented by a computer's arithmetic processing unit, etc. Such an arithmetic processing unit, etc., is composed of, for example, an integrated circuit. For this reason, each part of the information processing device 10 may be implemented as a circuit that constitutes an arithmetic processing unit, etc. That is, the position control unit 111, acquisition unit 112, first identification unit 113, second identification unit 114, first correction unit 115, second correction unit 116, and output control unit 117 (control unit 110) of the information processing device 10 may be implemented as a position control circuit, acquisition circuit, first identification circuit, second identification circuit, first correction circuit, second correction circuit, and output control circuit (control circuit) that constitute an arithmetic processing unit, etc., of a computer. Furthermore, the communication unit 121, storage unit 122, and display unit 123 (output unit) of the information processing device 10 may be implemented as a communication function, storage function, and display function (output function) that includes the functions of an arithmetic processing unit, for example. Also, the communication unit 121, storage unit 122, and display unit 123 (output unit) of the information processing device 10 may be implemented as a communication circuit, storage circuit, and display circuit (output circuit) by being composed of an integrated circuit, for example. Furthermore, the communication unit 121, storage unit 122, and display unit 123 (output unit) of the information processing device 10 may be configured as a communication device, storage device, and display device (output device) by being composed of a plurality of devices, for example. 【0060】 The processing unit (information processing device) 10 can be configured to combine one or any multiple of the above-described parts. In this disclosure, the term "information" is used, but the term "information" can be replaced with "data," and the term "data" can be replaced with "information." 【0061】 [Differentiation] Next, I will explain a modified example. 【0062】 The image processing apparatus according to one modified example may acquire multiple image information sets generated by emitting light such as visible light, infrared light, and ultraviolet light, as well as electromagnetic waves of various wavelengths, from a light source (electromagnetic wave source) and detecting them with a detection unit (for example, receiving the light), and correct the positional shift of the image (object) recorded in the multiple image information sets. In this case, the object is not limited to a metal member, but may also be a semiconductor member, a glass member, etc. 【0063】 In other words, the modified image processing apparatus includes an acquisition unit that acquires multiple image information generated by detecting electromagnetic waves (e.g., light, etc.) irradiated from an electromagnetic wave source (e.g., a light source, etc.) with a detection unit; a first identification unit that identifies the first region with the highest brightness in the first image recorded in the first image information among the multiple image information acquired by the acquisition unit; a second identification unit that identifies the second region with the highest brightness in the second image recorded in the second image information, which is different from the first image information among the multiple image information acquired by the acquisition unit; and the first region identified by the first identification unit. The system includes: a first correction unit that moves at least one of the first image and the second image so that it overlaps with a second region identified by a second identification unit; and a second correction unit that identifies multiple pixel rows from among the multiple pixels constituting the second image, where each row of pixels is aligned in a first direction along one edge of the second image, identifies the pixel with the highest brightness in each of the multiple pixel rows, approximates the positions of the multiple identified pixels with a straight line to determine the slope of the straight line, and rotates the second image by transforming the straight line in a predetermined direction based on the slope. This allows the image processing device to align the position of the image (object). 【0064】 [Aspects and Effects of This Embodiment] Next, an embodiment of this model and the effects of each embodiment will be described. Note that the embodiments described below are examples as of the time of filing, and this embodiment is not limited to the embodiments described below. In other words, this embodiment is not limited to the embodiments described below, and may be realized by appropriately combining the parts described above. Furthermore, lower-level embodiments may be referenced in any of the higher-level embodiments. Furthermore, the effects of this embodiment described below are merely examples, and the effects achieved by each embodiment are not limited to those described below. Also, each embodiment may achieve, for example, at least one of the effects described below. 【0065】 (Aspect 1) One embodiment of an image processing apparatus includes: an acquisition unit that acquires a plurality of image information generated by detecting radiation irradiated from a radiation source with a detection unit; a first identification unit that identifies a first region with the highest brightness in a first image recorded in a first image information among the plurality of image information acquired by the acquisition unit; a second identification unit that identifies a second region with the highest brightness in a second image recorded in a second image information different from the first image information among the plurality of image information acquired by the acquisition unit; a first correction unit that moves at least one of the first image and the second image so that the first region identified by the first identification unit and the second region identified by the second identification unit overlap; and a second correction unit that identifies a plurality of pixel rows from among a plurality of pixels constituting the second image, where each row of pixels is a group of pixels along a first direction along one edge of the second image, identifies the pixel with the highest brightness in each of the plurality of pixel rows, approximates the positions of the plurality of identified pixels with a straight line to find the slope of the straight line, and rotates the second image by transforming the straight line in a predetermined direction based on the slope. As a result, the image processing device can mount both the radiation source and the detection unit on a multi-joint robot, and even if the position of at least the radiation source moves, it can adjust the image so that the positions of the centers (regions with the highest brightness) of the first image information (first image) and the second image information (second image) coincide (approximately coincide), and further, so that the inclinations of the first image information (first image) and the second image information (second image) coincide (approximately coincide). In other words, the image processing device can perform calibration of the image position. 【0066】 In this context, X-rays may be used as an example of radiation. In this case, the image processing apparatus in one embodiment includes: an acquisition unit that acquires a plurality of X-ray image information generated by detecting X-rays irradiated from an X-ray source with an X-ray detection unit; a first identification unit that identifies a first region with the highest X-ray brightness in a first image recorded in the first image information among the plurality of X-ray image information acquired by the acquisition unit; a second identification unit that identifies a second region with the highest X-ray brightness in a second image recorded in a second image information different from the first image information among the plurality of X-ray image information acquired by the acquisition unit; a first region identified by the first identification unit; and the second identification unit The system includes: a first correction unit that moves at least one of the first image and the second image so that it overlaps with a specified second region; and a second correction unit that identifies multiple pixel rows from among the multiple pixels constituting the second image, where each row of pixels is aligned in a first direction along one edge of the second image, identifies the pixel with the highest X-ray brightness in each of the multiple pixel rows, approximates the positions of the multiple identified pixels with a straight line to determine the slope of the straight line, and rotates the second image by converting the slope of the straight line to a predetermined direction (slope adjustment) based on that slope. 【0067】 (Aspect 2) In one embodiment of an image processing apparatus, the second correction unit may identify the pixel with the highest brightness in each of a plurality of pixel rows along a first direction along any one edge of the second image, approximate the positions of the plurality of identified pixels with a first straight line to determine a first slope as the slope of the first straight line, and rotate the second image based on the first slope. This allows the image processing device to adjust the images so that the tilt of the first image information (first image) and the second image information (second image) match (or nearly match). 【0068】 (Aspect 3) In one embodiment of an image processing apparatus, the second correction unit may identify multiple pixel sequences from among a plurality of pixels constituting the second image, each sequence being a group of pixels that lie along a second direction intersecting a first direction along any one edge of the second image, identify the pixel with the highest brightness in each of the multiple pixel sequences, approximate the positions of the multiple identified pixels with a second straight line to determine a second slope as the slope of the second straight line, and rotate the second image based on the first slope and the second slope (or both of the first and second slopes, or at least one of them). This allows the image processing device to adjust the images so that the tilt of the first image information (first image) and the second image information (second image) match (or nearly match). 【0069】 (Aspect 4) In one embodiment of the image processing apparatus, the radiation source may be located at the tip of a first articulated robot, and the detection unit may be located at the tip of a second articulated robot, which is different from the first articulated robot. As a result, the image processing device can acquire image information by irradiating a desired position on an object, even when the object placed between the radiation source and the detection unit is relatively large. 【0070】 (Appendix 5) One embodiment of the image processing apparatus includes a position control unit that controls a first articulated robot and a second articulated robot, and the acquisition unit may acquire first image information generated by detecting radiation emitted from a radiation source with the detection unit when the positions of the radiation source and the detection unit are arranged in a first positional relationship by operating at least one of the first articulated robot and the second articulated robot by the position control unit, and second image information generated by detecting radiation emitted from a radiation source with the detection unit when the positions of the radiation source and the detection unit are arranged in a second positional relationship different from the first positional relationship by operating at least one of the first articulated robot and the second articulated robot by the position control unit. This allows the image processing device to acquire multiple pieces of image information using tomosynthesis technology. 【0071】 (Aspect 6) One embodiment of an image processing apparatus includes a position control unit capable of controlling the relative position of a radiation source and a detection unit that detects radiation emitted from the radiation source; a first identification unit that identifies a first region with the highest radiation brightness in a first image recorded in first image information generated by detecting radiation emitted from the radiation source with the detection unit when the position control unit arranges the positions of the radiation source and the detection unit in a first positional relationship; and a second identification unit that identifies a second image recorded in second image information generated by detecting radiation emitted from the radiation source with the detection unit when the position control unit arranges the positions of the radiation source and the detection unit in a second positional relationship different from the first positional relationship. The system includes: a second identification unit that identifies a second region with the highest radiation brightness; a first correction unit that moves at least one of the first image and the second image so that the first region identified by the first identification unit and the second region identified by the second identification unit overlap; and a second correction unit that identifies multiple pixel rows from among the multiple pixels constituting the second image after at least one of the first image and the second image has been moved by the first correction unit, with each row of pixels aligned in a first direction along one edge of the second image forming a single group; identifies the pixel with the highest brightness in each of the multiple pixel rows; approximates the positions of the multiple identified pixels with a straight line to determine the slope of the straight line; and rotates the second image based on the slope. As a result, the image processing device may achieve the same effects as the image processing device of the embodiment described above. 【0072】 (Aspect 7) In one embodiment of the image processing method, a computer performs the following steps: an acquisition step of acquiring multiple image information generated by detecting radiation irradiated from a radiation source with a detection unit; a first identification step of identifying the first region with the highest brightness in the first image recorded in the first image information among the multiple image information acquired in the acquisition step; a second identification step of identifying the second region with the highest brightness in the second image recorded in the second image information, which is different from the first image information among the multiple image information acquired in the acquisition step; a first correction step of moving at least one of the first image and the second image so that the first region identified in the first identification step and the second region identified in the second identification step overlap; and a second correction step of identifying multiple pixel sequences from among the multiple pixels constituting the second image, where each sequence of pixels is a group of pixels aligned in a first direction along one edge of the second image, identifying the pixel with the highest brightness in each of the multiple pixel sequences, approximating the positions of the multiple identified pixels with a straight line to determine the slope of the straight line, and rotating the second image by transforming the straight line in a predetermined direction based on the slope. As a result, the image processing method may achieve the same effects as the image processing apparatus of the embodiment described above. 【0073】 (Pattern 8) One embodiment of an image processing program provides a computer with an acquisition function that acquires multiple image information generated by detecting radiation irradiated from a radiation source with a detection unit; a first identification function that identifies the first region with the highest brightness in the first image recorded in the first image information among the multiple image information acquired by the acquisition function; a second identification function that identifies the second region with the highest brightness in the second image recorded in the second image information, which is different from the first image information among the multiple image information acquired by the acquisition function; a first correction function that moves at least one of the first image and the second image so that the first region identified by the first identification function and the second region identified by the second identification function overlap; and a second correction function that identifies multiple pixel sequences from among the multiple pixels constituting the second image, where each sequence of pixels is aligned in a first direction along one edge of the second image, identifies the pixel with the highest brightness in each of the multiple pixel sequences, approximates the positions of the multiple identified pixels with a straight line to find the slope of the straight line, and rotates the second image by transforming the straight line in a predetermined direction based on the slope. As a result, the image processing program may achieve the same effects as the image processing apparatus of the embodiment described above. [Explanation of symbols] 【0074】 1 Image processing device 2. Radiation sources (e.g., X-ray sources) 3. Detection unit (e.g., X-ray detection unit, etc.) 31 Detection surface 10. Processing Unit (Information Processing Unit) 110 Control Unit 111 Position control unit 112 Acquisition Department 113 1st Specific Part 114 Second Specific Part 115 First Correction Section 116 Second Correction Section 117 Output Control Unit 121 Communications Department 122 Storage section 123 Display section 20 Target 301 First Articulated Robot 302 Second Articulated Robot 311 First Positional Relationship 312 Second Positional Relationship 401 1st area 402 Second area 411 1st pixel 412 2nd pixel 413 Third Pixel 414 4th pixel 421 pixel array 422 The pixel with the highest brightness in each pixel row. 423 A straight line approximated by a linear function 4231 1st straight line 4232 Second straight line

Claims

[Claim 1] An acquisition unit that acquires multiple image information generated by detecting radiation irradiated from a radiation source in a detection unit, A first identification unit identifies the first region with the highest brightness in the first image recorded in the first image information among the multiple image information acquired by the acquisition unit, A second identification unit identifies the second region with the highest brightness in the second image recorded in the second image information, which is different from the first image information among the multiple image information acquired by the acquisition unit, A first correction unit moves at least one of the first image and the second image so that the first region identified by the first identification unit and the second region identified by the second identification unit overlap. A second correction unit identifies multiple pixel sequences from among the multiple pixels constituting the second image, each sequence of pixels aligned in a first direction along one edge of the second image, identifies the pixel with the highest brightness in each of these multiple pixel sequences, approximates the positions of the multiple identified pixels with a straight line to determine the slope of the straight line, and rotates the second image by transforming the straight line in a predetermined direction based on the slope. An image processing device equipped with the following features. [Claim 2] The second correction unit is, Among the multiple pixels constituting the second image, the pixel with the highest brightness is identified in each of the multiple pixel rows along a first direction along any one edge of the second image, and the positions of the multiple identified pixels are approximated by a first straight line to determine the first slope as the slope of the first straight line. Based on the first tilt, the second image is rotated. The image processing apparatus according to claim 1. [Claim 3] The second correction unit is, From among the multiple pixels constituting the second image, multiple pixel sequences are identified, each consisting of a row of pixels along a second direction that intersects the first direction and is aligned with any one edge of the second image. In each of these multiple pixel sequences, the pixel with the highest brightness is identified. The positions of the multiple identified pixels are approximated by a second straight line to determine the second slope, which is the slope of the second straight line. The second image is rotated based on the first and second inclinations. The image processing apparatus according to claim 2. [Claim 4] The aforementioned radiation source is positioned at the tip of the first articulated robot, The detection unit is located at the tip of a second articulated robot, which is different from the first articulated robot. The image processing apparatus according to claim 1. [Claim 5] The system includes a position control unit that controls the first articulated robot and the second articulated robot, The acquisition unit is, When the position control unit operates at least one of the first articulated robot and the second articulated robot so that the positions of the radiation source and the detection unit are arranged in a first positional relationship, the first image information generated by detecting the radiation emitted from the radiation source with the detection unit, When the position control unit operates at least one of the first articulated robot and the second articulated robot, and the position control unit arranges the radiation source and the detection unit to be in a second positional relationship different from the first positional relationship, the second image information generated by detecting the radiation emitted from the radiation source with the detection unit, Get The image processing apparatus according to claim 3. [Claim 6] A position control unit capable of controlling the relative position of a radiation source and a detection unit that detects radiation emitted from the radiation source, When the position control unit arranges the radiation source and the detection unit to be in a first positional relationship, the first identification unit identifies the first region in the first image recorded in the first image information generated by detecting the radiation emitted from the radiation source with the detection unit, where the radiation intensity is highest. When the position control unit arranges the positions of the radiation source and the detection unit to be in a second positional relationship different from the first positional relationship, the second identification unit identifies the second region in the second image recorded in the second image information generated by detecting the radiation emitted from the radiation source with the detection unit, in which the brightness of the radiation is highest. A first correction unit moves at least one of the first image and the second image so that the first region identified by the first identification unit and the second region identified by the second identification unit overlap. The second correction unit identifies multiple pixel sequences from among the multiple pixels constituting the second image after at least one of the first image and the second image has been moved by the first correction unit, each sequence of pixels aligning with a first direction along one edge of the second image is identified, the pixel with the highest brightness is identified in each of the multiple pixel sequences, the positions of the multiple identified pixels are approximated by a straight line to determine the slope of the straight line, and the second image is rotated based on the slope. An image processing device equipped with the following features. [Claim 7] Computers An acquisition step involves acquiring multiple image information generated by detecting radiation irradiated from a radiation source using a detection unit, and A first identification step involves identifying the first region with the highest brightness in the first image recorded in the first image information among the multiple image information acquired in the acquisition step, A second identification step involves identifying the second region with the highest brightness in the second image, which is recorded in the second image information, which is different from the first image information, among the multiple image information acquired in the acquisition step described above. A first correction step involves moving at least one of the first image and the second image so that the first region identified by the first identification step and the second region identified by the second identification step overlap. A second correction step involves identifying multiple pixel sequences from among the multiple pixels constituting the second image, each sequence of pixels aligned in a first direction along one edge of the second image, identifying the pixel with the highest brightness in each of these multiple pixel sequences, approximating the positions of the multiple identified pixels with a straight line to determine the slope of the line, and rotating the second image by transforming the line in a predetermined direction based on the slope. An image processing method that performs this task. [Claim 8] On the computer, An acquisition function that acquires multiple image information generated by detecting radiation irradiated from a radiation source with a detection unit, A first identification function identifies the first region with the highest brightness in the first image recorded in the first image information among the multiple image information acquired by the aforementioned acquisition function, A second identification function identifies the second region with the highest brightness in the second image, which is recorded in the second image information that is different from the first image information among the multiple image information acquired by the aforementioned acquisition function, A first correction function moves at least one of the first image and the second image so that the first region identified by the first identification function and the second region identified by the second identification function overlap, A second correction function that rotates the second image by identifying multiple pixel sequences from among the multiple pixels constituting the second image, each sequence of pixels aligned in a first direction along one edge of the second image, identifying the pixel with the highest brightness in each of these multiple pixel sequences, approximating the positions of the multiple identified pixels with a straight line to determine the slope of the line, and transforming the line in a predetermined direction based on the slope. An image processing program that achieves this.

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