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CN116337242A - Cursor position adjusting method, device and equipment - Google Patents

Cursor position adjusting method, device and equipment Download PDF

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Publication number
CN116337242A
CN116337242A CN202310267178.1A CN202310267178A CN116337242A CN 116337242 A CN116337242 A CN 116337242A CN 202310267178 A CN202310267178 A CN 202310267178A CN 116337242 A CN116337242 A CN 116337242A
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China
Prior art keywords
thermal imaging
imaging lens
laser
sample
optical axis
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CN202310267178.1A
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Chinese (zh)
Inventor
康乐
耿丹
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Hangzhou Micro Image Software Co ltd
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Hangzhou Micro Image Software Co ltd
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Priority to CN202310267178.1A priority Critical patent/CN116337242A/en
Publication of CN116337242A publication Critical patent/CN116337242A/en
Priority to PCT/CN2024/079580 priority patent/WO2024188074A1/en
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01JMEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
    • G01J5/00Radiation pyrometry, e.g. infrared or optical thermometry
    • G01J5/52Radiation pyrometry, e.g. infrared or optical thermometry using comparison with reference sources, e.g. disappearing-filament pyrometer
    • G01J5/54Optical arrangements
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01JMEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
    • G01J5/00Radiation pyrometry, e.g. infrared or optical thermometry
    • G01J5/48Thermography; Techniques using wholly visual means
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01JMEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
    • G01J5/00Radiation pyrometry, e.g. infrared or optical thermometry
    • G01J2005/0077Imaging

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Spectroscopy & Molecular Physics (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The application provides a method, a device and equipment for adjusting a cursor position, wherein the method comprises the following steps: transmitting laser to a target object through a laser range finder, and collecting a thermal imaging image corresponding to the target object, wherein the thermal imaging image comprises a laser cursor corresponding to the laser range finder; determining a target offset of the laser cursor in a thermal imaging image based on calibrated parameters corresponding to the thermal imaging lens and position information between the laser range finder and the thermal imaging lens; and adjusting the position of the laser cursor based on the target offset. Through the technical scheme of the application, the position of the laser cursor in the thermal imaging image can be accurately determined, the position of the laser cursor in the image can be close to the position of the laser indication target object, the deviation between the position of the laser cursor and the position of the target object is reduced, and the positioning accuracy of the laser indication is improved.

Description

Cursor position adjusting method, device and equipment
Technical Field
The present disclosure relates to the field of infrared thermal imaging technologies, and in particular, to a method, an apparatus, and a device for adjusting a cursor position.
Background
The thermal imaging device can image and position the target object by utilizing laser and thermal imaging technology, thereby realizing a laser positioning function. For example, the thermal imaging device may include a laser rangefinder and a thermal imaging lens, where the laser rangefinder emits laser to the target object during the positioning process of the target object, and the thermal imaging lens collects a thermal imaging image corresponding to the target object, and adds a laser cursor in the thermal imaging image to implement positioning of the target object. However, at the time of shipment of the thermal imaging apparatus, calibration of the laser cursor is generally performed at a fixed object distance, for example: firstly, the laser cursor is displayed in the center of the thermal imaging image and always coincides with the optical axis of the thermal imaging lens, and the position of the laser cursor is not changed later. Thus, under a fixed distance, the laser emergent angle is adjusted, so that the laser optical axis is intersected with the optical axis of the thermal imaging lens. At this time, the laser cursor in the thermal imaging image coincides with the laser indication target object in the actual scene. Because the physical distance exists between the laser range finder and the thermal imaging lens, when the object distance of the target is changed, the laser cursor is still positioned at the center of the thermal imaging image, and in the thermal imaging image, the target indicated by the laser is not positioned at the center of the thermal imaging image, namely, the position of the laser cursor in the thermal imaging image is deviated from the target indicated by the laser, so that the positioning precision of the laser indication is reduced.
Disclosure of Invention
The application provides a cursor position adjusting method which is applied to thermal imaging equipment, wherein the thermal imaging equipment comprises a laser range finder and a thermal imaging lens, and the method comprises the following steps:
transmitting laser to a target object through the laser range finder, and collecting a thermal imaging image corresponding to the target object, wherein the thermal imaging image comprises a laser cursor corresponding to the laser range finder;
determining a target offset of the laser cursor in a thermal imaging image based on calibrated parameters corresponding to the thermal imaging lens and position information between the laser range finder and the thermal imaging lens;
and adjusting the position of the laser cursor based on the target offset.
The application provides an adjusting device of cursor position is applied to thermal imaging equipment, thermal imaging equipment includes laser rangefinder and thermal imaging camera lens, the device includes:
the acquisition module is used for transmitting laser to a target object through the laser range finder and acquiring a thermal imaging image corresponding to the target object, wherein the thermal imaging image comprises a laser cursor corresponding to the laser range finder;
the determining module is used for determining the target offset of the laser cursor in the thermal imaging image based on calibrated parameters corresponding to the thermal imaging lens and position information between the laser range finder and the thermal imaging lens;
And the adjusting module is used for adjusting the position of the laser cursor based on the target offset.
The present application provides a thermal imaging apparatus comprising: a processor and a machine-readable storage medium storing machine-executable instructions executable by the processor; the processor is configured to execute the machine executable instructions to implement the cursor position adjustment method of the above examples of the present application.
According to the technical scheme, in the embodiment of the application, the target offset of the laser cursor is determined based on the calibrated parameters corresponding to the thermal imaging lens and the position information between the laser range finder and the thermal imaging lens, and the position of the laser cursor is adjusted based on the target offset, so that the position of the laser cursor is close to the position of the laser indication target object in the thermal imaging image, and the positioning accuracy of the laser is improved. And when the distance between the target object changes or the thermal imaging lens is replaced, the position of the laser cursor can be effectively calibrated, so that the position of the target object in the thermal imaging image is closer to the position of the laser cursor, and the positioning accuracy of the laser range finder is improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following description will briefly describe the drawings that are required to be used in the embodiments of the present application or the description in the prior art, and it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings may also be obtained according to these drawings of the embodiments of the present application for a person having ordinary skill in the art.
FIG. 1 is a flow chart of a method for adjusting a cursor position in one embodiment of the present application;
FIG. 2 is a flow diagram of a laser calibration process in one embodiment of the present application;
FIG. 3 is a schematic illustration of determining calibrated parameters in one embodiment of the present application;
FIG. 4 is a flow chart of an automatic laser cursor adjustment process in one embodiment of the present application;
FIG. 5 is a schematic diagram of determining a target offset for a laser cursor in one embodiment of the present application;
FIG. 6 is a schematic structural view of a cursor position adjusting device according to an embodiment of the present application;
fig. 7 is a hardware configuration diagram of a thermal imaging apparatus in one embodiment of the present application.
Detailed Description
The terminology used in the embodiments of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to any or all possible combinations including one or more of the associated listed items.
It should be understood that although the terms first, second, third, etc. may be used in embodiments of the present application to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, a first message may also be referred to as a second message, and similarly, a second message may also be referred to as a first message, without departing from the scope of the present application. Depending on the context, furthermore, the word "if" used may be interpreted as "at … …" or "at … …" or "in response to a determination".
The embodiment of the application provides a method for adjusting a cursor position, which can be applied to a thermal imaging device, where the thermal imaging device may include a laser rangefinder and a thermal imaging lens, as shown in fig. 1, and is a schematic flow chart of the method for adjusting a cursor position, and the method for adjusting a cursor position may include:
step 101, emitting laser to a target object through a laser range finder, and collecting a thermal imaging image corresponding to the target object, wherein the thermal imaging image can comprise a laser cursor corresponding to the laser range finder. For example, the center position of the thermal imaging image may be a laser cursor corresponding to the laser rangefinder.
Step 102, determining a target offset of the laser cursor in the thermal imaging image based on calibrated parameters corresponding to the thermal imaging lens and position information between the laser range finder and the thermal imaging lens.
Step 103 is performed to adjust the position of the laser cursor based on the target offset. For example, the target cursor position of the laser cursor is determined based on the target offset and the initial cursor position of the laser cursor (such as the center position of the thermal imaging image), and the laser cursor in the thermal imaging image is adjusted to the target cursor position, that is, the laser cursor in the thermal imaging image is adjusted to the target object position actually indicated by the laser.
In one possible implementation, the determining process of the calibrated parameters corresponding to the thermal imaging lens may include, but is not limited to: transmitting laser to the sample object through a laser range finder, and collecting a thermal imaging image corresponding to the sample object, wherein the thermal imaging image can comprise a laser cursor corresponding to the laser range finder; for example, the center position of the thermal imaging image may be a laser cursor corresponding to the laser rangefinder. Then, the position of the laser cursor is adjusted so that the adjusted position of the laser cursor coincides with the position of the sample object in the thermal imaging image (namely, the adjusted position of the laser cursor and the position of the sample object are positioned at the same position), the sample offset of the laser cursor is determined based on the adjusted position of the laser cursor, and calibrated parameters corresponding to the thermal imaging lens are determined based on the sample offset.
Illustratively, the calibrated parameters may include a sample offset, a sample distance between a projection point of the sample object on the second optical axis, and the thermal imaging lens. Alternatively, the calibrated parameter may comprise an offset angle between a first optical axis of the laser rangefinder and a second optical axis of the thermal imaging lens.
For example, if the calibrated parameters include an offset angle, determining the calibrated parameters corresponding to the thermal imaging lens based on the sample offset may include, but is not limited to: and determining an offset angle between the first optical axis and the second optical axis based on the sample offset, the sample distance between the sample object and the projection point on the second optical axis and the thermal imaging lens, and the focal length of the thermal imaging lens, and the position information between the laser range finder and the thermal imaging lens.
Based on the sample offset, a sample distance between a projection point of the sample object on the second optical axis and the thermal imaging lens, and a focal length of the thermal imaging lens, position information between the laser range finder and the thermal imaging lens, determining an offset angle between the first optical axis and the second optical axis may include: determining a projection distance between a sample object and a projection point of the sample object on a second optical axis based on the sample offset, the sample distance and the focal length of the thermal imaging lens; and determining an offset angle between the first optical axis and the second optical axis based on the projection distance, the position information between the laser range finder and the thermal imaging lens and the sample distance.
In one possible implementation, determining the target offset of the laser cursor in the thermal imaging image based on the calibrated parameters corresponding to the thermal imaging lens and the positional information between the laser rangefinder and the thermal imaging lens may include, but is not limited to: and determining the target offset of the laser cursor in the thermal imaging image based on the calibrated parameters corresponding to the thermal imaging lens, the target distance between the target object and the laser range finder, the focal length of the thermal imaging lens and the position information between the laser range finder and the thermal imaging lens.
For example, if the calibrated parameter includes an offset angle between a first optical axis of the laser rangefinder and a second optical axis of the thermal imaging lens, the target offset of the laser cursor may be determined as follows: determining a projection distance between the target object and a projection point of the target object on the second optical axis based on the position information between the laser range finder and the thermal imaging lens, the target distance and the offset angle; determining a distance between a projection point of the target object on the second optical axis and the thermal imaging lens based on the target distance and the offset angle; the target offset of the laser cursor may be determined based on the projection distance, a distance between a projection point of the target object on the second optical axis and the thermal imaging lens, and a focal length of the thermal imaging lens.
In one possible embodiment, if the thermal imaging device can support at least one thermal imaging lens (e.g., a plurality of thermal imaging lenses), each thermal imaging lens is mounted to the thermal imaging device in turn before the thermal imaging device leaves the factory; when each thermal imaging lens is installed on the thermal imaging device, calibrated parameters corresponding to the thermal imaging lens can be determined, and the mapping relation between the thermal imaging lens and the calibrated parameters corresponding to the thermal imaging lens is recorded. After the thermal imaging device leaves the factory, when the thermal imaging lens is installed to the thermal imaging device, the calibrated parameters corresponding to the thermal imaging lens can be queried based on the mapping relation.
According to the technical scheme, in the embodiment of the application, the target offset of the laser cursor is determined based on the calibrated parameters corresponding to the thermal imaging lens and the position information between the laser range finder and the thermal imaging lens, and the position of the laser cursor is adjusted based on the target offset, so that the position of the laser cursor is close to the position of the laser indication target object in the thermal imaging image, and the positioning accuracy of the laser is improved. And when the distance between the target object changes or the thermal imaging lens is replaced, the position of the laser cursor can be effectively calibrated, so that the position of the target object in the thermal imaging image is closer to the position of the laser cursor, and the positioning accuracy of the laser range finder is improved.
The above technical solutions of the embodiments of the present application are described below with reference to specific application scenarios.
The thermal imaging device may include a laser rangefinder and a thermal imaging lens. The laser range finder is an instrument for accurately positioning a target object by utilizing laser, and can emit the laser to the target object and measure the distance between the target object and the laser range finder. The thermal imaging lens is an instrument for imaging a target object, and can acquire a thermal imaging image corresponding to the target object by adopting a thermal imaging technology, wherein the thermal imaging technology is to detect infrared energy (heat) in a non-contact way and convert the infrared energy (heat) into an electric signal so as to generate a thermal imaging image, the thermal imaging image is related to an object surface temperature value, and the object surface temperature value can be determined based on the thermal imaging image.
In the process of shooting a target object by the thermal imaging equipment, laser is emitted to the target object through the laser range finder, a thermal imaging image corresponding to the target object is acquired through the thermal imaging lens, and a laser cursor is displayed at the position of the target object, so that the target object is positioned, that is, the position of the laser cursor is the position of the target object. For example, the laser cursor may be located at the center of the thermal imaging image, and the target object is located at the center of the thermal imaging image, so that the location of the laser cursor is the location of the target object.
However, when the thermal imaging device leaves the factory, there is a physical distance between the laser range finder and the thermal imaging lens, so that although the laser cursor is located at the central position of the thermal imaging image, the position of the target object is not the central position of the thermal imaging image, but is deviated from the central position of the thermal imaging image, so that the position of the laser cursor is located at a different position from the position of the target object indicated by the laser, that is, the position of the laser cursor is deviated from the position of the target object, and the positioning of the target object is inaccurate.
Aiming at the finding, the embodiment of the application provides a cursor position adjusting method, when the test object distance of the target object changes, the position of the laser cursor can be adjusted, so that the position of the laser cursor is close to the position of the target object (namely, the position of the target object is adjusted from the central position of the thermal imaging image), thereby reducing the deviation between the position of the laser cursor and the position of the target object, accurately determining the position of the laser cursor, and improving the positioning accuracy of laser indication.
The embodiment of the application can relate to a laser calibration process and an automatic laser cursor adjustment process. For example, the laser calibration process is completed before the thermal imaging device leaves the factory, and in the laser calibration process, calibrated parameters need to be set for the thermal imaging lens, that is, calibrated parameters corresponding to the thermal imaging lens are stored in the thermal imaging device. In addition, the automatic adjustment process of the laser cursor is completed after the thermal imaging equipment leaves the factory, namely, the automatic adjustment process of the laser cursor is completed in the actual use process of the thermal imaging equipment, and in the automatic adjustment process of the laser cursor, the automatic adjustment of the cursor position can be realized based on calibrated parameters corresponding to the thermal imaging lens.
In one possible embodiment, the thermal imaging device may support at least one thermal imaging lens, which may be different types of thermal imaging lenses, or the same type of thermal imaging lens, such as thermal imaging device supporting thermal imaging lens 1, thermal imaging lens 2, and thermal imaging lens 3. When the thermal imaging lens 1 is mounted to the thermal imaging apparatus, if the thermal imaging lens is replaced based on the user's demand, the thermal imaging lens 1 is removed from the thermal imaging apparatus and the thermal imaging lens 2 is reinstalled to the thermal imaging apparatus, if the thermal imaging lens is replaced based on the user's demand, the thermal imaging lens 2 is removed from the thermal imaging apparatus and the thermal imaging lens 3 is reinstalled to the thermal imaging apparatus, and so on. It should be noted that when different thermal imaging lenses are mounted to the thermal imaging apparatus, the thermal imaging lenses are mounted to the same position of the thermal imaging apparatus, and therefore, when different thermal imaging lenses are used, the positional information of the laser rangefinder and the thermal imaging lens remains unchanged.
When the thermal imaging device supports a plurality of thermal imaging lenses, calibrated parameters need to be set for each thermal imaging lens in the laser calibration process, and the thermal imaging device stores the calibrated parameters corresponding to each thermal imaging lens. For example, before the thermal imaging apparatus leaves the factory, the thermal imaging lens 1 is first installed to the thermal imaging apparatus, calibrated parameters 1 corresponding to the thermal imaging lens 1 are determined, and a mapping relationship between the thermal imaging lens 1 and the calibrated parameters 1 is recorded. Then, the thermal imaging lens 1 is removed from the thermal imaging apparatus, the thermal imaging lens 2 is mounted to the thermal imaging apparatus, the calibrated parameters 2 corresponding to the thermal imaging lens 2 are determined, and the mapping relationship between the thermal imaging lens 2 and the calibrated parameters 2 is recorded. Then, the thermal imaging lens 2 is removed from the thermal imaging apparatus, the thermal imaging lens 3 is mounted to the thermal imaging apparatus, calibrated parameters 3 corresponding to the thermal imaging lens 3 are determined, and the mapping relationship between the thermal imaging lens 3 and the calibrated parameters 3 is recorded. Thus, the laser calibration process is completed.
After the thermal imaging device leaves the factory, in the process of automatically adjusting the laser cursor, when a certain thermal imaging lens is installed on the thermal imaging device, calibrated parameters corresponding to the thermal imaging lens can be queried based on the mapping relation, and the automatic adjustment of the cursor position is realized based on the calibrated parameters corresponding to the thermal imaging lens. For example, when the thermal imaging lens 1 is mounted to the thermal imaging device, the calibrated parameter 1 corresponding to the thermal imaging lens 1 can be queried based on the mapping relationship, and automatic adjustment of the cursor position can be realized based on the calibrated parameter 1, and so on.
And a first laser calibration process. In the laser calibration process, calibrated parameters need to be set for each thermal imaging lens, and since the processing mode of each thermal imaging lens is the same, a thermal imaging lens is taken as an example in the follow-up.
The thermal imaging lens is arranged on the thermal imaging device, and the optical axis of the thermal imaging lens is fixed and does not change. The laser range finder is arranged on the thermal imaging equipment and is not fixed, and the emergent angle of the optical axis of the laser range finder can be adjusted. And starting the laser range finder, and adjusting the emergent angle of the optical axis of the laser range finder through target positioning so that the optical axis of the laser range finder is parallel or nearly parallel to the optical axis of the thermal imaging lens. After the optical axis of the laser range finder is adjusted, the laser range finder is fixed, namely the optical axis of the laser range finder is not changed any more. When the laser range finder is fixed, the optical axis of the laser range finder is offset due to assembly errors, so that the optical axis of the laser range finder is not parallel to the optical axis of the thermal imaging lens; or, due to an optical axis adjustment error of the laser range finder, the optical axis of the laser range finder is not parallel to the optical axis of the thermal imaging lens.
After the laser rangefinder is fixed and the thermal imaging lens is mounted on the thermal imaging device, a flow chart of a laser calibration process is shown in fig. 2, where the laser calibration process may include:
step 201, emitting laser to a sample object through a laser range finder, and collecting a thermal imaging image corresponding to the sample object, wherein the thermal imaging image can comprise a laser cursor corresponding to the laser range finder; for example, the center position of the thermal imaging image may be a laser cursor corresponding to the laser rangefinder.
For example, the sample object may be placed in a target scene (i.e., any scene used to laser calibrate the thermal imaging device) prior to shipment of the thermal imaging device. And the thermal imaging device transmits laser to the sample object through the laser range finder in the shooting process of the sample object, and acquires a thermal imaging image corresponding to the sample object through the thermal imaging lens. Assume that the laser cursor initial position is located at the center of the thermal imaging image, and the laser cursor coincides with the optical axis of the lens. Because the laser range finder and the thermal imaging lens have physical distance, the position of the laser cursor and the sample object indicated by the laser are positioned at different positions in the thermal imaging image, namely the position of the sample object cannot be accurately reflected by the position of the laser cursor.
Step 202, adjusting the position of the laser cursor to enable the adjusted position of the laser cursor to coincide with the actual position of the sample object, and determining the sample offset of the laser cursor based on the adjusted position of the laser cursor.
For example, the actual position of the sample object may be located from the thermal imaging image, i.e. the thermal imaging image may reflect the actual position of the sample object. On the basis of this, the position of the laser cursor can be adjusted so that the adjusted position of the laser cursor coincides with the actual position of the sample object. For example, the user may find the actual position of the sample object from the thermal imaging image and move the laser cursor to the actual position of the sample object such that the adjusted position of the laser cursor coincides with the actual position of the sample object. Alternatively, the thermal imaging device may analyze the actual position of the sample object from the thermal imaging image and move the laser cursor to the actual position of the sample object such that the adjusted position of the laser cursor coincides with the actual position of the sample object.
After the adjusted position of the laser cursor is coincident with the actual position of the sample object, a sample offset of the laser cursor, which represents the amount of movement from the initial cursor position (e.g., the center position of the thermographic image) to the target cursor position (i.e., the actual position of the sample object), may be determined. The sample offset may include a sample offset X1 in a horizontal direction and a sample offset Y1 in a vertical direction.
For example, a coordinate system is established with the center position of the thermal imaging image as the origin of coordinates, the horizontal right as the X-axis and the vertical upward as the Y-axis, the initial cursor position of the laser cursor is (0, 0), and assuming that the target cursor position is (a, b), the sample offset X1 is the difference between a and 0, that is, the offset of the laser cursor in the horizontal direction is X1, the sample offset X1 is a vector having a direction, the offset direction is determined by positive and negative, the magnitude of the absolute value of the numerical value determines the offset distance, if X1 is 10, it indicates that the laser cursor is offset from the initial cursor position (0, 0) to the right by 10, and if X1 is-10, it indicates that the laser cursor is offset from the initial cursor position (0, 0) to the left by 10. The sample offset Y1 is the difference between b and 0, that is, the offset of the laser cursor in the vertical direction is Y1, the sample offset Y1 is a vector with a direction, the offset direction is determined by positive and negative, the magnitude of the absolute value of the value determines the offset distance, if Y1 is 20, the laser cursor is offset 20 upwards from the initial cursor position (0, 0), and if Y1 is-20, the laser cursor is offset 20 downwards from the initial cursor position (0, 0).
And 203, determining calibrated parameters corresponding to the thermal imaging lens based on the sample offset of the laser cursor.
For example, the calibrated parameters corresponding to the thermal imaging lens may include a sample offset, a sample distance between a projection point of the sample object on the second optical axis and the thermal imaging lens, or the calibrated parameters corresponding to the thermal imaging lens may include an offset angle between the first optical axis of the laser range finder and the second optical axis of the thermal imaging lens, which is, of course, only an example of the calibrated parameters, and the calibrated parameters are not limited thereto.
Case 1: the calibrated parameters may include a sample offset and a sample distance.
For example, in the process of positioning the sample object by the thermal imaging device, laser can be emitted to the sample object through the laser distance meter, and the distance between the sample object and the laser distance meter is known through the laser distance measuring technology, and the distance between the sample object and the laser distance meter is approximately the same as the sample distance, so the distance between the sample object and the laser distance meter can be recorded as the sample distance. Alternatively, after the sample object is placed at the specified position, the sample distance between the projection point of the sample object on the second optical axis and the thermal imaging lens may be given by the user. Of course, the above is merely an example of determining the sample distance, and is not limited thereto.
Illustratively, in step 202, a sample offset has been obtained.
In summary, the sample offset and the sample distance can be obtained, and calibrated parameters corresponding to the thermal imaging lens are obtained, and stored on the thermal imaging device.
Case 2: the calibrated parameter may comprise an offset angle between the first optical axis and the second optical axis. Based on the above, the offset angle between the first optical axis and the second optical axis can be determined based on the sample offset, the sample distance between the projection point of the sample object on the second optical axis and the thermal imaging lens, and the focal length of the thermal imaging lens, and the position information between the laser range finder and the thermal imaging lens. For example, based on the sample offset, the sample distance, and the focal length of the thermal imaging lens, a projection distance between the sample object and a projection point of the sample object on the second optical axis may be determined; based on the projection distance, the position information between the laser rangefinder and the thermal imaging lens, and the sample distance, an offset angle between the first optical axis and the second optical axis may be determined.
Referring to FIG. 3, a is a schematic diagram of determining calibrated parameters (e.g., offset angle), α y Represents the offset angle between the first optical axis and the second optical axis, namely the relative offset angle of the first optical axis and the second optical axis in the vertical direction, and hy represents the thermal imaging lens and the laser The position information between the optical rangefinders (such as the vertical distance between the thermal imaging lens and the laser rangefinder, i.e. the physical distance between the thermal imaging lens and the laser rangefinder in the vertical direction), h1 represents the projection distance between the sample object and the projection point of the sample object on the second optical axis, M1 represents the sample object, z1 represents the sample distance, the sample distance is the distance between the projection point of the sample object M1 on the second optical axis and the thermal imaging lens, y1 represents the sample offset, and f represents the focal length of the thermal imaging lens.
For example, assuming that the focal length of the thermal imaging lens is f, when the laser is emitted to the sample object M1 by the laser range finder at the sample distance z1, the sample object M1 will have a laser spot, the position of the laser spot is the position of the laser cursor, and by adjusting the laser cursor in the thermal imaging image, the adjusted position of the laser cursor coincides with the actual position of the sample object M1, and the position of the laser cursor is the sample offset y1. Based on the sample offset y1 (e.g., the sample offset in the vertical direction), the projection distance h1 between the sample object M1 and the projection point of the sample object M1 on the second optical axis can be obtained, i.e., a vertical line is drawn to the second optical axis through the point M1, the intersection point of the vertical line and the second optical axis is the foot drop, and h1 is the distance between the point M1 and the foot drop (i.e., the projection point).
Based on the above parameters, according to the imaging formula, a functional relationship shown in formula (1) can be obtained:
Figure BDA0004133634600000101
in formula (1), h1 represents a projection distance between the sample object M1 and a projection point of the sample object M1 on the second optical axis, z1 represents a distance between the sample object M1 and the laser rangefinder, the distance between the sample object M1 and the laser rangefinder is approximately the sample distance (i.e., a distance between the projection point of the sample object M1 on the second optical axis and the thermal imaging lens), the sample distance z1 can be obtained based on the laser ranging technique, y1 represents a sample offset in a vertical direction, the determination manner is referred to in step 202, f represents a focal length of the thermal imaging lens, and a focal length f of the thermal imaging lens can be read from the thermal imaging lens, i.e., the focal length f of the thermal imaging lens is a known value.
In summary, the sample distance z1, the sample offset y1 in the vertical direction, and the focal length f of the thermal imaging lens are all known values, so that the projection distance h1 can be calculated. Obviously, as can be seen from the formula (1), the projection distance h1 between the sample object M1 and the projection point of the sample object M1 on the second optical axis can be determined based on the sample offset y1, the sample distance z1, and the focal length f of the thermal imaging lens.
Illustratively, as can be seen in FIG. 3, the offset angle α y Can be calculated by using the formula (2):
Figure BDA0004133634600000111
in formula (2), α y The offset angle between the first optical axis and the second optical axis is denoted, hy is the vertical distance between the thermal imaging lens and the laser range finder, h1 is the projection distance between the sample object and the projection point of the sample object on the second optical axis, and z1 is the sample distance. In summary, when the sample distance z1, the vertical distance hy and the projection distance h1 are all known values, the offset angle α can be calculated y
Obviously, as can be seen from the formula (2), the offset angle can be determined based on the projection interval h1, the vertical distance hy between the thermal imaging lens and the laser range finder, and the sample distance z 1.
In summary, the offset angle can be obtained, and then the calibrated parameters (i.e. offset angle) corresponding to the thermal imaging lens are obtained, and the calibrated parameters corresponding to the thermal imaging lens are stored on the thermal imaging device.
To sum up, it can be seen that, for the case 1, the calibrated parameters corresponding to the thermal imaging lens 1 may be the sample offset a1 and the sample distance b1, the calibrated parameters corresponding to the thermal imaging lens 2 may be the sample offset a2 and the sample distance b2, the calibrated parameters corresponding to the thermal imaging lens 3 may be the sample offset a3 and the sample distance b3, and so on. The sample offset a2 and the sample offset a1 may be different, the sample distance b2 and the sample distance b1 may be the same or different, the sample offset a3 and the sample offset a1 may be different, the sample distance b3 and the sample distance b1 may be the same or different, the sample offset a3 and the sample offset a2 may be different, and the sample distance b3 and the sample distance b2 may be the same or different.
For case 2, the calibrated parameter corresponding to the thermal imaging lens 1 may be an offset angle α1, the calibrated parameter corresponding to the thermal imaging lens 2 may be an offset angle α2, the calibrated parameter corresponding to the thermal imaging lens 3 may be an offset angle α3, and so on, the offset angle α2 and the offset angle α1 may be different, the offset angle α3 and the offset angle α1 may be different, and the offset angle α3 and the offset angle α2 may be different.
And secondly, automatically adjusting a laser cursor.
In the automatic adjustment process of the laser cursor, the calibrated parameters corresponding to the thermal imaging lens can be queried, and then the automatic adjustment of the cursor position is realized based on the calibrated parameters corresponding to the thermal imaging lens. Referring to fig. 4, a flow chart of an automatic laser cursor adjustment process is shown, where the automatic laser cursor adjustment process may include:
step 401, emitting laser to a target object through a laser range finder, and collecting a thermal imaging image corresponding to the target object, wherein the thermal imaging image can comprise a laser cursor corresponding to the laser range finder. For example, the center position of the thermal imaging image may be a laser cursor corresponding to the laser rangefinder.
After the thermal imaging device leaves the factory, when the laser positioning needs to be performed on the target object in the actual detection scene, the laser can be emitted to the target object through the laser range finder, the thermal imaging image corresponding to the target object is collected through the thermal imaging lens, the position of the target object can be positioned in the thermal imaging image, the laser cursor corresponding to the laser range finder is displayed in the thermal imaging image, and the laser cursor is positioned in the center of the thermal imaging image. Although the position of the laser cursor can reflect the position of the target object, because the physical distance exists between the laser distance meter and the thermal imaging lens, in the thermal imaging image, the position of the laser cursor and the target object indicated by the laser are positioned at different positions, that is, the position of the target object cannot be accurately reflected through the position of the laser cursor, and calibration needs to be completed through an automatic adjustment process of the laser cursor.
Step 402, determining a target offset of the laser cursor based on calibrated parameters corresponding to the thermal imaging lens, a target distance between the target object and the laser range finder, a focal length of the thermal imaging lens, and position information between the laser range finder and the thermal imaging lens.
For example, the calibrated parameters corresponding to the thermal imaging lens may include a sample offset, a sample distance between a projection point of the sample object on the second optical axis and the thermal imaging lens, or the calibrated parameters corresponding to the thermal imaging lens may include an offset angle between the first optical axis of the laser rangefinder and the second optical axis of the thermal imaging lens. On this basis, the determination of the target offset may include:
case 1: the calibrated parameters may include an offset angle between the first optical axis and the second optical axis, based on which a projection distance between the target object and a projection point of the target object on the second optical axis may be determined based on the position information between the laser rangefinder and the thermal imaging lens, the target distance, and the offset angle; determining a distance between a projection point of the target object on the second optical axis and the thermal imaging lens based on the target distance and the offset angle; the target offset of the laser cursor may be determined based on the projection distance, a distance between a projection point of the target object on the second optical axis and the thermal imaging lens, and a focal length of the thermal imaging lens.
Referring to FIG. 5, α is a schematic diagram of determining the target offset of the laser cursor y Representing the offset angle between the first optical axis and the second optical axis, i.e. the relative offset angle between the first optical axis and the second optical axis in the vertical direction, hy representing the position information between the thermal imaging lens and the laser range finder, such as the physical distance between the thermal imaging lens and the laser range finder in the vertical direction, h1' representing the projection distance between the target object and the projection point of the target object on the second optical axis, and D representing the target distance between the target object and the laser range finder, i.e. the laser range finderThe instrument tests the object distance fed back by the target object, M2 represents the target object, z1' represents the distance between the projection point of the target object on the second optical axis and the thermal imaging lens, y1 represents the sample offset, z1 represents the sample distance between the projection point of the sample object on the second optical axis and the thermal imaging lens, and f is the focal length of the thermal imaging lens.
Based on the above parameters, the functional relationships shown in the formula (3), the formula (4), and the formula (5) can be obtained from the imaging formula, and of course, the formula (3), the formula (4), and the formula (5) are merely examples.
h1'=hy+D*tanα y Formula (3)
z1’=D*cosα y Formula (4)
Figure BDA0004133634600000131
In the formula (3), h1' represents the projection distance, hy represents the position information between the thermal imaging lens and the laser range finder, D represents the target distance, α y Indicating the offset angle. The hy can be a vertical distance or a horizontal distance between the thermal imaging lens and the laser range finder, and is pre-configured in the thermal imaging device; d represents the target distance between the target object and the laser range finder, and the target distance D can be obtained based on the laser range finding technology; alpha y May be a calibrated parameter, of known value. Obviously, as can be seen from the formula (3), it can be based on the position information hy, the target distance D, and the offset angle α y The projection distance h1' is determined.
In the formula (4), z1' represents the distance between the projection point of the target object on the second optical axis and the thermal imaging lens, D represents the target distance, α y Representing the offset angle, it is apparent that the offset angle alpha can be based on the target distance D y A distance between a projection point of the target object on the second optical axis and the thermal imaging lens is determined.
In formula (5), h1' represents a projection distance, z1' represents a distance between a projection point of the target object on the second optical axis and the thermal imaging lens, f represents a focal length of the thermal imaging lens, and the focal length f can be read from the thermal imaging lens, i.e., the focal length f is a known value, and y1' represents a target offset. Obviously, as can be seen from the formula (5), the target offset y1' of the laser cursor can be determined based on the projection distance h1', the distance z1' between the projection point of the target object on the second optical axis and the thermal imaging lens, and the focal length f of the thermal imaging lens.
In one possible embodiment, the target offset Y1' includes a target offset X2 in a horizontal direction and a target offset Y2 in a vertical direction, and the position information hy includes a horizontal distance and a vertical distance between the thermal imaging lens and the laser range finder. Based on the above, the horizontal distance between the thermal imaging lens and the laser range finder (i.e., hy is the horizontal distance) can be substituted into the above formula to obtain the target offset X2 (i.e., y1' is X2) in the horizontal direction. The vertical distance between the thermal imaging lens and the laser range finder (i.e., hy is the vertical distance) can be substituted into the above formula to obtain the target offset Y2 in the vertical direction (i.e., Y1' is Y2).
In summary, in case 1, the target offset of the laser cursor, for example, the target offset X2 in the horizontal direction and the target offset Y2 in the vertical direction, can be obtained based on the calibrated parameters.
Case 2: the calibrated parameters may include a sample offset and a sample distance, based on which a target offset of the laser cursor may be determined based on the sample offset corresponding to the thermal imaging lens, the sample distance corresponding to the thermal imaging lens, a target distance between the target object and the laser rangefinder, a focal length of the thermal imaging lens, and position information between the thermal imaging lens and the laser rangefinder. Referring to fig. 5, to determine the target offset of the laser cursor, a functional relationship shown in equation (6) and equation (7) is obtained according to an imaging equation.
Figure BDA0004133634600000141
Figure BDA0004133634600000142
Referring to the above-described formula (3), formula (4) and formula (5), by deforming the formula (3), formula (4) and formula (5), the functional relationship shown in formula (6) can be obtained. Then, the functional relation shown in the formula (7) can be obtained by deforming the formula (6).
In formula (7), y1' represents the target offset, α y The offset angle is denoted by y1, the sample offset is denoted by hy, the position information (such as vertical distance and horizontal distance) between the thermal imaging lens and the laser range finder, f the focal length of the thermal imaging lens, D the target distance, and Z1 the sample distance. Wherein the offset angle alpha y The sample distance Z1 and the sample offset y1 are calibrated parameters, and are known values, and the position information hy, the focal length f and the target distance D are all known values. In summary, the target offset y1' may be determined based on the sample offset y1, the sample distance Z1, the target distance D, the focal length f, and the position information hy.
In one possible embodiment, the target offset Y1' may include a target offset X2 in a horizontal direction and a target offset Y2 in a vertical direction, the sample offset Y1 may include a sample offset X1 in a horizontal direction and a sample offset Y1 in a vertical direction, and the position information hy may include a horizontal distance and a vertical distance between the thermal imaging lens and the laser range finder. Based on the above, the horizontal distance between the thermal imaging lens and the laser range finder (i.e., hy is the horizontal distance) and the sample offset X1 in the horizontal direction (i.e., y1 is X1) can be substituted into the above formula, so that the target offset X2 in the horizontal direction (i.e., y1' is X2) can be obtained. The vertical distance between the thermal imaging lens and the laser range finder (i.e., hy is the vertical distance) and the sample offset Y1 in the vertical direction (i.e., Y1 is Y1) can be substituted into the above formula, so that the target offset Y2 in the vertical direction (i.e., Y1' is Y2) can be obtained.
In summary, in case 2, the target offset of the laser cursor, for example, the target offset X2 in the horizontal direction and the target offset Y2 in the vertical direction, can be obtained based on the calibrated parameters.
Step 403, adjusting the position of the laser cursor based on the target offset. For example, a target cursor position of the laser cursor is determined based on the target offset and an initial cursor position of the laser cursor (e.g., a center position of the thermographic image), and the laser cursor in the thermographic image is adjusted to the target cursor position.
For example, a coordinate system is established with the center position of the thermal imaging image as the origin of coordinates, the horizontal right as the X-axis and the vertical upward as the Y-axis, the initial cursor position of the laser cursor is (0, 0), and assuming that the target offset is (X2, Y2), the abscissa of the target cursor position is the sum of the target offset X2 and 0 in the horizontal direction, that is, the laser cursor is offset X2 in the horizontal direction, and then the abscissa of the target cursor position is obtained, the target offset X2 is a vector having a direction, the offset direction is determined positively and negatively, the magnitude of the absolute value determines the offset distance, if X2 is 10, the laser cursor is represented by the right offset 10 from the initial cursor position (0, 0), and if X2 is-10, the laser cursor is represented by the left offset 10 from the initial cursor position (0, 0), as the abscissa of the target cursor position. The ordinate of the target cursor position is the sum of the target offset Y2 and 0 in the vertical direction, that is, after the laser cursor is offset Y2 in the vertical direction, the ordinate of the target cursor position is obtained, the target offset Y2 is a vector with a direction, the offset direction is determined by positive and negative, the magnitude of the absolute value determines the offset distance, if Y2 is 20, the laser cursor is offset 20 upwards from the initial cursor position (0, 0) as the ordinate of the target cursor position, and if Y2 is-20, the laser cursor is offset 20 downwards from the initial cursor position (0, 0) as the ordinate of the target cursor position.
In summary, the target cursor position of the laser cursor can be obtained, that is, the target cursor position is (X2, Y2), and then the laser cursor in the thermal imaging image can be adjusted to the target cursor position.
According to the technical scheme, in the embodiment of the application, the target offset of the laser cursor can be determined based on the calibrated parameters corresponding to the thermal imaging lens and the position information between the laser range finder and the thermal imaging lens, and the position of the laser cursor is adjusted based on the target offset, so that the position of the laser cursor is close to the position of the target object, the deviation between the position of the laser cursor and the position of the target object is reduced, the position of the laser cursor can be accurately displayed, the positioning accuracy of the target object is improved, and the positioning accuracy of the thermal imaging device is improved. When the tested object distance of the laser range finder changes, the position of the laser cursor can be effectively calibrated, so that the position of the laser cursor is closer to the position of the target object. For the thermal imaging equipment supporting multiple groups of thermal imaging lenses, because the focal lengths of the thermal imaging lenses are different, the target object indicated by the laser has larger deviation in the images of the different thermal imaging lenses, so in the embodiment of the application, the calibrated parameters corresponding to each thermal imaging lens are respectively determined, thereby effectively optimizing the influence of the focal lengths and improving the indication accuracy of the laser cursor. When the distance of the target indicated by the laser cursor is further, the laser cursor is closer to the center position of the thermal imaging image, so that the use requirement of a user is met. Through the mode of pre-calibration, only one calibration is needed, the individual difference between the thermal imaging lenses can be reduced, and the accuracy of laser cursor indication is better.
Based on the same application concept as the above method, in an embodiment of the present application, an adjustment device for a cursor position is provided, where the adjustment device is applied to a thermal imaging device, and the thermal imaging device includes a laser rangefinder and a thermal imaging lens, as shown in fig. 6, and is a schematic structural diagram of the device, where the device may include:
an acquisition module 61, configured to transmit laser to a target object through the laser range finder, and acquire a thermal imaging image corresponding to the target object, where the thermal imaging image includes a laser cursor corresponding to the laser range finder; a determining module 62, configured to determine a target offset of the laser cursor in the thermal imaging image based on calibrated parameters corresponding to the thermal imaging lens and position information between the laser rangefinder and the thermal imaging lens; and an adjusting module 63, configured to adjust the position of the laser cursor based on the target offset.
In one possible implementation, the determining module 62 is specifically configured to, when determining the calibrated parameters corresponding to the thermal imaging lens: transmitting laser to a sample object through the laser range finder, and collecting a thermal imaging image corresponding to the sample object, wherein the thermal imaging image comprises a laser cursor corresponding to the laser range finder; the position of the laser cursor is adjusted so that the adjusted position coincides with the position of the sample object in the thermal imaging image, and the sample offset of the laser cursor is determined based on the adjusted position of the laser cursor; and determining calibrated parameters corresponding to the thermal imaging lens based on the sample offset.
Illustratively, the calibrated parameters include the sample offset, a sample distance between a projection point of the sample object on a second optical axis, and the thermal imaging lens; alternatively, the calibrated parameter includes an offset angle between a first optical axis of the laser rangefinder and a second optical axis of the thermal imaging lens; if the calibrated parameter includes an offset angle between the first optical axis of the laser rangefinder and the second optical axis of the thermal imaging lens, the determining module 62 is specifically configured to, when determining the calibrated parameter corresponding to the thermal imaging lens based on the sample offset: the offset angle between the first optical axis and the second optical axis is determined based on the sample offset, a sample distance between a projection point of the sample object on the second optical axis and the thermal imaging lens, and a focal length of the thermal imaging lens, and position information between the laser range finder and the thermal imaging lens.
Illustratively, the determining module 62 is specifically configured to determine the offset angle between the first optical axis and the second optical axis based on the sample offset, a sample distance between a projection point of the sample object on the second optical axis and the thermal imaging lens, and focal length of the thermal imaging lens, and position information between the laser rangefinder and the thermal imaging lens: determining a projection distance between the sample object and a projection point of the sample object on a second optical axis based on the sample offset, the sample distance and the focal length of the thermal imaging lens; the offset angle between the first optical axis and the second optical axis is determined based on the projection pitch, the positional information between the laser rangefinder and the thermal imaging lens, and the sample distance.
Illustratively, the determining module 62 is specifically configured to determine, based on calibrated parameters corresponding to the thermal imaging lens and position information between the laser rangefinder and the thermal imaging lens, a target offset of the laser cursor in the thermal imaging image: and determining the target offset of the laser cursor in the thermal imaging image based on calibrated parameters corresponding to the thermal imaging lens, the target distance between the target object and the laser range finder, the focal length of the thermal imaging lens and the position information between the laser range finder and the thermal imaging lens.
Illustratively, if the calibrated parameter includes an offset angle between a first optical axis of the laser rangefinder and a second optical axis of the thermal imaging lens, the determination module 62 determines the target offset of the laser cursor by: determining a projection distance between the target object and a projection point of the target object on the second optical axis based on position information between the laser range finder and the thermal imaging lens, the target distance and the offset angle; determining a distance between a projection point of the target object on the second optical axis and the thermal imaging lens based on the target distance and the offset angle; and determining the target offset of the laser cursor based on the projection distance, the distance between the projection point of the target object on the second optical axis and the thermal imaging lens and the focal length of the thermal imaging lens.
Based on the same application concept as the above method, a thermal imaging apparatus is proposed in an embodiment of the present application, as shown in fig. 7, including: a processor 71 and a machine-readable storage medium 72, the machine-readable storage medium 72 storing machine-executable instructions executable by the processor 71; the processor 71 is configured to execute machine executable instructions to implement the cursor position adjustment methods disclosed in the above examples of the present application.
Based on the same application concept as the above method, the embodiment of the application further provides a machine-readable storage medium, where a plurality of computer instructions are stored on the machine-readable storage medium, and when the computer instructions are executed by a processor, the method for adjusting the cursor position disclosed in the above example of the application can be implemented.
Wherein the machine-readable storage medium may be any electronic, magnetic, optical, or other physical storage device that can contain or store information, such as executable instructions, data, or the like. For example, a machine-readable storage medium may be: RAM (Radom Access Memory, random access memory), volatile memory, non-volatile memory, flash memory, a storage drive (e.g., hard drive), a solid state drive, any type of storage disk (e.g., optical disk, dvd, etc.), or a similar storage medium, or a combination thereof.
The system, apparatus, module or unit set forth in the above embodiments may be implemented in particular by a computer entity or by an article of manufacture having some functionality. A typical implementation device is a computer, which may be in the form of a personal computer, laptop computer, cellular telephone, camera phone, smart phone, personal digital assistant, media player, navigation device, email device, game console, tablet computer, wearable device, or a combination of any of these devices.
For convenience of description, the above devices are described as being functionally divided into various units, respectively. Of course, the functions of each element may be implemented in one or more software and/or hardware elements when implemented in the present application.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present application may take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Moreover, these computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.

Claims (10)

1. A method for adjusting a cursor position, the method being applied to a thermal imaging device, the thermal imaging device including a laser rangefinder and a thermal imaging lens, the method comprising:
transmitting laser to a target object through the laser range finder, and collecting a thermal imaging image corresponding to the target object, wherein the thermal imaging image comprises a laser cursor corresponding to the laser range finder;
Determining a target offset of the laser cursor in a thermal imaging image based on calibrated parameters corresponding to the thermal imaging lens and position information between the laser range finder and the thermal imaging lens;
and adjusting the position of the laser cursor based on the target offset.
2. The method of claim 1, wherein the step of determining the position of the substrate comprises,
the process for determining the calibrated parameters corresponding to the thermal imaging lens comprises the following steps:
transmitting laser to a sample object through the laser range finder, and collecting a thermal imaging image corresponding to the sample object, wherein the thermal imaging image comprises a laser cursor corresponding to the laser range finder;
the position of the laser cursor is adjusted so that the adjusted position coincides with the position of the sample object in the thermal imaging image, and the sample offset of the laser cursor is determined based on the adjusted position of the laser cursor; and determining calibrated parameters corresponding to the thermal imaging lens based on the sample offset.
3. The method of claim 2, wherein the step of determining the position of the substrate comprises,
the calibrated parameters comprise the sample offset and the sample distance between the projection point of the sample object on the second optical axis and the thermal imaging lens; alternatively, the calibrated parameter includes an offset angle between a first optical axis of the laser rangefinder and a second optical axis of the thermal imaging lens; if the calibrated parameters include an offset angle between a first optical axis of the laser range finder and a second optical axis of the thermal imaging lens, the determining the calibrated parameters corresponding to the thermal imaging lens based on the sample offset includes:
The offset angle between the first optical axis and the second optical axis is determined based on the sample offset, a sample distance between a projection point of the sample object on the second optical axis and the thermal imaging lens, and a focal length of the thermal imaging lens, and position information between the laser range finder and the thermal imaging lens.
4. The method of claim 3, wherein the determining the offset angle between the first optical axis and the second optical axis based on the sample offset, a sample distance between a projection point of the sample object on the second optical axis and the thermal imaging lens, a focal length of the thermal imaging lens, and position information between the laser rangefinder and the thermal imaging lens, comprises:
determining a projection distance between the sample object and a projection point of the sample object on a second optical axis based on the sample offset, the sample distance and the focal length of the thermal imaging lens;
the offset angle between the first optical axis and the second optical axis is determined based on the projection pitch, the positional information between the laser rangefinder and the thermal imaging lens, and the sample distance.
5. The method of any of claims 1-4, wherein determining the target offset of the laser cursor in the thermal imaging image based on the calibrated parameters corresponding to the thermal imaging lens, the positional information between the laser rangefinder and the thermal imaging lens, comprises:
and determining the target offset of the laser cursor in the thermal imaging image based on calibrated parameters corresponding to the thermal imaging lens, the target distance between the target object and the laser range finder, the focal length of the thermal imaging lens and the position information between the laser range finder and the thermal imaging lens.
6. The method of claim 5, wherein the step of determining the position of the probe is performed,
if the calibrated parameter includes an offset angle between a first optical axis of the laser range finder and a second optical axis of the thermal imaging lens, determining a target offset of the laser cursor by:
determining a projection distance between the target object and a projection point of the target object on the second optical axis based on position information between the laser range finder and the thermal imaging lens, the target distance and the offset angle;
Determining a distance between a projection point of the target object on the second optical axis and the thermal imaging lens based on the target distance and the offset angle;
and determining the target offset of the laser cursor based on the projection distance, the distance between the projection point of the target object on the second optical axis and the thermal imaging lens and the focal length of the thermal imaging lens.
7. The method according to any one of claim 1 to 4, wherein,
if the thermal imaging device supports at least one thermal imaging lens, sequentially mounting each thermal imaging lens to the thermal imaging device before the thermal imaging device leaves the factory; when each thermal imaging lens is installed on the thermal imaging equipment, determining calibrated parameters corresponding to the thermal imaging lens, and recording the mapping relation between the thermal imaging lens and the calibrated parameters corresponding to the thermal imaging lens;
after the thermal imaging device leaves the factory, when the thermal imaging lens is installed to the thermal imaging device, the calibrated parameters corresponding to the thermal imaging lens are queried based on the mapping relation.
8. An adjustment device for a cursor position, characterized by being applied to a thermal imaging device, the thermal imaging device including a laser rangefinder and a thermal imaging lens, the device comprising:
The acquisition module is used for transmitting laser to a target object through the laser range finder and acquiring a thermal imaging image corresponding to the target object, wherein the thermal imaging image comprises a laser cursor corresponding to the laser range finder;
the determining module is used for determining the target offset of the laser cursor in the thermal imaging image based on calibrated parameters corresponding to the thermal imaging lens and position information between the laser range finder and the thermal imaging lens;
and the adjusting module is used for adjusting the position of the laser cursor based on the target offset.
9. The apparatus of claim 8, wherein the device comprises a plurality of sensors,
the determining module is specifically configured to, when determining the calibrated parameters corresponding to the thermal imaging lens: transmitting laser to a sample object through the laser range finder, and collecting a thermal imaging image corresponding to the sample object, wherein the thermal imaging image comprises a laser cursor corresponding to the laser range finder; the position of the laser cursor is adjusted so that the adjusted position coincides with the position of the sample object in the thermal imaging image, and the sample offset of the laser cursor is determined based on the adjusted position of the laser cursor; determining calibrated parameters corresponding to the thermal imaging lens based on the sample offset;
Wherein the calibrated parameters comprise the sample offset, a sample distance between a projection point of the sample object on a second optical axis and the thermal imaging lens; alternatively, the calibrated parameter includes an offset angle between a first optical axis of the laser rangefinder and a second optical axis of the thermal imaging lens; if the calibrated parameters include an offset angle between a first optical axis of the laser range finder and a second optical axis of the thermal imaging lens, the determining module is specifically configured to, when determining the calibrated parameters corresponding to the thermal imaging lens based on the sample offset: determining the offset angle between the first optical axis and the second optical axis based on the sample offset, a sample distance between a projection point of the sample object on the second optical axis and the thermal imaging lens, and a focal length of the thermal imaging lens, and position information between the laser range finder and the thermal imaging lens;
the determining module is specifically configured to determine the offset angle between the first optical axis and the second optical axis based on the sample offset, a sample distance between a projection point of the sample object on the second optical axis and the thermal imaging lens, and a focal length of the thermal imaging lens, where the location information between the laser range finder and the thermal imaging lens is used for: determining a projection distance between the sample object and a projection point of the sample object on a second optical axis based on the sample offset, the sample distance and the focal length of the thermal imaging lens; determining the offset angle between the first optical axis and the second optical axis based on the projection distance, the position information between the laser range finder and the thermal imaging lens, and the sample distance;
The determining module is specifically configured to determine, based on calibrated parameters corresponding to the thermal imaging lens and position information between the laser range finder and the thermal imaging lens, a target offset of the laser cursor in a thermal imaging image: determining a target offset of the laser cursor in a thermal imaging image based on calibrated parameters corresponding to the thermal imaging lens, a target distance between the target object and the laser range finder, a focal length of the thermal imaging lens and position information between the laser range finder and the thermal imaging lens;
if the calibrated parameter includes an offset angle between a first optical axis of the laser range finder and a second optical axis of the thermal imaging lens, the determining module determines the target offset of the laser cursor by adopting the following manner: determining a projection distance between the target object and a projection point of the target object on the second optical axis based on position information between the laser range finder and the thermal imaging lens, the target distance and the offset angle; determining a distance between a projection point of the target object on the second optical axis and the thermal imaging lens based on the target distance and the offset angle; and determining the target offset of the laser cursor based on the projection distance, the distance between the projection point of the target object on the second optical axis and the thermal imaging lens and the focal length of the thermal imaging lens.
10. A thermal imaging apparatus, comprising: a processor and a machine-readable storage medium storing machine-executable instructions executable by the processor; the processor is configured to execute machine-executable instructions to implement the method of any of claims 1-7.
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CN112099028B (en) * 2020-09-03 2024-07-30 深圳市迈测科技股份有限公司 Laser spot automatic tracking method and device, storage medium and laser ranging device
CN116337242A (en) * 2023-03-14 2023-06-27 杭州微影软件有限公司 Cursor position adjusting method, device and equipment
KR102630606B1 (en) * 2023-11-02 2024-01-30 주식회사 지에스앤에스 Digital viewfinder based golf range finder

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