阅读说明：本技术 一种目标测温方法、装置及测温系统 (Target temperature measurement method, device and temperature measurement system ) 是由 张俊力 唐政 高其涛 于 2020-06-24 设计创作，主要内容包括：本申请实施例提供了一种目标测温方法、装置及测温系统,通过获取双目相机采集的可见光图像和热成像图像,确定指定目标在可见光图像中的第一目标区域以及指定目标在热成像图像中的第二目标区域,根据第一目标区域在可见光图像中的位置及第二目标区域在热成像图像中的位置,利用预设的位置差计算方法,计算指定目标的目标视差,根据目标视差,利用预设的双目视差测距方法,计算指定目标的目标距离,根据目标距离及第二目标区域内的灰度值,计算指定目标的温度。目标距离并不受姿态特征变化的影响,因此,计算得到的目标距离保证与实际的目标距离更为接近,计算出的指定目标的温度更为准确,提高了目标测温的精度。(The embodiment of the application provides a target temperature measuring method, a target temperature measuring device and a temperature measuring system, wherein a first target area of a designated target in a visible light image and a second target area of the designated target in a thermal imaging image are determined by acquiring the visible light image and the thermal imaging image which are acquired by a binocular camera, the target parallax of the designated target is calculated by using a preset position difference calculating method according to the position of the first target area in the visible light image and the position of the second target area in the thermal imaging image, the target distance of the designated target is calculated by using a preset binocular parallax distance measuring method according to the target parallax, and the temperature of the designated target is calculated according to the target distance and the gray value in the second target area. The target distance is not influenced by the change of the attitude characteristics, so that the calculated target distance is ensured to be closer to the actual target distance, the calculated temperature of the specified target is more accurate, and the target temperature measurement precision is improved.)

1. A method of measuring temperature of an object, the method comprising:

acquiring a visible light image and a thermal imaging image acquired by a binocular camera, wherein the binocular camera comprises a visible light camera for acquiring the visible light image and a thermal imaging camera for acquiring the thermal imaging image;

determining a first target region of a specified target in the visible light image and a second target region of the specified target in the thermographic image;

calculating the target parallax of the specified target by using a preset position difference calculation method according to the position of the first target area in the visible light image and the position of the second target area in the thermal imaging image;

calculating the target distance of the specified target by using a preset binocular parallax ranging method according to the target parallax;

and calculating the temperature of the specified target according to the target distance and the gray value in the second target area.

2. The method of claim 1, wherein prior to the determining a first target region of a specified target in the visible light image and a second target region of the specified target in the thermographic image, the method further comprises:

according to the calibration parameters of the binocular camera calibrated in advance, carrying out image correction on the visible light image and the thermal imaging image;

the determining a first target region of a specified target in the visible light image and a second target region of the specified target in the thermographic image comprises:

determining a first target region of a specified target in the corrected visible light image and a second target region of the specified target in the corrected thermal imaging image.

3. The method of claim 2, wherein the calibration parameters include internal and external parameters of the visible light camera, internal and external parameters of the thermal imaging camera, and a relative positional relationship between the visible light camera and the thermal imaging camera;

the image correction is performed on the visible light image and the thermal imaging image according to the calibration parameters of the binocular camera calibrated in advance, and the image correction comprises the following steps:

according to the internal and external parameters of the visible light camera, carrying out image correction on the visible light image to obtain a visible light corrected image;

according to the internal and external parameters of the thermal imaging camera, carrying out image correction on the thermal imaging image to obtain a thermal imaging correction image;

and correcting the visible light corrected image and the thermal imaging corrected image to the same polar plane according to the relative position relation.

4. The method according to claim 2, wherein the calibration of the binocular camera comprises:

calibrating the binocular camera by using a preset adjusted temperature alternate calibration plate and adopting a Zhang Zhengyou calibration method, wherein the temperature alternate calibration plate comprises a black color block and a white bottom plate, and the temperature alternate calibration plate is as follows: the temperature difference between the black color block and the white bottom plate is adjusted through a temperature controller, so that the image of the temperature alternation calibration plate collected by the thermal imaging camera meets the preset star-shaped effect, and then the temperature difference is obtained.

5. The method of claim 1 or 2, wherein the determining a first target region of a specified target in the visible light image and a second target region of the specified target in the thermographic image comprises:

carrying out target detection on the visible light image, and determining a first target area of a specified target in the visible light image;

determining a target matching region in the thermographic image according to the position of the first target region;

and performing target matching in the target matching area based on the first target area to obtain a second target area of the specified target in the thermal imaging image.

6. The method of claim 1 or 2, wherein the determining a first target region of a specified target in the visible light image and a second target region of the specified target in the thermographic image comprises:

carrying out target detection on the visible light image, and determining a first target area of a specified target in the visible light image;

carrying out target detection on the thermal imaging image, and determining a region to be matched of each target in the thermal imaging image;

and respectively carrying out target matching on the first target area and each area to be matched, and determining the area to be matched with the first target area as a second target area of the specified target in the thermal imaging image.

7. The method of claim 1, wherein calculating the temperature of the designated object based on the object distance and the gray scale value in the second object region comprises:

according to the target type of the specified target, determining an interested temperature measuring point in the second target area;

reading the gray value of the temperature measuring point of interest from the thermal imaging image;

and calculating the temperature of the specified target according to the target distance and the gray value of the temperature measuring point of interest.

8. The method of claim 1, wherein after said calculating the temperature of the designated object based on the object distance and the grayscale value within the second object region, the method further comprises:

and superposing the temperature to the visible light image for display.

9. An apparatus for measuring temperature of an object, the apparatus comprising:

the binocular camera comprises a visible light camera and a thermal imaging camera, wherein the visible light camera is used for collecting the visible light image, and the thermal imaging camera is used for collecting the thermal imaging image;

a target region determination module for determining a first target region of a specified target in the visible light image and a second target region of the specified target in the thermographic image;

a parallax calculation module, configured to calculate a target parallax of the specified target by using a preset position difference calculation method according to a position of the first target region in the visible light image and a position of the second target region in the thermal imaging image;

the distance calculation module is used for calculating the target distance of the specified target by using a preset binocular parallax distance measurement method according to the target parallax;

and the temperature calculation module is used for calculating the temperature of the specified target according to the target distance and the gray value in the second target area.

10. A temperature measurement system is characterized by comprising a binocular camera and a processor; the binocular camera comprises a visible light camera and a thermal imaging camera;

the visible light camera is used for collecting visible light images;

the thermal imaging camera is used for acquiring a thermal imaging image;

the processor is used for acquiring a visible light image and a thermal imaging image acquired by the binocular camera; determining a first target region of a specified target in the visible light image and a second target region of the specified target in the thermographic image; calculating the target parallax of the designated target by using a preset position difference calculation method according to the position of the first target area and the position of the second target area; calculating the target distance of the specified target by using a preset binocular parallax ranging method according to the target parallax; and calculating the temperature of the specified target according to the target distance and the gray value in the second target area.

Technical Field

The application relates to the technical field of security protection, in particular to a target temperature measuring method, a target temperature measuring device and a target temperature measuring system.

Background

With the continuous development of thermal imaging technology, the thermal imaging camera is used for measuring the temperature of the target, and the application of the thermal imaging camera in the fields of public health safety, abnormal target distribution and control and the like is more and more extensive. In the traditional temperature measurement method, a thermal imaging camera is adopted to collect images of targets entering a monitoring range, the target to be measured is determined by detecting the change of the regional gray value in the collected thermal imaging image, and the target temperature is calculated according to the imaging size of the target to be measured in the thermal imaging image and the conversion relation between the thermal imaging target distance and the imaging size. It can be seen that the target distance is an important parameter for calculating the target temperature, and directly affects the temperature measurement accuracy, however, the imaging size of the target is easily affected by factors such as the actual environment of the monitored scene, and the estimated target distance and the actual target distance have a large error, which causes a large error in temperature measurement.

In order to solve the above problem, in the current temperature measurement method, a binocular camera is used to measure the temperature of a target, the binocular camera includes a visible light camera and a thermal imaging camera, the visible light camera and the thermal imaging camera respectively collect images of the target entering a monitoring range, a target distance is converted by using a visible light distance measurement technology according to the target size in a visible light image collected by the visible light camera and a preset corresponding relationship between the target size of the target and the target distance, the target in the visible light image is mapped to a corresponding position in the thermal imaging image, a gray value of a region where the target is located in the thermal imaging image is obtained, and the target temperature is calculated according to the target distance and the gray value of the region where the target is located.

However, in an actual application scenario, the target size of the target in the visible light image is greatly affected by the actual posture characteristic change of the target, and the preset corresponding relationship between the target size of the target and the target distance is difficult to completely cover various posture characteristic changes of the target, so that when the posture characteristic changes, the converted target distance error is large, and the temperature measurement error is still large.

Disclosure of Invention

An object of the embodiments of the present application is to provide a method, an apparatus and a system for measuring a temperature of a target, so as to improve the accuracy of measuring the temperature of the target. The specific technical scheme is as follows:

in a first aspect, an embodiment of the present application provides a method for measuring a temperature of an object, where the method includes:

acquiring a visible light image and a thermal imaging image acquired by a binocular camera, wherein the binocular camera comprises a visible light camera for acquiring the visible light image and a thermal imaging camera for acquiring the thermal imaging image;

determining a first target region of the designated target in the visible light image and a second target region of the designated target in the thermographic image;

calculating the target parallax of the specified target by using a preset position difference calculation method according to the position of the first target region in the visible light image and the position of the second target region in the thermal imaging image;

calculating the target distance of the appointed target by using a preset binocular parallax distance measurement method according to the target parallax;

and calculating the temperature of the specified target according to the target distance and the gray value in the second target area.

Optionally, before the step of determining a first target region of the designated target in the visible light image and a second target region of the designated target in the thermal imaging image, the method further comprises:

according to calibration parameters of a binocular camera calibrated in advance, image correction is carried out on the visible light image and the thermal imaging image;

the step of determining a first target region of the specified target in the visible light image and a second target region of the specified target in the thermographic image comprises:

a first target region of the specified target in the rectified visible light image and a second target region of the specified target in the rectified thermographic image are determined.

Optionally, the calibration parameters include internal and external parameters of the visible light camera, internal and external parameters of the thermal imaging camera, and a relative position relationship between the visible light camera and the thermal imaging camera;

according to the calibration parameters of a binocular camera calibrated in advance, the step of carrying out image correction on the visible light image and the thermal imaging image comprises the following steps:

according to the internal and external parameters of the visible light camera, carrying out image correction on the visible light image to obtain a visible light corrected image;

according to the internal and external parameters of the thermal imaging camera, carrying out image correction on the thermal imaging image to obtain a thermal imaging correction image;

and correcting the visible light correction image and the thermal imaging correction image to the same polar plane according to the relative position relation.

Optionally, the calibration method of the binocular camera includes:

utilize the alternate calibration board of temperature that adjusts in advance, adopt the Zhangyiyoubiao calibration method, mark the binocular camera, wherein, the alternate calibration board of temperature includes black color piece and white bottom plate, and the alternate calibration board of temperature is: the temperature difference between the black block and the white bottom plate is adjusted through the temperature controller, so that the image of the temperature alternate calibration plate collected by the thermal imaging camera is obtained after the preset star-shaped effect is met.

Optionally, the step of determining a first target region of the designated target in the visible light image and a second target region of the designated target in the thermal imaging image includes:

carrying out target detection on the visible light image, and determining a first target area of a specified target in the visible light image;

determining a target matching region in the thermal imaging image according to the position of the first target region;

and performing target matching in the target matching area based on the first target area to obtain a second target area of the specified target in the thermal imaging image.

Optionally, the step of determining a first target region of the designated target in the visible light image and a second target region of the designated target in the thermal imaging image includes:

carrying out target detection on the visible light image, and determining a first target area of a specified target in the visible light image;

carrying out target detection on the thermal imaging image, and determining the region to be matched of each target in the thermal imaging image;

and respectively carrying out target matching on the first target area and each area to be matched, and determining the area to be matched with the first target area as a second target area of the specified target in the thermal imaging image.

Optionally, the step of calculating the temperature of the designated target according to the target distance and the gray-level value in the second target region includes:

according to the target type of the specified target, determining an interested temperature measuring point in a second target area;

reading the gray value of the temperature measuring point of interest from the thermal imaging image;

and calculating the temperature of the specified target according to the target distance and the gray value of the temperature measuring point of interest.

Optionally, after the step of calculating the temperature of the designated target according to the target distance and the gray-scale value in the second target region, the method further includes:

and superposing the temperature on the visible light image for displaying.

In a second aspect, an embodiment of the present application provides an apparatus for measuring a temperature of an object, including:

the system comprises an acquisition module, a storage module and a display module, wherein the acquisition module is used for acquiring visible light images and thermal imaging images acquired by a binocular camera, and the binocular camera comprises a visible light camera for acquiring the visible light images and a thermal imaging camera for acquiring the thermal imaging images;

a target region determination module for determining a first target region of the specified target in the visible light image and a second target region of the specified target in the thermal imaging image;

the parallax calculation module is used for calculating the target parallax of the specified target by using a preset position difference calculation method according to the position of the first target area in the visible light image and the position of the second target area in the thermal imaging image;

the distance calculation module is used for calculating the target distance of the specified target by using a preset binocular parallax distance measurement method according to the target parallax;

and the temperature calculation module is used for calculating the temperature of the specified target according to the target distance and the gray value in the second target area.

Optionally, the apparatus further comprises:

the image correction module is used for correcting the visible light image and the thermal imaging image according to the calibration parameters of the pre-calibrated binocular camera;

and the target area determining module is specifically used for determining a first target area of the specified target in the corrected visible light image and a second target area of the specified target in the corrected thermal imaging image.

Optionally, the calibration parameters include internal and external parameters of the visible light camera, internal and external parameters of the thermal imaging camera, and a relative position relationship between the visible light camera and the thermal imaging camera;

the image correction module is specifically used for performing image correction on the visible light image according to internal and external parameters of the visible light camera to obtain a visible light corrected image; according to the internal and external parameters of the thermal imaging camera, carrying out image correction on the thermal imaging image to obtain a thermal imaging correction image; and correcting the visible light correction image and the thermal imaging correction image to the same polar plane according to the relative position relation.

Optionally, the apparatus further comprises:

the calibration module is used for calibrating the binocular camera by using a preset temperature alternate calibration plate and adopting a Zhang Zhengyou calibration method, wherein the temperature alternate calibration plate comprises a black color block and a white bottom plate, and the temperature alternate calibration plate is as follows: the temperature difference between the black block and the white bottom plate is adjusted through the temperature controller, so that the image of the temperature alternate calibration plate collected by the thermal imaging camera is obtained after the preset star-shaped effect is met.

Optionally, the target area determining module is specifically configured to perform target detection on the visible light image, and determine a first target area of the designated target in the visible light image; determining a target matching region in the thermal imaging image according to the position of the first target region; and performing target matching in the target matching area based on the first target area to obtain a second target area of the specified target in the thermal imaging image.

Optionally, the target area determining module is specifically configured to perform target detection on the visible light image, and determine a first target area of the designated target in the visible light image; carrying out target detection on the thermal imaging image, and determining the region to be matched of each target in the thermal imaging image; and respectively carrying out target matching on the first target area and each area to be matched, and determining the area to be matched with the first target area as a second target area of the specified target in the thermal imaging image.

Optionally, the temperature calculation module is specifically configured to determine, according to a target type of the specified target, an interested temperature measurement point in the second target region; reading the gray value of the temperature measuring point of interest from the thermal imaging image; and calculating the temperature of the specified target according to the target distance and the gray value of the temperature measuring point of interest.

Optionally, the apparatus further comprises:

and the display module is used for superposing the temperature to the visible light image for displaying.

In a third aspect, an embodiment of the present application provides an electronic device, including a processor and a memory, where the memory stores machine executable instructions that can be executed by the processor, and the machine executable instructions are loaded and executed by the processor, so as to implement the method provided in the first aspect of the embodiment of the present application.

In a fourth aspect, an embodiment of the present application provides a machine-readable storage medium, in which machine-executable instructions are stored, and when the machine-executable instructions are loaded and executed by a processor, the method provided in the first aspect of the embodiment of the present application is implemented.

In a fifth aspect, an embodiment of the present application provides a temperature measurement system, where the temperature measurement system includes a binocular camera and a processor; the binocular camera comprises a visible light camera and a thermal imaging camera;

the visible light camera is used for collecting visible light images;

a thermal imaging camera for acquiring thermal imaging images;

the processor is used for acquiring a visible light image and a thermal imaging image acquired by the binocular camera; determining a first target region of the designated target in the visible light image and a second target region of the designated target in the thermographic image; calculating the target parallax of the designated target by using a preset position difference calculation method according to the position of the first target area and the position of the second target area; calculating the target distance of the appointed target by using a preset binocular parallax distance measurement method according to the target parallax; and calculating the temperature of the specified target according to the target distance and the gray value in the second target area.

According to the method, the device and the system for measuring the temperature of the target, the first target area of the designated target in the visible light image and the second target area of the designated target in the thermal imaging image are determined by acquiring the visible light image and the thermal imaging image acquired by the binocular camera, the target parallax of the designated target is calculated by using a preset position difference calculation method according to the position of the first target area in the visible light image and the position of the second target area in the thermal imaging image, the target distance of the designated target is calculated by using a preset binocular parallax distance measurement method according to the target parallax, and the temperature of the designated target is calculated according to the target distance and the gray value in the second target area. After the visible light image and the thermal imaging image are acquired, a first target area of the designated target in the visible light image and a second target area of the designated target in the thermal imaging image are determined, no matter what posture characteristic the designated target is, the sizes of the target areas of the designated target in the visible light image and the thermal imaging image are the same or similar, according to the position of the first target area in the visible light image and the position of the second target area in the thermal imaging image, the calculated target parallax of the designated target represents the position difference between the first target area and the second target area, and the target parallax is actually determined by the target distance between the designated target and a binocular camera, so that the target distance of the designated target can be calculated by using a binocular parallax measuring method, the target distance is not influenced by the posture characteristic change, and therefore, the calculated target distance is ensured to be closer to the actual target distance, therefore, the temperature of the specified target is calculated more accurately according to the target distance and the gray value in the second target area, and the target temperature measurement precision is improved.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art that other embodiments can be obtained by using the drawings without creative efforts.

FIG. 1 is a schematic flow chart of a target temperature measurement method according to an embodiment of the present disclosure;

FIG. 2 is an example of an image of a visible light image superimposed with a thermographic image as provided by an embodiment of the present application;

FIG. 3 is a schematic flow chart illustrating a target temperature measurement method according to an embodiment of the present disclosure;

FIG. 4 is a schematic diagram of a temperature alternation calibration plate provided in an embodiment of the present application;

FIG. 5 is a schematic structural diagram of a target temperature measurement device according to an embodiment of the present disclosure;

FIG. 6 is a schematic structural diagram of an object temperature measurement device according to an embodiment of the present disclosure;

FIG. 7 is an example of matching a target frame on a visible light image with a thermographic image as provided by an embodiment of the present application;

fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present application;

fig. 9 is a schematic structural diagram of a temperature measurement system according to an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

In order to improve the precision of target temperature measurement, the embodiment of the application provides a target temperature measurement method, a target temperature measurement device and a target temperature measurement system. First, a method for measuring a target temperature provided in an embodiment of the present application will be described. The method is applied to an electronic device having an image processing capability, and may be, for example, a computer remotely connected to a binocular camera, a binocular camera equipped with a processor (a specific object temperature measuring method is performed by the processor in the binocular camera), or the like. The target temperature measuring method provided by the embodiment of the application can be realized by at least one of software, hardware circuit and logic circuit arranged in the electronic equipment.

As shown in fig. 1, a process of a target temperature measurement method provided in an embodiment of the present application may include the following steps.

S101, acquiring a visible light image and a thermal imaging image acquired by a binocular camera, wherein the binocular camera comprises a visible light camera for acquiring the visible light image and a thermal imaging camera for acquiring the thermal imaging image.

S102, a first target area of the designated target in the visible light image and a second target area of the designated target in the thermal imaging image are determined.

And S103, calculating the target parallax of the specified target by using a preset position difference calculation method according to the position of the first target region in the visible light image and the position of the second target region in the thermal imaging image.

And S104, calculating the target distance of the specified target by using a preset binocular parallax distance measuring method according to the target parallax.

And S105, calculating the temperature of the specified target according to the target distance and the gray value in the second target area.

By applying the embodiment of the application, after the visible light image and the thermal imaging image are obtained, the first target area of the designated target in the visible light image and the second target area of the designated target in the thermal imaging image are determined, no matter what posture characteristic the designated target is, the sizes of the target areas of the designated target in the visible light image and the thermal imaging image are the same or similar, according to the position of the first target area in the visible light image and the position of the second target area in the thermal imaging image, the calculated target parallax of the designated target represents the position difference between the first target area and the second target area, and the target parallax is actually determined by the target distance between the designated target and the binocular camera, so the target distance of the designated target can be calculated by using a binocular parallax measuring method, and the target distance is not influenced by the change of the posture characteristic, therefore, the calculated target distance is close to the actual target distance, the calculated temperature of the specified target is more accurate according to the target distance and the gray value in the second target area, and the target temperature measurement precision is improved.

In the embodiment of the application, target temperature measurement is performed by using a binocular camera, and the binocular camera comprises a visible light camera and a thermal imaging camera. The visible light camera is the most common camera in daily life, and the acquired image is a color image, and in the embodiment of the present application, the color image acquired by the visible light camera is referred to as a visible light image. The thermal imaging camera is a camera adopting thermal imaging technology, and the working principle is as follows: the thermal imaging technology is that the radiation energy of the object is converted into a thermal image of the object through system processing according to the detected radiation energy of the object, the thermal image is displayed by gray values or pseudo colors, the detected radiation intensity of the object is different at different distances, the displayed gray values are different, and the temperature of the object can be calculated through the gray values of the object at different distances. In the embodiment of the present application, the grayscale image/pseudo-color image collected by the thermal imaging camera is referred to as a thermal imaging image.

The camera in the camera is affected by the characteristics of the optical lens, so that radial distortion often exists in imaging, and therefore the camera generally needs to be calibrated to obtain calibration parameters of the camera, and the acquired image is corrected based on the calibration parameters. The camera calibration is divided into monocular camera calibration and binocular camera calibration: the monocular camera calibration mainly comprises the steps of calculating internal parameters (including the focal length of the camera, the coordinates of an imaging origin and 5 distortion parameters) and external parameters (the world coordinates of a calibration object) of the camera; binocular camera calibration in addition to deriving internal and external parameters of each camera, it is also necessary to measure the relative positional relationship between the two cameras (i.e., the rotation matrix and translation vector of one camera relative to the other) through calibration. Since the embodiment of the present application utilizes the binocular camera, the relative position relationship between the visible light camera and the thermal imaging camera needs to be measured in calibration in addition to the calculation of internal and external parameters of the visible light camera and the thermal imaging camera.

In the embodiment of the application, the visible light image and the thermal imaging image acquired by the electronic device may be images that have undergone image correction, or may be original visible light images and thermal imaging images acquired by the visible light camera and the thermal imaging camera. The electronic device can also record an image transformation relation, and after the visible light image and the thermal imaging image are obtained, the visible light image and the thermal imaging image are transformed by using the recorded image transformation relation so as to eliminate distortion.

For the obtained visible light image and the thermal imaging image, the electronic device may determine a first target region of the designated target from the visible light image and a second target region of the designated target from the thermal imaging image by using a target detection method based on a deep learning technology, a target identification method based on deep learning, a conventional feature matching method, and the like. The designated object is a specific object, such as a human, an animal, an article, and the like. In an implementation manner of the embodiment of the present application, a first target region of a specified target in a visible light image and a second target region of the specified target in a thermal imaging image may be determined in a manner that a target detection technology is combined with a target matching technology. Specifically, target detection is performed on at least one of the visible light image and the thermal imaging image, and if only one of the visible light image and the thermal imaging image is selected for target detection, a target area of a specified target needs to be matched in a target matching area (determined according to the position of the detected target area where the specified target is located) of the other image; if the target detection is performed on both images, the targets detected by both images can be matched.

In an implementation manner of the embodiment of the present application, S102 may be specifically implemented by the following steps:

firstly, carrying out target detection on the visible light image, and determining a first target area of a specified target in the visible light image.

And secondly, determining a target matching area in the thermal imaging image according to the position of the first target area.

And thirdly, carrying out target matching in the target matching area based on the first target area to obtain a second target area of the specified target in the thermal imaging image.

Since the visible light image is a color image, the target feature can be accurately known from the visible light image, and therefore, by using a target detection method based on a deep learning technique or a conventional feature matching method, etc., the specified target can be detected from the visible light image, and the first target region of the specified target in the visible light image can be obtained.

The visible light camera and the thermal imaging camera are arranged together to acquire images in the same monitoring range, so that the visible light image and the thermal imaging image have a certain corresponding relationship, according to the corresponding relationship, the area range of the specified target in the thermal imaging image (namely the target matching area in the thermal imaging image) can be roughly determined according to the position of the first target area, and because the thermal imaging image is a gray scale image or a pseudo color image, no obvious target characteristic exists, and a plurality of targets often appear simultaneously in an actual scene, the outline of the target can be judged according to the gray scale change, but the outline of the first target area and the specified target is almost matched.

Therefore, the first target area can be matched into the target matching area through information such as the change of the gray value of the boundary of the target contour, the size of the target, the position and the like, and if the target area of one target in the target matching area is matched with the first target area, the target area can be determined to be a second target area of the specified target in the thermal imaging image. By adopting the embodiment, the problems of less target similar characteristics and difficult matching in the thermal imaging image and the visible light image can be solved.

In another implementation manner of the embodiment of the present application, S102 may be specifically implemented by the following steps:

the method comprises the steps of firstly, carrying out target detection on a visible light image, determining a first target area of a designated target in the visible light image, carrying out target detection on a thermal imaging image, and determining an area to be matched of each target in the thermal imaging image.

And secondly, respectively carrying out target matching on the first target area and each area to be matched, and determining the area to be matched with the first target area as a second target area of the specified target in the thermal imaging image.

As described above, with the target detection method based on the deep learning technique or the conventional feature matching method or the like, the specified target can be detected from the visible light image, and the first target region of the specified target in the visible light image is obtained. For the thermal imaging image, a target segmentation method based on a depth learning technology and the like can be adopted to determine the to-be-matched area of each target in the thermal imaging image, and as the thermal imaging image is a gray scale image or a pseudo color image and has no obvious target characteristics, and a plurality of targets often appear simultaneously in an actual scene, when the thermal imaging image is subjected to target detection, only the approximate outline of each target (namely, the to-be-matched area of each target) can be judged according to the gray scale change.

After the first target area and each area to be matched are obtained, the first target area can be respectively matched with each area to be matched, the target matching mode can adopt a neural network model obtained by training based on information such as target contour boundary gray value change, target size and the like to perform matching, and finally the area to be matched with the first target area is determined to be a second target area of the specified target in the thermal imaging image.

After the first target area and the second target area are determined, due to the influence of the target distance between the designated target and the binocular camera, when the first target area and the second target area are placed under the same coordinate system, the positions of the first target area and the second target area often have a certain difference, and the position difference is called as target parallax.

The preset position difference calculating method may be that the first target region and the second target region are mapped to the same coordinate system according to the position of the first target region in the visible light image and the position of the second target region in the thermal imaging image, and the difference between coordinates of the two target regions representing the same point is calculated in the coordinate system. Since the visible light camera and the thermal imaging camera are used for collecting images in the same monitoring range, the sizes of the collected images are the same, and the two images have overlapped parts due to different viewing angles, the overlapped parts of the visible light image and the thermal imaging image can be overlapped, the position difference between the first target area and the second target area can be visually observed in the overlapped images, and the target parallax of the specified target can be obtained based on the overlapped images, as shown in fig. 2.

And after the target parallax of the specified target is obtained, calculating the target distance of the specified target by using a preset binocular parallax distance measuring method according to the target parallax. In the binocular disparity ranging method, a relationship between a target disparity and a target distance may be defined, and generally, the target disparity and the target distance have an inverse relationship, that is, the closer the target is to the binocular camera, the larger the target disparity is. The target distance is affected by the target distance and is also related to parameters such as a focal length of a lens of the binocular camera, a baseline distance between the visible light camera and the thermal imaging camera, and the like, and therefore, the binocular parallax distance measuring method may specifically be a binocular parallax distance measuring formula, specifically as shown in formula (1).

D＝f*B/XL (1)

Wherein D is the target distance, f is the lens focal length of the binocular camera, B is the baseline distance between the visible light camera and the thermal imaging camera, and XL is the target parallax.

In the embodiment of the application, a binocular temperature measurement technology of fusing a visible light image with a thermal imaging image is adopted, the method is different from the method that a visible light monocular camera predicts the target distance through the corresponding relation between the target imaging size and the target distance, the target distance is calculated through the target parallax, and the target distance is not influenced by the change of the attitude characteristics, so that the calculated target distance is more accurate, and the target distance is not influenced by the change of the attitude characteristics, the scene adaptability of the embodiment of the application is better, the temperature measurement result is more accurate and stable, and the robustness of the target temperature measurement method is stronger. In the embodiment of the application, the corresponding relation between the size of the target image and the target distance does not need to be recorded, the storage space of the electronic equipment is saved, and the ranging and temperature measurement of various targets can be realized.

After the target distance is calculated, the temperature of the designated target can be calculated according to the target distance and the gray value in the second target area by using a traditional method for calculating the target temperature. Wherein, the target temperature can be calculated by the following formula:

T＝a*T1+b*T2+c*T3 (2)

wherein T is a target temperature; a. b and c are preset specific gravities and can be obtained by black body temperature measurement experiment simulation; t1 is a temperature value calculated based on the grayscale value in the second target region, T1 ═ f (K), K is the grayscale value in the second target region; t2 is an ambient temperature value, which can be directly obtained; t3 is a temperature value compensated based on the target distance, T3 ═ g (x), and x is the target distance.

In an implementation manner of the embodiment of the present application, S105 may be specifically implemented by the following steps:

firstly, according to the target type of the specified target, an interested temperature measurement point in a second target area is determined.

And secondly, reading the gray value of the temperature measuring point of interest from the thermal imaging image.

And thirdly, calculating the temperature of the specified target according to the target distance and the gray value of the temperature measuring point of interest.

When the temperature of the object is measured, the temperature measurement points concerned may be different due to different types of the object, for example, when the temperature of the person is measured, the temperature of the forehead is concerned more, and when the temperature of the object is measured, the temperature of the bottom of the object is concerned more, so the temperature measurement points of interest in the second object region may be determined according to the type of the object (which may be obtained when the object is detected or input in advance), and the gray value in the second object region specifically refers to the gray value of the temperature measurement points of interest, and when the temperature is calculated, the calculation is performed specifically according to the object distance and the gray value of the temperature measurement points of interest.

In an implementation manner of the embodiment of the present application, after S105, the method may further include: and superposing the temperature on the visible light image for displaying.

As described above, the visible light image is a color image, has complete target characteristics, and is convenient for a user to view, so the real-time visible light image collected by the visible light camera is generally displayed, so that the user can view real-time monitoring contents, and after the temperature of the specified target is measured, the temperature can be superimposed on the visible light image, so that the user can view the temperature of the specified target in real time, and timely know which targets have abnormal temperatures, and specifically, the manner of displaying the temperature in the visible light image may be: the temperature is displayed around the specified object or a temperature display area is separately opened up in which the object property and the temperature of the specified object are displayed.

Based on the embodiment shown in fig. 1, another flow of the target temperature measurement method provided in the embodiment of the present application, as shown in fig. 3, may include the following steps.

S301, acquiring a visible light image and a thermal imaging image acquired by a binocular camera, wherein the binocular camera comprises a visible light camera for acquiring the visible light image and a thermal imaging camera for acquiring the thermal imaging image.

And S302, performing image correction on the visible light image and the thermal imaging image according to the calibration parameters of the pre-calibrated binocular camera.

S303, a first target area of the specified target in the corrected visible light image and a second target area of the specified target in the corrected thermal imaging image are determined.

And S304, calculating the target parallax of the specified target by using a preset position difference calculation method according to the position of the first target area in the visible light image and the position of the second target area in the thermal imaging image.

S305, calculating the target distance of the specified target by using a preset binocular parallax distance measuring method according to the target parallax.

S306, calculating the temperature of the designated target according to the target distance and the gray value in the second target area.

In an implementation manner of the embodiment of the present application, the visible light image and the thermal imaging image acquired by the electronic device are original visible light images and thermal imaging images, and image rectification is required to be performed on the visible light images and the thermal imaging images. The image correction means: according to calibration parameters obtained after calibration of the binocular camera, distortion and line alignment of the visible light image and the thermal imaging image are respectively eliminated, so that the coordinates of imaging original points of the visible light image and the thermal imaging image are consistent, the optical axes of the two cameras are parallel, the imaging planes of the two cameras are coplanar, and polar lines are aligned. Thus, any point on one image and the corresponding point on the other image must have the same line number, and the corresponding point can be matched by one-dimensional search on the line.

In an implementation manner of the embodiment of the present application, the calibration parameters include internal and external parameters of the visible light camera, internal and external parameters of the thermal imaging camera, and a relative position relationship between the visible light camera and the thermal imaging camera. Correspondingly, S302 may specifically be: according to the internal and external parameters of the visible light camera, carrying out image correction on the visible light image to obtain a visible light corrected image; according to the internal and external parameters of the thermal imaging camera, carrying out image correction on the thermal imaging image to obtain a thermal imaging correction image; and correcting the visible light correction image and the thermal imaging correction image to the same polar plane according to the relative position relation.

Through the image correction process, the corrected visible light image and the thermal imaging image are on the same polar plane, namely the image line number corresponding to the polar plane of the target is consistent.

In an implementation manner of the embodiment of the present application, a calibration manner of the binocular camera may specifically be: utilize the alternate calibration board of temperature that adjusts in advance, adopt the Zhangyiyoubiao calibration method, mark the binocular camera, wherein, the alternate calibration board of temperature includes black color piece and white bottom plate, and the alternate calibration board of temperature is: the temperature difference between the black block and the white bottom plate is adjusted through the temperature controller, so that the image of the temperature alternate calibration plate collected by the thermal imaging camera is obtained after the preset star-shaped effect is met.

In the embodiment of the present application, the calibration of the binocular camera mainly adopts a Zhang Zhengyou calibration method, and since the thermal imaging image cannot distinguish the image color, and the calibration of the thermal imaging camera cannot be realized by adopting a conventional black-and-white star calibration board, in the embodiment of the present application, the original black-and-white star calibration board is improved, and the temperature information is combined with black and white, in the thermal imaging image, a target with a lower temperature is in a darker color (a larger gray scale), and a target with a higher temperature is in a lighter color (a smaller gray scale), so that a temperature alternation calibration board as shown in fig. 4 is designed. The temperature controller is used for adjusting the temperature difference between the black blocks and the white bottom plate in the temperature alternate calibration plate, the black blocks are made of heat insulation materials, and the black blocks are isolated from the white bottom plate through the heat insulation materials. When the temperature alternation calibration plate is used for calibration, the temperature difference between the black block and the white bottom plate is adjusted by the temperature controller in a certain distance in advance, so that the image of the temperature alternation calibration plate collected by the thermal imaging camera meets the preset star disk effect, wherein the preset star disk effect is the star disk imaging effect with visible light and dark alternation and clear outline. After the temperature alternate calibration plate is adjusted in advance, internal and external parameters of the visible light camera and the thermal imaging camera can be calibrated by using the temperature alternate calibration plate and adopting a traditional Zhang Zhengyou calibration method, and then the relative position relation between the visible light camera and the thermal imaging camera is calculated according to the corresponding position relation of the temperature alternate calibration plate on the thermal imaging image and the visible light image.

In the embodiment of the present application, the first target area and the second target area are determined, the target parallax of the designated target is calculated, the target distance of the designated target is calculated, and the temperature of the designated target is calculated, and specific execution of these steps may adopt the manner in the above embodiment, and details are not repeated here.

In the embodiment of the application, the automatic calibration of the binocular camera can be quickly completed by utilizing the temperature alternate calibration plate, so that the calibration time is saved.

Based on the foregoing method embodiment, an embodiment of the present application provides a target temperature measurement device, as shown in fig. 5, the device may include:

an acquiring module 510, configured to acquire a visible light image and a thermal imaging image acquired by a binocular camera, where the binocular camera includes a visible light camera for acquiring the visible light image and a thermal imaging camera for acquiring the thermal imaging image;

a target region determination module 520 for determining a first target region of the specified target in the visible light image and a second target region of the specified target in the thermal imaging image;

a parallax calculation module 530, configured to calculate a target parallax of the specified target by using a preset position difference calculation method according to a position of the first target region in the visible light image and a position of the second target region in the thermal imaging image;

the distance calculation module 540 is configured to calculate a target distance of the designated target by using a preset binocular parallax distance measurement method according to the target parallax;

and a temperature calculating module 550, configured to calculate a temperature of the designated object according to the object distance and the gray-level value in the second object region.

Optionally, the apparatus may further include: the image correction module is used for correcting the visible light image and the thermal imaging image according to the calibration parameters of the pre-calibrated binocular camera;

the target area determination module 520 may be specifically configured to determine a first target area of the specified target in the corrected visible light image and a second target area of the specified target in the corrected thermal imaging image.

Optionally, the calibration parameters include internal and external parameters of the visible light camera, internal and external parameters of the thermal imaging camera, and a relative position relationship between the visible light camera and the thermal imaging camera;

the image correction module can be specifically used for performing image correction on the visible light image according to internal and external parameters of the visible light camera to obtain a visible light corrected image; according to the internal and external parameters of the thermal imaging camera, carrying out image correction on the thermal imaging image to obtain a thermal imaging correction image; and correcting the visible light correction image and the thermal imaging correction image to the same polar plane according to the relative position relation.

Optionally, the apparatus may further include: the calibration module is used for calibrating the binocular camera by using a preset temperature alternate calibration plate and adopting a Zhang Zhengyou calibration method, wherein the temperature alternate calibration plate comprises a black color block and a white bottom plate, and the temperature alternate calibration plate is as follows: the temperature difference between the black block and the white bottom plate is adjusted through the temperature controller, so that the image of the temperature alternate calibration plate collected by the thermal imaging camera is obtained after the preset star-shaped effect is met.

Optionally, the target area determining module 520 may be specifically configured to perform target detection on the visible light image, and determine a first target area of the designated target in the visible light image; determining a target matching region in the thermal imaging image according to the position of the first target region; and performing target matching in the target matching area based on the first target area to obtain a second target area of the specified target in the thermal imaging image.

Optionally, the target area determining module 520 may be specifically configured to perform target detection on the visible light image, and determine a first target area of the designated target in the visible light image; carrying out target detection on the thermal imaging image, and determining the region to be matched of each target in the thermal imaging image; and respectively carrying out target matching on the first target area and each area to be matched, and determining the area to be matched with the first target area as a second target area of the specified target in the thermal imaging image.

Optionally, the temperature calculating module 550 may be specifically configured to determine the temperature measurement point of interest in the second target region according to the target type of the specified target; reading the gray value of the temperature measuring point of interest from the thermal imaging image; and calculating the temperature of the specified target according to the target distance and the gray value of the temperature measuring point of interest.

Optionally, the apparatus may further include: and the display module is used for superposing the temperature to the visible light image for displaying.

By applying the embodiment of the application, after the visible light image and the thermal imaging image are obtained, the first target area of the designated target in the visible light image and the second target area of the designated target in the thermal imaging image are determined, no matter what posture characteristic the designated target is, the sizes of the target areas of the designated target in the visible light image and the thermal imaging image are the same or similar, according to the position of the first target area in the visible light image and the position of the second target area in the thermal imaging image, the calculated target parallax of the designated target represents the position difference between the first target area and the second target area, and the target parallax is actually determined by the target distance between the designated target and the binocular camera, so the target distance of the designated target can be calculated by using a binocular parallax measuring method, and the target distance is not influenced by the change of the posture characteristic, therefore, the calculated target distance is close to the actual target distance, the calculated temperature of the specified target is more accurate according to the target distance and the gray value in the second target area, and the target temperature measurement precision is improved.

For convenience of understanding, the target temperature measuring method and the target temperature measuring device provided in the embodiments of the present application are described below with reference to specific application scenarios.

The target temperature measuring method is applied to epidemic prevention and control, abnormal body temperature target detection and snapshot scenes. During epidemic prevention and control, a large number of people flow in the scenes such as subways, hotels, shopping malls, stations and the like, the body temperature of people entering and exiting the stations needs to be monitored, and when abnormal body temperature targets are found, target images are captured and an alarm is given, and abnormal target people are forbidden to enter places.

Therefore, a binocular camera comprising a visible light camera and a thermal imaging camera is erected at a subway security inspection port, a hotel or a market entrance, and an electronic device with a display screen is arranged at a monitoring person. The electronic device comprises a processor, and the processor mainly comprises the following 7 modules (as shown in fig. 6): the binocular camera calibration module 601, the image correction module 602, the target detection module 603, the target matching module 604, the target ranging module 605, the target temperature measurement position selection module 606 and the target temperature measurement module 607.

The binocular camera calibration module 601 is configured to calibrate the binocular camera, and the binocular camera may be calibrated specifically in the embodiment shown in fig. 2, which is not described herein again.

The image rectification module 602 is configured to perform image rectification on the acquired visible light image and the thermal imaging image. The calibration parameters calibrated by the binocular camera calibration module 601 are stored in the image correction module 602, and the image correction module 602 can perform image correction on the visible light image and the thermal imaging image according to the internal and external parameters of the visible light camera and the thermal imaging camera, and correct the visible light image and the thermal imaging image to the same polar plane according to the relative position relationship between the visible light camera and the thermal imaging camera, that is, the number of lines of the images corresponding to the polar plane of the target is the same, as shown in fig. 7.

The target detection module 603 is configured to detect a person needing temperature measurement on the visible light image, and specifically may use multiple algorithms such as a deep learning detection network to obtain a target frame (tx, ty, w, h) of the person, where tx and ty are coordinates of an upper left corner of the target frame, and w and h are widths and heights of the target frame, as shown in fig. 7.

The target matching module 604 is used for target matching the thermographic image. Finding the same polar plane of a target on a thermal imaging image by taking the visible light tx and ty coordinates as starting points, and selecting a section of rectangular area of W x h on the thermal imaging image, wherein W marks the width of an original image, and h marks the height of a target frame; and performing target matching on a target frame in the visible light image and a rectangular area in the thermal imaging image according to information such as target contour boundary gray value change, and outputting the target frame (Rx, Ry, Rw, Rh) on the thermal imaging image after completing the target matching.

The target distance measuring module 605 is configured to calculate a target distance based on the parallax between the target frame on the visible light image and the target frame on the thermal imaging image, specifically, to stack the visible light image and the thermal imaging image together, calculate a relative position difference XL of the target, where the position difference is the target parallax, and calculate the target distance using a binocular parallax distance measuring formula (1)) after calculating the target parallax XL.

The target thermometry location selection module 606 is used to find the thermometry point of interest from within the target frame (Rx, Ry, Rw, Rh) on the thermography image. For a person, assuming that the temperature measurement point of interest is the point with the lowest gray value in the target frame (Rx, Ry, Rw, Rh), the gray value of the temperature measurement point of interest is read.

The target temperature measurement module 607 is configured to calculate a target temperature according to the target distance and the gray-level value of the temperature measurement point of interest.

When the temperature of the personnel target is monitored to be abnormal, a snapshot mechanism is triggered, the personnel target with the abnormal temperature is snapshot, the temperature of the personnel target is displayed in a visible light image displayed on a display screen, and an alarm is given.

The embodiment of the present application further provides an electronic device, as shown in fig. 8, which includes a processor 801 and a memory 802, where the memory 802 stores machine executable instructions that can be executed by the processor 801, and the machine executable instructions are loaded and executed by the processor 801 to implement the target temperature measurement method provided in the embodiment of the present application.

The Memory may include a RAM (Random Access Memory) or an NVM (Non-volatile Memory), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the processor.

The Processor may be a general-purpose Processor including a CPU, an NP (Network Processor), and the like; but also a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component.

The memory 802 and the processor 801 may be connected by wire or wireless, and the electronic device and other devices may communicate via a wire communication interface or a wireless communication interface. Fig. 8 shows an example of data transmission via a bus, and the connection method is not limited to a specific connection method.

In the embodiment of the present application, the processor can realize that: after the visible light image and the thermal imaging image are acquired, a first target area of the designated target in the visible light image and a second target area of the designated target in the thermal imaging image are determined, no matter what posture characteristic the designated target is, the sizes of the target areas of the designated target in the visible light image and the thermal imaging image are the same or similar, according to the position of the first target area in the visible light image and the position of the second target area in the thermal imaging image, the calculated target parallax of the designated target represents the position difference between the first target area and the second target area, and the target parallax is actually determined by the target distance between the designated target and a binocular camera, so that the target distance of the designated target can be calculated by using a binocular parallax measuring method, the target distance is not influenced by the posture characteristic change, and therefore, the calculated target distance is ensured to be closer to the actual target distance, therefore, the temperature of the specified target is calculated more accurately according to the target distance and the gray value in the second target area, and the target temperature measurement precision is improved.

In addition, a machine-readable storage medium is provided, where machine-executable instructions are stored, and when the machine-executable instructions are loaded and executed by a processor, the target temperature measurement method provided in the embodiment of the present application is implemented.

In the embodiment of the present application, the machine-readable storage medium stores machine-executable instructions for executing the target temperature measurement method provided in the embodiment of the present application when running, so that the following can be implemented: after the visible light image and the thermal imaging image are acquired, a first target area of the designated target in the visible light image and a second target area of the designated target in the thermal imaging image are determined, no matter what posture characteristic the designated target is, the sizes of the target areas of the designated target in the visible light image and the thermal imaging image are the same or similar, according to the position of the first target area in the visible light image and the position of the second target area in the thermal imaging image, the calculated target parallax of the designated target represents the position difference between the first target area and the second target area, and the target parallax is actually determined by the target distance between the designated target and a binocular camera, so that the target distance of the designated target can be calculated by using a binocular parallax measuring method, the target distance is not influenced by the posture characteristic change, and therefore, the calculated target distance is ensured to be closer to the actual target distance, therefore, the temperature of the specified target is calculated more accurately according to the target distance and the gray value in the second target area, and the target temperature measurement precision is improved.

In yet another embodiment provided by the present application, there is also provided a computer program product containing instructions which, when run on a computer, cause the computer to perform any of the above-described embodiments of the method for object thermometry.

The embodiment of the present application provides a temperature measurement system, as shown in fig. 9, the temperature measurement system includes a binocular camera 910 and a processor 920; the binocular camera 910 includes a visible light camera 911 and a thermal imaging camera 912;

a visible light camera 911 for collecting a visible light image;

a thermal imaging camera 912 for acquiring thermal imaging images;

a processor 920, configured to acquire a visible light image and a thermal imaging image acquired by the binocular camera 910; determining a first target region of the designated target in the visible light image and a second target region of the designated target in the thermographic image; calculating the target parallax of the designated target by using a preset position difference calculation method according to the position of the first target area and the position of the second target area; calculating the target distance of the appointed target by using a preset binocular parallax distance measurement method according to the target parallax; and calculating the temperature of the specified target according to the target distance and the gray value in the second target area.

The temperature measurement system provided by the embodiment of the application can be a distributed system, namely a binocular camera and a processor are two devices which are independently distributed; the temperature measuring system provided by the embodiment of the application can also be one device, namely the binocular camera and the processor are integrated in one hardware device.

By applying the embodiment of the application, after the processor acquires the visible light image and the thermal imaging image, the first target area of the designated target in the visible light image and the second target area of the designated target in the thermal imaging image are determined, no matter what posture characteristic the designated target is, the sizes of the target areas of the designated target in the visible light image and the thermal imaging image are the same or similar, according to the position of the first target area in the visible light image and the position of the second target area in the thermal imaging image, the calculated target parallax of the designated target represents the position difference between the first target area and the second target area, and the target parallax is actually determined by the target distance between the designated target and the binocular camera, so the target distance of the designated target can be calculated by using a binocular parallax measurement method, and the target distance is not influenced by the posture characteristic change, therefore, the calculated target distance is close to the actual target distance, the calculated temperature of the specified target is more accurate according to the target distance and the gray value in the second target area, and the target temperature measurement precision is improved.

In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the application to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored on a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website, computer, server, or data center to another website, computer, server, or data center via wire (e.g., coaxial cable, fiber, DSL (Digital Subscriber Line)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that incorporates one or more of the available media. The usable medium may be a magnetic medium (e.g., a floppy Disk, a hard Disk, a magnetic tape), an optical medium (e.g., a DVD (Digital Versatile Disk)), or a semiconductor medium (e.g., a SSD (Solid State Disk)), etc.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for embodiments of the object thermometry apparatus, the electronic device, the machine-readable storage medium, the computer program product, and the thermometry system, since they are substantially similar to the method embodiments, the description is relatively simple, and related matters can be found in the partial description of the method embodiments.

The above description is only for the preferred embodiment of the present application and is not intended to limit the scope of the present application. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application are included in the protection scope of the present application.