CN116597007A - Light spot center alignment adjustment method, light spot center alignment adjustment device, computer equipment and medium - Google Patents

Abstract

The invention relates to the technical field of image processing, in particular to a light spot center alignment adjustment method, a light spot center alignment adjustment device, computer equipment and a medium, wherein the method is applied to a photoelectric pod, and the photoelectric pod comprises a plurality of cameras and comprises the following steps: acquiring an image of a light spot falling on a target object through each camera, wherein the light spot is a light spot generated by a laser; processing the images acquired by each camera to distinguish the light spot outline from the target object to obtain a target binary image; determining the position of a central point of the light spot outline based on the target binary image; based on the center point position, the first optical axis of each camera is adjusted, so that the first optical axis of each camera is aligned with the second optical axis of the laser, the second optical axis is presented as the circle center of the spot outline on the target object, and the camera optical axis is aligned with the optical axis of the laser spot by accurately positioning the center point position of the spot outline, so that the positioning accuracy is improved.

Description

A light spot center alignment adjustment method, device, computer equipment and medium

technical field

The present invention relates to the technical field of image processing, in particular to a light spot center alignment adjustment method, device, computer equipment and media.

Background technique

In the prior art, in the process of tracking and locating images for the photoelectric pod, since there are multiple cameras that track and shoot the same target, precise positioning cannot be performed, resulting in discrepancies in the captured images.

Therefore, how to improve the accuracy of photoelectric hoisting tracking and positioning is a technical problem to be solved urgently.

Contents of the invention

In view of the above problems, the present invention provides a light spot center alignment adjustment method, device, computer equipment and medium that overcome the above problems or at least partially solve the above problems.

In the first aspect, the present invention provides a light spot center alignment adjustment method, which is applied to a photoelectric pod, and the photoelectric pod includes a plurality of cameras, including:

Obtain an image of a light spot falling on the target object through each camera, and the light spot is a light spot generated by a laser;

Process the image acquired by each camera to distinguish the spot profile from the target object to obtain the target binary image;

Based on the target binary image, determine the position of the center point of the light spot profile;

adjusting the first optical axis of each camera so that the first optical axis of each camera is aligned with the second optical axis of the laser, the second optical axis being on the target object, based on the center point position The center of the circle rendered as the outline of the spot.

Preferably, the image is processed to distinguish the outline of the light spot from the target object to obtain a target binary image, including:

Performing inter-frame difference processing on the image to obtain an inter-frame difference image of adjacent frames;

Find a histogram for the inter-frame difference image to obtain an adaptive threshold;

Based on the adaptive threshold, the contour of the light spot is distinguished from the target object to obtain a target binary image.

Preferably, based on the adaptive threshold, the contour of the light spot is distinguished from the target object to obtain a target binary image, including:

Based on the adaptive threshold, distinguish the light spot profile from the target object to obtain an initial binary image;

An image opening operation is performed on the initial image to obtain a target binary image with a smooth spot contour.

Preferably, the determination of the central point position of the spot profile based on the target binary image includes:

determining the coordinates of each point on the spot profile based on the target binary image;

Based on the coordinates of each point on the spot profile, determine the mean coordinates as the initial coordinates of the center of the spot profile;

Calculate the distance between each point on the profile of the spot and the initial coordinates of the center of the circle, and determine the minimum first distance;

By moving the position of the initial coordinates of the center of the circle, a plurality of update coordinates of the center of the circle are obtained;

Based on a plurality of updated coordinates of the center of the circle, the updated coordinates of the center of the target circle are determined, and the updated coordinates of the center of the target circle are used as the position of the center point of the contour of the light spot.

Preferably, by moving the position of the initial coordinates of the center of the circle, a plurality of updated coordinates of the center of the circle are obtained, including:

Move the position of the initial coordinates of the center of the circle by one step along the reverse extension line of the radius corresponding to the minimum first distance until N steps, where N is an integer greater than 1, to obtain multiple update coordinates of the center of the circle.

Preferably, the updating coordinates of the center of the target are determined based on a plurality of update coordinates of the center of the circle, and the update coordinates of the center of the target are used as the position of the center point of the spot profile, including:

Calculate the distance between each point on the profile of the spot and the updated coordinates of each circle center, and determine the minimum second distance;

judging whether the minimum second distance is smaller than the minimum first distance;

If so, determine that the updated coordinates of the center of the target circle are the center point of the contour of the light spot.

Preferably, the first optical axis of each camera is adjusted based on the position of the central point, so that the first optical axis of each camera is aligned with the second optical axis of the laser, and the second optical axis is at The center of the circle that appears as the outline of the light spot on the target object includes:

Based on the position of the center point, adjusting the reticle of each camera to align with the position of the center point, so that the first optical axis of each camera is aligned with the second optical axis of the laser.

In the second aspect, the present invention also provides a light spot center alignment adjustment device, including:

An acquisition module, configured to acquire an image of a light spot falling on a target object through each camera, where the light spot is a light spot produced by a laser;

The processing module is used to process the image acquired by each camera, so as to distinguish the profile of the light spot from the target object, and obtain the target binary image;

A determining module, configured to determine the position of the center point of the spot profile based on the target binary image;

an adjustment module, configured to adjust the first optical axis of each camera based on the position of the central point, so that the first optical axis of each camera is aligned with the second optical axis of the laser, and the second optical axis is at The target object appears as the center of the light spot outline.

In a third aspect, the present invention also provides a computer device, including a memory, a processor, and a computer program stored on the memory and operable on the processor, when the processor executes the program, the computer program described in the first aspect is implemented. The method steps described above.

In a fourth aspect, the present invention also provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the method steps described in the first aspect are implemented.

One or more technical solutions in the embodiments of the present invention have at least the following technical effects or advantages:

The invention provides a light spot center alignment adjustment method, which is applied in a photoelectric pod. The photoelectric pod includes a plurality of cameras, including: each camera acquires an image of a light spot falling on a target object, and the light spot is generated by a laser. Spot; process the image acquired by each camera to distinguish the spot profile from the target object to obtain the target binary image; determine the center point position of the spot profile based on the target binary image; adjust each camera based on the center point position The first optical axis of each camera is aligned with the second optical axis of the laser, and the second optical axis appears as the center of the spot profile on the target object, and the center point position of the spot profile is accurately positioned , the optical axis of the camera is adjusted to be consistent with the optical axis of the laser spot, so that the positioning accuracy is improved.

Description of drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiment. The drawings are only for the purpose of illustrating a preferred embodiment and are not to be considered as limiting the invention. Also throughout the drawings, the same components are represented by the same reference figures. In the attached picture:

FIG. 1 shows a schematic flow chart of the steps of the adjustment method for spot center alignment in an embodiment of the present invention;

FIG. 2 shows a schematic diagram of a frame selection area in an embodiment of the present invention;

Fig. 3 shows the schematic diagram of target binary image in the embodiment of the present invention;

Fig. 4 shows a schematic diagram of the updated coordinates of the center of the circle obtained after the initial coordinates of the center of the circle are moved by one step in the embodiment of the present invention;

Fig. 5 shows a schematic structural diagram of a light spot center alignment adjustment device in an embodiment of the present invention;

Fig. 6 shows a schematic diagram of a computer device implementing a method for adjusting center alignment of a light spot in an embodiment of the present invention.

Detailed ways

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided for more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

Embodiment one

An embodiment of the present invention provides a light spot center alignment adjustment method, as shown in FIG. 1 , including:

S101, acquiring an image of a light spot falling on the target object through each camera, where the light spot is a light spot generated by a laser;

S102, processing the image acquired by each camera to distinguish the profile of the light spot from the target object to obtain a target binary image;

S103, based on the target binary image, determine the central point position of the light spot profile;

S104, based on the position of the center point, adjust the first optical axis of each camera so that the first optical axis of each camera is aligned with the second optical axis of the laser, and the second optical axis appears as the center of the spot contour on the target object .

In a specific implementation manner, S101, each camera acquires an image of a light spot falling on a target object, where the light spot is a light spot generated by a laser.

The image here may be a multi-frame picture, and the central area of the image is determined from the multi-frame pictures, and the range of the central area is 1/4*W, 1/4*H, where W and H are the size of the image. As shown in Figure 2, the area selected by the box.

Next, perform detailed analysis and processing on the image of the frame-selected central area.

Execute S102 to process the image acquired by each camera to distinguish the outline of the light spot from the target object to obtain the target binary image.

Specifically, the image of the framed center area obtained above is processed. It specifically includes: performing inter-frame difference processing on the image to obtain the inter-frame difference image of adjacent frames. Next, calculate the histogram of the inter-frame difference image to obtain an adaptive threshold. Finally, based on the adaptive threshold, the contour of the light spot is distinguished from the target object, and the target binary image is obtained.

First of all, by processing the image of the frame-selected central region, the processing amount can be effectively reduced, thereby improving the processing efficiency. Next, inter-frame difference processing is performed. This inter-frame difference processing method is a method for obtaining the contour of a moving target by performing a difference operation on two adjacent frames in the video image sequence. It can be well adapted to the presence of multiple moving targets. and camera movement. When abnormal objects move in the monitoring scene, there will be obvious differences between frames. Subtract the two frames to get the absolute value of the brightness difference between the two frames, and judge whether it is greater than the threshold to analyze the motion of the video or image sequence. feature to determine the presence or absence of object motion in an image sequence. The frame-by-frame difference of the image sequence is equivalent to performing high-pass filtering on the image sequence in the time domain. The inter-frame difference images of adjacent frames are thus obtained.

Then, calculate the histogram for the inter-frame difference image. Since the image is composed of pixels, in a single-channel grayscale image, the value of each pixel is between 0 and 255 (white-black), and the histogram is A simple graph that counts the number of pixels with a given value in an image. A histogram for a grayscale image consists of 256 entries, with 0 entries giving the number of pixels with a value of 0 and 1 entries giving The number of pixels whose value is 1, and so on, can sum all the entries of the histogram to get the sum of pixels. Thus, according to the histogram, the first valley value is obtained as an adaptive threshold, and the outline of the spot is distinguished from the target image through the adaptive threshold to obtain the target binary image.

To be more specific, through the adaptive threshold, the contour of the spot is distinguished from the target object, and the initial binary image is firstly obtained; the initial binary image is not ideal, and the edge of the contour of the spot is not smooth, so the initial binary image needs to be The image opening operation is performed to obtain the target binary image with smooth spot contour.

Among them, the image opening operation is to corrode and expand the black area through the erosion operation firstly, and then expand and expand the white area through the dilation operation in the initial binary image. Its purpose is to make the initial binary image smooth, disconnect the narrow gaps and eliminate thin protrusions, and thus obtain the target binary image. Specifically shown in Figure 3.

After the target binary image is obtained, S103 is executed, based on the target binary image, the position of the central point of the light spot profile is determined.

Specifically, based on the target binary image, determine the coordinates of each point on the spot profile;

Based on the coordinates of each point on the spot profile, determine the mean coordinates as the initial coordinates of the center of the spot profile;

Calculate the distance between each point on the spot profile and the initial coordinates of the center of the circle, and determine the minimum first distance;

By moving the position of the initial coordinates of the center of the circle, multiple update coordinates of the center of the circle are obtained.

Since there are only 0 and 1 pixels in the target binary image, the part with a pixel value of 1 is found through the find function in matlab, which is the white spot outline, and the coordinates (x, y) of each point on the spot outline are determined. The mean coordinates are obtained by calculating the mean value, as the initial coordinates (x _m , y _m ) of the center of the spot contour, namely

Next, calculate the distance between each point on the spot profile and the initial coordinates of the center of the circle, and determine the minimum first distance, specifically:

Wherein, r _m is the minimum first distance.

Then, by moving the initial coordinates of the center of the circle, multiple update coordinates of the center of the circle are obtained. Here, the reverse extension line formed by the radius corresponding to the minimum first distance r _m of the initial coordinate position of the circle center is obtained, and then the initial coordinate position is extended along the reverse direction The line moves by one step until N steps are reached, where N is an integer greater than 1, and multiple update coordinates of the center of the circle are obtained. Among them, every time a step is moved, an updated coordinate of the center of the circle can be obtained, as shown in Figure 4.

Next, based on a plurality of updated coordinates of the center of the circle, the updated coordinates of the center of the target circle are determined, and the updated coordinates of the center of the target circle are used as the position of the center point of the contour of the light spot.

Assuming that the updated coordinates of the center of the circle after moving one step are (x _m+1 ,y _m+1 ), then

Next, calculate the distance between each point on the spot profile and the update coordinates of each circle center, and determine the minimum second distance. Take the update coordinates of the circle center after moving one step as an example:

Wherein, r _m+1 is the minimum second distance.

There are multiple minimum second distances, specifically corresponding to updating coordinates of each circle center. Next, it is judged whether the minimum second distance is smaller than the minimum first distance, and if so, the updated coordinates of the center of the target circle are determined as the central point position of the light spot outline. Specifically, a value smaller than the minimum first distance is found from multiple minimum second distances, and the corresponding update coordinates of the center of the circle are determined as the target update coordinates, which are used as the center point coordinate position of the light spot profile.

If the minimum second distance corresponding to the updated coordinates of the center of the circle moved by one step is smaller than the minimum first distance, the updated coordinates of the center of the circle moved by one step are used as the position of the center point of the light spot profile.

Since the position of the initial coordinates of the center of the circle is not necessarily the position of the center point of the spot profile, it is necessary to continuously change the position of the center of the circle to find the update coordinates of the target circle center, that is, the position of the center point of the spot profile.

Finally, after determining the center point position of the spot profile, execute S104, based on the center point position, adjust the first optical axis of each camera so that the first optical axis of each camera is aligned with the second optical axis of the laser, The second optical axis appears as the center of the spot contour on the target object.

Specifically, based on the position of the center point, the reticle of each camera is adjusted to be aligned with the position of the center point, so that the first optical axis of each camera is aligned with the second optical axis of the laser. Since the reticle of each camera corresponds to the first optical axis, when the reticle of the camera is adjusted to align with the center point, the first optical axis of the camera can be aligned with the second optical axis of the laser.

One or more technical solutions in the embodiments of the present invention have at least the following technical effects or advantages:

The invention provides a light spot center alignment adjustment method, which is applied in a photoelectric pod. The photoelectric pod includes a plurality of cameras, including: each camera acquires an image of a light spot falling on a target object, and the light spot is generated by a laser. Spot; process the image acquired by each camera to distinguish the spot profile from the target object to obtain the target binary image; determine the center point position of the spot profile based on the target binary image; adjust each camera based on the center point position The first optical axis of each camera is aligned with the second optical axis of the laser, and the second optical axis appears as the center of the spot profile on the target object, and the center point position of the spot profile is accurately positioned , the optical axis of the camera is adjusted to be consistent with the optical axis of the laser spot, so that the positioning accuracy is improved.

Embodiment two

Based on the same inventive concept, an embodiment of the present invention also provides a light spot center alignment adjustment device, as shown in FIG. 5 , including:

An acquisition module 501, configured to acquire an image of a light spot falling on a target object through each camera, where the light spot is a light spot generated by a laser;

The processing module 502 is configured to process the image acquired by each camera, so as to distinguish the profile of the light spot from the target object, and obtain the target binary image;

A determination module 503, configured to determine the center point position of the spot profile based on the target binary image;

An adjustment module 504, configured to adjust the first optical axis of each camera based on the position of the central point, so that the first optical axis of each camera is aligned with the second optical axis of the laser, and the second optical axis Appears as the center of the circle of the light spot outline on the target object.

In an optional implementation manner, the processing module 502 includes:

The first obtaining unit is configured to perform inter-frame difference processing on the image to obtain inter-frame difference images of adjacent frames;

The second obtaining unit is used to obtain a histogram for the inter-frame difference image to obtain an adaptive threshold;

The third obtaining unit is configured to distinguish the outline of the light spot from the target object based on the adaptive threshold to obtain a target binary image.

In an optional embodiment, the third obtaining unit is used for:

Based on the adaptive threshold, distinguish the light spot profile from the target object to obtain an initial binary image;

An image opening operation is performed on the initial image to obtain a target binary image with a smooth spot contour.

In an optional implementation manner, the determining module 503 includes:

A first determining unit, configured to determine the coordinates of each point on the spot profile based on the target binary image;

The second determination unit is used to determine the mean coordinates based on the coordinates of each point on the spot profile as the initial coordinates of the center of the spot profile;

A third determining unit, configured to calculate the distance between each point on the spot profile and the initial coordinates of the center of the circle, and determine the minimum first distance;

Obtaining a unit for obtaining a plurality of update coordinates of the center of the circle by moving the position of the initial coordinates of the center of the circle;

The fourth determination unit is configured to determine the update coordinates of the target circle center based on the multiple update coordinates of the circle center, and use the update coordinates of the target circle center as the center point position of the light spot profile.

In an optional embodiment, a unit is obtained for:

Move the position of the initial coordinates of the center of the circle by one step along the reverse extension line of the radius corresponding to the minimum first distance until N steps, where N is an integer greater than 1, to obtain multiple update coordinates of the center of the circle.

In an optional implementation manner, the fourth determining unit is configured to:

Calculate the distance between each point on the profile of the spot and the updated coordinates of each circle center, and determine the minimum second distance;

judging whether the minimum second distance is smaller than the minimum first distance;

If so, determine that the updated coordinates of the center of the target circle are the center point of the contour of the light spot.

In an optional implementation manner, the adjustment module is used for:

Based on the position of the center point, adjusting the reticle of each camera to align with the position of the center point, so that the first optical axis of each camera is aligned with the second optical axis of the laser.

Embodiment three

Based on the same inventive concept, an embodiment of the present invention provides a computer device, as shown in FIG. When the processor 602 executes the program, the steps of the above-mentioned light spot center alignment adjustment method are implemented.

Wherein, in FIG. 6, the bus architecture (represented by bus 600), bus 600 may include any number of interconnected buses and bridges, and bus 600 will include one or more processors represented by processor 602 and memory 604 represented The various circuits of the memory are linked together. The bus 600 may also link together various other circuits, such as peripherals, voltage regulators, and power management circuits, etc., which are well known in the art and thus will not be further described herein. The bus interface 606 provides an interface between the bus 600 and the receiver 601 and the transmitter 603 . Receiver 601 and transmitter 603 may be the same element, a transceiver, providing means for communicating with various other devices over a transmission medium. Processor 602 is responsible for managing bus 600 and general processing, while memory 604 may be used to store data used by processor 602 in performing operations.

Embodiment four

Based on the same inventive concept, an embodiment of the present invention provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the steps of the above method for centering the light spot are implemented.

The algorithms and displays presented herein are not inherently related to any particular computer, virtual system, or other device. Various generic systems can also be used with the teachings based on this. The structure required to construct such a system is apparent from the above description. Furthermore, the present invention is not specific to any particular programming language. It should be understood that various programming languages can be used to implement the content of the present invention described herein, and the above description of specific languages is for disclosing the best mode of the present invention.

In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure the understanding of this description.

Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, in order to streamline this disclosure and to facilitate an understanding of one or more of the various inventive aspects, various features of the invention are sometimes grouped together in a single embodiment, figure, or its description. This method of disclosure, however, is not to be interpreted as reflecting an intention that the claimed invention requires more features than are expressly recited in each example. Rather, as each embodiment reflects, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the Detailed Description are hereby expressly incorporated into this Detailed Description, with each claim standing on its own as a separate embodiment of this invention.

Those skilled in the art can understand that the modules in the device in the embodiment can be adaptively changed and arranged in one or more devices different from the embodiment. Modules or units or components in the embodiments may be combined into one module or unit or component, and furthermore may be divided into a plurality of sub-modules or sub-units or sub-assemblies. All features disclosed in this specification (including accompanying claims, abstract and drawings) and any method or method so disclosed may be used in any combination, except that at least some of such features and/or processes or units are mutually exclusive. All processes or units of equipment are combined. Each feature disclosed in this specification (including accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.

Furthermore, those skilled in the art will appreciate that although some embodiments herein include some features included in other embodiments but not others, combinations of features from different embodiments are meant to be within the scope of the invention. And form different embodiments. For example, in a specific implementation manner, any one of the claimed embodiments can be used in any combination.

The various component embodiments of the present invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art should understand that a microprocessor or a digital signal processor (DSP) can be used in practice to implement some or all of some or all of the light spot center alignment adjustment device and computer equipment according to the embodiments of the present invention. Full functionality. The present invention can also be implemented as an apparatus or an apparatus program (for example, a computer program and a computer program product) for performing a part or all of the methods described herein. Such a program for realizing the present invention may be stored on a computer-readable medium, or may be in the form of one or more signals. Such a signal may be downloaded from an Internet site, or provided on a carrier signal, or provided in any other form.

It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention can be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means can be embodied by one and the same item of hardware. The use of the words first, second, and third, etc. does not indicate any order. These words can be interpreted as names.

Claims (10)

1. A spot centering adjustment method applied to an optoelectronic pod, the optoelectronic pod comprising a plurality of cameras, the method comprising:

acquiring an image of a light spot falling on a target object through each camera, wherein the light spot is a light spot generated by a laser;

processing the images acquired by each camera to distinguish the light spot outline from the target object to obtain a target binary image;

determining the position of a central point of the light spot outline based on the target binary image;

based on the center point position, the first optical axis of each camera is adjusted such that the first optical axis of each camera is aligned with the second optical axis of the laser that appears as the center of the spot profile on the target object.

2. The method of claim 1, wherein processing the image to distinguish the outline of the spot from a target object to obtain a target binary image comprises:

performing inter-frame difference processing on the image to obtain an inter-frame difference image of an adjacent frame;

obtaining a histogram of the inter-frame difference image to obtain a self-adaptive threshold;

and distinguishing the outline of the light spot from a target object based on the self-adaptive threshold value to obtain a target binary image.

3. The method of claim 2, wherein distinguishing the outline of the spot from the target object based on the adaptive threshold to obtain a target binary image comprises:

based on the self-adaptive threshold, distinguishing the light spot profile from a target object to obtain an initial binary image;

and performing image opening operation on the initial image to obtain a target binary image with smooth facula contours.

4. The method of claim 1, wherein determining the location of the center point of the spot profile based on the target binary image comprises:

determining the coordinates of each point on the light spot contour based on the target binary image;

based on the coordinates of each point on the light spot profile, determining a mean value coordinate as the circle center initial coordinate of the light spot profile;

calculating the distance between each point on the light spot contour and the initial coordinate of the circle center, and determining the minimum first distance;

obtaining a plurality of circle center updating coordinates by moving the positions of the circle center initial coordinates;

and determining a target circle center updating coordinate based on the circle center updating coordinates, and taking the target circle center updating coordinate as the center point position of the light spot outline.

5. The method of claim 4, wherein said obtaining a plurality of center update coordinates by moving the position of said center initial coordinates comprises:

and moving the position of the initial coordinate of the circle center by 1 step along the reverse extension line of the radius corresponding to the minimum first distance until N step sizes are obtained, wherein N is an integer larger than 1, and a plurality of updated coordinates of the circle center are obtained.

6. The method of claim 4, wherein determining the target center update coordinates based on the plurality of center update coordinates and taking the target center update coordinates as the center point location of the spot profile comprises:

calculating the distance between each point on the light spot contour and each circle center updating coordinate, and determining the minimum second distance;

judging whether the minimum second distance is smaller than the minimum first distance;

if yes, determining the updating coordinate of the center of the target circle as the position of the central point of the light spot outline.

7. The method of claim 1, wherein the adjusting the first optical axis of each camera based on the center point position such that the first optical axis of each camera is aligned with a second optical axis of the laser, the second optical axis assuming a center of a spot profile on the target object comprises:

based on the center point position, the cross hair of each camera is adjusted to align with the center point position such that the first optical axis of each camera is aligned with the second optical axis of the laser.

8. A spot centering adjustment apparatus, comprising:

the acquisition module is used for acquiring an image of a light spot falling on a target object through each camera, wherein the light spot is generated by a laser;

the processing module is used for processing the image acquired by each camera to distinguish the light spot outline from the target object so as to acquire a target binary image;

the determining module is used for determining the center point position of the light spot outline based on the target binary image;

and the adjusting module is used for adjusting the first optical axis of each camera based on the central point position so that the first optical axis of each camera is aligned with the second optical axis of the laser, and the second optical axis presents as the circle center of the light spot outline on the target object.

9. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method steps of any of claims 1 to 7 when the program is executed.

10. A computer readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the method steps of any of claims 1-7.