Completeness self-checking method of capsule endoscope, electronic device, and readable storage medium

An electronic device, comprising a memory and a processor, wherein the memory stores a computer program that runs on the processor, and the processor executes the program to implement steps of a completeness self-checking method of a capsule endoscope, wherein the method comprises:

• establishing a virtual positioning area based on a working area of the capsule endoscope, wherein the virtual positioning area and the working area are located in the same spatial coordinate system, and the virtual positioning area entirely covers the working area;
• dividing the virtual positioning area into a plurality of adjacent voxels of the same size, wherein each voxel has a unique identifier and coordinates;
• driving the capsule endoscope to move within the working area, sequentially recording the images captured by the capsule endoscope when it reaches each working point at a predetermined frequency, and synchronously executing a step A to label the voxels with illuminated identifiers, wherein, the step A is no longer synchronously executed when the percentage of voxels labeled with the illuminated identifiers in the virtual positioning area is not less than a predefined percentage threshold;
• wherein none of the voxels are labeled with the illuminated identifiers in an initial state;
• wherein the step A comprises:
• sequentially recording the position and field of view orientation, of the capsule endoscope, at each working point in the spatial coordinate system;
• determining at each working point an intersection area between the field of view of the capsule endoscope and the virtual positioning area based on the position and field of view orientation of the capsule endoscope at the current working point;
• obtaining each voxel that is not labeled with the illuminated identifier in each intersection area, and obtaining a line of sight vector from the current working point to each voxel that is not labeled with the illuminated identifier, and merging the line of sight vectors corresponding to each voxel into the same vector set in sequence according to the order in which the intersection areas are obtained;
• traversing the vector set, and if the number of any line of sight vector in the vector set is at least 2, and if there exists an intersection angle between two line of sight vectors greater than a preset angle threshold, labeling the voxels corresponding to the current vector set with the illuminated identifiers.

A computer-readable storage medium having stored thereon a computer program that, when executed by a processor, implements steps of a completeness self-checking method of a capsule endoscope, wherein the method comprises:

• establishing a virtual positioning area based on a working area of the capsule endoscope, wherein the virtual positioning area and the working area are located in the same spatial coordinate system, and the virtual positioning area entirely covers the working area;
• dividing the virtual positioning area into a plurality of adjacent voxels of the same size, wherein each voxel has a unique identifier and coordinates;
• driving the capsule endoscope to move within the working area, sequentially recording the images captured by the capsule endoscope when it reaches each working point at a predetermined frequency, and synchronously executing a step A to label the voxels with illuminated identifiers, wherein, the step A is no longer synchronously executed when the percentage of voxels labeled with the illuminated identifiers in the virtual positioning area is not less than a predefined percentage threshold;
• wherein none of the voxels are labeled with the illuminated identifiers in an initial state;
• wherein the step A comprises:
• sequentially recording the position and field of view orientation of the capsule endoscope at each working point in the spatial coordinate system;
• determining at each working point an intersection area between the field of view of the capsule endoscope and the virtual positioning area based on the position and field of view orientation of the current working point;
• obtaining each voxel that is not labeled with the illuminated identifier in each intersection area, and obtaining a line of sight vector from the current working point to each voxel that is not labeled with the illuminated identifier, and merging the line of sight vectors corresponding to each voxel into the same vector set in sequence according to the order in which the intersection areas are obtained;
• traversing the vector set, and if the number of any line of sight vector in the vector set is at least 2, and if there exists an intersection angle between two line of sight vectors greater than a preset angle threshold, labeling the voxels corresponding to the current vector set with the illuminated identifiers.