CN108629840A - A kind of method, apparatus and equipment for establishing LOGO three-D profiles - Google Patents
A kind of method, apparatus and equipment for establishing LOGO three-D profiles Download PDFInfo
- Publication number
- CN108629840A CN108629840A CN201810442985.1A CN201810442985A CN108629840A CN 108629840 A CN108629840 A CN 108629840A CN 201810442985 A CN201810442985 A CN 201810442985A CN 108629840 A CN108629840 A CN 108629840A
- Authority
- CN
- China
- Prior art keywords
- network structure
- structure light
- logo
- grid
- node
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T15/00—3D [Three Dimensional] image rendering
- G06T15/005—General purpose rendering architectures
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
- G06T17/20—Finite element generation, e.g. wire-frame surface description, tesselation
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Computer Graphics (AREA)
- Geometry (AREA)
- Software Systems (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Image Processing (AREA)
Abstract
The invention discloses a kind of method, apparatus, equipment and computer readable storage medium for establishing LOGO three-D profiles to include：Network structure light is projected to ideal plane, two-dimensional coordinate A (u, v) of each grid node in pixel coordinate system in the network structure light is obtained on the ideal plane；The network structure light is projected to the surface of LOGO to be measured, two-dimensional coordinate B (u, v) of each grid node in pixel coordinate system in the network structure light on the surfaces LOGO to be measured is acquired；The coordinate difference for solving the two-dimensional coordinate A (u, v) and the two-dimensional coordinate B (u, v), to obtain the pixel displacement of each grid node in the network structure light；The height of each grid node is calculated using the pixel displacement, to obtain the three-dimensional coordinate of each grid node, to establish the three-D profile of the LOGO to be measured.Using method, apparatus provided by the present invention, equipment and computer readable storage medium, the speed for establishing LOGO three-D profiles is accelerated.
Description
Technical field
The present invention relates to Three Dimensional Reconfiguration field, more particularly to a kind of method, apparatus for establishing LOGO three-D profiles,
Equipment and computer readable storage medium.
Background technology
Surface profile structure is the mode of a detection object very important so far.In recent years, with computer
The development of technology and image processing techniques, object three-dimensional contour outline detection and data information extractive technique have a great development, quilt
It is widely used in product design, the measurement of planeness, cubing, quality control, reverse engineering emulation, machine vision and biology
The fields such as medical treatment.
Traditional method for building stage three-D profile using light-spot type structure light is by point by point scanning object realization table
Face contour of object measures, and the time of image capture and graphics process needs increased dramatically with the increase of testee.
In summary as can be seen that how the three-D profile of rapid build object is that have problem to be solved at present.
Invention content
The object of the present invention is to provide a kind of method, apparatus for establishing LOGO three-D profiles, equipment and computer-readable
Storage medium has solved the problems, such as that the time for building three-D profile in the prior art increases with object and sharply increased.
In order to solve the above technical problems, the present invention provides a kind of method for establishing LOGO three-D profiles, including：By network knot
Structure light is projected to ideal plane, obtains on the ideal plane in the network structure light each grid node in pixel coordinate system
Two-dimensional coordinate A (u, v)；The network structure light is projected to the surface of LOGO to be measured, is acquired on the surfaces LOGO to be measured
Network structure light in two-dimensional coordinate B (u, v) of each grid node in pixel coordinate system；Solve the two-dimensional coordinate A (u, v)
With the coordinate difference of the two-dimensional coordinate B (u, v), to obtain the pixel displacement of each grid node in the network structure light；Profit
The height of each grid node is calculated with the pixel displacement, to obtain the three-dimensional coordinate of each grid node, to
Establish the three-D profile of the LOGO to be measured.
Preferably, described to project network structure light to ideal plane, obtain the network structure on the ideal plane
Two-dimensional coordinate A (u, v) of each grid node in pixel coordinate system includes in light：
Network structure light is projected to ideal plane, using the grid image on camera acquisition ideal plane, to collecting
The ideal plane grid image carry out denoising, extract grid lines operation；By network structure on the ideal plane
Each network node coordinate of light is mapped to pixel coordinate system from world coordinate system, to obtain the net on the ideal plane
Two-dimensional coordinate A (u, v) of each grid node in pixel coordinate system in network structure light.
Preferably, the extraction grid lines include：According to the principle from putting line to the collected ideal plane
Grid image carry out grid lines extraction, the angle of preset condition is met in the grid image to extract the ideal plane
Point and intersection point.
Preferably, each network node coordinate by network structure light on ideal plane is mapped to from world coordinate system
Pixel coordinate system includes：
Coordinate (X of each network node of network structure light under world coordinate system on the ideal planeW,YW,ZW) logical
It crossesBe converted to the coordinate (X under camera coordinates systemC,YC,ZC)；Wherein, R is spin matrix, and T is translation
Matrix；
Pass throughBy each network node of network structure on the ideal plane in camera
Coordinate (X under coordinate systemC,YC,ZC) be converted to coordinate (u, v) under pixel coordinate system；Wherein, u is object distance, and v is apart that f is
The focal length of lens.
Preferably, the height that each grid node is calculated using the pixel displacement, to obtain each net
The three-dimensional coordinate of lattice node, the three-D profile to establish the LOGO to be measured include：By each network of network structure light
The pixel displacement of node is brought into principle of triangulation relational expression, and each network node of the network structure light is respectively obtained
Highly；According to the inner parameter and external parameter of the height of each network node and the camera for acquiring LOGO images to be detected
The three-dimensional coordinate of each network node is calculated, to establish the three-D profile of the LOGO to be detected.
Preferably, described to project the network structure light to the surface of LOGO to be measured, acquire the surfaces LOGO to be measured
On network structure light in two-dimensional coordinate B (u, v) of each grid node in pixel coordinate system further include：By the network structure
Light, to the surfaces LOGO to be measured, acquires the grid image on several described surfaces LOGO to be measured by multiple Angles Projections, to
Two-dimensional coordinate B (u, v) of each grid node in pixel coordinate system in network structure light on to the surfaces LOGO to be measured.
The present invention also provides a kind of devices for establishing LOGO three-D profiles, including：
First projection module obtains the net on the ideal plane for projecting network structure light to ideal plane
Two-dimensional coordinate A (u, v) of each grid node in pixel coordinate system in network structure light；
Second projection module, for projecting the network structure light to the surface of LOGO to be measured, acquisition is described to be measured
Two-dimensional coordinate B (u, v) of each grid node in pixel coordinate system in network structure light on the surfaces LOGO；
Difference module is done, the coordinate difference for solving the two-dimensional coordinate A (u, v) and the two-dimensional coordinate B (u, v), to
Obtain the pixel displacement of each grid node in the network structure light；
Module is established, the height for each grid node to be calculated using the pixel displacement is each to obtain
The three-dimensional coordinate of grid node, to establish the three-D profile of the LOGO to be measured.
Preferably, first projection module is specifically used for：Network structure light is projected to ideal plane, is adopted using camera
Collect the grid image on ideal plane, denoising, extraction grid lines are carried out to the grid image of the collected ideal plane
Operation；Each network node of network structure light on ideal plane is mapped to pixel coordinate system from world coordinate system, to
Obtain on the ideal plane two-dimensional coordinate A (u, v) of each grid node in pixel coordinate system in the network structure light.
The present invention also provides a kind of equipment for establishing LOGO three-D profiles, including：
Memory, for storing computer program；Processor realizes above-mentioned one kind when for executing the computer program
The step of establishing the method for LOGO three-D profiles.
The present invention also provides a kind of computer readable storage medium, meter is stored on the computer readable storage medium
Calculation machine program, the computer program realize the step of a kind of above-mentioned method for establishing LOGO three-D profiles when being executed by processor
Suddenly.
The method, apparatus, method and computer readable storage medium provided by the present invention for establishing LOGO three-D profiles,
The three-D profile of LOGO to be measured is built using network light.Network structure light is projected to ideal plane, by the ideal
Plane obtains on the ideal plane two of each node in the network structure light in pixel coordinate system as datum plane
Dimension coordinate A (u, v)；The network structure light is projected to the surface of LOGO to be measured, the knot on the surfaces LOGO to be measured is acquired
Two-dimensional coordinate B (u, v) of each node in pixel coordinate system in network forming network light；Solve the two-dimensional coordinate A (u, v) and described
The coordinate difference of two-dimensional coordinate B (u, v), to obtain the pixel displacement of each grid node in the network structure light；Using described
The height of each grid node is calculated in pixel displacement, to obtain the three-dimensional coordinate of each grid node, to establish
State the three-D profile of LOGO to be measured.The method provided by the present invention for establishing three-D profile, obtain respectively the ideal plane and
On the surfaces LOGO to be measured in grid structure light each node two-dimensional coordinate.According to network structure light on the ideal plane
The coordinate difference of the two-dimensional coordinate of each node of network structure light, obtains on the two-dimensional coordinate of each node and the surfaces LOGO to be measured
To the pixel displacement of each node, the height of each node is obtained according to the pixel displacement.Method provided by the present invention, is adopted
The two-dimensional coordinate for collecting each node on network light solves existing without carrying out point by point scanning to examined object
When in technology using structure light structure three-D profile, point by point scanning object under test surface is needed, to object under test body
Product increases, and reconstructs longer problem of required time；Keep the three-D profile of structure object more fast and convenient.
Description of the drawings
It, below will be to embodiment or existing for the clearer technical solution for illustrating the embodiment of the present invention or the prior art
Attached drawing is briefly described needed in technology description, it should be apparent that, the accompanying drawings in the following description is only this hair
Some bright embodiments for those of ordinary skill in the art without creative efforts, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the flow chart of the first specific embodiment of the method provided by the present invention for establishing LOGO three-D profiles；
Fig. 2 is the flow chart of second of specific embodiment of the method provided by the present invention for establishing LOGO three-D profiles；
Fig. 3 is the calibration process of each grid node of network light in grid image；
Fig. 4 is image principle of triangulation figure；
Fig. 5 is a kind of structure diagram of device that establishing LOGO three-D profiles provided in an embodiment of the present invention.
Specific implementation mode
Core of the invention is to provide a kind of method, apparatus that establishing LOGO three-D profiles, equipment and computer-readable
Storage medium accelerates the speed for establishing LOGO three-D profiles.
In order to enable those skilled in the art to better understand the solution of the present invention, with reference to the accompanying drawings and detailed description
The present invention is described in further detail.Obviously, described embodiments are only a part of the embodiments of the present invention, rather than
Whole embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Lower obtained every other embodiment, shall fall within the protection scope of the present invention.
Referring to FIG. 1, Fig. 1 is the first specific embodiment of the method provided by the present invention for establishing LOGO three-D profiles
Flow chart；Concrete operation step is as follows：
Step S101：Network structure light is projected to ideal plane, the network structure light on the ideal plane is obtained
In two-dimensional coordinate A (u, v) of each grid node in pixel coordinate system；
Network structure light is projected to ideal plane, using the grid image on camera acquisition ideal plane, to collecting
The ideal plane grid image carry out denoising, extract grid lines operation；By network structure light on ideal plane
Each network node is mapped to pixel coordinate system from world coordinate system, to obtain the network structure light on the ideal plane
In two-dimensional coordinate A (u, v) of each grid node in pixel coordinate system.
When extracting the grid image grid lines of the ideal plane, according to the principle from putting line to collected described
The grid image of ideal plane carries out grid lines extraction, meets in the grid image to extract the ideal plane default
The angle point and intersection point of condition.
Step S102：The network structure light is projected to the surface of LOGO to be measured, is acquired on the surfaces LOGO to be measured
Network structure light in two-dimensional coordinate B (u, v) of each grid node in pixel coordinate system；
In the present embodiment, it can be acquired more by the network structure light from multiple Angles Projections to the surfaces LOGO to be measured
Grid image on surfaces LOGO to be measured described in width, observes several grid image intersection points and its field pixel characteristic, to obtain
The two-dimensional coordinate of each grid node in network light on the surfaces LOGO to be measured.
Step S103：The coordinate difference for solving the two-dimensional coordinate A (u, v) and the two-dimensional coordinate B (u, v), to obtain
The pixel displacement of each grid node in the network structure light；
Step S104：The height of each grid node is calculated using the pixel displacement, to obtain each grid
The three-dimensional coordinate of node, to establish the three-D profile of the LOGO to be measured.
The method that the present embodiment was provided establish LOGO three-D profiles, the three of LOGO to be measured are built based on network structure light
Profile is tieed up, needs point-to-point measurement to cause to increase with determinand volume when solving in the prior art using structure light structure object
The problem of time of measuring increases severely accelerates the speed of structure object three-dimensional contour outline.
Based on above-described embodiment, in the present embodiment, network light is projected to the ideal plane or described to be measured
The surfaces LOGO, after acquiring grid image using camera, first by the coordinate of each node of network light in the grid image
After being converted to camera coordinates system by world coordinate system, the two-dimensional coordinate under pixel coordinate system is converted to by camera coordinates system.
Referring to FIG. 2, Fig. 2 is second of specific embodiment of the method provided by the present invention for establishing LOGO three-D profiles
Flow chart；Concrete operation step is as follows：
Step S201：Network structure light is projected to ideal plane, the net on the ideal plane is acquired using camera
Coordinate of each grid node of network structure light on world coordinate system；
Camera for acquiring grid image is demarcated using checkerboard calibration method, obtains the inside and outside parameter of camera, square
Battle array, rotating vector and translation vector.
In the present embodiment, the grid image can be acquired using CCD camera, described in the placement of the midpoint of camera line
Network light.
Step S202：Each network node coordinate of network structure light on the ideal plane is mapped from world coordinate system
To pixel coordinate system, to obtain on the ideal plane in the network structure light each grid node in pixel coordinate system
Two-dimensional coordinate A (u, v)；
Each node coordinate of network structure light is converted from world coordinate system to camera coordinates system on the ideal plane, then
It is converted to the pixel coordinate system by the camera coordinates system.
The world coordinate system is OW-XWYWZWIt is the frame of reference for describing object location information in environment.The camera
Coordinate system O-XCYCZCCenter is using O points as origin, ZCAxis and optical axis coincidence, XCAxis, YCAxis respectively with the x-axis of image coordinate system, y-axis
Parallel, effective focal length f is the distance of the plane of delineation and optical center.Relationship between the camera coordinates system and world coordinate system can be with
It is indicated with translation matrix T with spin matrix R.
If as shown in figure 3, seat of each network node of network structure light under world coordinate system on the ideal plane
Mark (XW,YW,ZW), pass through：
Be converted to the coordinate (X under camera coordinates systemC,YC,ZC)；Wherein, R is the orthogonal matrix of 3x3；T is the vector of 3xl；
T=[tx ty tz]T；
Wherein, γ is angle of heel, α is pitch angle, β is rotation angle.
Coordinate (X under the camera coordinates systemC,YC,ZC) pass through：
By coordinate (X of each network node of network structure on the ideal plane under camera coordinates systemC,YC,ZC) turn
The coordinate (u, v) being changed under pixel coordinate system；Wherein, u is object distance, and v is apart that f is the focal length of lens.
The camera coordinates system and the pixel coordinate system are by lens imaging relationship：
It obtains.
The pixel coordinate system is the plane coordinate system O defined on imaging plane0- uv, the coordinate (u, v) point of each pixel
It is not the columns and line number of the pixel, for computer picture, origin O0Multiselect makees the top left corner apex of the image.Due to
(u, v) only indicates that line number and columns of the pixel in image array, not useful physical unit represent the pixel in the picture
Position.The image coordinate system O that therefore, it is necessary to be indicated with physical unit in foundation1-xy.The coordinate system is with the plane of delineation and light
The intersection point O of axis1For origin, x-axis y-axis is respectively parallel to u axis v axis.If point O1In coordinate system O0Coordinate in-uv is (u0,v0), often
Physical size of one pixel in x-axis, y-axis direction is respectively dx, dy；Then in image any one pixel in two coordinate systems
In relationship be represented by：
Step S203：The network structure light is projected to the surfaces LOGO to be measured, the LOGO to be measured is acquired using camera
Coordinate of each grid node of network structure light under world coordinate system on surface；
Step S204：By each network node coordinate of network structure light on the surfaces LOGO to be measured from world coordinate system
It is mapped to pixel coordinate system, each grid node is sat in pixel in the network structure light to obtain on the surfaces LOGO to be measured
Two-dimensional coordinate B (u, v) in mark system；
Calculate in the plane to be measured two-dimensional coordinate of each network node in pixel system in the network structure light
Process and the two-dimensional coordinate under the pixel coordinate system of each network node in network structure light on the above-mentioned calculating ideal plane
Process it is identical, no longer discuss herein.
Step S205：The coordinate difference for solving the two-dimensional coordinate A (u, v) and the two-dimensional coordinate B (u, v), to obtain
The pixel displacement of each grid node in the network structure light；
Step S206：Bring the pixel displacement of each network node of network structure light into principle of triangulation relational expression
In, respectively obtain the height of each network node of the network structure light；
Bring each pixel displacement into the principle of triangulation relational expression successively：
It deforms：
To obtain the height of each network node；As shown in Figure 4, wherein HO is incident ray, and OM is default reflected light
Line, ON are practical reflection light, and OQ is that O points are imaged object distance, and QP is that O points are imaged image distance；PN be H points CCD imaging planes at
The offset of picture point and Imaging standard point P；HQ' is the height value of network node；To preset reflection light OM and CCD imaging plane
Angle；For the OQ' incident rays and between angle.
Step S207：According to the inside ginseng of the height of each network node and the camera for acquiring LOGO images to be detected
The three-dimensional coordinate of each network node is calculated in number and external parameter, to establish the three-dimensional wheel of the LOGO to be detected
It is wide.
In the present embodiment, after acquiring grid image using CCD camera, by the network light on the grid image
Coordinate of each grid node under world coordinate system is converted to the coordinate under camera coordinates system, is reconverted under pixel coordinate system
Two-dimensional coordinate.According to the pixel displacement of the two-dimensional coordinate A (u, v) and the two-dimensional coordinate B (u, v), the grid is obtained
In structure light after the height of each grid node, according to the inside and outside parameter for the CCD camera for completing chessboard calibration, it is calculated each
The three-dimensional coordinate of grid node, to build the three-D profile of the LOGO to be measured.
Referring to FIG. 5, Fig. 5 is a kind of structural frames of device that establishing LOGO three-D profiles provided in an embodiment of the present invention
Figure；Specific device may include：
First projection module 100 obtains described on the ideal plane for projecting network structure light to ideal plane
Two-dimensional coordinate A (u, v) of each grid node in pixel coordinate system in network structure light；
Second projection module 200, for projecting the network structure light to the surface of LOGO to be measured, acquisition is described to be measured
Two-dimensional coordinate B (u, v) of each grid node in pixel coordinate system in network structure light on the surfaces LOGO；
Difference module 300 is done, the coordinate difference for solving the two-dimensional coordinate A (u, v) and the two-dimensional coordinate B (u, v), from
And obtain the pixel displacement of each grid node in the network structure light；
Module 400 is established, the height for each grid node to be calculated using the pixel displacement is each to obtain
The three-dimensional coordinate of a grid node, to establish the three-D profile of the LOGO to be measured.
The device for establishing LOGO three-D profiles of the present embodiment for realizing the method above-mentioned for establishing LOGO three-D profiles,
Therefore the visible method for establishing LOGO three-D profiles hereinbefore of specific implementation mode in the device of LOGO three-D profiles is established
Embodiment part establish module 400 for example, the first projection module 100, the second projection module 200, do difference module 300, point
Not for realizing step S101, S102, S103 and S104 in the above-mentioned method for establishing LOGO three-D profiles, so, it is specific real
The mode of applying is referred to the description of corresponding various pieces embodiment, and details are not described herein.
The specific embodiment of the invention additionally provides a kind of equipment for establishing LOGO three-D profiles, including：Memory, for depositing
Store up computer program；Processor realizes a kind of above-mentioned side establishing LOGO three-D profiles when for executing the computer program
The step of method.
The specific embodiment of the invention additionally provides a kind of computer readable storage medium, the computer readable storage medium
On be stored with computer program, the computer program realizes a kind of above-mentioned LOGO three-D profiles of establishing when being executed by processor
The step of method.
Each embodiment is described by the way of progressive in this specification, the highlights of each of the examples are with it is other
The difference of embodiment, just to refer each other for same or similar part between each embodiment.For being filled disclosed in embodiment
For setting, since it is corresponded to the methods disclosed in the examples, so description is fairly simple, related place is referring to method part
Explanation.
Professional further appreciates that, unit described in conjunction with the examples disclosed in the embodiments of the present disclosure
And algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, in order to clearly demonstrate hardware and
The interchangeability of software generally describes each exemplary composition and step according to function in the above description.These
Function is implemented in hardware or software actually, depends on the specific application and design constraint of technical solution.Profession
Technical staff can use different methods to achieve the described function each specific application, but this realization is not answered
Think beyond the scope of this invention.
The step of method described in conjunction with the examples disclosed in this document or algorithm, can directly be held with hardware, processor
The combination of capable software module or the two is implemented.Software module can be placed in random access memory (RAM), memory, read-only deposit
Reservoir (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technology
In any other form of storage medium well known in field.
It to the method, apparatus provided by the present invention for establishing LOGO three-D profiles, equipment and computer-readable deposits above
Storage media is described in detail.Principle and implementation of the present invention are described for specific case used herein,
The explanation of above example is only intended to facilitate the understanding of the method and its core concept of the invention.It should be pointed out that for this technology
For the those of ordinary skill in field, without departing from the principle of the present invention, several improvement can also be carried out to the present invention
And modification, these improvement and modification are also fallen within the protection scope of the claims of the present invention.
Claims (10)
1. a kind of method for establishing LOGO three-D profiles, which is characterized in that including：
Network structure light is projected to ideal plane, obtains on the ideal plane that each grid node exists in the network structure light
Two-dimensional coordinate A (u, v) in pixel coordinate system；
The network structure light is projected to the surface of LOGO to be measured, is acquired in the network structure light on the surfaces LOGO to be measured
Two-dimensional coordinate B (u of each grid node in pixel coordinate system,v)；
The coordinate difference for solving the two-dimensional coordinate A (u, v) and the two-dimensional coordinate B (u, v), to obtain the network structure light
In each grid node pixel displacement；
The height of each grid node is calculated using the pixel displacement, is sat to obtain the three-dimensional of each grid node
Mark, to establish the three-D profile of the LOGO to be measured.
2. the method as described in claim 1, which is characterized in that it is described to project network structure light to ideal plane, obtain institute
State on ideal plane that two-dimensional coordinate A (u, v) of each grid node in pixel coordinate system includes in the network structure light：
Network structure light is projected to ideal plane, using the grid image on camera acquisition ideal plane, to collected institute
State the operation that the grid image of ideal plane carries out denoising, extracts grid lines；
Each network node coordinate of network structure light on the ideal plane is mapped to pixel coordinate system from world coordinate system,
To obtain on the ideal plane each grid node in the network structure light in pixel coordinate system two-dimensional coordinate A (u,
v)。
3. method as claimed in claim 2, which is characterized in that the extraction grid lines include：
Grid lines extraction is carried out to the grid image of the collected ideal plane according to the principle from point to line, to carry
Take out the angle point and intersection point for meeting preset condition in the grid image of the ideal plane.
4. method as claimed in claim 2, which is characterized in that each network section by network structure light on ideal plane
Point coordinates is mapped to pixel coordinate system from world coordinate system：
Coordinate (X of each network node of network structure light under world coordinate system on the ideal planeW,YW,ZW) pass throughBe converted to the coordinate (X under camera coordinates systemC,YC,ZC)；Wherein, R is spin matrix, and T is translation square
Battle array；
Pass throughBy each network node of network structure on the ideal plane in camera coordinates system
Under coordinate (XC,YC,ZC) be converted to coordinate (u, v) under pixel coordinate system；Wherein, u is object distance, and v is that apart, f is that lens are burnt
Away from.
5. method as claimed in claim 4, which is characterized in that described that each grid section is calculated using the pixel displacement
The height of point, to obtain the three-dimensional coordinate of each grid node, the three-D profile to establish the LOGO to be measured includes：
The pixel displacement of each network node of network structure light is brought into principle of triangulation relational expression, institute is respectively obtained
State the height of each network node of network structure light；
According to the inner parameter and external parameter of the height of each network node and the camera for acquiring LOGO images to be detected
The three-dimensional coordinate of each network node is calculated, to establish the three-D profile of the LOGO to be detected.
6. the method as described in claim 1, which is characterized in that described to project the network structure light to the table of LOGO to be measured
Face, acquire each grid node in the network structure light on the surfaces LOGO to be measured in pixel coordinate system two-dimensional coordinate B (u,
V) further include：
By the network structure light by multiple Angles Projections to the surfaces LOGO to be measured, acquire on several described surfaces LOGO to be measured
Grid image, to obtain in the network structure light on the surfaces LOGO to be measured each grid node in pixel coordinate system
Two-dimensional coordinate B (u, v).
7. a kind of device for establishing LOGO three-D profiles, which is characterized in that including：
First projection module obtains the network knot on the ideal plane for projecting network structure light to ideal plane
Two-dimensional coordinate A (u, v) of each grid node in pixel coordinate system in structure light；
Second projection module acquires the LOGO tables to be measured for projecting the network structure light to the surface of LOGO to be measured
Two-dimensional coordinate B (u, v) of each grid node in pixel coordinate system in network structure light on face；
Difference module is done, the coordinate difference for solving the two-dimensional coordinate A (u, v) and the two-dimensional coordinate B (u, v), to obtain
The pixel displacement of each grid node in the network structure light；
Module is established, the height for each grid node to be calculated using the pixel displacement, to obtain each grid
The three-dimensional coordinate of node, to establish the three-D profile of the LOGO to be measured.
8. device as claimed in claim 7, which is characterized in that first projection module is specifically used for：
Network structure light is projected to ideal plane, using the grid image on camera acquisition ideal plane, to collected institute
State the operation that the grid image of ideal plane carries out denoising, extracts grid lines；
Each network node of network structure light on ideal plane is mapped to pixel coordinate system from world coordinate system, to obtain
Two-dimensional coordinate A (u, v) of each grid node in pixel coordinate system in the network structure light on the ideal plane.
9. a kind of equipment for establishing LOGO three-D profiles, which is characterized in that including：
Memory, for storing computer program；
Processor, realization is a kind of as described in any one of claim 1 to 6 when for executing the computer program establishes LOGO tri-
The step of tieing up the method for profile.
10. a kind of computer readable storage medium, which is characterized in that be stored with computer on the computer readable storage medium
Program, realization is a kind of as described in any one of claim 1 to 6 when the computer program is executed by processor establishes LOGO three-dimensionals
The step of method of profile.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810442985.1A CN108629840A (en) | 2018-05-10 | 2018-05-10 | A kind of method, apparatus and equipment for establishing LOGO three-D profiles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810442985.1A CN108629840A (en) | 2018-05-10 | 2018-05-10 | A kind of method, apparatus and equipment for establishing LOGO three-D profiles |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108629840A true CN108629840A (en) | 2018-10-09 |
Family
ID=63692597
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810442985.1A Pending CN108629840A (en) | 2018-05-10 | 2018-05-10 | A kind of method, apparatus and equipment for establishing LOGO three-D profiles |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108629840A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109636849A (en) * | 2018-12-29 | 2019-04-16 | 广东嘉铭智能科技有限公司 | A kind of workpiece localization method, device, computer and computer readable storage medium |
| CN112052345A (en) * | 2019-06-06 | 2020-12-08 | 北京合众鼎新信息技术有限公司 | Data storage method, data processing method and device |
| CN113227707A (en) * | 2019-01-08 | 2021-08-06 | 欧姆龙株式会社 | Three-dimensional shape measurement device, three-dimensional shape measurement method, and program |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7256899B1 (en) * | 2006-10-04 | 2007-08-14 | Ivan Faul | Wireless methods and systems for three-dimensional non-contact shape sensing |
| JP2010203867A (en) * | 2009-03-02 | 2010-09-16 | Toyota Central R&D Labs Inc | Three-dimensional shape measuring method and three-dimensional shape measuring device |
| US20150269785A1 (en) * | 2014-03-19 | 2015-09-24 | Matterport, Inc. | Selecting two-dimensional imagery data for display within a three-dimensional model |
| CN106595519A (en) * | 2016-12-07 | 2017-04-26 | 西安知象光电科技有限公司 | Flexible 3D contour measurement method and device based on laser MEMS projection |
| CN106705898A (en) * | 2017-01-24 | 2017-05-24 | 浙江四点灵机器人股份有限公司 | Method for measuring planeness through lattice structure light |
| CN107167073A (en) * | 2017-05-18 | 2017-09-15 | 浙江四点灵机器人股份有限公司 | A kind of three-dimensional rapid measurement device of linear array structure light and its measuring method |
-
2018
- 2018-05-10 CN CN201810442985.1A patent/CN108629840A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7256899B1 (en) * | 2006-10-04 | 2007-08-14 | Ivan Faul | Wireless methods and systems for three-dimensional non-contact shape sensing |
| JP2010203867A (en) * | 2009-03-02 | 2010-09-16 | Toyota Central R&D Labs Inc | Three-dimensional shape measuring method and three-dimensional shape measuring device |
| US20150269785A1 (en) * | 2014-03-19 | 2015-09-24 | Matterport, Inc. | Selecting two-dimensional imagery data for display within a three-dimensional model |
| CN106595519A (en) * | 2016-12-07 | 2017-04-26 | 西安知象光电科技有限公司 | Flexible 3D contour measurement method and device based on laser MEMS projection |
| CN106705898A (en) * | 2017-01-24 | 2017-05-24 | 浙江四点灵机器人股份有限公司 | Method for measuring planeness through lattice structure light |
| CN107167073A (en) * | 2017-05-18 | 2017-09-15 | 浙江四点灵机器人股份有限公司 | A kind of three-dimensional rapid measurement device of linear array structure light and its measuring method |
Non-Patent Citations (1)
| Title |
|---|
| 吴艳: "结构光投影三维测量方法的研究", 《中国优秀硕士学位论文全文数据库信息科技辑》 * |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109636849A (en) * | 2018-12-29 | 2019-04-16 | 广东嘉铭智能科技有限公司 | A kind of workpiece localization method, device, computer and computer readable storage medium |
| CN109636849B (en) * | 2018-12-29 | 2023-06-23 | 广东嘉铭智能科技有限公司 | Workpiece positioning method, device, computer and computer readable storage medium |
| CN113227707A (en) * | 2019-01-08 | 2021-08-06 | 欧姆龙株式会社 | Three-dimensional shape measurement device, three-dimensional shape measurement method, and program |
| CN113227707B (en) * | 2019-01-08 | 2023-05-16 | 欧姆龙株式会社 | Three-dimensional shape measuring device, three-dimensional shape measuring method, and storage medium |
| CN112052345A (en) * | 2019-06-06 | 2020-12-08 | 北京合众鼎新信息技术有限公司 | Data storage method, data processing method and device |
| CN112052345B (en) * | 2019-06-06 | 2023-08-25 | 北京合众鼎新信息技术有限公司 | Data storage method, data processing method and device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106441138B (en) | The deformation monitoring method of view-based access control model measurement | |
| CN106875444B (en) | A kind of object localization method and device | |
| US20220148222A1 (en) | Image three-dimensional measurement method, electronic device, storage medium and program product | |
| JP6344050B2 (en) | Image processing system, image processing apparatus, and program | |
| CN106023303B (en) | A method of Three-dimensional Gravity is improved based on profile validity and is laid foundations the dense degree of cloud | |
| ES2400277B1 (en) | FAST STEREO RECONSTRUCTION TECHNIQUES FROM IMAGES | |
| CN105701828B (en) | A kind of image processing method and device | |
| CN106575448A (en) | Image rendering of laser scan data | |
| CN101908231A (en) | Reconstruction method and system for processing three-dimensional point cloud containing main plane scene | |
| KR101759798B1 (en) | Method, device and system for generating an indoor two dimensional plan view image | |
| CN102903101B (en) | Method for carrying out water-surface data acquisition and reconstruction by using multiple cameras | |
| CN108629840A (en) | A kind of method, apparatus and equipment for establishing LOGO three-D profiles | |
| CN107155341A (en) | 3 D scanning system and framework | |
| CN106170086B (en) | Method and device thereof, the system of drawing three-dimensional image | |
| CN112686877A (en) | Binocular camera-based three-dimensional house damage model construction and measurement method and system | |
| CN108734738A (en) | Camera calibration method and device | |
| CN109272572A (en) | A kind of modeling method and device based on double Kinect cameras | |
| TWI417808B (en) | Reconstructable geometry shadow mapping method | |
| Draréni et al. | Methods for geometrical video projector calibration | |
| CN111343445A (en) | Device and method for dynamically adjusting depth resolution | |
| CN106340062B (en) | A kind of generation method and device of three-D grain model file | |
| CN112132971A (en) | Three-dimensional human body modeling method, device, electronic equipment and storage medium | |
| JP2005234698A (en) | Distortion parameter generation method, video generation method, distortion parameter generation system and video generation system | |
| TWI595446B (en) | Method for improving occluded edge quality in augmented reality based on depth camera | |
| CN111915666A (en) | Volume measurement method and device based on mobile terminal |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181009 |
|
| RJ01 | Rejection of invention patent application after publication |