CN114418860B - Hub point cloud obtaining method and device, electronic device and readable storage medium - Google Patents
Hub point cloud obtaining method and device, electronic device and readable storage medium Download PDFInfo
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Abstract
The application relates to a hub point cloud obtaining method, a hub point cloud obtaining device, an electronic device and a readable storage medium, wherein the method comprises the following steps: receiving a plurality of hub sub-point clouds obtained from a plurality of rotation angles of a turntable, wherein each hub sub-point cloud corresponds to one rotation angle; obtaining a rotating shaft of the rotating platform, and respectively carrying out coordinate transformation on each hub sub-point cloud through the rotating shaft of the rotating platform to obtain a plurality of first transformation sub-point clouds; and combining the first transformation sub-point clouds to obtain a complete hub point cloud. Through obtaining the revolving stage pivot and carrying out coordinate transformation to the wheel hub sub-point cloud based on the revolving stage pivot for can carry out coordinate transformation based on the actual pivot of revolving stage, thereby avoid the error of revolving stage self to cause the influence to the precision of the first transform sub-point cloud after the coordinate transform, guaranteed the precision of complete wheel hub point cloud.
Description
Technical Field
The present disclosure relates to the field of hub manufacturing, and in particular, to a method and an apparatus for obtaining a point cloud of a hub, an electronic apparatus, and a readable storage medium.
Background
The casting of the hub is a vital step in the automobile assembly, the quality of the hub is directly hooked with the safety of an automobile, and the collection of the three-dimensional hub point cloud of the hub is a vital step for realizing the automation of the hub casting; in the prior art, complete point clouds are obtained through matching and splicing of the rotary table and the sensor, but in practical application, the hub is deviated in the rotating process due to errors of the rotary table, so that attitude errors of the obtained point clouds occur, and the accuracy of the final complete point clouds is influenced.
Disclosure of Invention
The application provides a hub point cloud obtaining method and device, an electronic device and a readable storage medium, and aims to solve the technical problem that in the prior art, the precision of complete point cloud is influenced by turntable errors.
In order to solve the above technical problem or at least partially solve the above technical problem, the present application provides a hub point cloud obtaining method, including the steps of:
receiving a plurality of hub sub-point clouds obtained from a plurality of rotation angles of a turntable, wherein each hub sub-point cloud corresponds to one rotation angle;
obtaining a rotating shaft of the rotating platform, and respectively carrying out coordinate transformation on each hub sub-point cloud through the rotating shaft of the rotating platform to obtain a plurality of first transformation sub-point clouds;
and combining the first transformation sub-point clouds to obtain a complete hub point cloud.
Optionally, the step of obtaining a turntable spindle of the turntable comprises:
receiving a plurality of marker coordinates acquired based on a plurality of rotation angles of the turntable;
combining 3 arbitrary marker coordinates from the multiple marker coordinates to obtain multiple first combinations, and calculating the sphere center corresponding to the sphere where the marker coordinates are located in each first combination;
combining any half of the marker coordinates in the plurality of marker coordinates to obtain a plurality of second combinations, and respectively calculating the three-dimensional plane of the marker coordinates in each second combination;
and obtaining the rotating shaft of the rotary table based on the spherical center and the three-dimensional plane.
Optionally, the step of obtaining the turntable rotating shaft based on the sphere center and the three-dimensional plane includes:
for each of the sphere centers, calculating a sphere center fit error between the sphere center and the plurality of marker coordinates;
taking the sphere center with the minimum sphere center fitting error as an end point of the rotary table rotary shaft;
for each of the three-dimensional planes, calculating a plane fit error between the three-dimensional plane and the plurality of marker coordinates;
and taking the normal vector of the three-dimensional plane with the minimum plane fitting error as the rotating shaft direction of the rotating shaft of the rotating table.
Optionally, the step of performing coordinate transformation on each hub sub-point cloud through the rotating shaft of the rotating table to obtain a plurality of first transformation sub-point clouds includes:
acquiring a rotation transformation matrix of the rotary table rotating shaft;
and acquiring a rotation angle corresponding to each hub sub-point cloud, and performing coordinate transformation on the hub sub-point cloud based on the rotation angle and the rotation transformation matrix to obtain a first transformation sub-point cloud.
Optionally, the step of combining the first transformed sub-point clouds to obtain a complete hub point cloud includes:
acquiring a rotation error of the turntable, and performing coordinate transformation on each first transformation sub-point cloud based on the rotation error to obtain a second transformation sub-point cloud;
and combining the second transform sub-point clouds to obtain a complete hub point cloud.
Optionally, the hub sub-point cloud includes a first sub-point cloud and a second sub-point cloud, wherein: the rotation angle of the first sub-point cloud is 0 degree, and the rotation angle of the second sub-point cloud is 360 degrees; the step of acquiring the rotation error of the turntable includes:
performing registration operation on the first sub-point cloud and the second sub-point cloud to obtain an error transformation matrix from the first sub-point cloud to the second sub-point cloud;
and carrying out decomposition operation on the error transformation matrix to obtain the rotation error.
Optionally, the step of performing coordinate transformation on each first transformed sub-point cloud based on the rotation error to obtain a second transformed sub-point cloud includes:
obtaining a rotation angle of each first transformation sub-point cloud, and calculating to obtain a sub-error corresponding to each first transformation sub-point cloud based on the rotation error and the rotation angle of each first transformation sub-point cloud;
converting each of the sub-errors into a sub-error transformation matrix;
and for each first transformation sub-point cloud, carrying out coordinate transformation on the basis of the corresponding sub-error transformation matrix to obtain a second transformation sub-point cloud.
In order to achieve the above object, the present invention further provides a hub point cloud obtaining apparatus, including:
the system comprises a first receiving module, a second receiving module and a control module, wherein the first receiving module is used for receiving a plurality of hub sub-point clouds obtained from a plurality of rotation angles of a rotary table, and each hub sub-point cloud corresponds to one rotation angle;
the first acquisition module is used for acquiring a rotary table rotating shaft of the rotary table and respectively carrying out coordinate transformation on each wheel hub sub-point cloud through the rotary table rotating shaft to obtain a plurality of first transformation sub-point clouds;
and the first combination module is used for combining the first transformation sub-point clouds to obtain a complete hub point cloud.
To achieve the above object, the present invention further provides an electronic device, which includes a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the steps of the hub point cloud obtaining method as described above.
To achieve the above object, the present invention further provides a computer readable storage medium, having a computer program stored thereon, where the computer program is executed by a processor to implement the steps of the hub point cloud obtaining method as described above.
The invention provides a hub point cloud obtaining method, a hub point cloud obtaining device, an electronic device and a readable storage medium, wherein the hub point cloud obtaining method comprises the steps of receiving a plurality of hub sub-point clouds obtained from a plurality of rotation angles of a rotary table, wherein each hub sub-point cloud corresponds to one rotation angle; obtaining a rotating shaft of the rotating platform, and respectively carrying out coordinate transformation on each hub sub-point cloud through the rotating shaft of the rotating platform to obtain a plurality of first transformation sub-point clouds; and combining the first transformation sub-point clouds to obtain a complete hub point cloud. Through obtaining the revolving stage pivot and carrying out coordinate transformation to the wheel hub sub-point cloud based on the revolving stage pivot for can carry out coordinate transformation based on the actual pivot of revolving stage, thereby avoid the error of revolving stage self to cause the influence to the precision of the first transform sub-point cloud after the coordinate transform, guaranteed the precision of complete wheel hub point cloud.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art to obtain other drawings without inventive labor.
FIG. 1 is a schematic flow chart diagram of a first embodiment of a hub point cloud obtaining method according to the present invention;
FIG. 2 is a detailed flowchart of step S30 of the hub point cloud obtaining method according to the fifth embodiment of the present invention;
fig. 3 is a schematic block diagram of an electronic device according to the present invention.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention. In order to make the technical solutions better understood by those skilled in the art, 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 partial embodiments of the present application, but not all 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.
The invention provides a hub point cloud obtaining method, and referring to fig. 1, fig. 1 is a schematic flow diagram of a first embodiment of the hub point cloud obtaining method, and the method comprises the following steps:
step S10, receiving a plurality of hub sub-point clouds obtained from a plurality of rotation angles of a turntable, wherein each hub sub-point cloud corresponds to one rotation angle;
when the wheel hub sub-point cloud is obtained, the wheel hub is fixedly placed on the rotary table, the three-dimensional visual sensor is fixedly arranged, the collection range of the three-dimensional visual sensor can cover the wheel hub, the three-dimensional visual sensor is used for collecting the wheel hub in different directions by adjusting the rotation angle of the rotary table, when the rotary table rotates for a circle, the three-dimensional visual sensor can collect the point cloud containing all structures of the wheel hub, the point cloud collected by the three-dimensional visual sensor at a single time is the wheel hub sub-point cloud, and the rotation angle of the wheel hub sub-point cloud is the rotation angle of the rotary table when the three-dimensional visual sensor collects the wheel hub sub-point cloud. It should be noted that the initial position of the turntable, that is, the position of 0 degree, may be fixedly set, or may be set as the position of the turntable when the three-dimensional vision sensor first acquires or the position of the turntable when the three-dimensional vision sensor acquires at any time. Specifically, a hub is placed on a rotary table, the rotary table is rotated clockwise/anticlockwise for n times until the hub rotary table is accumulated uniformly to complete the complete 360-degree rotation, namely, the rotation angle is 360/n degrees every time, the hub sub-point cloud of the hub in the acquisition range is obtained through a three-dimensional vision sensor at the initial position of the rotary table and after the rotary table rotates every time, n +1 hub sub-point clouds are obtained, and each hub sub-point cloud is respectively recorded as S according to the acquisition sequence0…Si…Sn+1(ii) a It should be noted that the angle of each rotation may be uneven, such as a small angle rotation in a complex portion.
Step S20, a rotary table rotating shaft of the rotary table is obtained, and coordinate transformation is respectively carried out on each wheel hub sub-point cloud through the rotary table rotating shaft to obtain a plurality of first transformation sub-point clouds;
the rotary table rotates along an axis, and the rotary shaft of the rotary table is the axis of the rotary table; it should be noted that, in an ideal situation, the axis of the turntable is the normal of the center of the plane of the hub borne by the turntable, and the position of the axis deviates due to the error of the turntable itself, and the actual axis is often not matched with the normal of the center of the plane of the hub, so that the actual axis of the turntable needs to be calculated again to obtain the rotating shaft of the turntable. The rotating shaft of the rotary table can be stored after being calculated in advance, and can also be recalculated before or after each hub sub-point cloud is acquired.
It can be understood that, since the position of the three-dimensional vision sensor is fixed, the relative positions of the acquired wheel hub sub-point clouds coincide, and therefore, the wheel hub sub-point clouds need to be subjected to coordinate transformation so that the wheel hub sub-point clouds can form a complete wheel hub in position. Specifically, for the slave S1To SnPerforming coordinate transformation on each hub sub-point cloud to obtain S when the rotary table is positioned at the initial rotation angle1To SnCorresponding first transformed sub-point cloud S1' to Sn'。
And step S30, combining the first transformation sub-point clouds to obtain a complete hub point cloud.
And combining the first transformation sub point clouds obtained after coordinate transformation to obtain a complete hub point cloud.
Due to the hub point cloud S0And Sn+1Registration, thus, point-cloud the hub0Point cloud S with hub1' to Sn' or hub Point cloud Sn+1Point cloud S with hub1' to Sn' combining to obtain the complete hub point cloud.
According to the method and the device, the rotating shaft of the rotary table is obtained, the coordinate transformation is carried out on the point cloud of the wheel hub sub-point on the basis of the rotating shaft of the rotary table, the coordinate transformation can be carried out on the rotating shaft based on the fact that the rotary table is actual, the influence of the error of the rotary table on the precision of the point cloud of the first transformation sub-point after the coordinate transformation is avoided, and the precision of the point cloud of the complete wheel hub is guaranteed.
Further, in the second embodiment of the hub point cloud obtaining method of the present invention proposed based on the first embodiment of the present invention, before the step S20, the method includes the steps of:
a step S40 of receiving a plurality of marker coordinates acquired based on a plurality of rotation angles of the turntable;
step S50, combining 3 arbitrary marker coordinates from the multiple marker coordinates to obtain multiple first combinations, and calculating the spherical centers corresponding to the spherical surfaces of the marker coordinates in the first combinations respectively;
step S60, combining any half of the marker coordinates in the multiple marker coordinates to obtain multiple second combinations, and respectively calculating the three-dimensional plane of the marker coordinates in each second combination;
and step S70, obtaining the rotating shaft of the rotary table based on the sphere center and the three-dimensional plane.
The marker is an object with obvious characteristics and capable of being detected by a three-dimensional vision sensor; the method comprises the steps of fixedly arranging a marker on a rotary table, obtaining initial coordinates of the marker, and obtaining coordinates of the marker after the rotary table is rotated once to obtain a plurality of coordinates of the marker.
It will be appreciated that three points define a sphere, and therefore the centre of the sphere can be determined by the coordinates of the three markers; the number of centers finally obtained is:
wherein N is the number of marker coordinates.
When the sphere center coordinate is obtained, the radius of the sphere where the sphere center is located is obtained at the same time for subsequent calculation.
Similarly, a three-dimensional plane is determined by half of the marker coordinates; the number of three-dimensional planes that are finally obtained is:
at the same time, based on each markerThe three-dimensional plane of coordinate determination may be denoted as Ajx+Bjy+Cjz+Dj=0。
The sphere center is used for determining the end point of the rotary table rotary shaft, and the three-dimensional plane is used for determining the direction of the rotary table rotary shaft, so that the rotary table rotary shaft can be determined through the sphere center and the three-dimensional plane.
Further, in the third embodiment of the hub point cloud obtaining method according to the present invention based on the second embodiment of the present invention, the step S70 includes the steps of:
step S71, calculating, for each of the centroids, a centroid fitting error between the centroid and the coordinates of the plurality of markers;
step S72, the sphere center with the minimum sphere center fitting error is used as the end point of the rotary table rotary shaft;
step S73, calculating a plane fitting error between the three-dimensional plane and the coordinates of the plurality of markers for each of the three-dimensional planes;
and step S74, taking the normal vector of the three-dimensional plane with the minimum plane fitting error as the rotating shaft direction of the rotating shaft of the rotating table.
The sphere center fitting error is used for representing the difference between the current sphere center and the end point of the actual rotary table rotating shaft; specifically, the spherical center fitting error is:
wherein, errjIs the center of sphere fitting error, r, for the jth center of spherejThe jth sphere center corresponds to the radius of the sphere, CjIs the coordinate of the jth sphere center, piIs the ith marker coordinate.
After the sphere center fitting error corresponding to each sphere center is calculated, the sphere center with the smallest sphere center fitting error is considered to be closest to the end point of the actual rotary table rotating shaft, and therefore, the sphere center with the smallest sphere center fitting error is taken as the end point C (x) of the rotary table rotating shaftc，yc，zc)。
The plane fitting error is used for representing the difference between the normal of the current three-dimensional plane and the direction of the actual rotating shaft of the rotating table; specifically, the plane fitting error is:
wherein, errorjAs the fitting error of the jth three-dimensional plane, (x)i，yi，zi) Coordinates of the ith marker.
After the plane fitting errors corresponding to the three-dimensional planes are calculated, the three-dimensional plane with the smallest plane fitting error is considered to be closest to the three-dimensional plane in the direction of the actual rotary table rotating shaft, and therefore the normal line of the three-dimensional plane with the smallest plane fitting error is taken as the direction n (A, B, C) of the rotary table rotating shaft.
The embodiment can accurately obtain the rotary table rotating shaft.
Further, in a fourth embodiment of the hub point cloud obtaining method according to the present invention based on the first embodiment of the present invention, the step S20 includes the steps of:
step S21, obtaining a rotation transformation matrix of the rotary table rotary shaft;
and step S22, obtaining a rotation angle corresponding to each hub sub-point cloud, and performing coordinate transformation on the hub sub-point cloud based on the rotation angle and the rotation transformation matrix to obtain a first transformation sub-point cloud.
The 6D attitude of the turntable axis obtained from the foregoing embodiment is (x)c，yc，zcA, B, C); the rotation transformation matrix obtained based on the 6D posture of the rotary table rotating shaft is as follows:
and theta is a rotation angle, and after any point on the rotary table rotates clockwise by the angle of theta around the rotating shaft, the corresponding point of the point after rotation can be obtained through the rotation transformation matrix.
In obtaining a rotational transformationAfter the matrix, the hub sub-point cloud S1To SnAre respectively brought into the rotation transformation matrix to obtain corresponding sub-matrices M1To Mn(ii) a And (5) bringing the hub sub-point cloud into the corresponding sub-matrix to obtain a corresponding first transformation sub-point cloud.
And performing coordinate transformation on all points in the hub sub-point cloud through a rotation transformation matrix to obtain a first transformation sub-point cloud.
The embodiment can reasonably perform coordinate transformation on the hub sub-point cloud to obtain the first transformation sub-point cloud.
Further, referring to fig. 2, in a fifth embodiment of the hub point cloud obtaining method according to the present invention proposed based on the first embodiment of the present invention, the step S30 includes the steps of:
step S31, obtaining a rotation error of the rotary table, and performing coordinate transformation on each first transformation sub-point cloud based on the rotation error to obtain a second transformation sub-point cloud;
and step S32, combining the second transformation sub point clouds to obtain a complete hub point cloud.
Ideally, the hub sub-point cloud S0And Sn+1The corresponding point clouds of the hub sub-points are overlapped, but due to the limitation of the rotary table process, an error, namely a rotation error, must appear when the rotary table rotates every time, so that the error needs to be eliminated or reduced, and the precision of the complete point cloud of the hub is prevented from being influenced.
The hub sub-point cloud comprises a first sub-point cloud and a second sub-point cloud, wherein: the first sub-point cloud S0Is 0 degrees, the second sub-point cloud Sn+1The rotation angle of (3) is 360 degrees; the step S31 includes the steps of:
step S311, carrying out registration operation on the first sub-point cloud and the second sub-point cloud to obtain an error transformation matrix from the first sub-point cloud to the second sub-point cloud;
step S312, performing a decomposition operation on the error transformation matrix to obtain the rotation error.
In this embodiment, the registration operation is performed by using an ICP (Iterative Closest Point) algorithm, it should be noted that a suitable other algorithm may be selected according to an actual application scenario and needs, and the method is not limited herein. The rotation error is expressed by 6D error, specifically, e (Δ x, Δ y, Δ z, Ry, Rz).
The step S31 includes the steps of:
step S313, obtaining a rotation angle of each first transformation sub-point cloud, and calculating to obtain a sub-error corresponding to each first transformation sub-point cloud based on the rotation error and the rotation angle of each first transformation sub-point cloud;
step S314, converting each sub-error into a sub-error transformation matrix;
step S315, for each first transformation sub-point cloud, coordinate transformation is carried out on the basis of the corresponding sub-error transformation matrix to obtain a second transformation sub-point cloud.
It can be understood that the rotation error e is a total error of one rotation of the turntable, and in the process of acquiring the point cloud of the hub sub-point, the turntable rotates for multiple times, and it is considered that the rotation error e is obtained by accumulating errors caused by each rotation0As the maximum error e (Δ x, Δ y, Δ Ry, Rz) in the point cloud of the hub, Sn+1As 0 error hub point cloud, the sub-error caused when the rotation angle is θ is:
in this embodiment, the turntable completes one rotation through n times of rotations with equal angles, and the error amount caused by each rotation is the same on the basis that each rotation angle is the same, so that the sub-error caused by the ith rotation is:
subsequent sub-error is eiTo explain, eθThe scheme can be performed by analogy and is not described in detail.
Obtaining a sub error e corresponding to the first transformed sub point cloudiAfter that, e is addediConversion into a sub-error transformation matrix EiAnd performing coordinate transformation on the first transformation sub-point cloud based on the sub-error transformation matrix to obtain a second transformation sub-point cloud, namely:
wherein Si'' is the ith second transform sub-point cloud, EiFor the sub-error transformation matrix corresponding to the ith transformed sub-point cloud, Si' is the ith first transformed sub-point cloud.
Point cloud of hubn+1And a second transformed sub-point cloud S1'' to Sn'' the complete hub point cloud can be obtained by combining.
The embodiment can eliminate the rotation error of the rotary table to obtain the complete hub point cloud with higher precision.
It should be noted that, for simplicity of description, the above-mentioned method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present application is not limited by the order of acts described, as some steps may occur in other orders or concurrently depending on the application. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required in this application.
Through the above description of the embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but the former is a better implementation mode in many cases. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present application.
The application also provides a hub point cloud obtaining device for implementing the hub point cloud obtaining method, and the hub point cloud obtaining device comprises:
the system comprises a first receiving module, a second receiving module and a control module, wherein the first receiving module is used for receiving a plurality of hub sub-point clouds obtained from a plurality of rotation angles of a rotary table, and each hub sub-point cloud corresponds to one rotation angle;
the first acquisition module is used for acquiring a rotary table rotating shaft of the rotary table and respectively carrying out coordinate transformation on each hub sub-point cloud through the rotary table rotating shaft to obtain a plurality of first transformation sub-point clouds;
and the first assembling module is used for assembling the first transformation sub point clouds to obtain a complete hub point cloud.
The hub point cloud acquisition device performs coordinate transformation on the hub sub-point cloud through acquiring the rotary table rotary shaft and based on the rotary table rotary shaft, so that the coordinate transformation can be performed on the rotary shaft based on the actual rotary table, the influence of the error of the rotary table on the precision of the first transformation sub-point cloud after coordinate transformation is avoided, and the precision of the complete hub point cloud is ensured.
It should be noted that the first receiving module in this embodiment may be configured to execute step S10 in this embodiment, the first obtaining module in this embodiment may be configured to execute step S20 in this embodiment, and the first combining module in this embodiment may be configured to execute step S30 in this embodiment.
Further, the apparatus further comprises:
a second receiving module, configured to receive a plurality of marker coordinates obtained based on a plurality of rotation angles of the turntable;
the second combination module is used for performing combination operation on any 3 marker coordinates in the multiple marker coordinates to obtain multiple first combinations, and calculating the spherical centers corresponding to the spherical surfaces of the marker coordinates in the first combinations respectively;
the third combination module is used for performing combination operation on any half of the marker coordinates in the plurality of marker coordinates to obtain a plurality of second combinations, and respectively calculating the three-dimensional plane where the marker coordinates in each second combination are located;
and the first execution module is used for obtaining the rotary table rotating shaft based on the sphere center and the three-dimensional plane.
Further, the first execution module includes:
a first calculation unit configured to calculate, for each of the spherical centers, a spherical center fitting error between the spherical center and the plurality of marker coordinates;
the first execution unit is used for taking the sphere center with the minimum sphere center fitting error as an end point of the rotary table rotary shaft;
a second calculation unit configured to calculate, for each of the three-dimensional planes, a plane fitting error between the three-dimensional plane and the plurality of marker coordinates;
and the second execution unit is used for taking the normal vector of the three-dimensional plane with the minimum plane fitting error as the rotating shaft direction of the rotating shaft of the rotating table.
Further, the first obtaining module comprises:
the first acquisition unit is used for acquiring a rotation transformation matrix of the rotary table rotating shaft;
and the second acquisition unit is used for acquiring a rotation angle corresponding to each hub sub-point cloud and carrying out coordinate transformation on the hub sub-point cloud based on the rotation angle and the rotation transformation matrix to obtain a first transformation sub-point cloud.
Further, the first assembling module includes:
the third acquisition unit is used for acquiring the rotation error of the rotary table and carrying out coordinate transformation on each first transformation sub-point cloud based on the rotation error to obtain a second transformation sub-point cloud;
and the first combination unit is used for combining the second transformation sub-point clouds to obtain a complete hub point cloud.
Further, the hub sub-point cloud includes a first sub-point cloud and a second sub-point cloud, wherein: the rotation angle of the first sub-point cloud is 0 degree, and the rotation angle of the second sub-point cloud is 360 degrees; the third acquisition unit includes:
the first execution subunit is used for carrying out registration operation on the first sub-point cloud and the second sub-point cloud to obtain an error transformation matrix from the first sub-point cloud to the second sub-point cloud;
and the second execution subunit is used for performing decomposition operation on the error transformation matrix to obtain the rotation error.
Further, the third acquisition unit includes:
the first obtaining subunit is configured to obtain a rotation angle of each first transformed sub-point cloud, and calculate, based on the rotation error and the rotation angle of each first transformed sub-point cloud, a sub-error corresponding to each first transformed sub-point cloud;
a third execution subunit, configured to convert each sub-error into a sub-error transformation matrix;
and the fourth execution subunit is used for performing coordinate transformation on each first transformation sub-point cloud based on the corresponding sub-error transformation matrix to obtain the second transformation sub-point cloud.
It should be noted that the modules described above are the same as examples and application scenarios realized by corresponding steps, but are not limited to what is disclosed in the foregoing embodiments. The modules may be implemented by software as part of the apparatus, or may be implemented by hardware, where the hardware environment includes a network environment.
Referring to fig. 3, the electronic device may include components such as a communication module 10, a memory 20, and a processor 30 in a hardware structure. In the electronic device, the processor 30 is connected to the memory 20 and the communication module 10, respectively, the memory 20 stores thereon a computer program, which is executed by the processor 30 at the same time, and when executed, implements the steps of the above-mentioned method embodiments.
The communication module 10 may be connected to an external communication device through a network. The communication module 10 may receive a request from an external communication device, and may also send a request, an instruction, and information to the external communication device, where the external communication device may be another electronic apparatus, a server, or an internet of things device, such as a television.
The memory 20 may be used to store software programs as well as various data. The memory 20 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function (such as receiving a plurality of hub sub-point clouds acquired from a plurality of rotation angles of the turntable), and the like; the storage data area may include a database, and the storage data area may store data or information created according to use of the system, or the like. Further, the memory 20 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.
The processor 30, which is a control center of the electronic device, connects various parts of the entire electronic device using various interfaces and lines, and performs various functions of the electronic device and processes data by operating or executing software programs and/or modules stored in the memory 20 and calling data stored in the memory 20, thereby performing overall monitoring of the electronic device. Processor 30 may include one or more processing units; alternatively, the processor 30 may integrate an application processor, which primarily handles operating systems, user interfaces, applications, etc., and a modem processor, which primarily handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 30.
Although not shown in fig. 3, the electronic device may further include a circuit control module, which is used for connecting with a power supply to ensure the normal operation of other components. Those skilled in the art will appreciate that the electronic device configuration shown in fig. 3 does not constitute a limitation of the electronic device and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
The invention also proposes a computer-readable storage medium on which a computer program is stored. The computer-readable storage medium may be the Memory 20 in the electronic apparatus in fig. 3, and may also be at least one of a ROM (Read-Only Memory)/RAM (Random Access Memory), a magnetic disk, and an optical disk, and the computer-readable storage medium includes instructions for enabling a terminal device (which may be a television, an automobile, a mobile phone, a computer, a server, a terminal, or a network device) having a processor to execute the method according to the embodiments of the present invention.
In the present invention, the terms "first", "second", "third", "fourth" and "fifth" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance, and those skilled in the art can understand the specific meanings of the above terms in the present invention according to specific situations.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although the embodiment of the present invention has been shown and described, the scope of the present invention is not limited thereto, it should be understood that the above embodiment is illustrative, and not restrictive, and that those skilled in the art can make changes, modifications and substitutions to the above embodiment within the scope of the present invention, and that these changes, modifications and substitutions are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (8)
1. A hub point cloud acquisition method, the method comprising:
receiving a plurality of hub sub-point clouds obtained from a plurality of rotation angles of a turntable, wherein each hub sub-point cloud corresponds to one rotation angle;
obtaining a rotating shaft of the rotating platform, and respectively carrying out coordinate transformation on each hub sub-point cloud through the rotating shaft of the rotating platform to obtain a plurality of first transformation sub-point clouds;
combining the first transformation sub-point clouds to obtain a complete hub point cloud;
the step of obtaining the rotary table rotating shaft of the rotary table comprises the following steps:
receiving a plurality of marker coordinates acquired based on a plurality of rotation angles of the turntable;
combining 3 arbitrary marker coordinates from the multiple marker coordinates to obtain multiple first combinations, and calculating the sphere center corresponding to the sphere where the marker coordinates are located in each first combination;
combining any half of the marker coordinates in the plurality of marker coordinates into one group to obtain a plurality of second combinations, and respectively calculating the three-dimensional plane of the marker coordinates in each second combination;
obtaining the rotary table rotating shaft based on the sphere center and the three-dimensional plane;
the step of obtaining the turntable rotating shaft based on the sphere center and the three-dimensional plane comprises the following steps:
for each of the sphere centers, calculating a sphere center fit error between the sphere center and the plurality of marker coordinates;
taking the sphere center with the minimum sphere center fitting error as an end point of the rotary table rotary shaft;
for each of the three-dimensional planes, calculating a plane fit error between the three-dimensional plane and the plurality of marker coordinates;
and taking the normal vector of the three-dimensional plane with the minimum plane fitting error as the rotating shaft direction of the rotating shaft of the rotating table.
2. The hub point cloud obtaining method of claim 1, wherein the step of performing coordinate transformation on each hub sub-point cloud through the rotary table rotating shaft to obtain a plurality of first transformation sub-point clouds comprises:
obtaining a rotation transformation matrix of the rotary table rotating shaft;
and acquiring a rotation angle corresponding to each hub sub-point cloud, and performing coordinate transformation on the hub sub-point cloud based on the rotation angle and the rotation transformation matrix to obtain a first transformation sub-point cloud.
3. The method of claim 1, wherein the step of combining the first transformed sub-point clouds to obtain a complete hub point cloud comprises:
acquiring a rotation error of the turntable, and performing coordinate transformation on each first transformation sub-point cloud based on the rotation error to obtain a second transformation sub-point cloud;
and combining the second transformation sub point clouds to obtain a complete hub point cloud.
4. The hub point cloud obtaining method of claim 3, wherein the hub sub-point cloud comprises a first sub-point cloud and a second sub-point cloud, wherein: the rotation angle of the first sub-point cloud is 0 degree, and the rotation angle of the second sub-point cloud is 360 degrees; the step of acquiring the rotation error of the turntable includes:
performing registration operation on the first sub-point cloud and the second sub-point cloud to obtain an error transformation matrix from the first sub-point cloud to the second sub-point cloud;
and decomposing the error transformation matrix to obtain the rotation error.
5. The hub point cloud obtaining method of claim 3, wherein the step of performing a coordinate transformation on each of the first transformed sub-point clouds to obtain a second transformed sub-point cloud based on the rotation error comprises:
obtaining a rotation angle of each first transformation sub-point cloud, and calculating to obtain a sub-error corresponding to each first transformation sub-point cloud based on the rotation error and the rotation angle of each first transformation sub-point cloud;
converting each of the sub-errors into a sub-error transformation matrix;
and for each first transformation sub-point cloud, carrying out coordinate transformation on the basis of the corresponding sub-error transformation matrix to obtain a second transformation sub-point cloud.
6. A hub point cloud obtaining device is characterized by comprising:
the system comprises a first receiving module, a second receiving module and a control module, wherein the first receiving module is used for receiving a plurality of hub sub-point clouds obtained from a plurality of rotation angles of a rotary table, and each hub sub-point cloud corresponds to one rotation angle;
the first acquisition module is used for acquiring a rotary table rotating shaft of the rotary table and respectively carrying out coordinate transformation on each wheel hub sub-point cloud through the rotary table rotating shaft to obtain a plurality of first transformation sub-point clouds;
the first combination module is used for combining the first transformation sub-point clouds to obtain a complete hub point cloud;
the device further comprises:
a second receiving module, configured to receive a plurality of marker coordinates obtained based on a plurality of rotation angles of the turntable;
the second combination module is used for performing combination operation on any 3 marker coordinates in the multiple marker coordinates to obtain multiple first combinations, and calculating the spherical centers corresponding to the spherical surfaces of the marker coordinates in the first combinations respectively;
the third combination module is used for performing combination operation on any half of the marker coordinates in the plurality of marker coordinates to obtain a plurality of second combinations, and respectively calculating the three-dimensional plane where the marker coordinates in each second combination are located;
the first execution module is used for obtaining the rotary table rotating shaft based on the sphere center and the three-dimensional plane;
the first execution module includes:
a first calculation unit configured to calculate, for each of the spherical centers, a spherical center fitting error between the spherical center and the plurality of marker coordinates;
the first execution unit is used for taking the sphere center with the minimum sphere center fitting error as an end point of the rotary table rotary shaft;
a second calculation unit configured to calculate, for each of the three-dimensional planes, a plane fitting error between the three-dimensional plane and the plurality of marker coordinates;
and the second execution unit is used for taking the normal vector of the three-dimensional plane with the minimum plane fitting error as the rotating shaft direction of the rotating shaft of the rotating table.
7. An electronic device, characterized in that the electronic device comprises a memory, a processor and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the hub point cloud acquisition method according to any one of claims 1 to 5.
8. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when being executed by a processor, carries out the steps of the hub point cloud acquisition method according to any one of claims 1 to 5.
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| EP3457357B1 (en) * | 2017-09-13 | 2021-07-07 | Tata Consultancy Services Limited | Methods and systems for surface fitting based change detection in 3d point-cloud |
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| CN110728623B (en) * | 2019-08-27 | 2024-04-19 | 深圳市重投华讯太赫兹科技有限公司 | Cloud point splicing method, terminal equipment and computer storage medium |
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| CN113674278B (en) * | 2021-10-22 | 2022-02-15 | 深圳市信润富联数字科技有限公司 | Hub point cloud obtaining method, device and equipment and computer readable storage medium |
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