CN101033950A - Measurement method of three-dimensional surface shape of rock - Google Patents
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Abstract
一种岩石表面三维形貌的测量方法，首先根据参照物的实际空间方位坐标与至少两摄像机拍摄的所述参照物图像的像点空间坐标建立像点与实际空间坐标的函数关系，然后将具有预设相位的光栅所形成的栅格投射至待测量的岩石以将所述待测量的岩石表面划分为多个测量空间，再拍摄已被划分为多个测量空间的所述待测量的岩石表面的图像，并将所拍摄的各图像的像点进行同名点的匹配以获得各测量空间在各拍摄的图像中的相应像点坐标，最后根据所述各测量空间的各像点空间坐标及所述函数关系计算相应各测量点的实际空间坐标，如此可自动快速有效的获得待测量岩石表面的三维形貌特征。
A method for measuring the three-dimensional topography of a rock surface. First, according to the actual spatial orientation coordinates of a reference object and the image point spatial coordinates of images of the reference object captured by at least two cameras, the functional relationship between the image point and the actual spatial coordinates is established, and then the functional relationship between the image point and the actual spatial coordinate is established. The grating formed by the grating with the preset phase is projected onto the rock to be measured to divide the rock surface to be measured into multiple measurement spaces, and then photograph the rock surface to be measured that has been divided into multiple measurement spaces images, and match the image points of each captured image with points of the same name to obtain the corresponding image point coordinates of each measurement space in each captured image, and finally according to the space coordinates of each image point in each measurement space and the obtained The actual space coordinates of the corresponding measurement points are calculated according to the above-mentioned function relationship, so that the three-dimensional shape characteristics of the rock surface to be measured can be obtained automatically, quickly and effectively.
Description
技术领域technical field
本发明涉及一种岩石表面三维形貌的测量方法。The invention relates to a method for measuring three-dimensional topography of rock surfaces.
背景技术Background technique
目前测量岩石表面形貌的测量方法主要有两种，即机械接触式和激光非接触式测量方法。At present, there are mainly two measurement methods for measuring rock surface topography, namely, mechanical contact measurement and laser non-contact measurement method.
机械接触式测量方法为一种直接测量方法，其每次测量时先量得单个点的空间坐标，然后凭借机械装置移动测量探头来获得整个平面上多个点的空间坐标，如此可见，岩石表面的三维特征需由多个点的数据组合得到，整个测量过程既费时，又采集数据量少，同时还极易受机械结构的影响，难以直接有效的获得岩石表面上三维特征。The mechanical contact measurement method is a direct measurement method, which first measures the spatial coordinates of a single point for each measurement, and then moves the measuring probe with a mechanical device to obtain the spatial coordinates of multiple points on the entire plane, so it can be seen that the rock surface The three-dimensional features of the rock surface need to be obtained by combining the data of multiple points. The whole measurement process is time-consuming, and the amount of data collected is small. At the same time, it is also easily affected by the mechanical structure, and it is difficult to directly and effectively obtain the three-dimensional features on the rock surface.
而激光非接触式测量方法采用三角测量原理，根据选择点光源或者线光源，每次测量一个测点或者一条测线上各个点的空间坐标，然后凭借机械装置移动测头来获得整个岩石表面上多条平行测线上的数据，再将其组合获得岩石表面的三维特征，该方法相对于机械式测量方法要快，但是整个测量仍旧十分费时，而且采集的数据有限，再者，激光探头要安装在机械装置上，所以受机械结构影响也较大，同样也难以直接获得岩石表面的三维特征。The laser non-contact measurement method adopts the principle of triangulation. According to the selection of point light source or line light source, the spatial coordinates of one measuring point or each point on a measuring line are measured each time, and then the measuring head is moved by a mechanical device to obtain the coordinates of the entire rock surface. The data on multiple parallel survey lines are combined to obtain the three-dimensional characteristics of the rock surface. This method is faster than the mechanical measurement method, but the entire measurement is still very time-consuming, and the collected data is limited. Furthermore, the laser probe requires It is installed on a mechanical device, so it is greatly affected by the mechanical structure, and it is also difficult to directly obtain the three-dimensional characteristics of the rock surface.
因此，如何自动有效的获得岩石表面形貌特征实已成为本领域技术人员亟待解决的技术课题。Therefore, how to automatically and effectively obtain rock surface topography features has become an urgent technical problem to be solved by those skilled in the art.
发明内容Contents of the invention
本发明的目的在于提供一种岩石表面三维形貌的测量方法，以实现对岩石表面形貌特征的快速测量。The object of the present invention is to provide a method for measuring the three-dimensional topography of the rock surface, so as to realize the rapid measurement of the topographic features of the rock surface.
为了达到上述目的，本发明提供一种岩石表面三维形貌的测量方法，其包括步骤：1)根据参照物的实际空间方位坐标与至少两摄像机拍摄的所述参照物图像的像点空间坐标建立像点与实际空间坐标的函数关系；2)将具有预设相位的光栅所形成的栅格投射至待测量的物体以将所述待测量的岩石表面划分为多个测量空间；3)所述至少两摄像机拍摄已被分割为多个测量空间的所述待测量的岩石表面的图像；4)将所述至少两摄像机各自所拍摄的图像的像点进行同名点的匹配以获得各测量空间在所拍摄的图像中的像点坐标；5)根据所述各测量空间的像点空间坐标及所述函数关系计算相应各测量空间的实际空间坐标以获得所述待测量岩石表面的三维形貌。In order to achieve the above object, the present invention provides a method for measuring the three-dimensional topography of the rock surface, which includes the steps of: 1) establishing according to the actual spatial orientation coordinates of the reference object and the image point spatial coordinates of the images of the reference object captured by at least two cameras The functional relationship between the image point and the actual space coordinates; 2) projecting the grid formed by the grating with the preset phase to the object to be measured to divide the rock surface to be measured into multiple measurement spaces; 3) the At least two cameras take images of the rock surface to be measured that have been divided into multiple measurement spaces; 4) matching the image points of the images taken by each of the at least two cameras with the same name points to obtain the measurement space in each measurement space The image point coordinates in the captured image; 5) calculating the actual space coordinates of the corresponding measurement spaces according to the image point space coordinates of the measurement spaces and the functional relationship to obtain the three-dimensional topography of the rock surface to be measured.
其中，还包括步骤：(1)判断是否需要对所述待测量物体的表面重新进行测量空间的进一步细分，若是则改变所述栅格的相位，然后重复步骤3)和步骤4)，所述参照物为标定块上的标准点，所述栅格的编码信息为离散二进制编码信息。Wherein, it also includes the steps of: (1) judging whether it is necessary to further subdivide the measurement space on the surface of the object to be measured, if so, change the phase of the grid, and then repeat steps 3) and 4), so The reference objects are standard points on the calibration block, and the coded information of the grid is discrete binary coded information.
综上所述，本发明的岩石表面三维形貌的测量方法通过对岩石表面的测量空间进行划分测出各测量空间的实际空间坐标，进而即可获得所述岩石表面的三维形貌特征，实现快速有效的物体形貌特征的测量。In summary, the method for measuring the three-dimensional topography of the rock surface of the present invention measures the actual space coordinates of each measurement space by dividing the measurement space of the rock surface, and then can obtain the three-dimensional topography characteristics of the rock surface, realizing Fast and effective measurement of object shape characteristics.
附图说明Description of drawings
图1为本发明的岩石表面三维形貌的测量方法的示意图。Fig. 1 is a schematic diagram of the method for measuring the three-dimensional topography of a rock surface according to the present invention.
图2为本发明的岩石表面三维形貌的测量方法的基本流程示意图。Fig. 2 is a schematic flow chart of the method for measuring the three-dimensional topography of the rock surface according to the present invention.
图3a至3d为本发明的岩石表面三维形貌的测量方法中栅格投射至岩石表面的示意图。3a to 3d are schematic diagrams of the grid projected onto the rock surface in the method for measuring the three-dimensional topography of the rock surface according to the present invention.
图4为本发明的岩石表面三维形貌的测量方法中岩石表面一点在XOZ平面内与两台摄像机之间的关系示意图。4 is a schematic diagram of the relationship between a point on the rock surface in the XOZ plane and two cameras in the method for measuring the three-dimensional topography of the rock surface of the present invention.
图5为本发明的岩石表面三维形貌测量方法的光路结构的示意图。Fig. 5 is a schematic diagram of the optical path structure of the method for measuring the three-dimensional topography of the rock surface of the present invention.
具体实施方式Detailed ways
请参阅图1及图2，本发明的岩石表面三维形貌的测量方法为一种主动的三角测量方法，其先通过数字光栅投影装置投射，在岩石表面投射一系列连续的条纹状的结构光，被测岩石的空间信息经过结构光编码成为条纹图形，由左右摄像机即摄像头1和摄像头2记录下来，经过相位计算和匹配，根据匹配结果利用摄像机外参数求取空间点的三维坐标，将坐标带入岩石表面三维形貌参数的计算公式，获得岩石表面三维形貌参数，以下将对本发明的岩石表面三维形貌的测量方法作进一步描述。Please refer to Fig. 1 and Fig. 2, the method for measuring the three-dimensional topography of the rock surface of the present invention is an active triangulation method, which is first projected by a digital grating projection device, and projects a series of continuous striped structured light on the rock surface , the spatial information of the rock to be measured is encoded into a fringe pattern by structured light, which is recorded by the left and right cameras, that is,
首先执行步骤S10，根据参照物的实际空间方位坐标与至少两摄像机拍摄的所述参照物图像的像点空间坐标建立像点与实际空间坐标的函数关系(即获得系统内部参数，如镜头焦距等)，例如，通常采用标定块上的标准点作为参照物，由于各标准点之间的点距固定，通过对点距进行测量及所拍摄的各标准点的图像像点空间坐标，通过摄影测量学的原理计算出相关参数值，由此可建立像点空间坐标和实际空间坐标的函数关系，在本实施方式中，采用两台摄像机拍摄图像，接着执行步骤S11。First execute step S10, according to the actual spatial orientation coordinates of the reference object and the image point spatial coordinates of the described reference object images taken by at least two cameras to establish the functional relationship between the image point and the actual spatial coordinates (that is, to obtain the internal parameters of the system, such as the focal length of the lens, etc. ), for example, the standard point on the calibration block is usually used as the reference object, because the point distance between each standard point is fixed, by measuring the point distance and the image point space coordinates of each standard point taken, through photogrammetry The related parameter values are calculated according to the principles of science, so that the functional relationship between the spatial coordinates of the image point and the actual spatial coordinates can be established. In this embodiment, two cameras are used to capture images, and then step S11 is executed.
在步骤S11中，将具有预设相位的光栅所形成的栅格投射至待测量的岩石以将所述待测量的岩石表面分割为多个测量空间，通常光栅采用预设(初始)相位为0度的条纹状的明暗(即黑白)格，且各明暗格分别用二进制编码1和0表示，请参见图3a，采用光栅投影装置将所述栅格投射至所述待测量的岩石表面，则所述待测量的岩石表面被分为2个测量空间，当测量人员对所述岩石表面的测量精度提高时，其可改变栅格的宽度，请参见图3b，则所述待测量的岩石表面被分为4个测量空间，图3c划分为8个测量空间，图3c划分为16个测量空间，因此本领域技术人员可根据实际精度要求采用不同宽度栅格，接着执行步骤S12。In step S11, the grating formed by the grating with the preset phase is projected onto the rock to be measured to divide the rock surface to be measured into multiple measurement spaces, usually the grating adopts a preset (initial) phase of 0 degree of light and shade (that is, black and white) grids, and each light and shade grid is represented by
在步骤S12中，两摄像机拍摄已被分割为多个测量空间的所述待测量的岩石表面的图像，接着执行步骤S13。In step S12, two cameras capture images of the rock surface to be measured which has been divided into multiple measurement spaces, and then step S13 is executed.
在所述步骤S13中，将两摄像机各自所拍摄的图像的像点进行同名点的匹配以获得各测量空间在各拍摄的图像中的相应像点坐标，即找出在同一时间和条件下，同一测量对象在左右摄像机中的对应的像点。In said step S13, the image points of the images captured by the two cameras are matched with the same point to obtain the corresponding image point coordinates of each measurement space in each captured image, that is, to find out under the same time and conditions, Corresponding image points of the same measurement object in the left and right cameras.
如图4，空间中一点P在世界坐标系OWXWYWZW下坐标为P(XW，YW，ZW)。As shown in Figure 4, the coordinates of a point P in space in the world coordinate system O W X W Y W Z W are P(X W , Y W , Z W ).
左摄像机坐标系O1X1Y1Z1，以左摄像机光心为原点O1，光轴为O1Z1轴，X1Y1面平行于左图像平面的坐标系，有效焦距为f1；右摄像机坐标系O2X2Y2Z2，以右摄像机光心为原点O2，光轴为O2Z2轴，X2Y2面平行于右图像平面的坐标系，有效焦距为f2。点P在左摄像机坐标系和右摄像机坐标系中的坐标分别为P1(X1，Y1，Z1)和P2(X2，Y2，Z2)。The coordinate system of the left camera O 1 X 1 Y 1 Z 1 , the optical center of the left camera is the origin O 1 , the optical axis is the O 1 Z 1 axis, the X 1 Y 1 plane is parallel to the left image plane, and the effective focal length is f 1 ; the coordinate system of the right camera O 2 X 2 Y 2 Z2, the optical center of the right camera is the origin O 2 , the optical axis is the O 2 Z 2 axis, the X 2 Y 2 plane is parallel to the coordinate system of the right image plane, and the effective focal length is f 2 . The coordinates of point P in the left camera coordinate system and the right camera coordinate system are P 1 (X 1 , Y 1 , Z 1 ) and P 2 (X 2 , Y 2 , Z 2 ), respectively.
左图像坐标系OaXaYa是以光轴O1Z1和图像平面的交点Oa为原点，XaYa轴平行于左摄像机坐标系的X1Y1轴；右图像坐标系ObXbYb是以光轴O2Z2和图像平面的交点Ob为原点，XbYb轴平行于右摄像机坐标系的X2Y2轴。点P在左图像坐标系OaXaYa和右图像坐标系ObXbYb中的坐标分别为Pa(Xa，Ya)和Pb(Xb，Yb)。The left image coordinate system O a X a Y a is based on the intersection point O a of the optical axis O 1 Z 1 and the image plane as the origin, and the X a Y a axis is parallel to the X 1 Y 1 axis of the left camera coordinate system; the right image coordinate system O b X b Y b takes the intersection point O b of the optical axis O 2 Z 2 and the image plane as the origin, and the X b Y b axis is parallel to the X 2 Y 2 axis of the right camera coordinate system. The coordinates of point P in the left image coordinate system O a X a Y a and the right image coordinate system O b X b Y b are P a (X a , Y a ) and P b (X b , Y b ), respectively.
象素坐标系为计算机图像平面的坐标系，原点在屏幕左上角，以象素为单位。点P在左象素坐标系C1U1V1和右象素坐标系C2U2V2中的坐标分别为PC(U1，V1)和PC(U2，V2)。The pixel coordinate system is the coordinate system of the computer image plane, the origin is at the upper left corner of the screen, and the unit is pixel. The coordinates of point P in the left pixel coordinate system C 1 U 1 V 1 and the right pixel coordinate system C 2 U 2 V 2 are PC (U 1 , V 1 ) and PC (U 2 , V 2 ) respectively .
以左摄像机对应的转换为例，从世界坐标系到摄像机坐标系，有：Take the transformation corresponding to the left camera as an example, from the world coordinate system to the camera coordinate system, there are:
其中旋转矩阵R和平移矩阵T分别为：Among them, the rotation matrix R and the translation matrix T are respectively:
从摄像机坐标系到图像坐标系，有：From the camera coordinate system to the image coordinate system, there are:
从图像坐标系到象素坐标系，有From the image coordinate system to the pixel coordinate system, there are
U1＝U01+Xa/dx V1＝V01+Ya/dy (3)U 1 =U 01 +X a /dx V 1 =V 01 +Y a /dy (3)
式中，(U01，V01)为图像坐标系的原点在象素坐标系中的象素坐标，其近似值为图像中心象素坐标；dx，dy：传感器相邻象素之间X方向和Y方向的距离。In the formula, (U 01 , V 01 ) is the pixel coordinate of the origin of the image coordinate system in the pixel coordinate system, and its approximate value is the pixel coordinate of the center of the image; dx, dy: the X direction and The distance in the Y direction.
其中，R、T、fa、(U01，V01)、dx，dy均为系统的内部参数，可以在标定中获得。Among them, R, T, f a , (U 01 , V 01 ), dx, dy are internal parameters of the system, which can be obtained during calibration.
同理可得到世界坐标系向右摄像机坐标系的转换公式，左右得到的结果相互比较验证，完成同名点的匹配，接着执行步骤S14。In the same way, the conversion formula from the world coordinate system to the right camera coordinate system can be obtained, the results obtained on the left and right sides are compared and verified, and the matching of points with the same name is completed, and then step S14 is executed.
在步骤S14中，根据所述各测量空间的各像点空间坐标及所述函数关系计算相应各测量点的实际空间坐标以获得所述待测量岩石表面的三维形貌，In step S14, calculate the actual space coordinates of corresponding measurement points according to the space coordinates of each image point in each measurement space and the functional relationship to obtain the three-dimensional topography of the rock surface to be measured,
参考图5，R为参考平面，即当被测岩石表面为绝对平整的面，C为CCD摄像机镜头光心，P为投影系统镜头光心，G为投影光栅。H为被测物体上的任一点，其在参考面上的投影为H’，线段HH′的长度为h，即H的高度。A、B点分别是H点与两光心连线和参考面的交点。入射光线照射到参考平面R上的A点，放上被测物体后，该光线照射到被测岩石表面的H点，此时从成象面观察，A点就移到新的位置B点，距离AB就携带了高度信息h(xy)，即受到了表面形状的调制。因此，将光栅投影到被测岩石表面，由于受表面形状调制而发生变形，表现为参考面上A、B点的位置函数，该函数与系统的几何参数有关，即和摄像机光心到参考面的距离l、投影系统光心与摄像机光心的距离d有关。Referring to Figure 5, R is the reference plane, that is, when the rock surface to be measured is absolutely flat, C is the optical center of the lens of the CCD camera, P is the optical center of the lens of the projection system, and G is the projection grating. H is any point on the measured object, its projection on the reference plane is H', and the length of the line segment HH' is h, which is the height of H. Points A and B are the intersections of point H, the line connecting the two optical centers and the reference plane, respectively. The incident light irradiates point A on the reference plane R. After placing the measured object, the light irradiates point H on the surface of the rock to be measured. At this time, point A moves to the new position point B when viewed from the imaging plane. The distance AB carries the height information h(xy), which is modulated by the surface shape. Therefore, when the grating is projected onto the surface of the rock to be measured, it will be deformed due to the modulation of the surface shape, which is expressed as a function of the position of points A and B on the reference plane. The distance l is related to the distance d between the optical center of the projection system and the optical center of the camera.
由于ΔHBA与ΔHCP相似，所以有下式成立Since ΔHBA is similar to ΔHCP, the following formula holds
Z1＝h(x)+C (5)Z 1 =h(x)+C (5)
由(4)式获得了待测岩石表面距离参考面的高度信息，可由(5)式计算出Z1和Z2的值，再联合公式(3)、(2)、(1)的逆函数，可以获得待测岩石表面的三维信息(6)，接着执行步骤S15。The height information of the rock surface to be measured from the reference surface is obtained by formula (4), and the values of Z1 and Z2 can be calculated by formula (5), and then combined with the inverse functions of formulas (3), (2), and (1) , the three-dimensional information (6) of the rock surface to be measured can be obtained, and then step S15 is executed.
在步骤S15中，判断是否需要对所述待测量物体的表面进行测量空间的进一步划分，若是则执行步骤S16，否则结束。例如，在对岩石表面的测量过程中，为提高对岩石表面形貌的测量精度，通常采用4相位测量法，即需要分别采用0度、90度、180度及270度相位的光栅对岩石表面进行测量，因此在本实施方式中，显然仍需要对岩石的表面进行测量空间的进一步划分。In step S15, it is determined whether the surface of the object to be measured needs to be further divided into a measurement space, if yes, execute step S16, otherwise, end. For example, in the process of measuring the rock surface, in order to improve the measurement accuracy of the rock surface topography, a 4-phase measurement method is usually used, that is, gratings with phases of 0°, 90°, 180° and 270° are required to measure the rock surface Therefore, in this embodiment, it is obviously still necessary to further divide the measurement space on the surface of the rock.
在步骤S16中，调整所述光栅的相位，即将所述光栅的相位调整一定角度，然后执行步骤S12。In step S16, the phase of the grating is adjusted, that is, the phase of the grating is adjusted by a certain angle, and then step S12 is executed.
综上所述，本发明的岩石表面三维形貌的测量方法通过采用光栅对待测量物体的表面进行测量空间的划分后获得相应各测量空间的像点空间坐标，然后根据预先建立的像点坐标和实际空间坐标的函数关系计算出相应测量空间的实际空间坐标，进而得到待测量岩石表面的三维形貌特征，实现对岩石表面形貌的自动测量。In summary, the method for measuring the three-dimensional topography of the rock surface of the present invention obtains the image point space coordinates of each corresponding measurement space after dividing the measurement space by using a grating on the surface of the object to be measured, and then according to the pre-established image point coordinates and The functional relationship of the actual space coordinates calculates the actual space coordinates of the corresponding measurement space, and then obtains the three-dimensional shape characteristics of the rock surface to be measured, and realizes the automatic measurement of the rock surface shape.
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