CN102269587B - Redrawing method of underwater 3D redrawing device based on controllable light plane - Google Patents

Redrawing method of underwater 3D redrawing device based on controllable light plane Download PDF

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CN102269587B
CN102269587B CN2010105286064A CN201010528606A CN102269587B CN 102269587 B CN102269587 B CN 102269587B CN 2010105286064 A CN2010105286064 A CN 2010105286064A CN 201010528606 A CN201010528606 A CN 201010528606A CN 102269587 B CN102269587 B CN 102269587B
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light plane
refraction
coordinate system
redrawing
equation
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CN102269587A (en
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解则晓
刘鹏
辛少辉
孙洪磊
仇聪
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Ocean University of China
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Abstract

The invention relates to a controlled light plane-based underwater three-dimensional redrawing device and a controlled light plane-based underwater three-dimensional redrawing method. The device comprises a computer control device with software, a light plane control device with a reflecting lens, a charge coupled device (CCD) camera, a light plane generator and a sealed shell of which the front is provided with a glass window and one side is provided with a waterproof interface. The redrawing method comprises the following steps of: establishing a global coordinate system and a camera coordinate system by using the light plane control device and the CCD camera; correcting a light plane equation before refraction, and resolving a light plane equation after refraction; resolving a refraction compensation parameter k, and compensating a pixel coordinate of each point to be detected; and resolving a coordinate of a point to be detected according to the corrected light plane equation and the pixel coordinate of the point to be detected and a geometrical relationship between a light plane and the CCD camera so as to realize the three-dimensional redrawing of an object to be detected. By the invention, the refraction influence is effectively avoided, the three-dimensional redrawing of an underwater object is realized, the structure is simple and the accuracy is high.

Description

基于可控光平面的水下三维重绘装置的重绘方法Redrawing method of underwater 3D redrawing device based on controllable light plane

技术领域 technical field

本发明涉及一种水下三维测量装置，具体说是一种基于可控光平面的水下三维重绘装置及重绘方法。  The invention relates to an underwater three-dimensional measuring device, in particular to an underwater three-dimensional redrawing device and a redrawing method based on a controllable light plane. the

背景技术 Background technique

目前已有的陆上三维重绘装置，不能直接对水下物体进行测量重绘。即使对已有的陆上三维重绘装置进行密封，用于水下测量时，密封壳体的玻璃窗将使被测物体与测量装置分别处于具有不同折射率的介质中，当光线通过玻璃窗时，会产生折射现象，使得光平面发生偏转，同时给CCD摄像机的水下成像带来聚焦误差、视角误差、畸变和色差等不利因素，使成像质量下降，最终导致水下三维重绘无法实现。  Currently existing land-based 3D redrawing devices cannot directly measure and redraw underwater objects. Even if the existing land-based 3D redrawing device is sealed, when it is used for underwater measurement, the glass window of the sealed casing will make the measured object and the measuring device respectively in media with different refractive indices. When the light passes through the glass window At the same time, the phenomenon of refraction will occur, causing the light plane to deflect. At the same time, it will bring unfavorable factors such as focus error, viewing angle error, distortion and chromatic aberration to the underwater imaging of the CCD camera, which will reduce the imaging quality and eventually lead to the failure of underwater 3D redrawing. . the

发明内容 Contents of the invention

本发明的目的是提供一种基于可控光平面的水下三维重绘装置及重绘方法，克服水下折射对光平面和CCD摄像机的影响，实现在水下对被测物体进行精确三维重绘。  The object of the present invention is to provide an underwater three-dimensional redrawing device and redrawing method based on a controllable light plane, which overcomes the influence of underwater refraction on the light plane and CCD cameras, and realizes accurate three-dimensional redrawing of the measured object underwater. painted. the

基于可控光平面的水下三维重绘装置，包括含软件的计算机控制装置、带有反射镜片的光平面控制装置、CCD摄像机以及光平面发生器，其特征是还包括带有正面为透明玻璃窗的密封壳体，和密封壳体一侧的防水接口，且光平面控制装置和CCD摄像机固定在密封壳体的底座两端，光平面发生器紧挨光平面控制装置的反射镜片且固定在密封壳体的底座上，并使出射光正好投射到反射镜片的旋转轴线上。  An underwater three-dimensional redrawing device based on a controllable light plane, including a computer control device with software, a light plane control device with reflective lenses, a CCD camera and a light plane generator, and is characterized in that it also includes a transparent glass on the front The sealed housing of the window, and the waterproof interface on one side of the sealed housing, and the light plane control device and the CCD camera are fixed at both ends of the base of the sealed housing, and the light plane generator is next to the reflector of the light plane control device and fixed on the Seal the base of the housing, and make the outgoing light just project on the rotation axis of the reflector. the

本发明的三维重绘方法：  The three-dimensional redrawing method of the present invention:

1、首先以光平面控制装置和CCD摄像机分别建立世界坐标系owxwywzw和摄像机坐标系ocxcyczc，两个坐标系的关系可以用一个旋转矩阵和一个平移矩阵表示。  1. First, the world coordinate system o w x w y w z w and the camera coordinate system o c x c y c z c are respectively established with the light plane control device and the CCD camera. The relationship between the two coordinate systems can be defined by a rotation matrix and a The translation matrix representation.

2、考虑到光平面透过玻璃窗投射到被测物体上时，会在玻璃窗处发生折射，必须先求取折射前的光平面方程Ax+By+Cz＝D，再对折射前的光平面方程进行修正。  2. Considering that when the light plane is projected onto the measured object through the glass window, refraction will occur at the glass window, the light plane equation Ax+By+Cz=D before refraction must be obtained first, and then the light before refraction The plane equation is corrected. the

折射前的光平面方程通过如下的公式(I)来获得，  The light plane equation before refraction is obtained by the following formula (I),

AA == 00 BB == coscos [[ 22 (( Uu -- Uu 00 )) ρρ ]] CC == sinsin [[ 22 (( Uu -- Uu 00 )) ρρ ]] DD. == 00 -- -- -- (( II ))

其中，A、B、C、D为该方程的系数；U为光平面控制装置的实时输入电压，U0为使光平面沿zw轴射出时光平面控制装置的输入电压；ρ为输入电压U每变化一伏时反射镜片转过的角度。  Among them, A, B, C, D are the coefficients of the equation; U is the real-time input voltage of the optical plane control device, U 0 is the input voltage of the optical plane control device to make the light plane emit along the z w axis; ρ is the input voltage U The angle by which the reflector is turned for each volt change.

通过下面的公式(II)对光平面进行折射修正，具体说是求取在玻璃窗处折射后的光平面方程a3x+b3y+c3z＝d3。  Perform refraction correction on the light plane through the following formula (II), specifically, obtain the light plane equation a 3 x+b 3 y+c 3 z=d 3 after refraction at the glass window.

aa 33 == AA || AA || 11 -- CC 22 nno ww 22 (( AA 22 ++ BB 22 ++ CC 22 )) 11 ++ BB 22 AA 22 bb 33 == -- aa 33 BB AA cc 33 == CC nno ww AA 22 ++ BB 22 ++ CC 22 dd 33 == cc 33 hh -- bb 33 hChC ++ DD. BB -- -- -- (( IIII ))

其中a3x+b3y+c3z＝d3是折射后光平面的方程，a3、b3、c3、d3是该方程的系数；A、B、C、D如公式(I)；h是世界坐标系owxwywzw的原点到玻璃窗的垂直距离；nw为水对空气的折射率。  Where a 3 x+b 3 y+c 3 z=d 3 is the equation of the light plane after refraction, a 3 , b 3 , c 3 , and d 3 are the coefficients of the equation; A, B, C, and D are as in the formula ( I); h is the vertical distance from the origin of the world coordinate system o w x w y w z w to the glass window; n w is the refractive index of water to air.

3、考虑到对水中目标进行拍摄时，光线在玻璃窗处发生折射，使其在CCD靶面上的成像点发生偏移，像素坐标失真，必须对CCD摄像机拍摄的图像进行折射补偿，通过公式(III)计算折射补偿参数，  3. Considering the refraction of light at the glass window when shooting the target in the water, the imaging point on the CCD target surface is shifted, and the pixel coordinates are distorted. Refraction compensation must be performed on the image captured by the CCD camera. Through the formula (III) Calculate the refraction compensation parameters,

kk == tanthe tan [[ arcsinarcsin sinsin (( arctanarctan uu 22 ++ vv 22 ff )) nno ww )) ]] uu 22 ++ vv 22 ff -- -- -- (( IIIIII ))

其中，f为CCD摄像机焦距；nw为水对空气的折射率；(u，v)为被测点在CCD靶面上的像素坐标。  Among them, f is the focal length of the CCD camera; n w is the refractive index of water to air; (u, v) is the pixel coordinate of the measured point on the CCD target surface.

拍摄时，被测点会在CCD摄像机的CCD靶面上成像，得到像素坐标(u，v)，由于在玻璃窗处发生了折射，该像素坐标不能代表该点的真实位置，通过公式(III)中的CCD摄像机折射补偿参数k，对像素坐标进行补偿，得到被测点的真实像素坐标(ku，kv)。  When shooting, the measured point will be imaged on the CCD target surface of the CCD camera, and the pixel coordinates (u, v) will be obtained. Due to the refraction at the glass window, the pixel coordinates cannot represent the real position of the point. Through the formula (III The CCD camera refraction compensation parameter k in ) compensates the pixel coordinates to obtain the real pixel coordinates (ku, kv) of the measured point. the

4、在上述光平面方程已经修正、CCD摄像机的像素坐标已经补偿的前提下，还必须根据两者之间的关系，通过公式(IV)计算被测点在世界坐标系下的坐标。  4. Under the premise that the above-mentioned light plane equation has been corrected and the pixel coordinates of the CCD camera have been compensated, the coordinates of the measured point in the world coordinate system must be calculated by formula (IV) according to the relationship between the two. the

(( cc 11 dd 22 -- cc 22 dd 11 )) (( aa 11 cc 33 -- aa 33 cc 11 )) (( aa 11 bb 22 -- aa 22 bb 11 )) -- (( cc 11 dd 22 -- cc 22 dd 11 )) (( aa 11 cc 22 -- aa 22 cc 11 )) (( aa 11 bb 33 -- aa 33 bb 11 )) xx == -- (( bb 22 cc 11 -- bb 11 cc 22 )) (( aa 11 dd 22 -- aa 22 dd 11 )) (( aa 11 cc 33 -- aa 33 cc 11 )) ++ (( bb 22 cc 22 -- bb 11 cc 22 )) (( aa 11 dd 33 -- aa 33 dd 11 )) (( aa 11 dd 33 -- aa 33 dd 11 )) (( aa 22 cc 11 -- aa 11 cc 22 )) (( aa 11 cc 33 -- aa 33 cc 11 )) (( aa 11 bb 22 -- aa 22 bb 11 )) -- (( aa 22 cc 11 -- aa 11 cc 22 )) (( aa 11 cc 22 -- aa 22 cc 11 )) (( aa 11 bb 33 -- aa 33 bb 11 )) ythe y == (( aa 11 cc 33 -- aa 33 cc 11 )) (( aa 11 dd 22 -- aa 22 dd 11 )) -- (( aa 11 dd 33 -- aa 33 dd 11 )) (( aa 11 cc 22 -- aa 22 cc 11 )) (( aa 11 cc 33 -- aa 33 cc 11 )) (( aa 11 bb 22 -- aa 22 bb 11 )) -- (( aa 11 cc 22 -- aa 22 cc 11 )) (( aa 11 bb 33 -- aa 33 bb 11 )) zz == (( aa 11 dd 33 -- aa 33 dd 11 )) (( aa 11 bb 22 -- aa 22 bb 11 )) -- (( aa 11 dd 22 -- aa 22 dd 11 )) (( aa 11 bb 33 -- aa 33 bb 11 )) (( aa 11 cc 33 -- aa 33 cc 11 )) (( aa 11 bb 22 -- aa 22 bb 11 )) -- (( aa 11 cc 22 -- aa 22 cc 11 )) (( aa 11 bb 33 -- aa 33 bb 11 )) -- -- -- (( IVIV ))

其中，  in,

aa 11 == kurkur 66 -- frfr 00 bb 11 == kurkur 77 -- frfr 11 cc 11 == kurkur 88 -- ff rr 22 dd 11 == kuku (( rr 66 tt 00 ++ rr 77 tt 11 ++ rr 88 tt 22 )) -- ff (( rr 00 tt 00 ++ rr 11 tt 11 ++ rr 22 tt 22 )) ,, aa 22 == kvrkvr 66 -- frfr 33 bb 22 == kvrkvr 77 -- frfr 44 cc 22 == kvrkvr 88 -- ff rr 55 dd 22 == kvkv (( rr 66 tt 00 ++ rr 77 tt 11 ++ rr 88 tt 22 )) -- ff (( rr 33 tt 00 ++ rr 44 tt 11 ++ rr 55 tt 22 )) ;;

(u，v)为被测点在CCD摄像机CCD靶面上的像素坐标；k如公式(III)；a3、b3、c3、d3如公式(II)；r0-r8，t0-t2分别是摄像机坐标系到振镜坐标系的旋转矩阵和平移矩阵的元素。  (u, v) is the pixel coordinates of the measured point on the CCD target surface of the CCD camera; k is as in formula (III); a 3 , b 3 , c 3 , d 3 are as in formula (II); r 0 -r 8 , t 0 -t 2 are elements of the rotation matrix and translation matrix from the camera coordinate system to the galvanometer coordinate system respectively.

根据修正后的光平面方程a3x+b3y+c3z＝d3和折射补偿后的被测点像素坐标(ku，kv)，经过公式(IV)，即可求出被测点在世界坐标下的三维坐标(x，y，z，)。  According to the corrected light plane equation a 3 x+b 3 y+c 3 z=d 3 and the pixel coordinates (ku, kv) of the measured point after refraction compensation, the measured point can be obtained through the formula (IV) 3D coordinates (x, y, z,) in world coordinates.

若使光平面控制装置的输入电压按照一定的步进值匀速增大，则激光平面将均匀的扫过被测物体，可测得被测物体所有点在世界坐标系下的三维坐标，即实现了三维重绘。  If the input voltage of the light plane control device is increased at a constant speed according to a certain step value, the laser plane will sweep across the measured object uniformly, and the three-dimensional coordinates of all points of the measured object in the world coordinate system can be measured, that is, 3D redrawing. the

本发明的核心其一在于该装置的硬件结构：光平面控制装置、光平面发生器和CCD摄像机固定在一侧是透明玻璃窗的密封壳体内，侧面有防水接口；其二在于光平面的折射修正方法和CCD摄像机的折射补偿方法：根据公式(I)和(II)，可实现对光平面进行折射修正，根据公式(III)的折射补偿参数，实现了对CCD摄像机的水下成像的折射补偿；其三在于通过光平面方程和CCD摄像机的内外参数获得被测物体三维坐标的数学方法：通过公式(IV)计算所有被测点的三维坐标，最终实现对被测物体的三维重绘。  One of the core of the present invention is the hardware structure of the device: the light plane control device, the light plane generator and the CCD camera are fixed in a sealed housing with a transparent glass window on one side, and the side has a waterproof interface; the other is the refraction of the light plane The correction method and the refraction compensation method of the CCD camera: according to the formulas (I) and (II), the refraction correction can be realized on the light plane, and according to the refraction compensation parameters of the formula (III), the refraction of the underwater imaging of the CCD camera is realized Compensation; the third is the mathematical method of obtaining the three-dimensional coordinates of the measured object through the light plane equation and the internal and external parameters of the CCD camera: calculate the three-dimensional coordinates of all measured points by formula (IV), and finally realize the three-dimensional redrawing of the measured object. the

本发明克服了折射对光平面以及CCD摄像机的影响，实现了水下物体的三维重绘，方法简洁稳定，测量精度高，在1-10米的距离内最大误差不超过0.5％；结构简单，体积小，便于操作，适用范围广。  The invention overcomes the influence of refraction on the light plane and the CCD camera, and realizes the three-dimensional redrawing of underwater objects. The method is simple and stable, and the measurement accuracy is high. The maximum error within a distance of 1-10 meters does not exceed 0.5%; the structure is simple, Small size, easy to operate, wide application range. the

下面结合附图和实施例对本发明进一步说明：  Below in conjunction with accompanying drawing and embodiment the present invention is further described:

附图说明 Description of drawings

图1本发明的基本结构示意图。  Fig. 1 is a schematic diagram of the basic structure of the present invention. the

图2本发明建立世界坐标系和CCD摄像机坐标系的示意图。  Fig. 2 is a schematic diagram of establishing the world coordinate system and the CCD camera coordinate system in the present invention. the

图3本发明的光平面折射修正和CCD摄像机折射补偿示意图。  Fig. 3 is a schematic diagram of light plane refraction correction and CCD camera refraction compensation of the present invention. the

其中，1、光平面控制装置，2、光平面发生器，3、CCD摄像机，4、密封壳体，5、玻璃窗，6、接口，7、可控光平面，8、反射镜片，9、CCD靶面，10、计算机控制装置。  Among them, 1. Light plane control device, 2. Light plane generator, 3. CCD camera, 4. Sealed housing, 5. Glass window, 6. Interface, 7. Controllable light plane, 8. Reflective lens, 9. CCD target surface, 10, computer control device. the

具体实施方式 Detailed ways

如图1，该装置主要包括含软件的计算机控制装置10、带有反射镜片8的光平面控制装置1、CCD摄像机3以及光平面发生器2，其特征还包括带有正面为玻璃窗5的密封壳体4和密封壳体4一侧的防水接口6，且光平面控制装置1和CCD摄像机3固定在密封壳体4的底座两端，光平面发生器2紧挨光平面控制装置1的反射镜片8固定在密封壳体4的底座上，并使出射光正好投射到反射镜片8的旋转轴线上。  As shown in Figure 1, the device mainly includes a computer control device 10 containing software, a light plane control device 1 with a reflector 8, a CCD camera 3 and a light plane generator 2, and its feature also includes a glass window 5 with a front The sealed housing 4 and the waterproof interface 6 on one side of the sealed housing 4, and the optical plane control device 1 and the CCD camera 3 are fixed at both ends of the base of the sealed housing 4, and the optical plane generator 2 is close to the light plane control device 1 The reflective mirror 8 is fixed on the base of the sealed housing 4 , and makes the outgoing light just project on the rotation axis of the reflective mirror 8 . the

上述密封壳体4为一尺寸为600mm*180mm*180mm的长方框体，正面为玻璃窗5，其它面为不锈钢，一个侧面装有防水接口6。  The above-mentioned sealed housing 4 is a rectangular frame with a size of 600mm*180mm*180mm, the front is a glass window 5, the other surfaces are stainless steel, and a waterproof interface 6 is installed on one side. the

参见图2建立两个坐标系：对于CCD摄像机3建立常规摄像机坐标系ocxcyczc，以反射镜片8旋转轴线的中点为原点ow，沿旋转轴向上为xw轴，光平面发生器2的出射光方向为yw轴，建立右手直角坐标系owxwywzw。两个坐标系之间的关系可以通过一个旋转矩阵和一个平移矩阵用下面的公式(V)表示：  Referring to Fig. 2, two coordinate systems are established: for the CCD camera 3, a conventional camera coordinate system o c x c y c z c is established, with the midpoint of the rotation axis of the reflective mirror 8 as the origin o w , and the x w axis along the rotation axis , the outgoing light direction of the light plane generator 2 is the y w axis, and a right-handed Cartesian coordinate system o w x w y w z w is established. The relationship between the two coordinate systems can be expressed by the following formula (V) through a rotation matrix and a translation matrix:

xx ww ythe y ww zz ww == RR xx cc ythe y cc zz cc ++ TT -- -- -- (( VV ))

其中， 是两个坐标系之间的旋转矩阵， 是两个坐标系之间的平移矩阵。  in, is the rotation matrix between the two coordinate systems, is the translation matrix between the two coordinate systems.

通过光平面控制装置1的输入电压控制反射镜片8的旋转角度，ρ为电压每变化一伏时反射镜片8转过的角度，若光平面7沿zw轴射出时的输入电压为U0，则对于某输入电压U，光平面方程为Ax+By+Cz+D＝0，光平面与zw轴的夹角为2(U-U0)*ρ，则可分别求出A、B、C、D的值，得到公式(I)。  The rotation angle of the reflective mirror 8 is controlled by the input voltage of the optical plane control device 1, and ρ is the angle at which the reflective mirror 8 turns when the voltage changes by one volt . Then for a certain input voltage U, the light plane equation is Ax+By+Cz+D=0, the angle between the light plane and the z w axis is 2(UU 0 )*ρ, then A, B, C, The value of D, obtain formula (I).

参见图3，在已知上述光平面方程的基础上，根据折射定律，可以求出折射后的光平面方程a3x+b3y+c3z+d3＝0，得到公式(II)。  Referring to Fig. 3, on the basis of the above-mentioned light plane equation, according to the law of refraction, the refracted light plane equation a 3 x+b 3 y+c 3 z+d 3 =0 can be obtained, and the formula (II) is obtained .

参见图3，水中的目标点P，按照折射定律，在CCD靶面9上成像在Q(u，v)点，若在陆地上测量P点将直接成像在CCD靶面9上的Q1(u1，v1)点，Q1与Q之间存在如下关系 对于每一个被测点，只要求出参数k，即可实现对折射的补偿。  Referring to Fig. 3, the target point P in the water is imaged at point Q(u, v) on the CCD target surface 9 according to the law of refraction. If point P is measured on land, it will be directly imaged at Q1 ( u 1 , v 1 ), there is the following relationship between Q 1 and Q For each measured point, only the parameter k is required to achieve compensation for refraction.

由图3知，  Known from Figure 3,

kk == || QQ 11 Oo cc 11 || || QOQO cc 11 || == tanthe tan γγ tanthe tan αα == || QOQO cc 11 || || OOOO cc 11 || || NHNH || tanthe tan ββ ++ || BHBH || || OHOh ||

又已知， |OOc1|＝f，|Oc1N|＝hc，|OH|＝zw，和 

Figure BDA0000030543530000047
通过上述各式的联合求解，可以推出关系式(III)，进而对CCD摄像机3成像进行折射补偿。  Also known, |OO c1 |=f, |O c1 N|=h c , |OH|=z w , and
Figure BDA0000030543530000047
Through the joint solution of the above formulas, the relational formula (III) can be deduced, and then refraction compensation can be performed on the imaging of the CCD camera 3 .

参见图3，光平面7与CCD摄像机3之间的几何关系，：  Referring to Fig. 3, the geometric relationship between the light plane 7 and the CCD camera 3,:

CCD摄像机成像时存在数学关系 

Figure BDA0000030543530000051
Figure BDA0000030543530000052
There is a mathematical relationship in the imaging of CCD cameras
Figure BDA0000030543530000051
Figure BDA0000030543530000052

由公式(V)，有 

Figure BDA0000030543530000053
From formula (V), we have
Figure BDA0000030543530000053

公式(II)求得经过折射后的光平面方程为a3xw+b3yw+c3zw+d3＝0；  Formula (II) obtains the light plane equation after refraction as a 3 x w +b 3 y w +c 3 z w +d 3 =0;

上述各式组成方程组求解，即得到关系式(IV)，求出被测点在世界坐标系下的坐标(x，y，z，)，获取被测物体所有点的三维坐标后即实现被测物体的三维重绘。  The above-mentioned various formulas are composed of equations to solve, that is, the relational formula (IV) is obtained, and the coordinates (x, y, z,) of the measured point in the world coordinate system are obtained, and the three-dimensional coordinates of all points of the measured object are obtained. 3D rendering of measured objects. the

综上所述，本发明采用了光平面修正与CCD摄像机折射补偿的方法，克服了水下折射的影响，实现了水下物体的三维重绘。  In summary, the present invention adopts the methods of optical plane correction and CCD camera refraction compensation, overcomes the influence of underwater refraction, and realizes three-dimensional redrawing of underwater objects. the

Claims (2)

1. A method for three-dimensional redrawing by using an underwater three-dimensional redrawing device based on a controllable light plane comprises a computer control device (10) containing software, a light plane control device (1) with a reflecting lens (8), a CCD camera (3), a light plane generator (2), a sealing shell (4) with a glass window (5) on the front surface and a waterproof interface (6) on one side of the sealing shell (4), wherein the light plane control device (1) and the CCD camera (3) are fixed at two ends of the base of the sealing shell (4), the light plane generator (2) is close to the reflecting lens (8) of the light plane control device (1) and is fixed on the base of the sealing shell (4), and emergent light is just projected on a rotating axis of the reflecting lens (8),
it is characterized in that firstly, a world coordinate system o is established by a light plane control device (1) and a CCD camera (3) respectivelywxwywzwAnd the camera coordinate system ocxcyczc(ii) a Then correcting the light plane equation Ax + By + Cz = D before refraction, and solving the light plane equation a after refraction3x+b3y+c3z=d3(ii) a Then, a refraction compensation parameter k is obtained, and the pixel coordinates (u, v) of each measured point are compensated to be (ku, kv); finally according to the corrected light plane equation a3x+b3y+c3z=d3And the pixel coordinates (ku, kv) of the measured point and the geometric relationship between the light plane (7) and the CCD camera (3) are solved to obtain the coordinates (x, y, z) of the measured point, so as to obtain the coordinates of all the measured points, namely, the three-dimensional redrawing of the measured object is realized;
the above world coordinate system owxwywzwAnd the camera coordinate system ocxcyczcThe relationship between them is expressed by the following formula (v) through a rotation matrix and a translation matrix:
Figure FDA00001833432700011
r0-r8，t0-t2respectively are elements of a rotation matrix and a translation matrix from a camera coordinate system to a galvanometer coordinate system;
the light plane equation Ax + By + Cz = D before refraction is corrected to obtain the light plane equation a after refraction3x+b3y+c3z=d3And then obtaining a refraction compensation parameter k, comprising:
the plane equation of light before refraction is obtained by the following formula (i),
Figure FDA00001833432700021
wherein A, B, C, D is the coefficient of the equation; u is the real-time input voltage of the light plane control device, U0To make the light plane along zwThe input voltage of the light plane control device when the shaft is emitted; ρ is the angle the mirror plate rotates for each volt change in the input voltage U,
the light plane is subjected to refraction correction through the following formula (II), and specifically, the light plane equation a after refraction at the glass window is solved3x+b3y+c3z=d3,
Wherein a is3x+b3y+c3z=d3Is the equation of the plane of light after refraction, a3、b3、c3、d3Are the coefficients of the equation; A. b, C, D is as in formula (I); h is the world coordinate system owxwywzwThe vertical distance from the origin of (a) to the glazing; n iswIs the refractive index of water to air;
calculating refraction compensation parameters by formula (III),
Figure FDA00001833432700023
wherein f is the focal length of the CCD camera; n iswIs the refractive index of water to air; (u, v) are pixel coordinates of the measured point on the CCD target surface;
the geometrical relationship between the light plane (7) and the CCD camera (3) is as follows: for a point P on the light plane (7), the coordinate is (x) under the world coordinate systemw,yw,zw) The coordinate under the camera coordinate system is (x)c,yc,zc) When the pixel coordinates on the CCD target surface (9) are (u, v) and the focal length of the CCD camera (3) is f, the conditions are metThe following mathematical relationship:
Figure FDA00001833432700032
the above equation a based on the corrected light plane3x+b3y+c3z=d3And the pixel coordinates (ku, kv) of the measured point and the geometrical relationship between the light plane (7) and the CCD camera (3) are solved to obtain the coordinates (x, y, z,) of the measured point, which comprises:
calculating the coordinate of the measured point in the world coordinate system through a formula (IV),
wherein,
Figure FDA00001833432700035
Figure FDA00001833432700036
(u, v) are pixel coordinates of the measured point on the CCD camera CCD target surface; k is as in formula (III); a is3、b3、c3、d3As formula (II); r is0-r8，t0-t2Are the elements of the rotation matrix and translation matrix from the camera coordinate system to the galvanometer coordinate system,
according to the modified light plane equation a3x+b3y+c3z=d3And refraction compensated pixel coordinates (ku, kv) of the measured point can be obtained by the formula (IV) under the world coordinateCoordinates (x, y, z,).
2. An underwater three-dimensional redrawing method according to claim 1, wherein said sealed casing (4) is a rectangular frame with dimensions of 600mm x 180 mm.
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