CN102564347A - Object three-dimensional outline measuring device and method based on Dammann grating - Google Patents
Object three-dimensional outline measuring device and method based on Dammann grating Download PDFInfo
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- CN102564347A CN102564347A CN2011104569291A CN201110456929A CN102564347A CN 102564347 A CN102564347 A CN 102564347A CN 2011104569291 A CN2011104569291 A CN 2011104569291A CN 201110456929 A CN201110456929 A CN 201110456929A CN 102564347 A CN102564347 A CN 102564347A
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Abstract
The invention provides an object three-dimensional outline measuring device and method based on a Dammann grating. The device consists of a laser device, a collimating lens, the Dammann grating, a projection lens, two digital cameras, transmission lines and a computer. Laser emitted by the laser device passes through the collimating lens, the Dammann grating and the projection lens sequentially so as to form a rectangular lattice light beam to illuminate the surface of an object to be measured. Images of the measurement area of the object to be measured is collected by the two digital cameras and are input to the computer through the transmission lines; partial three-dimensional feature information of the object to be measured is obtained after the images are subjected to data processing by the computer; and measurement on full-area three-dimensional feature information of the object to be measured is realized by moving the object to be measured or changing the device position, so as to obtain object three-dimensional outline information. The object three-dimensional outline measuring method disclosed by the invention has the advantages of regular lattice, high signal to noise ratio, strong measurement adaptability, high measurement precision and the like, and the object three-dimensional outline measuring device disclosed by the invention has the advantages of simple structure, low cost, light weight, wide application field and the like. A three-dimensional outline restructuring process is conveniently simplified by the computer; the automatic measurement can be realized; and the object three-dimensional outline measuring device and method have the advantages of important practical value and prospect.
Description
Technical field
The present invention relates to object three-dimensional contour outline and measure particularly a kind of object three-dimensional contour outline measuring set and measuring method based on Darman raster.
Background technology
Along with domestic manufacturing industry is made striding forward of field to numeral; Demand to complex-curved 3 d shape is measured is also more and more urgent; The manufacturing at home application of object three-dimensional contour outline measuring technique is also more extensive, like fields such as Aero-Space, auto industry, clinical treatments.In many measuring three-dimensional profile technology, active optical measuring three-dimensional profile technology is because its noncontact, harmless, the whole audience, high resolving power and advantage such as easily be automated have obtained people's very big concern especially.And people recognize the importance of robot vision field three-dimensional measurement equally in recent years, and active optical measuring three-dimensional profile Study on Technology is increased day by day.
Existing active optical measuring three-dimensional profile technology mainly contains Fourier transform method, phase measurement, gray-coded method and color coding method etc.
The Fourier transform method is simple in structure and measuring accuracy is higher; But for complex-curved; Can produce leak, obscure the error that causes with fence effect, and aliasing takes place and bring frequency leakage and phase unwrapping discontinuous in projection lines easily, can't obtain valid data.
Phase measurement realizes that through the image that phase-shifting technique obtains several outs of phase thereby accurate phase unwrapping obtains higher measuring accuracy; But the phase-shifting technique Measuring Time is long; Require sample and measurement mechanism position relation strict constant in the measuring process, make troubles and many restrictions to actual measurement.
The coloud coding method is with coloud coding pattern or gray-coded pattern loading and the tool for transmitting as object dimensional information; Obtain the three-D profile data through colouring information or gray scale being analyzed decoding; It is more serious that this method is influenced by color of object surface and shooting condition, and the application scenario is limited.
In sum, above-mentioned prior art is except existing the complicated shortcoming of system architecture, and aforementioned techniques all requires harshness to measurement environment and illumination condition, has also limited its deep application in complicated lighting condition and robot vision field.
The two-value phase grating of volume coordinate modulation type was invented [formerly technological 1:H.Dammann and K.Gortler, Opt.Comm.1971,3 (3): 312～315] by Dammann and Gortle in 1971.It is as fraunhofer type optical device, and incident light wave is the isocandela hot spot of certain dot matrix number through the Fraunhofer diffraction pattern that it produces, and has avoided the uneven distribution of general amplitude grating because of the caused spectrum point light intensity of sinc function intensity envelope fully.Nineteen ninety-five Zhou Changhe has provided the Darman raster of from 2 to 64 dot matrix and has separated [formerly technological 2:C.H.Zhou, L.R.Liu, Appl.Opt., 1995; 34 (26), 5961～5969], designed the circular Darman raster that matches with most of optical systems afterwards; And at length analyzed phase place and made error and sidewall corrosion error grating Effect on Performance [formerly technological 3:C.H.Zhou, J.Jia, L.R.Liu; Opt.Lett., 2003,27 (22): 2174～2176].
Can obtain three dimensional surface data based on the boring copper sheet, its principle is that the dot matrix picture that utilizes digital camera to take distortion also finally solved object three-dimensional contour outline after the dot matrix of utilization boring copper sheet generation shone the measured object surface.But the problem of this method is the array hole scale copper is to be difficult to the formation rule dot matrix, and array of light spots is of poor quality.If the diameter in hole is bigger, the luminous point that then projects is too big, and measuring accuracy can't guarantee that also the collimation of illumination light source and even light have proposed harsh requirement simultaneously; If the diameter in copper hole is too little, projected light exists diffraction to disturb the shape that can't guarantee to throw dot matrix.Because each luminous point light intensity space distribution is uniformly, antijamming capability is low, measure poor signal to noise, Measurement Resolution is low.Most laser energies are stopped by copper coin that all the system capacity utilization factor is very low simultaneously, and requirement on measurement environment is harsh.
Darman raster is evenly distributed in energy of light source on each order of diffraction time; And the inferior relative tertiary location strictness of each order of diffraction is fixed and can accurately be found the solution; Through suitable design of Optical System, can accurately control the size of projected light, thereby improve the Measurement Resolution of system.People such as Zhang Jun have proposed the Fourier's striped profilometry based on Darman raster first, adopt Darman raster to cooperate cylindrical mirror to substitute traditional striped and produce scheme, advantage such as have that capacity usage ratio height, projected fringe are evenly distributed, ratio of compression is big and clear-cut texture is bright; Efficiently solve problems such as traditional Fourier's the Schlieren method capacity usage ratio is low, the striped ratio of compression is little, but its still belong to Fourier's technology of profiling category [referring to technological 4:J.Zhang formerly, C.H.Zhou; X.X.Wang; Three Dimensional Profilometry using Dammann Grating, Appl Opt, 2009; 48 (19), 3709-3715].
Summary of the invention
The present invention seeks to propose a kind of object three-dimensional contour outline measuring set and measuring method, advantage such as this device has the measuring accuracy height, apparatus structure is simple, cost is low, the dot matrix pattern is adjustable, capacity usage ratio is high, be applicable to complicated lighting environment, the reconstruct of three-D profile data computer is convenient based on Darman raster.
Technical solution of the present invention is following:
A kind of object three-dimensional contour outline measuring set; Be characterized in that this device has laser instrument, collimation lens, Darman raster, projecting lens, left digital camera, right digital camera, transmission line, control line and computing machine to constitute; The annexation of each parts is: described laser emitting laser is successively through forming the rectangular lattice pattern and the measured object surface of throwing light on behind collimation lens, Darman raster, the projecting lens; The illuminated zone of measured object obtains measured object partial 3 d pattern information after importing computing machine and processing of process view data and Point Cloud Processing by the image of described left digital camera and right digital camera synchronous acquisition through transmission line; Realize the measurement of the region-wide three-dimensional appearance information of measured object through moving measured object or modifier position, obtain object three-dimensional contour outline information.
Said laser instrument refers to Wavelength stabilized single wavelength laser.
Said collimation lens refers to realize laser emitting light realize the contracting optical lens of bundle collimating effect.
Said Darman raster refers to a branch of incident laser is beamed into NxM bundle laser dot-matrix and the equally distributed Microstructure Optics element of dot matrix light intensity, and N and M are positive integer.Diffraction pattern to the said Darman raster of said laser wavelength is a rectangular distribution rule dot matrix, and lattice distance can be controlled through the design Darman raster.
Said projecting lens refers to also low distortion behind the Damman raster splitting beam dot matrix light High frequency filter is projected to the optical lens on measured object surface.
Said left digital camera and right digital camera are placed on the projection optical system both sides respectively, form an angle with projection optical axis.Camera is taken the back and picture synchronization collection is sent to computing machine measured object simultaneously respectively.After being sent to the time-series image data process computer picture and Point Cloud Processing of computing machine, the cloud data of the profiling object surface that just can obtain is also realized the object three-dimensional contour outline reconstruction.
Said computing machine has image capture interface, laser instrument control interface and measuring three-dimensional profile and rebuilds software.
Utilize above-mentioned object three-dimensional contour outline measuring set to carry out the method that object three-dimensional contour outline is measured, may further comprise the steps:
1. adjust projecting lens and measured object and be in suitable distance, the rectangular distribution dot matrix light that produces through said projecting lens behind the said Damman raster splitting beam is evenly thrown light on measured object region surface to be measured;
2. through described left digital camera, right digital camera measured object is carried out the synchronous images collection, the image of setting t left digital camera of the moment and right digital camera collection is respectively I
L(t) and I
R(t), the cloud data P (t) that comprises the partial contour information in the tested zone of object through acquisition after the Flame Image Process of said computing machine;
3. through changing the testee measuring point, constantly measure and obtain the independent point cloud data acquisition { P (t) } of different parts (different measuring is t constantly).Obtain the full visual angle cloud data P of object after this { P (t) } Point Cloud Processing through said computing machine
F, and restore object three-dimensional contour outline information, accomplish the measurement of object three-dimensional contour outline.
Said Flame Image Process comprises that synchronous filtering, characteristic matching and some cloud make up three processes.
Described synchronous filtering is responsible for t
1The image I of gathering constantly
L(t
1) and I
R(t
1) get into the four-way synchronous filtering respectively:
1. first passage carries out high-pass filtering, and obtains the zero order light point diagram I that only contains Darman raster zero order light dot information
0 L(t
1) and I
0 R(t
1);
2. second channel carries out bandpass filtering and weeds out the Dammam dot chart I that the body surface color information obtains only to contain the distortion of contour of object information
D L(t
1) and I
D R(t
1);
3. the third channel gray-scale filtering carries out gray-scale filtering and obtains to reject ground unrest but the half-tone information figure I of inclusion surface grey scale change information
G L(t
1) and I
G R(t
1);
4. the four-way noise reduction filtering carries out noise reduction filtering and obtains to keep object texture color information low noise image I
P L(t
1) and I
P R(t
1).
Four passage synchronous filterings obtain above-mentioned four groups of filtering datas, and above-mentioned four kinds of concrete implementation methods of filtering technique are referring to [formerly technology 5: Zhang Yujin, Image Engineering (second edition), publishing house of Tsing-Hua University, 2007].
Described characteristic matching is responsible for left digital camera, right digital camera are carried out corresponding one by one coupling with the image pair pixel of gathering constantly.Concrete steps comprise:
1. because zero order light point diagram I
0 L(t
1) and I
0 R(t
1) separately zero level luminous point is unique and definite, calculates zero order light point diagram I
0 L(t1) and I
0 R(t
1) zero level luminous point barycenter, obtain the luminous point center-of-mass coordinate under the strict calculation of Matching machine image coordinate system
With
The luminous point centroid computing method is referring to [formerly technological 6:S.Ghosal, R.Mehrotra.Orthogonal moment operators for subpixel edge detection, Pattern Recognition, 1993,26 (2): 295-306].
2. calculating chart I
D L(t
1) and I
D R(t
1) in the computer graphic photo coordinate system of all luminous point barycenter under center-of-mass coordinate (μ
L(t
1), v
L(t
1)) and (μ
R(t
1), v
R(t
1)), simultaneously at figure I
G L(t
1) and I
G R(t
1) the middle yardstick invariant features information C that calculates aforementioned each luminous point neighborhood
L(μ
L, v
L) and C
R(μ
R, v
R); The method of calculating yardstick invariant features information sees also technology 7 [formerly technological 7:D.G.Lowe formerly; Distinctive Image Features from Scale-Invariant Keypoints; International Journal of Computer Vision, 200460 (2): 91-11].
3. define I
D L(t1) and I
D R(t
1) each luminous point barycenter leaves for point to zero level luminous point centroid distance separately among the figure:
With
At I
P R(t
1) seek I among the figure
D L(t
1) the figure mid point is apart from being D
LLuminous point
Corresponding match point
In conjunction with polar curve constraint condition, will be with I
D R(t
1) be the center of circle in the image with its zero level luminous point barycenter, and with radius k
1D
LAnd k
2D
LFor the yardstick invariant features information of all luminous points of endless belt in the bound is included into set { G} to be matched.4. set up characteristic information evaluation function F and threshold function table M
F, calculate
C
R(μ
R, v
R) ∈ { G}, the C that evaluation function F value is minimum
R(μ
R, v
R) corresponding luminous point is the coupling luminous point
If minimum F value is still greater than M
FThen be regarded as the coupling failure and abandon coupling.Cycle calculations I
D L(t
1) all luminous points and accomplish all couplings, and (L R), thereby accomplishes characteristic matching finally to obtain computer picture planimetric coordinates matching list T.
Said some cloud makes up is responsible for that (L combines with the inside and outside parameter of left digital camera (L), right digital camera (R) in R), utilizes trigonometry with t with above-mentioned coordinate matching list T
1Computer picture planimetric coordinates information Restore All constantly is t
1Moment world coordinate system W (t
1) three-dimensional coordinate information (Xw
T1, Yw
T1, Zw
T1), make up and obtain discrete point cloud P (t thereby accomplish the some cloud
1).Said camera inside and outside parameter acquisition methods referring to formerly the technology 8 [Z.Zhang; A Flexible New Technique for Camera Calibration; IEEE Transactions on Pattern Analysis and Machine Intelligence; 2000,22 (11): 1330-1334].
Said some cloud treatment scheme comprises image index and puts the cloud process.
Said image index is responsible for moment t
mThe low noise image I that obtains through aforementioned noise reduction filtering
P L(t) and I
P R(t) with synchronization t
mCloud data P (t
m) corresponding relation and set up index function In (P, I
P L, I
P R), thereby accomplish image index.
Said some cloud is responsible for coordinate transform to standard world coordinate system W all with the local cloud data P (t) at measured object different measuring position
SDescend and obtain standard cloud data P
FConcrete steps comprise: 1. set t
1Cloud data P (the t that constantly obtains
1) residing coordinate system is standard world coordinate system Ws.t
1Next is t constantly for constantly adjacent
2Constantly, t
2The cloud data that constantly obtains is P (t
2), (I that four-way filtering in the aforementioned synchronous filtering is obtained
P L(t
1), I
P L(t
2)) and (I
P R(t
1), I
P R(t
2)) color of image and half-tone information carry out global characteristics and calculate fast, and obtain the characteristic information function S of earlier figures picture
L(t
1), S
L(t
2) and S
R(t
1), S
R(t
2), seek S
L(t1) and S
L(t
2) same characteristic features and set up corresponding relation set { S
L(t
1, t
2), { S is in like manner arranged
R(t
1, t
2).2. utilize the characteristic matching algorithm and combine the gradient of disparity constraint and limit constraint, calculate { S
L(t
1, t
2) middle I
P L(t
1) pixel at I
P R(t
1) in match point, in like manner calculate { S
R(t
1, t
2) middle I
P R(t
1) pixel at I
P L(t
1) in match point, finally confirm t through this cross-matched process
1And t
2Some strict coincide point constantly.3. three strict coincide points can be confirmed a cloud P (t
1) and P (t
2) between an euclidean transformation concern R (t
2, t
1), error causes that { X} has confirmed some cloud P (t
1) and P (t
2) between a plurality of euclidean transformations relation be R
1(t
2, t
1) to R
N(t
2, t
1), with all R (t
2, t
1) composition euclidean transformation set { R (t
2, t
1).4. calculate P (t according to the vertex scheme arrow and the curvature information of a cloud
1) in each summit p footnote and obtain footnote value FP (p), for P (t
2) in each summit q footnote value FP (q) is arranged.For satisfying | FP (p)-FP (q) | (p is q) to P (t for a pair of point of≤ε
1) and P (t
2) between euclidean transformation concern R (t
2, t
1) a ticket voting right arranged, all points with voting right are to (p q) constitutes polling place pair set { (p, q) }.5. be that polling place pair set { (p, q) } selects to throw the euclidean transformation set { R (t that participates in ballot according to index function In
2, t
1), and utilize in the set { (p, q) } have a few to { R (t
2, t
1) in all R values vote the R that score is the highest
BJust elect P (t as
1) and (t
2) euclidean transformation relation, and according to R
BAccomplish discrete point cloud data P (t
2) to P (t
1) coordinate conversion of some cloud coordinate system Ws, obtain the cloud data P of data dilatation
2(t
1).6. repeat said process 1.-5. in measuring process, with t in the follow-up measurement
3Discrete point cloud data P (the t that constantly obtains
3) splice to P
2(t
1) acquisition P
3(t
1), in like manner with P (t
4) splice to P
3(t
1) obtain P
4(t
1) ... etc., last moment t the most at last
NThe discrete point cloud that obtains splices to P
N-1(t
1) in obtain P
N(t
1).Because P
N(t
1) world coordinate system be standard world coordinate system W
S, P
N(t
1) be exactly the full visual angle cloud data P of object under the Ws coordinate system
FCan be to cloud data P
FCarry out standard data format output, also can carry out surface fitting and restore three profile informations of object it.Curved surface fitting method is wherein consulted [formerly technological 9:V.Weissa, L.Andorb, G.Rennera; And T.V á radya, Advanced surface fitting techniques, Computer Aided Geometric Design; 2002,19 (1): 19-42].
Technique effect of the present invention:
The present invention is applied to Darman raster in the object three-dimensional contour outline measuring set since Darman raster to have the luminous point light intensity even, high and big characteristics of spot definition ratio of compression of capacity usage ratio, thereby possess dot matrix rule and signal to noise ratio (S/N ratio) advantages of higher.The present invention is applied to contour of object with multiple-camera computer vision and measures, and has solved that existing surface drilling technology control accuracy requires height, dot matrix weak effect, measuring accuracy is low, the dot matrix light area is excessive, dot matrix light light intensity is inhomogeneous, problems such as measuring accuracy low technical, capacity usage ratio are low, requirement on measurement environment harshness.The three-dimensional appearance that the present invention rebuilds object through the splicing of binocular camera images match distributes.Compare existing three-dimension measuring system, the present invention has that the application scenario is wide, measuring accuracy is high, weight of equipment is light, cost is low, energy consumption is little, simple in structure, implement advantages such as convenient.
Description of drawings
Fig. 1 is an object three-dimensional contour outline measuring set block diagram of the present invention
Fig. 2 is the light-dividing principle figure of Darman raster
Fig. 3 is a dot matrix light synoptic diagram of the present invention
Fig. 4 is Darman raster dot matrix illumination plaster statue synoptic diagram
Fig. 5 is the Computer Image Processing process flow diagram
Fig. 6 is computing machine point cloud processing flow chart
Embodiment
Through embodiment and accompanying drawing thereof the present invention is further specified below.
Consult Fig. 2, Fig. 2 is the schematic diagram of the Darman raster beam split adopted of the present invention, and directional light focuses on the focal plane 10 through lens 4 after inciding Darman raster 3.
Consult Fig. 3, Fig. 3 is a dot matrix light synoptic diagram of the present invention, and Damman raster splitting beam is a NxM rectangular lattice light, and this dot matrix light intensity is even and lattice distance is consistent, and wherein N and M are positive integer.
Consult Fig. 1, Fig. 1 is an object three-dimensional contour outline measuring set block diagram of the present invention.Visible by figure; The present invention is based on the object three-dimensional contour outline measuring set of Darman raster; Constitute by laser instrument 1, collimation lens 2, Darman raster 3, projecting lens 4, left digital camera L, right digital camera R, transmission line 6, control line 7 and computing machine 8; The annexation of each parts is: after the light beam that said laser instrument 1 sends passes through collimation lens 2, Darman raster 3, projecting lens 4 successively; Form two-dimensional rectangle projection dot matrix illumination measured object surface 5, by the rectangular lattice pattern of said left digital camera L and the modulation of right digital camera R synchronous acquisition measured target 5 surface shapes, through the said computing machine 8 of transmission line 6 inputs; This computing machine 8 connects laser instrument 1 through control line 7, and said computing machine 8 has image capture interface, laser instrument control interface and measuring three-dimensional profile and rebuilds software.
Utilize object three-dimensional contour outline measuring set of the present invention to implement people's face plaster statue measuring three-dimensional profile and be example, the measuring process of measuring method of the present invention is explained as follows:
The first step:
1. adjust the distance between projecting lens 4 and measured object-people's face plaster statue 5 surfaces; The two-dimensional rectangle distribution dot matrix light that laser instrument 1 emergent light is produced through said projecting lens (4) after said Darman raster 3 beam splitting evenly throws light on people's face plaster statue 5; Computing machine takes orders and at first sends laser through control line 7 control laser instruments 1; Single wavelength laser that laser instrument 1 sends incides the surface of Darman raster 3 with collimated light through collimation lens 2 backs; Collimated light beam forms the dot matrix beam array of two-dimensional rectangle through diffraction beam splitting behind the Darman raster.This dot matrix beam array is projected on the plaster statue surface after through projecting lens 4, and rectangular distribution dot matrix light beam deforms after by people's face plaster statue surface modulation originally, becomes irregular dot matrix, and plaster statue Darman raster dot matrix illuminating effect is as shown in Figure 4;
2. described left digital camera L and right digital camera R carry out the synchronous images collection to people's face plaster statue, and the right moment is referred to as initial measurement t constantly to begin to take this image
1, set t
1The image of left digital camera (L), right digital camera (R) collection is respectively left image I constantly
L(t
1) and right image I
R(t
1), obtain to comprise the cloud data P (t) of the partial contour information in the tested zone of object after the Flame Image Process of the measuring three-dimensional profile software through said computing machine (8);
3. through changing the measuring point of testee; Repeating step 2.; Obtain different parts; Be the different measuring independently cloud data set { P (t) } of t constantly, obtain the full visual angle cloud data P of object after this cloud data set { P (t) } Point Cloud Processing through the measuring three-dimensional profile software of said computing machine (8)
F, and restore object three-dimensional contour outline information, accomplish the measurement of object three-dimensional contour outline.
Second step: the discrete point cloud data that the back is obtained this measured position of initial moment people face plaster statue through this left and right sides image of Flame Image Process flow processing of computing machine.
Described Flame Image Process flow process is:
1. to described left image I
L(t
1) and right image I
R(t
1) carrying out the four-way synchronous filtering, the zero order light point diagram I that only contains Darman raster zero order light dot information is obtained in the first passage high-pass filtering
0 L(t
1) and I
0 R(t
1), the second channel bandpass filtering weeds out the Dammam dot chart I that the body surface color information is obtained the distortion that only contains contour of object information
D L(t
1) and I
D R(t
1), the third channel gray-scale filtering obtains rejects ground unrest but the half-tone information figure I of inclusion surface grey scale change information
G L(t
1) and I
G R(t
1); Four-way carries out noise reduction filtering and obtains to keep object texture color information low noise image I
P L(t
1) and I
P R(t
1).Described left image I
L(t
1) and right image I
R(t
1) to through obtaining four groups of filtering datas behind the four-way synchronous filtering: zero order light point diagram I
0 L(t
1) and I
0 R(t
1), Dammam dot chart I
D L(t
1) and I
D R(t
1), half-tone information figure I
G L(t
1) and I
G R(t
1) and low noise image I
P L(t
1) and I
P R(t
1);
2. according to the first three groups filtering data, calculate zero order light point diagram I
0 L(t
1) and I
0 R(t
1) zero level luminous point barycenter, obtain calculation of Matching machine image coordinate system coordinate
With
Calculate I synchronously
D L(t
1) and I
D R(t
1) in the computer graphic photo coordinate system coordinate (μ of all luminous point barycenter
L(t
1), v
L(t
1)) and (μ
R(t
1), v
R(t
1)), then at I
G L(t
1) and I
G R(t
1) the middle yardstick invariant features information C that calculates and obtain the aforementioned lights vertex neighborhood
L(μ
L, v
L) and C
R(μ
R, v
R);
3. define I
D L(t
1) and I
D R(t
1) each luminous point barycenter leaves for point to zero level luminous point centroid distance separately among the figure:
With
At I
P R(t
1) seek I among the figure
D L(t
1) the figure mid point is apart from being D
LLuminous point
Corresponding match point
In conjunction with polar curve constraint condition, will be with I
D R(t
1) be the center of circle in the image with its zero level luminous point barycenter, and with radius k
1D
LAnd k
2D
LFor the yardstick invariant features information of all luminous points of endless belt in the bound is included into set G to be matched;
4. set up characteristic information evaluation function F, calculate
C
R(μ
R, v
R) ∈ G, the C that evaluation function F value is minimum
R(μ
R, v
R) corresponding luminous point is the coupling luminous point
If minimum F value is still greater than evaluation function threshold value M
FThen be regarded as the coupling failure and abandon coupling this time.Cycle calculations I
D L(t
1) all luminous points and accomplish all couplings, and (L R), thereby accomplishes characteristic matching finally to obtain computer picture planimetric coordinates matching list T;
5. (L R) with the inside and outside parameter of camera L and R, utilizes trigonometry with t to combine coordinate matching list T
1Computer picture planimetric coordinates information Restore All constantly is t
1Moment world coordinate system W (t
1) three-dimensional coordinate information (Xw
T1, Yw
T1, Zw
T1), make up and obtain discrete point cloud P (t thereby accomplish the some cloud
1).
1. above-mentioned-5. Computer Image Processing flow process sees also Fig. 5.
The 3rd step, at the uniform velocity slowly move apparatus of the present invention, with the different parts of rectangular lattice light beam projecting to plaster statue, obtain t through described left digital camera L and right digital camera R
2The left image I of plaster statue constantly
L(t
2) and right image I
R(t
2) image right, repeated for second step to obtain t
2Discrete point cloud data P (the t at the new tested position of moment plaster statue
2), and pass through computing machine point cloud treatment scheme with P (t
2) be spliced to P (t
1) in.
Described computing machine point cloud treatment scheme is:
1. set up moment t in the filtering data
mLow noise image I
P L(t) and I
P R(t) with synchronization t
mCloud data P (t
m) corresponding relation and set up index function In (P, I
P L, I
P R);
2. set initial moment t
1Cloud data P (the t that obtains
1) residing coordinate system is standard world coordinate system Ws;
3. according to adjacent moment t
1And t
2(I
P L(t
1), I
P L(t
2)) and (I
P R(t
1), I
P R(t
2)) color that image comprised and half-tone information carry out global characteristics and calculate and obtain adjacent moment t fast
1And t
2The characteristic information function S of low noise image
L(t
1), S
L(t
2) and S
R(t
1), S
R(t
2);
4. seek S
L(t1) and S
L(t
2) same characteristic features and set up corresponding relation set { S
L(t
1, t
2), { S is in like manner arranged
R(t
1, t
2), { S is in like manner arranged
R(t
1, t
2), utilize the characteristic matching algorithm and combine the gradient of disparity constraint and limit constraint, calculate { S
L(t
1, t
2) middle I
P L(t
1) pixel at I
P R(t
1) in match point, in like manner calculate { S
R(t
1, t
2) middle I
P R(t
1) pixel at I
P L(t
1) in match point, finally confirm t through this cross-matched process
1And t
2Some strict coincide point { X} constantly.Three strict coincide points can be confirmed a cloud P (t
1) and P (t
2) between an euclidean transformation concern R (t
2, t
1), error causes that { X} has confirmed some cloud P (t
1) and P (t
2) between a plurality of euclidean transformations relation be R
1(t
2, t
1) to R
N(t
2, t
1), with all R (t
2, t
1) composition euclidean transformation set { R (t
2, t
1);
5. calculate P (t according to the vertex scheme arrow and the curvature information of a cloud
1) in each summit p footnote and obtain footnote value FP (p), for P (t
2) in each summit q footnote value FP (q) is arranged.For satisfying | FP (p)-FP (q) | (p is q) to P (t for a pair of point of≤ε
1) and P (t
2) between euclidean transformation concern R (t
2, t
1) a ticket voting right arranged, all points with voting right are to (p q) constitutes polling place pair set { (p, q) };
6. be that polling place pair set { (p, q) } selects to throw the euclidean transformation set { R (t that participates in ballot according to index function In
2, t
1), and utilize in the set { (p, q) } have a few to { R (t
2, t
1) in all R values vote the R that score is the highest
BJust elect P (t as
1) and (t
2) euclidean transformation relation, and according to R
BAccomplish discrete point cloud data P (t
2) to P (t
1) coordinate conversion of some cloud coordinate system Ws, obtain the cloud data P of data dilatation
2(t
1).
1. above-mentioned-6. computing machine point cloud treatment scheme sees also Fig. 6.
The 4th step: constantly change the measuring point of plaster statue, repeat abovementioned steps in measuring process, with t in the follow-up measurement
3Discrete point cloud data P (the t that constantly obtains
3) splice to P
2(t
1) acquisition P
3(t
1), in like manner with P (t
4) splice to P
3(t
1) obtain P
4(t
1) ... etc., last moment t the most at last
NThe discrete point cloud that obtains splices to P
N-1(t
1) in obtain P
N(t
1).Because P
N(t
1) world coordinate system be standard world coordinate system W
S, P
N(t
1) be exactly the full visual angle cloud data P of plaster statue under standard world coordinate system Ws
FCan be to cloud data P
FCarry out standard data format output, also can carry out surface fitting and restore three profile informations of plaster statue it.
Object three-dimensional contour outline measurement structure based on Darman raster dot matrix light of the present invention; It is strong to have the adaptability of measurement, and measuring accuracy is high, and measuring speed is fast; Apparatus structure is simple, cost is low, in light weight, advantage such as the application scenario is wide; Be convenient to the simplification of computerized algorithm implementation procedure and reconstructing 3 D contour process, can realize automatic measurement, have important practical value and prospect.
Claims (10)
1. object three-dimensional contour outline measuring set based on Darman raster; It is characterized in that constituting by laser instrument (1), collimation lens (2), Darman raster (3), projecting lens (4), left digital camera (L), right digital camera (R), transmission line (6), control line (7) and computing machine (8); The annexation of each parts is: after the light beam that said laser instrument (1) sends passes through collimation lens (2), Darman raster (3), projecting lens (4) successively; Form two-dimensional rectangle projection dot matrix illumination measured object surface (5); Rectangular lattice pattern by said left digital camera (L) and (5) 3 d shape modulation of right digital camera (R) synchronous acquisition measured target surface; Import said computing machine (8) through transmission line (6) and carry out data processing; This computing machine (8) connects laser instrument (1) through control line (7), and said computing machine (8) has image capture interface, laser instrument control interface and measuring three-dimensional profile and rebuilds software.
2. object three-dimensional contour outline measuring set according to claim 1; The spatial beam ratio that it is characterized in that described Darman raster (3) is NxM; N and M are positive integer; Form two-dimensional rectangle dot matrix light beam behind the diffraction of the laser that said laser instrument (1) is sent, constitute uniform NxM dot matrix hot spot on surface, measured object surface (5).
3. utilize the described object three-dimensional contour outline measuring set of claim 1 to carry out the measuring method of object three-dimensional contour outline, it is characterized in that this method comprises the following steps:
1. adjust the distance of projecting lens (4) and measured object surface between (5), form on the two-dimensional rectangle projection dot matrix beam lighting measured object surperficial (5) through said projecting lens (4) after making the said Darman raster of laser instrument (1) emergent light (3) beam splitting;
2. through described left digital camera (L), right digital camera (R) measured object is carried out the synchronous images collection, the image of setting the t moment left digital camera (L) and right digital camera (R) collection is respectively I
L(t) and I
R(t) import described computing machine (8), after the Flame Image Process of the measuring three-dimensional profile software of this computing machine (8), obtain to comprise the cloud data P (t) of the partial contour information in the tested zone of object;
3. through changing the measuring point of testee; Repeating step 2.; Obtain different parts; Be the different measuring independently cloud data set { P (t) } of t constantly, after this cloud data set { P (t) } Point Cloud Processing, obtain the full visual angle cloud data P of object through the measuring three-dimensional profile software of said computing machine (8)
F, and restore object three-dimensional contour outline information, accomplish the measurement of object three-dimensional contour outline.
4. the measuring method of object three-dimensional contour outline according to claim 3 is characterized in that the flow process of said Computer Image Processing comprises: image synchronization filtering, characteristics of image coupling and picture point cloud structure.
5. the measuring method of object three-dimensional contour outline according to claim 4 is characterized in that described image synchronization filtering comprises that the four-way image filtering carries out synchronously:
1. the zero order light point diagram I that only contains Darman raster zero order light dot information is obtained in first passage high-pass filtering
0 L(t
1) and I
0 R(t
1);
2. the second channel bandpass filtering weeds out the Dammam dot chart I that the body surface color information is obtained the distortion that only contains contour of object information
D L(t
1) and I
D R(t
1);
3. the third channel gray-scale filtering obtains and rejects ground unrest but the half-tone information figure I of inclusion surface grey scale change information
G L(t
1) and I
G R(t
1);
4. the four-way noise reduction filtering obtains reservation object texture color information low noise image I
P L(t
1) and I
P R(t
1);
Described first passage filtering data, second channel filtering data and third channel filtering data supply characteristic matching link use in the Flame Image Process flow process, and the four-way filtering data supplies a some cloud treatment scheme to use.
6. the measuring method of object three-dimensional contour outline according to claim 4 is characterized in that described characteristics of image coupling comprises following steps:
1. calculate zero order light point diagram I
0 L(t
1) and I
0 R(t
1) zero level luminous point barycenter, obtain the zero order light point diagram I of computer picture coordinate system
0 L(t
1) and I
0 R(t
1) the luminous point center-of-mass coordinate
With
2. computing object texture color information low noise image I
D L(t
1) and I
D R(t
1) in the computer graphic photo coordinate system coordinate (μ of all luminous point barycenter
L(t
1), v
L(t
1)) and (μ
R(t
1), v
R(t
1)), simultaneously at half-tone information figure I
G L(t
1) and I
G R(t
1) the middle yardstick invariant features information C that calculates and obtain described luminous point neighborhood
L(μ
L, v
L) and C
R(μ
R, v
R);
3. define low noise image I
D L(t
1) and I
D R(t
1) each luminous point barycenter leaves for point to zero level luminous point centroid distance separately among the figure:
With
At I
P R(t
1) seek I among the figure
D L(t
1) the figure mid point is apart from being D
LLuminous point
Corresponding match point
In conjunction with polar curve constraint condition, will be with I
D R(t
1) be the center of circle in the image with its zero level luminous point barycenter, and with radius k
1D
LAnd k
2D
LFor the yardstick invariant features information of all luminous points of endless belt in the bound is included into set G to be matched;
4. set up characteristic information evaluation function F and evaluation function threshold value M
F, calculate
C
R(μ
R, v
R) ∈ G, the C that evaluation function F value is minimum
R(μ
R, v
R) corresponding luminous point is the coupling luminous point
If minimum F value is still greater than M
FThen be regarded as the coupling failure and abandon coupling this time; Cycle calculations I
D L(t
1) all luminous points and accomplish all couplings, and (L R), thereby accomplishes characteristic matching finally to obtain computer picture planimetric coordinates matching list T.
7. the measuring method of object three-dimensional contour outline according to claim 4; It is characterized in that it is through with coordinate matching list T (L that described some cloud makes up; R) inside and outside parameter with described left digital camera (L), right digital camera (R) combines, and utilizes trigonometry with the three-dimensional coordinate information (Xw of t computer picture planimetric coordinates information Restore All constantly for t moment world coordinate system W (t)
t, Yw
t, Zw
t), make up and obtain discrete point cloud data P (t) thereby accomplish the some cloud.
8. the measuring method of object three-dimensional contour outline according to claim 3 is characterized in that described Point Cloud Processing comprises image index and puts the cloud process.
9. the measuring method of object three-dimensional contour outline according to claim 8 is characterized in that described image index is to set up t constantly
mLow noise image I
P L(t
m) and I
P R(t
m) and synchronization t
mCloud data P (t
m) corresponding relation, and set up index function In (P, I
P L, I
P R).
10. the measuring method of object three-dimensional contour outline according to claim 8 is characterized in that described some cloud may further comprise the steps:
1. set t
1Cloud data P (the t that constantly obtains
1) residing coordinate system is standard world coordinate system Ws, t
1Next is t constantly for constantly adjacent
2Constantly, t
2The cloud data that constantly obtains is P (t
2), to described four-way noise reduction filtering, obtain reservation object texture color information low noise image I
P L(t
1), I
P L(t
2)) and (I
P R(t
1), I
P R(t
2) color and half-tone information carry out global characteristics and calculate fast, obtain corresponding I
P L(t
1), I
P L(t
2)) and (I
P R(t
1), I
P R(t
2) the characteristic information function S of image
L(t
1), S
L(t
2) and S
R(t
1), S
R(t
2), seek S
L(t
1) and S
L(t
2) same characteristic features and set up corresponding relation set { S
L(t
1, t
2), { S is in like manner arranged
R(t
1, t
2);
2. utilize the characteristic matching algorithm and combine the gradient of disparity constraint and limit constraint, calculate { S
L(t
1, t
2) middle I
P L(t
1) pixel at I
P R(t
1) in match point, in like manner calculate { S
R(t
1, t
2) middle I
P R(t
1) pixel at I
P L(t
1) in match point, finally confirm t through this cross-matched process
1And t
2Some strict coincide point { X} constantly;
3. according to { X} confirms cloud data P (t
1) and P (t
2) between a plurality of euclidean transformations relation, i.e. R
1(t
2, t
1) to R
N(t
2, t
1), with all R (t
2, t
1) composition euclidean transformation set { R (t
2, t
1), calculate P (t according to the vertex scheme arrow and the curvature information of a cloud
1) in each summit p footnote and obtain footnote value FP (p), for P (t
2) in each summit q footnote value FP (q) is arranged, for satisfying | FP (p)-FP (q) | (p is q) to P (t for a pair of point of≤ε
1) and P (t
2) between euclidean transformation concern R (t
2, t
1) a ticket voting right arranged, all points with voting right are to (p q) constitutes polling place pair set { (p, q) };
4. be polling place according to index function In, the polling place pair set (p, q) } select to throw the euclidean transformation set { R (t that participation is voted
2, t
1), and utilize in the polling place pair set { (p, q) } all points to (p is q) to euclidean transformation relation { R (t with voting right
2, t
1) in all R values vote, the R value that score is the highest is written as R
B, just elect P (t as
1) and (t
2) euclidean transformation relation, and according to R
BAccomplish discrete point cloud data P (t
2) to P (t
1) coordinate conversion of some cloud coordinate system Ws, obtain the cloud data P of data dilatation
2(t
1);
5. repeat said process 1.-5. in measuring process, with t in the follow-up measurement
3Discrete point cloud data P (the t that constantly obtains
3) splice to P
2(t
1) acquisition P
3(t
1), in like manner with P (t
4) splice to P
3(t
1) obtain P
4(t
1) ..., last moment t the most at last
NThe discrete point cloud that obtains splices to P
N-1(t
1) in obtain P
N(t
1), because P
N(t
1) world coordinate system be standard world coordinate system W
S, P
N(t
1) be exactly the full visual angle cloud data P of object under standard world coordinate system Ws
F
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| CN112102496A (en) * | 2020-09-27 | 2020-12-18 | 安徽省农业科学院畜牧兽医研究所 | Cattle physique measuring method, model training method and system |
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| CN113218336B (en) * | 2021-03-31 | 2023-01-31 | 博众精工科技股份有限公司 | Grating plate, projection device for three-dimensional reconstruction of structured light and measurement device |
| CN114841965A (en) * | 2022-04-30 | 2022-08-02 | 中建三局第一建设工程有限责任公司 | Steel structure deformation detection method and device, computer equipment and storage medium |
| CN114841965B (en) * | 2022-04-30 | 2023-08-01 | 中建三局第一建设工程有限责任公司 | Steel structure deformation detection method and device, computer equipment and storage medium |
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