CN103196392A - Cameralink-camera-based three-dimensional cross section acquisition and measurement system and method - Google Patents
Cameralink-camera-based three-dimensional cross section acquisition and measurement system and method Download PDFInfo
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- CN103196392A CN103196392A CN2013101349299A CN201310134929A CN103196392A CN 103196392 A CN103196392 A CN 103196392A CN 2013101349299 A CN2013101349299 A CN 2013101349299A CN 201310134929 A CN201310134929 A CN 201310134929A CN 103196392 A CN103196392 A CN 103196392A
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Abstract
The invention relates to a cameralink-camera-based three-dimensional cross section acquisition and measurement system and method. A programmable logic device FPGA (field programmable gate array) is used for acquiring data of a cameralink camera, digital filtering is performed in the FPGA, three-dimensional cross section outline data formed by an infrared ray laser light source in image data are extracted by using a related algorithm, and are transmitted to a computer in real time through a USB interface, so that the practical three-dimensional cross section of the surface of an object to be detected is resolved. The system and the method can solve the problem that the computer is overburdened in resolving in the method of measuring the three-dimensional cross section of an object by a cameralink camera through using a triangular measurement method with relatively low cost, and besides, the extraction resolving of the line laser bright line cross section can be finished inside an acquisition card, and therefore, two magnitude orders in the camera data transmission are reduced.
Description
Technical field
The present invention relates to a kind of image data acquiring measuring system and method, relate in particular to a kind of three-dimensional section collecting and measuring system and method based on the cameralink camera.
Background technology
The CameraLink standard has been broken the general layout that camera company and capture card company fight separately, this standard adopts unified physics connector and cable definition, standard the interface between digital camera and the image pick-up card, it comprises Base, Medium, three standards of Full, thereby satisfies the needs of different industrial applications.Usually, the CameraLink image of camera acquisition system of normal rate mainly is made of high performance computing machine and CameraLink image pick-up card, the CameraLink image pick-up card is used for catching the view data of camera output, and the PCI by computing machine or PCIE bus with the image data transmission of camera output in the internal memory of high-performance computer, high-performance computer then is kept at the view data in the internal memory in disk or the disk array under the control of operating system.
At present, for measuring with camera in the body surface three-dimensional scheme, relatively more commonly used is to use independently camera joint line structured light, extracts the laser rays data in the image, utilizes the principle of triangulation to carry out section calculating.Yet, in such scheme, every frame image data that the cameralink camera is clapped all is the computing machine of passing to of whole frame, is finished identification and the extraction work of laser rays by computing machine, so the computing machine calculated amount is bigger, and capture card need take a PCI slot of computing machine toward contact.So, in this occasion, often need to use have measurement function the measurement camera carry out section survey, but this camera is expensive, has increased user's use cost greatly.
In sum, the shortcoming that obviously has following two aspects in the prior art:
First: volume of transmitted data is big, to the requirement height of capture card, requires also high to computing machine.Because the camera data amount of cameralink camera output is big, speed is fast, therefore capture card and computing machine is caused very big pressure.If acquisition interval is further dwindled, surpassed the performance bottleneck of capture card and computing machine, can lose image data.This also is this measurement of the restriction reason that performance further promotes under high-frequency collection requirement;
Second: operand is big, and the computing machine burden is heavy.After the data of cameralink camera pass to calculator memory, to each width of cloth cameralink camera picture, computing machine all needs to extract line laser bright line section by certain algorithm, more and more higher along with frequency acquisition, the frame frequency of cameralink camera is more and more fast, computing machine looks for the burden of every width of cloth picture line laser bright line section also more and more heavier, influences computing machine and carries out other computing work.
Therefore, along with large-scale industrialization is used, need be more low-cost, more convenient and reliable collecting method and equipment.
Summary of the invention
Technical matters in view of above-mentioned existence, the present invention proposes a kind of calculating of extracting the line laser bright line and finishes in capture card, carry out hardware with FPGA and resolve, by the data of direct output after resolving, thereby avoid transmitting in the camera image solution of other a large amount of useless data.Concrete, the invention provides a kind of three-dimensional section collecting and measuring system and method based on the cameralink camera, the every frame image data that need not that the cameralink camera is clapped is passed to computing machine with putting in order frame, resolves the problem that over-burden to solve cameralink camera triangulation measurement body surface three-dimensional section computer-chronograph than low-cost.
To achieve these goals, the invention provides a kind of three-dimensional section based on the cameralink camera and gather measuring method, utilize programmable logic device (PLD) FPGA to obtain the data of cameralink camera, in FPGA, carry out digital filtering, extract the three-dimensional profiled outline data that view data middle infrared (Mid-IR) LASER Light Source forms with related algorithm, should three-dimensional profiled outline data in real time be transferred to computing machine by USB interface, thereby resolve the actual three-dimensional section on testee surface.
According to an aspect of the present invention, gathering measuring method based on the three-dimensional section of cameralink camera as described, is the camera of non-Cameralink interface for the Cameralink camera that obtains data.
According to an aspect of the present invention, gather measuring method based on the three-dimensional section of cameralink camera as described, described filtering mode adopts the medium filtering mode.
According to an aspect of the present invention, gather measuring method based on the three-dimensional section of cameralink camera as described, described filtering mode adopts the nonlinear filtering mode outside the medium filtering.
According to an aspect of the present invention, gather measuring method based on the three-dimensional section of cameralink camera as described, adopt MCU to replace FPGA to realize the extraction of laser rays.
According to an aspect of the present invention, gather measuring method based on the three-dimensional section of cameralink camera as described, adopt the laser rays data after PCI, Ethernet or serial ports transmission replacement USB transmission are extracted.
According to another aspect of the present invention, a kind of three-dimensional section collecting and measuring system based on the cameralink camera is provided, comprise programmable logic device (PLD) FPGA, SDRAM and USB interface, wherein, programmable logic device (PLD) FPGA comprises the Cameralink interface module, the image filtering module, the laser rays extraction module, it is characterized in that, utilize programmable logic device (PLD) FPGA to obtain the data of cameralink camera, in FPGA, carry out digital filtering, extract the three-dimensional profiled outline data that view data middle infrared (Mid-IR) LASER Light Source forms with related algorithm, then, the view data of extracting is cached among the SDRAM, by USB interface, the Cameralink camera image data of each frame of extracting is passed to computing machine.
According to another aspect of the present invention, as described based on the three-dimensional section collecting and measuring system of cameralink camera, described Cameralink interface module is according to the Cameralink agreement, resolve the data of Cameralink camera output, the image filtering module is used for the noise spot of filtering Cameralink camera image, and the laser rays extraction module is used for the laser rays of Cameralink camera image is extracted.
According to another aspect of the present invention, based on the three-dimensional section collecting and measuring system of cameralink camera, be the camera of non-Cameralink interface for the Cameralink camera that obtains data as described.
According to another aspect of the present invention, as described based on the three-dimensional section collecting and measuring system of cameralink camera, adopt MCU to replace FPGA to realize the extraction of laser rays.
According to another aspect of the present invention, based on the three-dimensional section collecting and measuring system of cameralink camera, it is characterized in that as described, adopt the laser rays data after PCI, Ethernet or serial ports transmission replace USB transmission extraction.
According to the present invention, utilize programmable logic device (PLD) FPGA to obtain the data of cameralink camera, in FPGA, carry out digital filtering, extract the three-dimensional profiled outline data that view data middle infrared (Mid-IR) LASER Light Source forms with related algorithm, be real-time transmitted to computing machine by USB interface, thereby resolve the actual three-dimensional section on testee surface, so, can measure in the method for body surface three-dimensional section the computer-solution problem that over-burden to solve cameralink camera triangulation than low-cost.And, namely finish the extraction of line laser bright line section resolves in the inside of capture card, make the transmission of camera data reduce two orders of magnitude, computing machine is freed from a large amount of evaluation works that extract line laser bright line section, better carry out other computing work.
According to the present invention, acquisition system is obtained perfect adaptation with the extraction of laser rays with the data of Cameralink camera, and this technology still belongs to initiative at home.In addition, acquisition system of the present invention is utilized the extraction of programmable logic device (PLD) FPGA hardware real-time implementation laser rays, be a kind of Cameralink camera acquisition system (collector) of special purpose, domestic also do not have the acquisition system (collector) of other companies that this function is arranged.
Description of drawings
Fig. 1 is for illustrating Cameralink camera acquisition system of the present invention (collector) block diagram.
Fig. 2 illustrates MDR-26 and the DS90CR288A interface synoptic diagram that the present invention adopts.
Fig. 3 illustrates MDR-26 and the DS90LV031A interface synoptic diagram that the present invention adopts.
Fig. 4 illustrates MDR-26 and the DS90LV019 interface synoptic diagram that the present invention adopts.
Fig. 5 illustrates the present invention to design 3 * 3 window theory diagrams in the filter window.
Fig. 6 is for illustrating medium filtering structural drawing of the present invention.
Fig. 7 illustrates the usb bus interface chip CH374 synoptic diagram that the present invention adopts.
Embodiment
As shown in Figure 1, the hardware components of Cameralink camera acquisition system of the present invention (collector) mainly comprises programmable logic device (PLD) FPGA, SDRAM and USB interface three parts.Wherein, programmable logic device (PLD) FPGA comprises Cameralink interface module, image filtering module, laser rays extraction module.
In programmable logic device (PLD) FPGA, described Cameralink interface module is according to the Cameralink agreement, resolve the data of Cameralink camera output, the image filtering module is used for the noise spot of filtering Cameralink camera image, and the laser rays extraction module is used for the laser rays of Cameralink camera image is extracted.Thus, utilize programmable logic device (PLD) FPGA to obtain the data of cameralink camera, in FPGA, carry out digital filtering, extract the three-dimensional profiled outline data that view data middle infrared (Mid-IR) LASER Light Source forms with related algorithm, then, Cameralink image of camera data are cached among the SDRAM, by USB interface, the Cameralink camera image data of each frame of extracting are passed to computing machine.
Below the Cameralink data are obtained and described in detail.
As mentioned above, in the Cameralink camera acquisition system of the present invention, adopt programmable logic device (PLD) FPGA as the master controller of image acquisition device.The I/O interface standard of the support of described programmable logic device (PLD) FPGA is LVCMOS/LVTTL, therefore adopts chip DS90CR288A receiver to realize level conversion.As shown in Figure 2, show the synoptic diagram of MDR-26 and DS90CR288A interface scheme.Wherein, chip DS90CR288A receiver converts 4 road LVDS data stream to 28 COMS/TTL data.28 bit data comprise: 24 bit image data (RxOUT0～RxOUT23), 4 bit image data synchronizing signals (RxOUT24～RxOUT27) corresponding Spare(is standby respectively), LVAL(are capable effective), FVAL(frame are effective) and the DVAL(data effective).Simultaneously, chip DS90CR288A is converted into single-ended COMS/TTL clock signal output with the LVDS clock signal.28 bit data signals and 1 bit clock signal insert the collection that FPGA finishes image.Wherein, in the LVDS Design of Signal, need carry out the terminal coupling for the LVDS signal, to reduce the reflection of terminal signaling, guarantee the integrality of signal, improve signal transfer quality.Therefore, even if at the differential lines of the receiver resistance to a 100Q of a cross-over connection, system also needs terminating circuit thus to produce the differential voltage of operate as normal.
In addition, among the present invention, also utilize chip DS90LV031A to realize the control of camera.As shown in Figure 3, what illustrate is the Interface design scheme synoptic diagram of MDR-26 and DS90LV031A, the camera of Camera Link interface has 4 tunnel control signals, be respectively CC1, CC2, CC3 and CC4, they also are the LVDS signals, therefore need the COMS/TTL control signal that capture card sends be converted into the LVDS signal by chip DS90LV031A.Send control command by programmable logic device (PLD) FPGA, thereby finish the control to camera.
In addition, among the present invention, also utilize the serial communication between chip DS90LV019 realization image pick-up card and camera.Serial signal is respectively SerTFG and SerTC, in camera, these 2 signals also are the LVDS signal, therefore, need between camera and image pick-up card, add a slice transceiver, as chip DS90LV019, select the DS90LV019 of National Semiconductor, as shown in Figure 4, show the synoptic diagram of the Interface design between DS90LV019 chip and the MDR-26.
To sum up, by above conversion, thereby all convert differential data and the control signal of Camera Link to be fit to programmable logic device (PLD) FPGA operation LVTTL signal, for control and the data of the Camera Link of programmable logic device (PLD) FPGA camera are obtained ready.
Below the image filtering module is described in detail.
The laser rays image that Camera Link camera is taken is generating; regular meeting is subjected to interference and the influence of various noise sources in the transmission course, in order to suppress noise, improves picture quality; be convenient to the subsequent extracted laser rays, before the laser rays image is handled, need image is carried out filtering, smoothing processing.Medium filtering is a kind ofly can suppress picture noise effectively and improve the nonlinear filtering wave technology of signal to noise ratio (S/N ratio).It at first sorts to the gray-scale value of neighborhood point, selects intermediate value as the output gray level value then.The formula of medium filtering is as follows:
g(x，y)=median{f(x－i，y－j)} i，j∈S
Wherein, g(x, y) and f (x y) is grey scale pixel value; S is template window, and Median is medium filtering.For different picture quality different applying template windows is arranged, wherein commonly used have 3 * 3 templates and 5 * 5 templates.
The shape of template of two dimension median filter and size have multiple pattern, and different picture materials and different application requirements often adopt different shape of template and size, and that medium filtering commonly used has is linear, square, cruciform, X font and rectangle etc.Select for use square template more suitable according to the characteristics of camera image, window with 3 * 3 is example, 3 * 3 window theory diagrams as shown in Figure 5, the medium filtering Processing Algorithm is operated at neighborhood territory pixel, utilizes the raw column data of 2 FIFO and 6 register pair images to store.
The core algorithm of median filter is ordering, and the quality of ranking method has directly determined to ask the efficient of intermediate value, thereby has determined the overall performance of design.Hardware based sort algorithm design can take full advantage of programmable logic device (PLD) FPGA hardware platform concurrency characteristics, thereby reaches the purpose of accelerating processing.Original bubble sort algorithm is fit to the computer software operation, uses programmable logic device (PLD) FPGA and should as much as possiblely use the FPGA parallel work-flow.Directly find intermediate value to be not easy to 9 data, but maximal value and minimum value can find very soon, if find maximal value and minimum value in 9 numbers, just this two number can be excluded, 7 remaining numbers continue maximizing and minimum value.Find the back to get rid of, by that analogy, Sheng Xia that number is exactly the intermediate value in this 9 number at last.
Design 3 input comparators, in a clock period, just can compare their magnitude relationship.Its input data are the data that the template shown in the last figure generates.At first divide three groups with 9 numbers, find every group maximal value, minimum value and intermediate value.Then, as shown in Figure 6, the maximum number in 3 groups of comparative results is put together, minimum number is put together, and intermediate value is put together, forms the second level relatively.Maximal value and the minimum value in 9 numbers relatively can be found in the second level, and this two number is not participated in next stage relatively.7 remaining numbers are participated in 3rd level relatively, and the maximal value and the minimum value that find are cast out.5 remaining numbers continue to participate in 4,5 grades of maximal value, minimum value that relatively find in this 5 number, and it is cast out.The intermediate value that 3 remaining numbers are found out with a comparer is the intermediate value of this 9 number.In order to guarantee the synchronism of stream line operation process data, in 3rd level and the 5th grade of comparator circuit, need to insert data register R in addition, buffer memory is not participated in comparison in prime data.
Through behind the medium filtering, can remove the salt-pepper noise of most of image, for next step the extraction of laser rays lays the first stone.
Through behind the medium filtering, for each two field picture, programmable logic device (PLD) FPGA finds out the maximal value of each row pixel, notes the horizontal ordinate of each row max pixel value in this two field picture.Judge that then these pixel maximal values get continuity, weed out discontinuous isolated possible noise spot, what obtain at last is exactly the laser rays data of this frame.
In the present invention, for the data transmission from the collector to the computing machine, adopt USB to transmit, after the data of extracting laser rays, collector is passed to computing machine with useful data at a high speed by the USB mouth, for the further deal with data of computing machine.Among the present invention, adopt usb bus interface chip CH374 to realize the USB transmission.
As shown in Figure 7, be the synoptic diagram of usb bus interface chip CH374.
The CH374 chip is a kind of common interface chip of usb bus, support USB-HOST host mode and USB-DEVICE/SLAVE DeviceMode, built-in 3 port HUB Root Hubs, support low speed and control transmission at full speed, bulk transfer, interruption transmission and synchronously/etc. the time transmission.At local side, the CH374 chip has 8 bit data bus and reading and writing, sheet and selects control line and interrupt output, can be articulated to easily on the system bus of controller such as single-chip microcomputer/DSP/MCU/MPU.In addition, the CH374 chip also provides the SPI serial communication mode of saving the I/O pin, by 3 lines or 4 line SPI serial line interfaces and interrupt output and single-chip microcomputer/DSP/MCU/MPU etc. and be connected.
Collector utilizes the internal logic resource of programmable logic device (PLD) FPGA to produce a SPI mouth, links to each other with CH374, by the high speed SPI mouth laser rays data is passed to CH374, passes to computing machine through the conversion back with the USB interface form.
More than be that example has been made the present invention and being described in detail with the embodiment, still, the present invention is not limited only among this embodiment, can also carry out various changes and modification to it.For example, for collector of the present invention, can be alternatively, can be changed to the camera of non-Cameralink interface for the Cameralink camera that obtains data, image filtering can adopt other the nonlinear filtering mode except medium filtering, the extraction of laser rays is not adopted FPGA and is realized with MCU, and the laser rays data after the extraction do not adopt the USB transmission, and adopt PCI, Ethernet or serial ports transmission etc.
In sum, the present invention is not limited among the embodiment, under the situation that does not break away from the present invention's spirit and aim, can make change miscellaneous or modification, therefore, so-called content only is exemplary in the above-mentioned concrete example, and scope of the present invention is illustrated by claims, and instructions there is no any constraint in full.And distortion or change all belong to the content in the category of the present invention under claims.
Claims (11)
1. the three-dimensional section based on the cameralink camera is gathered measuring method, it is characterized in that, utilize programmable logic device (PLD) FPGA to obtain the data of cameralink camera, in FPGA, carry out digital filtering, extract the three-dimensional profiled outline data that view data middle infrared (Mid-IR) LASER Light Source forms with related algorithm, should three-dimensional profiled outline data in real time be transferred to computing machine by USB interface, thereby resolve the actual three-dimensional section on testee surface.
2. gathering measuring method based on the three-dimensional section of cameralink camera according to claim 1, it is characterized in that, is the camera of non-Cameralink interface for the Cameralink camera that obtains data.
3. gather measuring method based on the three-dimensional section of cameralink camera according to claim 1, it is characterized in that, described filtering mode adopts the medium filtering mode.
4. gather measuring method based on the three-dimensional section of cameralink camera according to claim 1, it is characterized in that, described filtering mode adopts the nonlinear filtering mode outside the medium filtering.
5. gather measuring method based on the three-dimensional section of cameralink camera according to claim 1, it is characterized in that, adopt MCU to replace FPGA to realize the extraction of laser rays.
6. gather measuring method based on the three-dimensional section of cameralink camera according to claim 1, it is characterized in that, adopt the laser rays data after PCI, Ethernet or serial ports transmission replacement USB transmission are extracted.
7. three-dimensional section collecting and measuring system based on the cameralink camera, comprise programmable logic device (PLD) FPGA, SDRAM and USB interface, wherein, programmable logic device (PLD) FPGA comprises the Cameralink interface module, the image filtering module, the laser rays extraction module, it is characterized in that, utilize programmable logic device (PLD) FPGA to obtain the data of cameralink camera, in FPGA, carry out digital filtering, extract the three-dimensional profiled outline data that view data middle infrared (Mid-IR) LASER Light Source forms with related algorithm, then, the view data of extracting is cached among the SDRAM, by USB interface, the Cameralink camera image data of each frame of extracting is passed to computing machine.
As described in the claim 7 based on the three-dimensional section collecting and measuring system of cameralink camera, it is characterized in that, described Cameralink interface module is according to the Cameralink agreement, resolve the data of Cameralink camera output, the image filtering module is used for the noise spot of filtering Cameralink camera image, and the laser rays extraction module is used for the laser rays of Cameralink camera image is extracted.
As described in the claim 7 based on the three-dimensional section collecting and measuring system of cameralink camera, it is characterized in that the Cameralink camera that is used for obtaining data is the camera of non-Cameralink interface.
As described in the claim 7 based on the three-dimensional section collecting and measuring system of cameralink camera, it is characterized in that, adopt MCU to replace FPGA to realize the extraction of laser rays.
11. as described in the claim 7 based on the three-dimensional section collecting and measuring system of cameralink camera, it is characterized in that, adopt PCI, Ethernet or serial ports transmission to replace laser rays data after the USB transmission is extracted.
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| CN103729908A (en) * | 2014-01-09 | 2014-04-16 | 中南大学 | Intelligent inspection device of railway tunnel and application method thereof |
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Application publication date: 20130710 |