CN103236076B - Based on the three-dimensional object model reconstruction system and method for laser image - Google Patents
Based on the three-dimensional object model reconstruction system and method for laser image Download PDFInfo
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Abstract
Based on a three-dimensional object model reconstruction system and method for laser image, system comprises computing machine, single-chip microcomputer, stepper motor, rotary head, laser instrument, camera, chessboard calibration plate and three-legged support; Process of reconstruction comprises the checkerboard calibration method according to Zhang Zhengyou classics, obtains uncalibrated image and generate camera parameter by hardware system; By software control single-chip microcomputer, thus real-time control step motor, make target object surface 360 ° of ground through the scanning of laser rays, camera captured in real-time, obtain Target Photo, and import computing machine, the selectivity for a cloud obtains, a cloud 3 d space coordinate is obtained, the three-dimensional model of reconstructed object object by laser triangulation method.
Description
Technical field
The invention belongs to three-dimensional live reproduction technology field, specifically a kind of system and method being rebuild object dimensional model by image capturing and laser scanning.
Background technology
Three-dimensional laser scanning technique is otherwise known as outdoor scene reproduction technology, is another item surveying and mapping technology new breakthrough after GPS space positioning system.It is by the method for high-rate laser scanning survey, the three-dimensional coordinate data on quick obtaining measurand surface, large area high resolving power ground.Collection point position in space information that can be quick, a large amount of, for the 3-dimensional image model setting up object fast provides a kind of brand-new technological means.But there is many deficiencies in Three-D Laser Scanning technology at present, and be summarized as follows: expensive equipment, cost is high, and market orientation is high end equipment; Scan-data finishing time is long, and easily, process is difficult in scanning; Supporting process software imperfection, lacks practical and price is relatively cheap software.These are not enough just, bring difficulty to the universal of Three-D Laser Scanning technology and carrying out of related work.
Summary of the invention
High in order to overcome existing Three-D Laser Scanning technical costs, data processing is difficult, and the incomplete shortcoming of software kit, the invention provides a kind of brand-new three-dimensional object model reconstruction technique.
Technical scheme of the present invention is a kind of three-dimensional object model reconstruction system based on laser image, comprises computing machine, single-chip microcomputer, stepper motor, rotary head, laser instrument, camera, chessboard calibration plate and three-legged support,
Camera is connected with computing machine, and computing machine connects single-chip microcomputer, and single-chip microcomputer connects stepper motor; Stepper motor, camera, laser instrument are arranged on an A-frame respectively, and rotary head is arranged on the screw rod of stepper motor; Camera and rotary head are in phase co-altitude, and comprise rotary head within the scope of camera fields of view; The grid coincident of the word laser rays that laser instrument produces and chessboard calibration plate, and the center passing rotary head.
And, rotary head installs circular bubble.
The present invention also provides a kind of corresponding three-dimensional object model reconstruction method, comprises the following steps,
Step 1, carry out acquisition and the camera parameter generation of uncalibrated image according to checkerboard calibration method, the one-dimensional coordinate of the impact point scanned by the demarcation fixed laser of lasing area, carries out rotation platform demarcation;
Step 2, obtain object space image, comprise by computing machine control single chip computer, through single-chip microcomputer real-time control step motor, rotary head is rotated with the stride preset, make target object surface 360 ° or the scanning partly over laser instrument institute Output of laser line, camera captured in real-time, obtains the object space image of several target objects and inputs computing machine simultaneously;
Step 3, laser rays detects and puts the generation of cloud pseudo space three-dimensional coordinate, and comprising object space image step 2 obtained by computing machine is converted into HSV space by rgb space, is obtained the impact point two-dimensional coordinate taken and obtain by laser detection function; Obtain a cloud pseudo space three-dimensional coordinate by laser triangulation method, and make the some cloud of every width object space image recover position originally through the rotation centered by rotating shaft, obtain real 3 d space coordinate;
Describedly obtain a cloud pseudo space three-dimensional coordinate by laser triangulation method, be by the impact point one-dimensional coordinate of laser scanning with take the impact point two-dimensional coordinate obtained and combine calculation and obtain a cloud pseudo space three-dimensional coordinate;
Step 4, three-dimensional reconstruction, comprises according to the real 3 d space coordinate of step 5 gained, utilizes the three-dimensional model of OpenGL function library reconstructed object object.
Native system proposes a set of complete scheme newly and realizes Three-D Laser Scanning, and its advantage mainly contains following 3 points:
(1) whole equipment small-sized convenient, structure is simple, cheap, accurate efficient, safety and stability, workable, within a few minutes, detailed 3 D stereoscopic image accurately can be set up to interested region, quantitative test is accurately provided.Can all trades and professions be widely used in, as: set up complicated city model, ancient building measurement and historical relic's protection etc. fast.
(2) the software kit system realizing correlation method is simple and practical, can compatible several data form, processing speed is fast, and adopt camera calibration new departure, according to the checkerboard calibration method of Zhang Zhengyou classics, by the process function in Matlab, camera intrinsic parameter can be drawn rapidly, also can obtain the error analysis of each parameter simultaneously, thus the reliability of inspection calibrating parameters, data processing precision is high.
(3) real-time control single chip computer and motor, meet the different demand of user, follow-up exploitability is stronger.The document of a large amount of electronic information field after deliberation, the upper and lower computer program of single-chip microcomputer has been developed, and the follow-up packing of product all can realize on this basis, according to the production requirement of the different industrial circles of application, develops various pointed product.
Embodiment
Following according to embodiment detailed description technical solution of the present invention.
Three-dimensional object model reconstruction system based on laser image provided by the invention, comprise computing machine, single-chip microcomputer, stepper motor, rotary head, laser instrument, camera, chessboard calibration plate and three-legged support, camera is connected with computing machine, and computing machine connects single-chip microcomputer, and single-chip microcomputer connects stepper motor; Stepper motor, camera, laser instrument are arranged on an A-frame respectively, and rotary head is arranged on the screw rod of stepper motor; Camera and rotary head are in phase co-altitude, and comprise rotary head within the scope of camera fields of view.Embodiment adopts 51 microcomputer development plates, stepper motor, employing 12cm rotating disk as the camera of rotation platform, 5mw650nm mono-word laser instrument, low cost, chessboard scaling board and miniature three-legged support.Utilize native system to take and mainly comprise three processes: camera calibration, object space Image Acquisition, three-dimensional coordinate generates and three-dimensional reconstruction.Computer software technology can be adopted to configure corresponding software system in a computer by those skilled in the art during concrete enforcement, software systems can adopt modular mode to realize each process step, and such as camera calibration column, object space laser image obtain column, three-dimensional object space measurement of coordinates column and reconstructing three-dimensional model column.Automatically calibrated laser line scanning target surface is realized based on running software, the surface point pixel coordinate obtained in conjunction with single-sheet photo generates object coordinates, panoramic scanning, is calculated by the The Cloud Terrace anglec of rotation of controllable precise and recovers impact point three-dimensional coordinate, and carry out three-dimensional reconstruction.
Adopt the three-dimensional object model reconstruction system operating mode of the embodiment of the present invention as follows:
1. connect hardware system, configuration parameter.Stepper motor is connected with five lines with single-chip microcomputer, and wherein four lines are signal transmssion line, and another is supply lines.Single-chip microcomputer is connected with computing machine with the interface mode of USB with blue customization data line, powers to be born by computing machine.Stepper motor screw rod installs positive circular platform, rough surface, platform is installed the round leveling bubble of diameter 2cm as circular bubble, leveling The Cloud Terrace makes its level.Be connected with computing machine with the mutually level camera of motor The Cloud Terrace, comprise motor The Cloud Terrace within sweep of the eye.Laser instrument produces a word laser rays, with the grid coincident of scaling board, and through motor The Cloud Terrace center.Stepper motor, camera, laser instrument are installed on A-frame, assurance device stability.Last experimental subjects (such as mouse) lies against in the middle part of The Cloud Terrace.In hardware system, the parallel relation of stepper motor screw rod tangent plane and The Cloud Terrace is connected by nut and builds, and the horizontal adjustment of The Cloud Terrace is by circular bubble calibration.
2. the acquisition of uncalibrated image and camera parameter generate: before chessboard calibration plate is placed on camera lens, start software, start camera, shooting is started after having corrected chessboard position, by the uncalibrated image of hardware system shooting 15 to 20 argument degree change, preview is carried out, with the situation of check image shooting after having taken.Utilize Matlab, according to the checkerboard calibration method of Zhang Zhengyou classics, through the iteration of limited number of times, draw rapidly the intrinsic parameter such as the focal length of camera both direction, principal point displacement, radial distortion, tangential distortion, and by Parameter transfer to computing machine.
3. the demarcation of lasing area: native system adopts 5mw650nm mono-word laser instrument, penetrates highlighted red laser line.The aperture of adjustment laser instrument, makes laser rays coincide with the Article 2 vertical curve on the chessboard calibration plate of the last piece image of shooting, and regulates laser brightness, until the laser rays on measurement object is the thinnest the clearest.Lasing area now is just demarcated and is completed, and the position of lasing area is exactly the position of the vertical curve on the scaling board that overlaps with it.Such as tessellated size is 38mm*38mm, and lasing area overlaps with Article 2 vertical curve, so the position of lasing area is exactly Y=38mm(chessboard calibration plate is laterally Y-axis, is longitudinally X-axis).Realize laser rays like this to demarcate in advance, the one-dimensional coordinate of the impact point of laser scanning is fixed.
4. rotation platform is demarcated: the determination peace platform mainly comprising rotation center position flattens two parts, and object is the object space space of points coordinate that can recover to misplace because of rotation.In order to determine rotation center position, the tripod of movable support rotation platform, makes calibrated laser rays through rotation center, and on platform, leaves laser rays clearly.A complete rotation platform image taken by camera, utilizes the method detection laser line of image procossing and the pixel of mid point thereof, calculates the three dimensional space coordinate of mid point, be the coordinate of rotation center according to the collinearity equation of camera calibration parameter and central projection.The implementation method of platform leveling is comparatively simple, is put down gently by circular bubble on platform, the support bar adjusting angle of adjustment tripod, till the bubble of circular bubble is placed in the middle.
5. obtain object space image: the good serial ports of computer installation number, baud rate, data bit, check bit, position of rest five parameters, with control single chip computer, thus control step motor rotates rotary head with the stride of each step 1.40625 ° in real time.Like this according to the rotational angle that user is arranged, make target object surface 360 ° or the scanning partly over laser rays, simultaneously camera captured in real-time, obtain the object space image of 256 width experimental subjects mouses, and import computing machine, the selectivity for a cloud obtains.During shooting, target object is around The Cloud Terrace central rotation, and laser rays, through The Cloud Terrace center, can recover impact point object space true three-dimension coordinate thus.In this process, the precise match that in hardware system, The Cloud Terrace start and stop rotation and camera are taken is completed by the Signal transmissions of computing machine and single-chip microcomputer.
6. laser rays detects and puts the generation of cloud three-dimensional coordinate: the object space image obtained is converted into HSV space by rgb space by computing machine, and laser detection function obtains laser spots pixel coordinate (namely taking the impact point two-dimensional coordinate obtained).Obtain a cloud pseudo space three-dimensional coordinate by laser triangulation method, and make the some cloud of every width image recover position originally through the rotation centered by rotating shaft, obtain real 3 d space coordinate.When embodiment obtains a some cloud pseudo space three-dimensional coordinate by laser triangulation method, the impact point one-dimensional coordinate determined by laser scanning with take the impact point two-dimensional coordinate obtained and combine calculation, a cloud pseudo space three-dimensional coordinate can be obtained.Associating calculation is implemented as prior art, and it will not go into details in the present invention.
7. three-dimensional reconstruction: read the some cloud position (i.e. real 3 d space coordinate) obtained, utilize the three-dimensional model of OpenGL function library reconstructed object object, and 360 ° of rotations around center, more realistically three-dimensional model is presented to user, makes user more clearly observe the shape information of mouse.
Specific embodiment described herein is only to the explanation for example of the present invention's spirit.Those skilled in the art can make various amendment or supplement or adopt similar mode to substitute to described specific embodiment, but can't depart from spirit of the present invention or surmount the scope that appended claims defines.
Claims (1)
1. the three-dimensional object model reconstruction method that realizes of the three-dimensional object model reconstruction system based on laser image, it is characterized in that: described three-dimensional object model reconstruction system comprises computing machine, single-chip microcomputer, stepper motor, rotary head, laser instrument, camera, chessboard calibration plate and three-legged support
Camera is connected with computing machine, and computing machine connects single-chip microcomputer, and single-chip microcomputer connects stepper motor; Stepper motor, camera, laser instrument are arranged on an A-frame respectively, and rotary head is arranged on the screw rod of stepper motor, and the parallel relation of stepper motor screw rod tangent plane and The Cloud Terrace is connected by nut builds; Camera and rotary head are in phase co-altitude, and comprise rotary head within the scope of camera fields of view; The grid coincident of the word laser rays that laser instrument produces and chessboard calibration plate, and the center passing rotary head, rotary head installs circular bubble;
Three-dimensional object model reconstruction process comprises the following steps,
Step 1, carry out acquisition and the camera parameter generation of uncalibrated image according to checkerboard calibration method, the one-dimensional coordinate of the impact point scanned by the demarcation fixed laser of lasing area, carries out rotation platform demarcation;
The demarcation of described lasing area, comprise the aperture of adjustment laser instrument, laser rays is coincided with the Article 2 vertical curve on the chessboard calibration plate of the last piece image of shooting, and regulate laser brightness, until the laser rays on measurement object is the thinnest the clearest, lasing area has been demarcated, and the position of lasing area is exactly the position of the vertical curve on the scaling board that overlaps with it;
Described rotation platform demarcates the determination peace platform leveling comprising rotation center position,
The determination of described rotation center position, comprise the tripod of movable support rotary head, make calibrated laser rays through rotation center, and on rotary head, leave laser rays clearly, a complete rotary head image taken by camera, utilize the method detection laser line of image procossing and the pixel of mid point thereof, calculate the three dimensional space coordinate of mid point according to the collinearity equation of camera calibration parameter and central projection, as the coordinate of rotation center;
Described platform leveling, comprises and puts down gently on rotary head by circular bubble, the support bar adjusting angle of adjustment three-legged support, till the bubble of circular bubble is placed in the middle;
Step 2, obtain object space image, comprise by computing machine control single chip computer, through single-chip microcomputer real-time control step motor, rotary head is rotated with the stride preset, make target object surface 360 ° or the scanning partly over laser instrument institute Output of laser line, camera captured in real-time, obtains the object space image of several target objects and inputs computing machine simultaneously; During shooting, target object is around rotary head central rotation, and laser rays is through rotary head center;
Step 3, laser rays detects and puts the generation of cloud pseudo space three-dimensional coordinate, comprising object space image step 2 obtained by computing machine and be converted into HSV space by rgb space, obtaining laser spots pixel coordinate as taking the impact point two-dimensional coordinate obtained by laser detection function; Obtain a cloud pseudo space three-dimensional coordinate by laser triangulation method, and make the some cloud of every width object space image recover position originally through the rotation centered by rotating shaft, obtain real 3 d space coordinate;
Describedly obtain a cloud pseudo space three-dimensional coordinate by laser triangulation method, be by the impact point one-dimensional coordinate of laser scanning with take the impact point two-dimensional coordinate obtained and combine calculation and obtain a cloud pseudo space three-dimensional coordinate;
Step 4, three-dimensional reconstruction, comprises according to the real 3 d space coordinate of step 3 gained, utilizes the three-dimensional model of OpenGL function library reconstructed object object, and by the 360 ° of rotations around center of the three-dimensional model of target object, shows.
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