CN104504751A - Diagnostic method for rebuilding three-dimensional geometric profile of knocking flame surface - Google Patents
Diagnostic method for rebuilding three-dimensional geometric profile of knocking flame surface Download PDFInfo
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- CN104504751A CN104504751A CN201410787159.2A CN201410787159A CN104504751A CN 104504751 A CN104504751 A CN 104504751A CN 201410787159 A CN201410787159 A CN 201410787159A CN 104504751 A CN104504751 A CN 104504751A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/20—Special algorithmic details
- G06T2207/20024—Filtering details
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30108—Industrial image inspection
- G06T2207/30164—Workpiece; Machine component
Abstract
The invention discloses a diagnostic method for rebuilding a three-dimensional geometric profile of a knocking flame surface. The diagnostic method is used for solving the technical problem of the present diagnostic method that a binocular stereo vision system needs to be synchronized. According to the technical scheme, a high-speed binocular stereo vision system is adopted for establishing an experimental system; a Zhengyou Zhang calibration method is adopted for calibrating the experimental system; the experimental system is utilized to image the knocking flame and treat the image; a normalization cross-correlation algorithm is used for matching the acquired images, thereby acquiring corresponding matching point pairs on the two images; a three-dimensional coordinate of a spatial point corresponding to the image point on the images is calculated according to a three-dimensional reconstruction algorithm, so that the rebuilding of the three-dimensional geometric profile of the knocking flame surface is realized. The high-speed binocular stereo vision system is adopted for rebuilding the knocking flame surface, so that the technical problem of the diagnostic method in the background technology that the binocular stereo vision system needs to be synchronized is solved.
Description
Technical field
The present invention relates to a kind of diagnostic method of three-dimensional geometry profile, particularly relate to a kind of diagnostic method rebuilding detonation flame surface three dimension geometric shape.
Background technology
Document " pulse-knocking engine principle and gordian technique; 2005, p341-343 " and " combustion experiment diagnostics, 2005; p2-3, p180-187 " systematically describe some diagnostic methods shown for detonating combustion flow field and flame structure occurred up to now.At present, the diagnostic method shown for detonating combustion flow field and flame structure mainly contains commonness photograph method and holographic method two kinds.All there are respective relative merits in these two kinds of methods.Commonness photograph method adopts high-speed photography or Electronic Speculum cinephotomicrography to carry out imaging to combustion flame, distinguishes out the structure of flame, can also obtain the information of flame development to the recognition of the image that a group is taken continuously according to captured image.Commonness photograph method is simple to operate, easy realization, apply comparatively extensive in scientific research and engineering field at present, but this method can only obtain the two dimensional image of flame, the information of a dimension is lost in imaging process, needing when distinguishing image artificially to judge, with the addition of uncertain factor.Holographic method adopts the principle of holographic imaging, use laser beam irradiation object, the reference beam that object beam and the same laser beam of reflections off objects separate superposes, holofilm produces interference image, process after hologram image, then with same laser irradiate can obtain the space image that object is freely suspended in space.Holographic method can obtain the three-dimensional information of flame structure, but needs to use expensive experimental facilities and complicated optical texture, and requires higher to the quality of experimenter and skill, which also limits the application of this method.In sum, the technical problem underlying that the existing diagnostic method shown for detonating combustion flow field and flame structure exists is the three-dimensional information that can not obtain flame structure with rational cost.
Summary of the invention
Needing synchronous deficiency to overcome Binocular Stereo Vision System in existing diagnostic method, the invention provides a kind of diagnostic method rebuilding detonation flame surface three dimension geometric shape.The method adopts high speed Binocular Stereo Vision System to build experimental system, Zhang Zhengyou standardization is adopted to demarcate experimental system, then experimental system is utilized to carry out imaging to detonation flame and process image, use normalized crosscorrelation algorithm to the image gathered to mating, obtain matching double points corresponding on two width images, calculate the three-dimensional coordinate with the spatial point corresponding to the picture point on image according to three-dimensional reconstruction algorithm again, realize the reconstruction of detonation flame surface three dimension geometric shape.For a series of images pair of shooting continuously, the rear image in a moment and the image of previous moment are compared, obtain the development of detonation flame in tiny time interval, then it is rebuild, obtain the time dependent information in three-dimensional detonation flame surface.Owing to adopting high speed Binocular Stereo Vision System to rebuild detonation flame surface, Binocular Stereo Vision System in background technology diagnostic method can be avoided to need synchronous technical matters.
The technical solution adopted for the present invention to solve the technical problems is: a kind of diagnostic method rebuilding detonation flame surface three dimension geometric shape, is characterized in adopting following steps:
Step 1: be placed in by high-speed camera 2 above tripod 1, high-speed camera 2 is placed four mirror binoculars above and is divided mirror device 3 to form high speed Binocular Stereo Vision System, and experimental system is placed in before the view window 5 of detonation tube 4.Experimental system lay to make view window form two images and image is full of whole view clearly in the camera, after regulating aperture, focal length and shutter, keep whole system motionless.
Step 2: the demarcation of system comprises the demarcation of one camera and the demarcation of double camera.
Step 2.1: the demarcation of one camera.First, utilize one camera to calibrating template in different attitudes and position imaging, the knots modification of calibrating template attitude and position is too not little each time, and the knots modification of each attitude angle should be greater than 30 degree, and it is 10 right that the image log order of shooting should be greater than.On image, the coordinate Harris corner detection method of unique point is obtained.Utilize true coordinate and the picture point coordinate thereof of unique point, obtain the projection matrix of camera, obtain all internal and external parameters according to Zhang Zhengyou standardization, complete the demarcation of one camera.
Step 2.2: the demarcation of double camera.Respectively left and right camera is demarcated, calibration result is utilized to calculate system structure parameter, namely the rotation matrix R between two cameras and translation vector t, utilize the internal and external parameter of known left camera and system structure parameter to calculate the external parameter of right camera conversely, substitute with the external parameter calculated the external parameter that original one camera demarcates out.Again the internal and external parameter of left and right camera is optimized, during optimization, except considering the projection relation of camera, also needs the restriction relation considering epipolar geom etry.Namely all camera internal and external parameters and the value of system structure parameter is obtained through optimizing.Optimize formula as follows:
minΣd(m
L，m′
L)+d(m
R，m′
R)+d(m
L，L
L)+d(m
R，L
R)
In formula,
D (m, n) represents the Euclidean distance between some m and some n or straight line n, m
l, m
rthe true picture point of representation space point M on left images,
the preferred view point that representation space point M calculates through linear projection, L
l, L
rm respectively
r, m
lcorresponding polar curve.
After completing demarcation, calibration result is detected.Calculate the subpoint m of all spatial point M
iand mean value D_mean (m, the m of the distance between true picture point m
i), mean value and threshold values ε are compared.If mean value is less than threshold values, then think that calibration result is accurate, otherwise, re-start shooting by the method increasing the right number of image and increase template attitude angle and demarcate.
Step 3: detonation engine fuel delivery, air demand and spark rate are set, checks cooling system and lubrication system works situation, and igniting after all are normal, makes engine normally run and produce stable detonation wave.Then use system photographs flame, obtain the image of detonation flame.
Step 4: first use a small amount of random noise in mean filter removal image, then uses Gaussian filter to remove Gaussian noise, finally uses Laplace operator to carry out Edge contrast to image.
Step 5: adopt polar curve correcting algorithm to image to be matched to carrying out polar curve correction, then adopts normalized crosscorrelation algorithm to image to mating.
Step 5.1: according to the knowledge of epipolar geom etry, calculates the pixel of each polar curve process, and these pixels are labeled as same a line, and all after treatment, corresponding point do not have the difference of ordinate to left and right image.Then the image again after clipping correction polar curve.
Step 5.2: first find the region of search of point in right figure to be matched in left figure, manually chooses a rough match point, gets the pixel of certain limit about this and forms region of search.In region of search, match point is found in pointwise, the correlation window will set up centered by it is put to each, the same size of correlation window in left and right two figure, calculates the degree of correlation of two points with normalized crosscorrelation algorithm, the point marking correlativity maximum is match point.The size of correlation window is very important for coupling, if coupling is inaccurate, re-starts coupling again after changing the size of window.
Step 6: according to the coordinate of matching double points and the parameter of system, adopts three-dimensional reconstruction algorithm inverse to go out the three-dimensional coordinate of spatial point.Use the built-in function delaunay of MATLAB software to carry out delaunay triangulation to the discrete point after rebuilding, then texture is filled to the triangle of subdivision, complete the three-dimensional reconstruction on detonation flame surface.
The invention has the beneficial effects as follows: the method adopts high speed Binocular Stereo Vision System to build experimental system, Zhang Zhengyou standardization is adopted to demarcate experimental system, then experimental system is utilized to carry out imaging to detonation flame and process image, use normalized crosscorrelation algorithm to the image gathered to mating, obtain matching double points corresponding on two width images, calculate the three-dimensional coordinate with the spatial point corresponding to the picture point on image according to three-dimensional reconstruction algorithm again, realize the reconstruction of detonation flame surface three dimension geometric shape.For a series of images pair of shooting continuously, the rear image in a moment and the image of previous moment are compared, obtain the development of detonation flame in tiny time interval, then it is rebuild, obtain the time dependent information in three-dimensional detonation flame surface.Owing to adopting high speed Binocular Stereo Vision System to rebuild detonation flame surface, avoiding Binocular Stereo Vision System in background technology diagnostic method needs synchronous technical matters.
Below in conjunction with the drawings and specific embodiments, the present invention is elaborated.
Accompanying drawing explanation
Fig. 1 is the diagnostic method measurement mechanism schematic diagram that the present invention rebuilds detonation flame surface three dimension geometric shape.
Fig. 2 is the process flow diagram that the present invention rebuilds the diagnostic method of detonation flame surface three dimension geometric shape.
In figure, 1-tripod, 2-high-speed camera, 3-tetra-mirror binocular divides mirror device, 4-detonation tube, 5-view window.
Embodiment
With reference to Fig. 1-2.The diagnostic method concrete steps that the present invention rebuilds detonation flame surface three dimension geometric shape are as follows:
Step 1: build experimental system.Be placed in above tripod 1 with reference to accompanying drawing 1, figure high speed video camera 2, high-speed camera 2 adds above have been put four mirror binoculars and divides mirror device 3 to form high speed Binocular Stereo Vision System, the correct position place of system rest before the view window 5 of detonation tube 4.System lay to make view window form two images and image is full of whole view is best, rule of thumb system distance detonation tube view window about a meter clearly in the camera.After regulating the parameters such as aperture, focal length and shutter, just keep whole system motionless.
Step 2: the demarcation of system.The demarcation of system comprises the demarcation of one camera and the demarcation of double camera, and demarcating steps is as follows:
Step 2.1: the demarcation of one camera.First, utilize camera to calibrating template in different attitudes and position imaging, the knots modification of calibrating template attitude and position is too not little each time, and the knots modification of each attitude angle should be greater than 30 degree, and it is 10 right that the image log order of shooting should be greater than.On calibrating template, the coordinate of unique point is known in advance, and on image, the coordinate Harris corner detection method of unique point is obtained.Utilize true coordinate and the picture point coordinate thereof of unique point, obtain the projection matrix of camera, obtain all internal and external parameters according to Zhang Zhengyou standardization, namely complete the demarcation of one camera.
Step 2.2: the demarcation of double camera.After respectively left and right camera being demarcated, calibration result is utilized to calculate system structure parameter, namely the rotation matrix R between two cameras and translation vector t, utilize the internal and external parameter of known left camera and system structure parameter to calculate the external parameter of right camera conversely, substitute with the external parameter calculated the external parameter that original one camera demarcates out.Again the internal and external parameter of left and right camera is optimized, during optimization, except considering the projection relation of camera, also contemplates the restriction relation of epipolar geom etry.Namely all camera internal and external parameters and the value of system structure parameter is obtained through optimizing.Optimize formula as follows:
minΣd(m
L，m′
L)+d(m
R，m′
R)+d(m
L，L
L)+d(m
R，L
R)
In formula,
D (m, n) represents the Euclidean distance between some m and some n or straight line n, m
l, m
rthe true picture point of representation space point M on left images,
the preferred view point that representation space point M calculates through linear projection, L
l, L
rm respectively
r, m
lcorresponding polar curve.
After completing demarcation, also to detect calibration result.Calculate the subpoint m of all spatial point M
iand mean value D_mean (m, the m of the distance between true picture point m
i), mean value and threshold values ε are compared.If mean value is less than threshold values, then think that calibration result is accurate, otherwise, re-start shooting by the method increasing the right number of image and increase template attitude angle and demarcate.
Step 3: obtain detonation flame image.According to calculating and experience, detonation engine fuel delivery, air demand, spark rate are set, check cooling system and lubrication system works situation, igniting after all are normal, makes engine normally run and produces stable detonation wave.Then use system photographs flame, obtain the image of detonation flame.
Step 4: image procossing.Research finds, the image taken under laboratory condition contains a small amount of random noise and certain Gaussian noise.The present invention first uses mean filter to remove random noise, re-uses Gaussian filter and removes Gaussian noise, finally uses Laplace operator to carry out Edge contrast to image.
Step 5: images match.Images match comprises the coupling that the right polar curve of image corrects and image is right, and its step is as follows:
Step 5.1: before images match, needs to carry out polar curve correction process to image.According to the knowledge of epipolar geom etry, calculate the pixel of each polar curve process, these pixels are labeled as same a line, all after treatment, corresponding point do not have the difference of ordinate to left images.Then the image again after clipping correction polar curve.
Step 5.2: image matching algorithm adopts the normalized crosscorrelation algorithm based on Region Matching.First find the region of search of point in right figure to be matched in left figure, manually choose a rough match point, get the pixel of certain limit about this and form region of search.In region of search, match point is found in pointwise, the correlation window will set up centered by it is put to each, the same size of correlation window in two figure of left and right, calculates the degree of correlation of two points with normalized crosscorrelation algorithm, the point marking correlativity maximum is match point.The size of correlation window is very important for coupling, if coupling is inaccurate, re-starts coupling again after changing the size of window.
Step 6: three-dimensional reconstruction.According to the coordinate of matching double points and the parameter of system, three-dimensional reconstruction algorithm inverse is adopted to go out the three-dimensional coordinate of spatial point.Use the built-in function delaunay of MATLAB software to carry out delaunay triangulation to the discrete point after rebuilding, then texture is filled to the triangle of subdivision, complete the three-dimensional reconstruction on detonation flame surface.
Claims (1)
1. rebuild a diagnostic method for detonation flame surface three dimension geometric shape, it is characterized in that comprising the following steps:
Step 1: high-speed camera (2) is placed in above tripod (1), high-speed camera (2) is placed four mirror binoculars above and is divided mirror device (3) to form high speed Binocular Stereo Vision System, and experimental system is placed in before the view window (5) of detonation tube (4); Experimental system lay to make view window form two images and image is full of whole view clearly in the camera, after regulating aperture, focal length and shutter, keep whole system motionless;
Step 2: the demarcation of system comprises the demarcation of one camera and the demarcation of double camera;
Step 2.1: the demarcation of one camera; First, utilize one camera to calibrating template in different attitudes and position imaging, the knots modification of calibrating template attitude and position is too not little each time, and the knots modification of each attitude angle should be greater than 30 degree, and it is 10 right that the image log order of shooting should be greater than; On image, the coordinate Harris corner detection method of unique point is obtained; Utilize true coordinate and the picture point coordinate thereof of unique point, obtain the projection matrix of camera, obtain all internal and external parameters according to Zhang Zhengyou standardization, complete the demarcation of one camera;
Step 2.2: the demarcation of double camera; Respectively left and right camera is demarcated, calibration result is utilized to calculate system structure parameter, namely the rotation matrix R between two cameras and translation vector t, utilize the internal and external parameter of known left camera and system structure parameter to calculate the external parameter of right camera conversely, substitute with the external parameter calculated the external parameter that original one camera demarcates out; Again the internal and external parameter of left and right camera is optimized, during optimization, except considering the projection relation of camera, also needs the restriction relation considering epipolar geom etry; Namely all camera internal and external parameters and the value of system structure parameter is obtained through optimizing; Optimize formula as follows:
minΣd(m
L，m′
L)+d(m
R，m′
R)+d(m
L，L
L)+d(m
R，L
R)
In formula,
D (m, n) represents the Euclidean distance between some m and some n or straight line n, m
l, m
rthe true picture point of representation space point M on left images,
the preferred view point that representation space point M calculates through linear projection, L
l, L
rm respectively
r, m
lcorresponding polar curve;
After completing demarcation, calibration result is detected; Calculate the subpoint m of all spatial point M
iand mean value D_mean (m, the m of the distance between true picture point m
i), mean value and threshold values ε are compared; If mean value is less than threshold values, then think that calibration result is accurate, otherwise, re-start shooting by the method increasing the right number of image and increase template attitude angle and demarcate;
Step 3: detonation engine fuel delivery, air demand and spark rate are set, checks cooling system and lubrication system works situation, and igniting after all are normal, makes engine normally run and produce stable detonation wave; Then use system photographs flame, obtain the image of detonation flame;
Step 4: first use a small amount of random noise in mean filter removal image, then uses Gaussian filter to remove Gaussian noise, finally uses Laplace operator to carry out Edge contrast to image;
Step 5: adopt polar curve correcting algorithm to image to be matched to carrying out polar curve correction, then adopts normalized crosscorrelation algorithm to image to mating;
Step 5.1: according to the knowledge of epipolar geom etry, calculates the pixel of each polar curve process, and these pixels are labeled as same a line, and all after treatment, corresponding point do not have the difference of ordinate to left and right image; Then the image again after clipping correction polar curve;
Step 5.2: first find the region of search of point in right figure to be matched in left figure, manually chooses a rough match point, gets the pixel of certain limit about this and forms region of search; In region of search, match point is found in pointwise, the correlation window will set up centered by it is put to each, the same size of correlation window in left and right two figure, calculates the degree of correlation of two points with normalized crosscorrelation algorithm, the point marking correlativity maximum is match point; The size of correlation window is very important for coupling, if coupling is inaccurate, re-starts coupling again after changing the size of window;
Step 6: according to the coordinate of matching double points and the parameter of system, adopts three-dimensional reconstruction algorithm inverse to go out the three-dimensional coordinate of spatial point; Use the built-in function delaunay of MATLAB software to carry out delaunay triangulation to the discrete point after rebuilding, then texture is filled to the triangle of subdivision, complete the three-dimensional reconstruction on detonation flame surface.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110207801A (en) * | 2019-05-14 | 2019-09-06 | 西北工业大学 | Detonation wave three-dimensional structure reconstructing system based on Shadow Techniques |
| CN111429571A (en) * | 2020-04-15 | 2020-07-17 | 四川大学 | Rapid stereo matching method based on spatio-temporal image information joint correlation |
| CN112489200A (en) * | 2020-12-04 | 2021-03-12 | 南京大学 | Three-dimensional reconstruction device and method for flame spectrum |
| CN114047090A (en) * | 2022-01-11 | 2022-02-15 | 矿冶科技集团有限公司 | Method for accurately positioning high-jet flame thermal shock test sample and high-jet flame thermal shock test method |
-
2014
- 2014-12-17 CN CN201410787159.2A patent/CN104504751B/en not_active Expired - Fee Related
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110207801A (en) * | 2019-05-14 | 2019-09-06 | 西北工业大学 | Detonation wave three-dimensional structure reconstructing system based on Shadow Techniques |
| CN111429571A (en) * | 2020-04-15 | 2020-07-17 | 四川大学 | Rapid stereo matching method based on spatio-temporal image information joint correlation |
| CN112489200A (en) * | 2020-12-04 | 2021-03-12 | 南京大学 | Three-dimensional reconstruction device and method for flame spectrum |
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| CN114047090A (en) * | 2022-01-11 | 2022-02-15 | 矿冶科技集团有限公司 | Method for accurately positioning high-jet flame thermal shock test sample and high-jet flame thermal shock test method |
| CN114047090B (en) * | 2022-01-11 | 2022-04-01 | 矿冶科技集团有限公司 | Method for accurately positioning high-jet flame thermal shock test sample and high-jet flame thermal shock test method |
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