CN104729428B - Mirror face part three dimensional shape measurement system and measurement method based on coaxial configuration light - Google Patents
Mirror face part three dimensional shape measurement system and measurement method based on coaxial configuration light Download PDFInfo
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Abstract
The invention discloses a kind of mirror face part three dimensional shape measurement systems based on coaxial configuration light, including projector, industrial camera, central processing unit and light path system；Also disclose the measurement method of the measuring system, including calibration phase and measuring phases.The present invention solves precision, efficiency and the data integrity issues of the stronger mirror face part optical 3-dimensional topography measurement of reflectivity from structure and Measurement Algorithm.
Description
Technical field
The invention belongs to optical three-dimensional measurement technical fields, are related to a kind of mirror face part three-dimensional shaped based on coaxial configuration light
Looks measuring system, the invention further relates to the measurement methods of the measuring system.
Background technique
With the high speed development of computer and the information processing technology, the three-dimensional measurement technology based on structure light reaches its maturity.
Multi-line structured light three-dimensional measurement is a kind contactless measurement method, has high degree of automation, the spies such as speed is fast, precision is high
Point is widely used in fields such as reverse-engineering, product quality real-time monitoring, dress designing at present.But to finishing
Metal primary colors piece surface carry out multi-line structured light three-dimensional measurement when, multi-line structured light, which projects piece surface, can generate office
The mirror-reflection in portion, mutually reflection do not observe reflection object itself, can only see its ambient in these areas of specular reflection
The picture that body is formed on its surface, this deforms and can change with the variation of viewing angle.In addition, mirror-reflection is also
It will lead to and form bloom in the picture, the region of this bloom includes that stripe information is few, color and body surface itself
Color is different.These factors bring very big interference to the image procossing in subsequent optical non-cpntact measurement, directly influence measurement
Precision, or even can not measure.Therefore, in the real-time three-dimensional measurement of strong reflecting metal structural member, metal surface is reflective by force
Problem and multiple reflective problem are the bottleneck problems that must be solved, and Fundamentals of Measurement theory and key technology need to be broken through.
For this problem, different solutions is proposed both at home and abroad.Traditional method is in tested mirror face part table
Face sprays the low chemical reagent of one layer of reflecting rate, such as imaging agent.Improve the reflection characteristic method of piece surface by coating
The disadvantages of being greatly improved the precision of optical measurement, but there is measurement process is long, destroying workpiece surface performance.Document 1 is (specially
Benefit: Japan, special open 2010-185820 bulletin) propose a kind of novel lighting method, so that the light that lighting source is issued
It will not shine directly on testee, so that the specular reflectivity of metal parts is reduced, but the method that the document is related to
Two dimensional image processing technique is only used, the three-dimensional informations such as height are unable to measure out.Liu Yuankun (Liu Yuankun, Su Xianyu, Wu Qing
Sun, class mirror surface three dimension profile measurement method [J] Acta Optica .2006.2 (11): 1636-1640. based on streak reflex) etc.
It is proposed a kind of 3 D measuring method of class mirror article surface, he is using thin film transistor (TFT) as projection source, using single
The picture of projection source that industrial camera observed objects surface is reflected measures, but the measurement range of this method is smaller,
Measurement accuracy is not also high.Christopher(Christopher Waddington,Jonathan Kofman.Analysis of
measurement sensitivity to illuminance and fringe-pattern gray levels for
fringe-pattern projection adaptive to ambient lighting[J].Opt Laser Eng.2010；
48 (2): the sensitivity analysis of striped projection measurement accuracy 251-256.) etc. is made that for object illumination and fringe gray level grade.
The gray level that the method only has adjusted maximum candy strip is used to eliminate the influence of environment light, and avoids the saturation of image.
When the brightness of environment light is higher, image is saturated the signal-to-noise ratio that can reduce stripe pattern.One is disclosed in patent US7092094B2
Line-structured light triangulation method of the kind based on polarization structure light, the light for inhibiting mirror-reflection using polarizing film and mutually reflecting,
Have the effect of certain.But this method needs the angle of continuous adjustment polarizing film in measurement process, causes measurement process
It is responsible for, inefficiency is not used to the real-time measurement request of industry spot.
Summary of the invention
The object of the present invention is to provide a kind of mirror face part three dimensional shape measurement systems based on coaxial configuration light, solve anti-
Penetrate precision, efficiency and the data integrity issues of the stronger mirror face part optical 3-dimensional topography measurement of rate.
It is a further object of the present invention to provide the measurement methods of above-mentioned measuring system.
The technical scheme adopted by the invention is that a kind of mirror face part measuring three-dimensional morphology system based on coaxial configuration light
System, including projector, industrial camera, central processing unit and light path system；Light path system is set by projector, and light path system is by phenanthrene
Nie Er lens, spectroscope, the first anti-reflection mirror and the second anti-reflection microscope group are at projector is installed in parallel in the coke of Fresnel Lenses side
At point, for spectroscope level in 45 degree of angle settings in the Fresnel Lenses other side, the setting first of Fresnel Lenses upper horizontal is anti-reflection
Mirror, Fresnel Lenses lower horizontal are arranged the second anti-reflection mirror, chessboard calibration plate are arranged below the second anti-reflection mirror, the first anti-reflection mirror
Industrial camera is arranged in top, and central processing unit is connect with projector and industrial camera respectively.
Another technical solution of the present invention is a kind of mirror face part measuring three-dimensional morphology based on coaxial configuration light
The measurement method of system, including calibration phase and measuring phases:
Calibration phase:
Step 1, projective structure light and image is acquired, comprises the concrete steps that: chessboard calibration plate is first placed on the second anti-reflection mirror
Lower section, projector projects, which go out divergent shape structural light stripes pattern, becomes parallel shape structural light stripes, water by Fresnel Lenses
Flat structural light stripes pass through the second anti-reflection vertical directive chessboard calibration plate of mirror after reflecting by spectroscope；One width structure of every projection
On striations to chessboard calibration plate, industrial camera will be tied by the second anti-reflection mirror, spectroscope and the first anti-reflection mirror to capture
The chessboard calibration plate that structure striations illuminates is transferred to central processing unit by data line, and the image sequence number of vertical direction striped is
20 width, in addition 1 width, which projects complete white, 1 width, projects completely black scaling board image, one group of scaling board image is 42 width, and shooting finishes
Chessboard calibration plate is converted afterwards, acquires next group of 42 width images；
Step 2, demarcate the internal reference matrix of industrial camera: complete 5 groups of scaling board pictures to be collected, central processing unit is first by inputting
Chessboard calibration board size information, generate the world coordinates information (X of each angle pointw,Yw,Zw), due to the XOY of world coordinate system
Plane is overlapped with chessboard calibration plate target plane, therefore Zw=0；Then angle point inspection is carried out to first complete white scaling board image
It surveys, generates the camera image coordinate information (x of each angle pointc,yc), the internal reference square of industrial camera is obtained with Zhang Zhengyou scaling method
Battle array；
Step 3, the internal reference matrix of labeling projection instrument: the code structural light stripes image sequence of horizontal direction and vertical direction is utilized
It arranges to calculate the direct light component and indirect light component of image, if S={ I1,I2,…,IkIt is the coding structure striations inputted
Image sequence, p are some pixel on figure, and the direct light component and indirect light component of point p is respectively Ld(p) and Lg(p),
Then have:
Wherein K indicates the sum of the coded structured light stripe pattern sequence of input；I is current coded structured light bar graph
As sequence；L+ pIndicate max pixel value of the point p in all selection sequences；L+ pIndicate minimum of the point p in all selection sequences
Pixel value；B ∈ [0,1), it indicates the ratio of environmental light brightness and projector direct projection brightness, is the dark fringe by projector projects
What gray value determined；
Step 4, the L of each pixel of image is utilizedd(p) and Lg(p), threshold value point is carried out to the structural light stripes in image
It cuts, then the image after Threshold segmentation is decoded with the inverse process of coding, obtains each picture on each projector image
Vegetarian refreshments coordinate；The a that sets up an office is some pixel on camera image, and b point is the corresponding pixel on projector image planes of a
Point, a and b are respectively as the homogeneous pixel coordinate of plane are as follows:
A=[xc, yc, 1]T, b=[xp, yp, 1]T (3)
Wherein [xc,yc,1]TFor point a in camera as the homogeneous coordinates in plane；[xp,yp,1]TIt is flat in projector picture for point b
Homogeneous coordinates on face；
Step 5, the homography matrix between defining point a and b is H, keeps following formula (4) minimum:
WhereinFor the minimum value of above-mentioned functional；
Step 6, the angle point under each camera image coordinate system that step 2 obtainsUsing following formula (5) it can be concluded that
The angle point is corresponding under projector image coordinate system
Step 7, by each corner pixels coordinate (x under camera image coordinate system can be found out abovec,yc) correspond to
Pixel coordinate (x under projector image coordinate systemp,yp), and the world coordinates information of angle point is (Xw,Yw,Zw), use Zhang Zhengyou
Method can demarcate the internal reference matrix for obtaining projector；
Step 8, the outer ginseng matrix between labeling projection instrument and camera: the chessboard calibration plate image for determining posture, phase
Shown in transformational relation such as formula (6) between machine coordinate system C and projector coordinates system C ':
C'=RC+T (6)
Wherein [R, T] is the outer ginseng matrix between camera and projector；
Step 9, according to the inside and outside parameter of video camera and projector, reprojection's error of calibration is obtained, as calibration essence
The measurement standard of degree；
Measuring phases:
Step 10, the calibrating parameters that calibration phase obtains are imported；
Step 11, it projective structure light and acquires image: mirror face part being placed on to the lower section of the second anti-reflection mirror, according to calibration
The first part in stage, successively to mirror face part projective structure light；
Step 12, industrial camera can be captured by the second anti-reflection mirror, spectroscope and the first anti-reflection mirror by structural light stripes
The mirror face part illuminated is transferred to central processing unit by data line；
Step 13, the three-dimensional information of testee: the mirror surface that central processing unit is irradiated 42 width by structure light is calculated
Part image carries out the calculating of direct light component and indirect light component, carries out Threshold segmentation to the structural light stripes in image, so
Afterwards with coding inverse process the image after Threshold segmentation is decoded, in conjunction with the calibration result of measuring device, thus obtain by
Survey the three-dimensional appearance information of object.
The invention has the advantages that being directed to the reflective problem of metallic mirror surface part, in structure, the present invention utilizes luxuriant and rich with fragrance alunite
That one parallel structure light of lens forming, parallel construction striations are mapped to on the horizontal spectroscope in 45 degree of angles, are split
By increasing vertical lens directive mirror face part after mirror reflection, the light of reflection passes through spectroscope vertically upward, into camera, this
Sample both eliminated it is reflective, in turn avoid in image generate camera inverted image；In Measurement Algorithm, it is anti-that when decoding, first calculates part
The direct light component and indirect light component for penetrating structure light, can distinguish specular light in camera acquired image and
It diffuses, Threshold segmentation thus is carried out to the structural light stripes of mirror face part reflection, it can the reflection of effective solution mirror face part
Caused by the excessive problem of structural light stripes Threshold segmentation error.It is stronger that the present invention solves reflectivity from structure and Measurement Algorithm
Mirror face part optical 3-dimensional topography measurement precision, efficiency and data integrity issues.
Detailed description of the invention
Fig. 1 is three-dimensional measuring apparatus calibration schematic diagram of the invention.
Fig. 2 is three-dimensional measuring apparatus instrumentation plan of the invention.
Fig. 3 is the calibration algorithm flow chart in the present invention.
Fig. 4 is the measurement flow chart in the present invention.
In figure, 1. projectors, 2. Fresnel Lenses, 3. industrial cameras, 4. first anti-reflection mirrors, 5. spectroscopes, 6. optical path systems
System, 7. second anti-reflection mirrors, 8. structural light stripes, 9. chessboard calibration plates, 10. central processing units, 11. mirror face parts.
Specific embodiment
The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments.
A kind of mirror face part three dimensional shape measurement system based on coaxial configuration light of the present invention, structural schematic diagram such as Fig. 1-figure
Shown in 2,
It include: projector 1, industrial camera 3, central processing unit 10 and light path system 6.
Light path system 6 is set by projector 1, and light path system 6 is by Fresnel Lenses 2, spectroscope 5, the first anti-reflection mirror 4 and the
Two anti-reflection mirrors 7 form, and projector 1 is installed in parallel in the focal point of 2 side of Fresnel Lenses, and spectroscope 5 is horizontal to be set in 45 degree of angles
It sets in 2 other side of Fresnel Lenses, the first anti-reflection mirror 4,2 lower horizontal of Fresnel Lenses is arranged in 2 upper horizontal of Fresnel Lenses
Second anti-reflection mirror 7 is set, chessboard calibration plate 9 is set below second anti-reflection mirror 7, industrial camera is arranged in the top of the first anti-reflection mirror 4
3, central processing unit 10 is connect with projector 1 and industrial camera 3 respectively.
Projector 1: structure light provision pattern is successively projected into measurand draw in chess by light path system 6 in chronological order
On disk scaling board 9.
Industrial camera 3: for capturing the image and the structure that changes in chronological order of measurand and chessboard scaling board 9
Striation texts and pictures case.
Central processing unit 10: having image pick-up card, for connecting projector 1 and industrial camera 3 above, according to will throw
The resolution ratio of shadow instrument 1 is set as 1024*768, and the projector 1 that central processing unit 10 controls projects 42 width structure light texts and pictures
Case, the order of projection are 1 width complete white, 1 completely black, 20 width horizontal directions, 20 width vertical direction structure light provision patterns.In addition,
The measurement scene image illuminated by structural light stripes 8 is acquired by above-mentioned industrial camera 3, is in conjunction with measurement obtained by calibrating
The three-dimensional point cloud information of measurand is calculated to above-mentioned be decoded in the inside and outside parameter of system.
Light path system 6: it is made of Fresnel Lenses 2, spectroscope 5 and the first anti-reflection mirror 4, the second anti-reflection mirror 7, projector 1
It is installed in parallel in the focal point of Fresnel Lenses 2, the divergent structure striations that projector 1 projects becomes after Fresnel Lenses 2
At parallel construction striations, it is on the spectroscope 5 at 45 degree of angles, after the mirror 5 that is split reflection with level that parallel construction striations, which is mapped to,
By on the second vertical directive measurand of anti-reflection mirror 7 and chessboard scaling board 9.
The measurement method of mirror face part three dimensional shape measurement system based on coaxial configuration light includes calibration phase and measurement
Stage:
Calibration phase: calibration structure schematic diagram is shown in that attached drawing 1, calibration algorithm flow chart are shown in Fig. 3.
Step 1, projective structure light and image is acquired, comprises the concrete steps that: chessboard calibration plate 9 is first placed on the second anti-reflection mirror
7 lower section, projector 1, which projects divergent shape structural light stripes pattern, becomes parallel shape structural light stripes by Fresnel Lenses 2,
Horizontal structural light stripes pass through the second vertical directive chessboard calibration plate 9 of anti-reflection mirror 7 after reflecting by spectroscope 5；Every projection one
On width structural light stripes to chessboard calibration plate 9, industrial camera 3 will pass through the second anti-reflection mirror 7, spectroscope 5 and the first anti-reflection mirror 4
It captures the chessboard calibration plate 9 illuminated by structural light stripes, central processing unit 10, throwing used in the present invention is transferred to by data line
1 resolution ratio of shadow instrument is 1024*768, and according to the coding rule of structural light stripes, the image sequence number of horizontal direction striped is 2*
log21024=20 width, the image sequence number 2*log of vertical direction striped2768=19.1699 it rounds up here, thus it is vertical
The image sequence number of direction striped is 20 width, in addition 1 width, which projects complete white, 1 width, projects completely black scaling board image, one group of calibration
Plate image is 42 width, and chessboard calibration plate 9 is converted after shooting, acquires next group of 42 width images.
Step 2, demarcate the internal reference matrix of industrial camera: complete 5 groups of scaling board pictures to be collected, central processing unit 10 is first by defeated
9 dimension information of chessboard calibration plate entered generates the world coordinates information (X of each angle pointw,Yw,Zw), due to world coordinate system
XOY plane is overlapped with 9 target plane of chessboard calibration plate, therefore Zw=0.Then angle point is carried out to first complete white scaling board image
Detection, generates the camera image coordinate information (x of each angle pointc,yc), it is obtained in industrial camera with the scaling method of Zhang Zhengyou
Join matrix.
Step 3, the internal reference matrix of labeling projection instrument 1: the code structural light stripes image of horizontal direction and vertical direction is utilized
Sequence calculates the direct light component and indirect light component of image, if S={ I1,I2,…,IkIt is the code structural light stripes inputted
Image sequence, p are some pixel on figure, and the direct light component and indirect light component of point p is respectively Ld(p) and Lg(p),
Then have:
Wherein K indicates the sum of the coded structured light stripe pattern sequence of input；I is current coded structured light bar graph
As sequence；L+ pIndicate max pixel value of the point p in all selection sequences；L+ pIndicate minimum of the point p in all selection sequences
Pixel value；Wherein b ∈ [0,1), indicate that ambient light intensity accounts for the ratio of projector direct projection luminous intensity, be by the dark of projector projects
What fringe gray level value determined.
Step 4, the L of each pixel of image is utilizedd(p) and Lg(p), threshold value point is carried out to the structural light stripes in image
It cuts, then the image after Threshold segmentation is decoded with the inverse process of coding, obtains each picture on each projector image
Vegetarian refreshments coordinate.The a that sets up an office is some pixel on camera image, and b point is the corresponding pixel on projector image planes of a
Point, a and b are respectively as the homogeneous pixel coordinate of plane are as follows:
A=[xc, yc, 1]T, b=[xp, yp, 1]T (3)
Wherein [xc,yc,1]TFor point a in camera as the homogeneous coordinates in plane；[xp,yp,1]TIt is flat in projector picture for point b
Homogeneous coordinates on face.
Step 5, the homography matrix between defining point a and b is H, keeps following formula (4) minimum:
WhereinFor the minimum value of above-mentioned functional.
Step 6, the angle point under each camera image coordinate system that step 2 obtainsUsing following formula (5) it can be concluded that
The angle point is corresponding under projector image coordinate system
Step 7, by each corner pixels coordinate (x under camera image coordinate system can be found out abovec,yc) correspond to
Pixel coordinate (x under projector image coordinate systemp,yp), and the world coordinates information of angle point is (Xw,Yw,Zw), use Zhang Zhengyou
Method can demarcate the internal reference matrix for obtaining projector.
Step 8, the outer ginseng matrix between labeling projection instrument and camera: the chessboard calibration plate image for determining posture, phase
Shown in transformational relation such as formula (6) between machine coordinate system C and projector coordinates system C ':
C '=RC+T (6)
Wherein [R, T] is the outer ginseng matrix between camera and projector.
Step 9, according to the inside and outside parameter of video camera and projector, reprojection's error of calibration is obtained, as calibration essence
The measurement standard of degree.
Measuring phases: schematic diagram is as shown in Figure 2；Flow chart is as shown in Figure 4.
Step 10, the calibrating parameters that calibration phase obtains are imported.
Step 11, it projective structure light and acquires image: mirror face part 11 is placed on to the lower section of the second anti-reflection mirror 7, according to
The first part of calibration phase, successively to 11 projective structure light of mirror face part.
Step 12, industrial camera 3 can be captured by the second anti-reflection mirror 7, spectroscope 5 and the first anti-reflection mirror 4 by structure light
The mirror face part 11 that striped illuminates is transferred to central processing unit 10 by data line.
Step 13, the three-dimensional information of testee: the mirror that central processing unit 10 is irradiated 42 width by structure light is calculated
11 image of surface parts carries out the calculating of direct light component and indirect light component, carries out threshold value point to the structural light stripes in image
It cuts, then the image after Threshold segmentation is decoded with the inverse process of coding.In conjunction with the calibration result of measuring device, thus
The three-dimensional appearance information of testee out.
Measurement process is divided into calibration phase and measuring phases, after primary calibration, if the structural parameters of system do not become
Change, then can be continued repeatedly to measure.The invention patent uses the DLP projector of brightness constancy as structured light light source, benefit
With the semi-transparent semi-reflecting vertical catoptric arrangement light of spectroscope to chessboard calibration plate and measurement body surface, the three-dimensional appearance of body surface
Information is acquired with the vertical reflection light of different intensity lights to semi-transparent semi-reflecting spectroscope and through eyeglass by camera again, process
It is middle to increase effective light transmission rate using the single side anti-reflection eyeglass close with projector light wave, subtracted using inner surface atomization blackening process
The influence of few stray light.
Claims (2)
1. a kind of measurement method of the mirror face part three-dimensional appearance based on coaxial configuration light, the measuring three-dimensional morphology system used
System, including projector (1), industrial camera (3), central processing unit (10) and light path system (6)；Optical path is set by projector (1)
System (6), light path system (6) is by Fresnel Lenses (2), spectroscope (5), the first anti-reflection mirror (4) and the second anti-reflection mirror (7) group
At projector (1) is installed in parallel in the focal point of Fresnel Lenses (2) side, and spectroscope (5) is horizontal to be arranged in 45 degree of angles in phenanthrene
The first anti-reflection mirror (4), water below Fresnel Lenses (2) is arranged in Nie Er lens (2) other side, Fresnel Lenses (2) upper horizontal
The second anti-reflection mirror (7) of flat setting, the second anti-reflection mirror (7) lower section are arranged chessboard calibration plate (9), set above the first anti-reflection mirror (4)
It sets industrial camera (3), central processing unit (10) is connect with projector (1) and industrial camera (3) respectively；
It is characterized in that, measurement method includes calibration phase and measuring phases:
Calibration phase:
Step 1, projective structure light and image is acquired, comprises the concrete steps that: chessboard calibration plate (9) is first placed on the second anti-reflection mirror
(7) lower section, projector (1), which projects divergent shape structural light stripes pattern, becomes parallel shape structure by Fresnel Lenses (2)
Striations, horizontal structural light stripes pass through the vertical directive chessboard calibration plate of the second anti-reflection mirror (7) after reflecting by spectroscope (5)
(9)；On every projection one width structural light stripes to chessboard calibration plate (9), industrial camera (3) will by the second anti-reflection mirror (7), point
Light microscopic (5) and the first anti-reflection mirror (4) capture the chessboard calibration plate (9) illuminated by structural light stripes, are transferred to by data line
Central processor (10), the image sequence number of vertical direction striped are 20 width, in addition 1 width, which projects complete white, 1 width, projects completely black calibration
Plate image, one group of scaling board image are 42 width, convert chessboard calibration plate (9) after shooting, acquire next group of 42 width figures
Picture；
Step 2, demarcate the internal reference matrix of industrial camera: complete 5 groups of scaling board pictures to be collected, central processing unit (10) is first by inputting
Chessboard calibration plate (9) dimension information, generate the world coordinates information (X of each angle pointw, Yw, Zw), due to world coordinate system
XOY plane is overlapped with chessboard calibration plate (9) target plane, therefore Zw=0；Then angle is carried out to first complete white scaling board image
Point detection, generates the camera image coordinate information (x of each angle pointc, yc), it is obtained in industrial camera with Zhang Zhengyou scaling method
Join matrix；
Step 3, the internal reference matrix of labeling projection instrument (1): the code structural light stripes image sequence of horizontal direction and vertical direction is utilized
It arranges to calculate the direct light component and indirect light component of image, if S={ I1, I2..., IkIt is the coding structure striations inputted
Image sequence, p are some pixel on figure, and the direct light component and indirect light component of point p is respectively Ld(p) and Lg(p),
Then have:
Wherein K indicates the sum of the coded structured light stripe pattern sequence of input；I is current coded structured light stripe pattern sequence
Column；Lp+Indicate max pixel value of the point p in all selection sequences；Lp—Indicate minimum image of the point p in all selection sequences
Element value；B ∈ [0,1), it indicates the ratio of environmental light brightness and projector direct projection brightness, is the dark fringe ash by projector projects
What angle value determined；
Step 4, the L of each pixel of image is utilizedd(p) and Lg(p), Threshold segmentation is carried out to the structural light stripes in image, so
The image after Threshold segmentation is decoded with the inverse process of coding afterwards, show that each pixel on each projector image is sat
Mark；The a that sets up an office is some pixel on camera image, and b point is the corresponding pixel on projector image planes of a, a and b
Respectively as the homogeneous pixel coordinate of plane are as follows:
A=[xc, yc, 1]T, b=[xp, yp, 1]T (3)
Wherein [xc, yc, 1]TFor point a in camera as the homogeneous coordinates in plane；[xp, yp, 1]TFor point b in projector as in plane
Homogeneous coordinates；
Step 5, the homography matrix between defining point a and b is H, is acquired by formula (4)
Step 6, the angle point under each camera image coordinate system that step 2 obtainsUsing following formula (5) it can be concluded that the angle
Point is corresponding under projector image coordinate system
Step 7, by each corner pixels coordinate (x under camera image coordinate system can be found out abovec, yc) correspondence projecting
Pixel coordinate (x under instrument image coordinate systemp, yp), and the world coordinates information of angle point is (Xw, Yw, Zw), uses Zhang Zhengyou's
Method can demarcate the internal reference matrix for obtaining projector；
Step 8, the outer ginseng matrix between labeling projection instrument and camera: the chessboard calibration plate image for determining posture, camera are sat
Shown in transformational relation such as formula (6) between mark system C and projector coordinates system C ':
C '=RC+T (6)
Wherein [R, T] is the outer ginseng matrix between camera and projector；
Step 9, according to the inside and outside parameter of video camera and projector, reprojection's error of calibration is obtained, as stated accuracy
Measurement standard；
Measuring phases:
Step 10, the calibrating parameters that calibration phase obtains are imported；
Step 11, it projective structure light and acquires image: mirror face part (11) is placed on to the lower section of the second anti-reflection mirror (7), according to
The first part of calibration phase, successively to mirror face part (11) projective structure light；
Step 12, industrial camera (3) can be tied by the second anti-reflection mirror (7), spectroscope (5) and the first anti-reflection mirror (4) to capture
The mirror face part (11) that structure striations illuminates is transferred to central processing unit (10) by data line；
Step 13, the three-dimensional information of testee: the mirror surface that central processing unit (10) is irradiated 42 width by structure light is calculated
Part (11) image carries out the calculating of direct light component and indirect light component, carries out threshold value point to the structural light stripes in image
It cuts, then the image after Threshold segmentation is decoded with the inverse process of coding, in conjunction with the calibration result of measuring device, thus
The three-dimensional appearance information of testee out.
2. measurement method according to claim 1, which is characterized in that the central processing unit (10) has Image Acquisition
Card.
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