CN105066909A - Hand-held multi-laser-stripe quick three-dimensional measuring method - Google Patents
Hand-held multi-laser-stripe quick three-dimensional measuring method Download PDFInfo
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Abstract
The invention discloses a hand-held multi-laser-stripe quick three-dimensional measuring method. The method includes the following steps: firstly, sticking a sign point; secondly, utilizing a hand-held three-dimensional measuring instrument to measure three-dimensional data of an object surface; thirdly, collecting an image; fifthly, calculating a three-dimensional coordinate of the sign point; sixthly, calculating a three-dimensional coordinate of an object surface point; and seventhly, positioning the hand-held three-dimensional measuring instrument and carrying out data merging under a world coordinate system, that is to say, obtaining a rotation translation matrix from a current camera coordinate system to the world coordinate system so that a transformational relation of the current object surface measurement point from the camera coordinate system to the world coordinate system and data merging under the world coordinate system are achieved. Through adoption of the laser measuring technology, optimization of a structural design and optimization of a computational algorithm, the three-dimensional measuring instrument is portable, enables hand-held operation, and is easy to operate and convenient to use.
Description
Technical field
The invention belongs to three-dimensional measurement technical field, more specifically, relate to a kind of hand-held many laser stripes quick three-dimensional measuring method.
Background technology
Three-dimensional measurement is by using three-dimensional measurement instrument to measure body surface geometric configuration and building the technology of object being measured three-dimensional model.This technological use is extensive, and in industrial design, Product checking, reverse-engineering, robot guiding, geodetic surveying, anthropological measuring, criminal identification, cultural relic digitalization, cartoon making, there is important effect in the fields such as game design.The advantages such as hand-held 3 D measuring instrument is light flexibly with it, and easy to operate and measuring speed is fast play an important role in three-dimensional measurement field.
Three-dimensional measurement technology has developed a lot of different theory at present (consults Chen, F., BrownG., SongM.Overviewofthree-dimensionalshapemeasurementusingop ticalmethods.OpticalEngineering, 2000,39 (1): 10-22 and Blais, F.Reviewof20yearsofrangesensordevelopment.JournalofElect ronicImaging, 2004,13 (1): 231-240).Wherein, interfere measure (interferometry), flight time (time-of-flight) and principle of triangulation are the theories that three-dimensional measurement different times develops out, are more or less applicable according to measuring distance and each theory of accuracy requirement.
Wherein principle of triangulation uses extensively, and this principle is applicable to in-plant measurement usually, the distance especially within several meters.Use this principle, must obtain the measured value of same point on same object under two different visual angles, the rigid body transformation relation between these two visual angles is known simultaneously, and its distance length is called baseline distance.The relative coordinate (two angles on a leg-of-mutton limit and this limit obtain coordinate thirdly) of measured point can be obtained by the angle at two visual angles and baseline distance.This in fact also belongs to passive three-dimensional measurement technology, is also binocular or multi-view stereo vision.
Binocular stereo vision uses one or two CCD or CMOS digital camera, takes the same surface of testee from different perspectives, by computer memory point parallax in two images, obtains the three-dimensional coordinate of this point.This measuring method needs to determine the relevant position of space same point on the image of two width or the shooting of several different angles.Scan the information that an object just needs gleanings surface, use laser instrument to body surface projecting laser light, by collected by camera after laser beam is reflected by body surface, the laser stripe on the image after collection can provide the information of globe surface point.Laser instrument can project luminous point and laser stripe, and in order to obtain as far as possible many information, laser line generator is widely used.Existing laser line generator has a word laser instrument, cross laser device, parallel laser device, wherein cross laser device can project multi-stripe laser striped with parallel laser instrument simultaneously, then the light that projects at body surface of this laser instrument is more, once can obtain more body surface information.
Obtain the information of the laser stripe on the image of camera shooting, need to process the image of shooting, obtain the positional information of laser stripe on image.Extract laser stripe central point by image procossing, abundant laser stripe central point and the two-dimensional coordinate on image thereof can be obtained.Common laser stripe center extraction algorithm has grey relevant dynamic matrix, extremum method and grads threshold method etc., and these methods realize simple but precision is not high.Steger (consults C.Steger, Anunbiaseddetectorofcurvilinearstructures, IEEETrans.PatternAnal.Mach.Intell.20 (1998) 113 – 125.) propose a kind of sub-pixel extraction of laser stripe, the method can extract the center of laser stripe accurately, thus obtain the longitudinal centre line of laser stripe, but time-consuming very long, the requirement of handheld three-dimensional scanner Quick Measurement cannot be met.
A Major Difficulties of the 3 D measuring instrument of application binocular vision finds the corresponding point of known point on another piece image on piece image, and this is also referred to as corresponding point matching.Triangle is solved to match point and can obtain this coordinate at 3 D measuring instrument coordinate system.The method of coupling has polar curve matching process and the Region Matching method based on gray scale, and these methods can realize the coupling of corresponding point on image accurately.In Binocular Stereo Vision System, the general polar curve that uses mates.
For hand-held 3 D measuring instrument, camera and laser instrument are rigidly connected, and this hand-held 3 D measuring instrument must be that the situation of in-site measurement is special easily and effectively for Quick Measurement and object.In order to measure the whole surface of object, must moving three dimension measuring instrument.In the world coordinate system fixed relative to object, determine that the position of 3 D measuring instrument and direction (6 degree of freedom) are the another difficult points of hand-held 3 D measuring instrument.This can come by using the locating device matched with hand-held 3 D measuring instrument.But, thus significantly increases complexity and the cost of instrument, but also hand-held 3 D measuring instrument quality can be made to increase, impact the noise of the quality of data.
In order to avoid using outside locating device, relative position and direction between computation and measurement instrument and object is come by being used in the three-dimensional measuring result that rigid objects is collected, at this moment measured object hand held in carry out measuring and also can obtain accurately complete three-dimensional data and (consult S.Runsinkiewicz, O.Hall-HoltandM.Levoy, " real-Time3DModelAcquisition ", inACMTransactiononGraphics, vol.21, no.3July2002, pp.438-446, F.Blais, M.PicardandG.Godin, " Accurate3DAcquisitionofFreelyMovingObjects, " inproc.oftheSecondInternationalSymposiumon3DDataProcessi ng, VisualizationandTransmission.Thessaloniki, Greece.September6-9, 2004.).This when measuring, position and direction calculating to be integrated into the thought of system very unique, the geometric configuration of object but this method places one's entire reliance upon, and this computational accuracy cannot meet accurate measurement.Such as, have symmetric object, geometries changes mild object, spherical and cylindrical.
By using the point of fixity and feature that again can observe from the different visions scene, can determine that 3 D measuring instrument is in the position of world coordinate system and direction.These features can be the natural points in scene, but in most cases their feature is insufficient.Another kind method be by 3 D measuring instrument integrated one can the instrument of projected light pattern, realize self-align like this when measuring object.Herbrt (consulting P.Hebert; " ASelf-ReferencedHand-HeldRangeImagingandModeling, 28,2001, QuebecCity, Canada, pp.5-12) propose to utilize external projector on object being measured, to project laser spot to locate hand-held 3 D measuring instrument.But although system can realize hand-held, owing to can not set up position feature point model dynamically, this system has limitation, all three all visible single visual angle of position feature point must be there are.
Summary of the invention
For above defect or the Improvement requirement of prior art, the invention provides a kind of hand-held many laser stripes quick three-dimensional measuring method, can overcome in prior art and equipment, projecting laser light very little, measuring speed is slower, difficult point and the shortcoming such as corresponding point difficult coupling when projecting laser striped is more, thus the quick shape accurately drawing object.
For achieving the above object, according to the present invention, provide a kind of hand-held many laser stripes quick three-dimensional measuring method, it is characterized in that: comprise the following steps:
1) sticking sign point: according to the size measuring visual field, at the monumented point of several circles of object under test surface mount, and each monumented point is away from the end face of object under test being equipped with the fluorescent powder border circular areas concentric with monumented point, in addition, the distance of center circle of any two monumented points is unequal;
2) hand-held 3 D measuring instrument is used to measure the three-dimensional data of body surface: described hand-held 3 D measuring instrument has multiple laser instrument, two CCD camera of having demarcated and multiple LED light source for irradiating object under test; All laser instruments project some laser stripes to measured object surface simultaneously, and these laser stripes comprise at least two Article 1 streaklines be parallel to each other and at least two Article 2 streaklines be parallel to each other, and described Article 1 streakline is mutually vertical with Article 2 streakline;
3) image is gathered: the laser stripe of two CCD camera sync pulse jamming body surfaces and monumented point, the laser stripe information of image equal inclusion surface reflection of each collected by camera and the monumented point information of monumented point reflection; The three-dimensional coordinate data of the point of described laser stripe information on the laser stripe longitudinal centre line obtaining object under test surface, described monumented point information is for determining current hand-held 3 D measuring instrument coordinate system and the relative position relation of world coordinate system set up; Wherein, hand-held 3 D measuring instrument coordinate is the camera coordinates system of one of them camera, and world coordinates is hand-held 3 D measuring instrument coordinate system when initially taking;
4) image procossing: extract two-dimensional coordinate information and the monumented point center of circle two-dimensional coordinate information on image of point on image in the image of each camera on every bar laser stripe longitudinal centre line respectively; Wherein, the line that is linked to be for the central point that laser stripe longitudinally distributes of described laser stripe longitudinal centre line;
5) by step 4) the middle two-dimensional coordinate information indicating the null circle heart, obtain the three-dimensional coordinate of the center of circle under current handheld measuring instrument coordinate system of the monumented point on object under test;
6) by step 4) in the two-dimensional coordinate information of every bar laser stripe, obtain the three-dimensional coordinate of object under test surface measurement point under current handheld measuring instrument coordinate system;
7) the data split under the location of hand-held 3 D measuring instrument and world coordinate system, namely monumented point information is utilized to obtain the rotation translation matrix from hand-held measuring appliance coordinate system transformation to world coordinate system, to obtain object under test surface measurement point to be tied to world coordinate system transformational relation from hand-held measuring appliance coordinate, and under the three-dimensional coordinate of the monumented point three-dimensional coordinate data under all hand-held 3 D measuring instrument coordinate systems meeting monumented point matching condition and object under test surface measurement point is all saved in world coordinate system, then after completing object all surfaces three-dimensional measurement, the three-dimensional data of the measurement point on object under test surface under acquisition world coordinate system.
Preferably, step 2) described in the solid colour of laser stripe that sends of the light color that sends of LED light source and laser instrument.
Preferably, step 2) described in CCD camera is provided with filter, to filter the different light of laser stripe color that the light, the laser instrument that send from LED light source send.
Preferably, step 4) in adopt sub-pixel extraction to obtain the central point that laser stripe longitudinally distributes, be then linked to be described longitudinal centre line by these central points.
Preferably, step 5) in, by step 4) in the two-dimensional coordinate information in the center of circle of monumented point in the image of two cameras that obtains, adopt corresponding point matching and three-dimensional reconstruction, obtain the three-dimensional coordinate of the center of circle under current handheld measuring instrument coordinate system of each monumented point on object under test respectively;
Preferably, step 6) in, adopt Slope Constraint and epipolar-line constraint, by the point on the laser stripe longitudinal centre line in one of them camera image and the some one_to_one corresponding on the longitudinal centre line of the corresponding laser stripe in another camera image, then form multiple matching double points; By these above-mentioned matching double points, utilize the three-dimensional coordinate of object under test surface measurement point under current handheld measuring instrument coordinate system that three-dimensional reconstruction obtains corresponding to each matching double points respectively; Wherein, Slope Constraint refers to Article 1 streakline slope unanimously positive and negative of imaging in two cameras respectively, and Article 2 streakline slope unanimously positive and negative of imaging in two cameras respectively.
Preferably, step 7) comprise following sub-step:
7.1) three-dimensional coordinate hand-held 3 D measuring instrument initially being taken first part of monumented point three-dimensional coordinate data and the object under test surface measurement point obtained is saved to the monumented point three-dimensional coordinate point set under world coordinate system and the object under test surface measurement point three-dimensional coordinate point set under world coordinate system respectively;
7.2) the monumented point three-dimensional coordinate point set obtained under current handheld 3 D measuring instrument coordinate system is mated with the monumented point three-dimensional coordinate point set under world coordinate system, if the match is successful the monumented point of more than 3, then can obtain the transformational relation between current handheld measuring instrument coordinate system and world coordinate system, then the monumented point three-dimensional coordinate under current handheld 3 D measuring instrument coordinate system to be all transformed in world coordinate system and monumented point three-dimensional coordinate point set under being saved in world coordinate system, and the three-dimensional coordinate of object under test surface measurement point under current handheld measuring instrument coordinate system to be all transformed under world coordinate system and object under test surface measurement point three-dimensional coordinate point set under being saved in world coordinate system,
7.3) step 7.2 is repeated), until hand-held 3 D measuring instrument completes the scanning on object under test surface, then complete body surface three-dimensional and measure, and the three-dimensional data of object under test surface measurement point under finally obtaining world coordinate system.
Preferably, step 7.2) in, if do not have the Point matching success of more than 3, then hand-held measuring appliance cannot be located, and the laser stripe information now under current handheld measuring instrument coordinate system and monumented point information cannot be transformed into world coordinate system, will by full scale clearance.
According to another aspect of the present invention, additionally provide a kind of 3-D measuring apparatus, it is characterized in that: comprise hand-held 3 D measuring instrument, image processor, three-dimensional table millet cake counter and three-dimensional position Feature Calculator and three-dimensional position converter, wherein,
Described hand-held 3 D measuring instrument comprises support, multiple cross laser device or parallel laser device, multiple LED and two CCD camera of having demarcated, described laser instrument and CCD camera are all fixing on the bracket, each CCD camera side is provided with multiple LED and these LED are arranged around CCD camera, for irradiation object under test;
Described image processor obtains the two-dimensional coordinate information of point on laser stripe longitudinal centre line that described laser instrument sends and the two-dimensional coordinate information in the monumented point center of circle;
Described three-dimensional table millet cake counter is for being converted to the three-dimensional coordinate information under hand-held measuring appliance coordinate system by the two-dimensional coordinate information of the point on laser stripe longitudinal centre line, wherein, described hand-held 3 D measuring instrument coordinate is the camera coordinates system of one of them camera;
Described three-dimensional position Feature Calculator is used for the three-dimensional coordinate information two-dimensional coordinate information in the described monumented point center of circle is converted under hand-held measuring appliance coordinate system;
Described three-dimensional position converter is for calculating the transformational relation of current handheld measuring instrument coordinate system and world coordinate system, and the monumented point three-dimensional coordinate under current handheld 3 D measuring instrument coordinate system to be all transformed in world coordinate system and monumented point three-dimensional coordinate point set under being saved in world coordinate system, and the three-dimensional coordinate of object under test surface measurement point under current handheld measuring instrument coordinate system to be all transformed under world coordinate system and object under test surface measurement point three-dimensional coordinate point set under being saved in world coordinate system.
In general, the above technical scheme conceived by the present invention compared with prior art, can obtain following beneficial effect:
1) the present invention is by using laser measuring technique, and optimizing structure design and computational algorithm, make this 3 D measuring instrument have the feature of portable and hand-holdable operation, and simple to operate, easy to use;
2) the present invention is by using many laser stripes, optimize laser stripe center extraction algorithm and corresponding point matching algorithm, the extraction rate at laser stripe center and the precision of laser stripe center extraction can be improved, and decrease the matching error of corresponding point, not only increase the measurement efficiency of body surface three-dimensional data, and add the measuring accuracy of body surface three-dimensional data;
3) the present invention is by using optical filter, LED light source and fluorized marking point, and optimize monumented point center of circle extraction algorithm, the discrimination of monumented point can be increased, improve the extraction accuracy in the monumented point center of circle and the positioning precision of measuring instrument, and then reduce the error of data split.
Accompanying drawing explanation
Fig. 1 is hand-held many laser stripes three-dimensional measurement process flow diagram;
Fig. 2 is the structural drawing of hand-held many laser stripes 3 D measuring instrument;
Fig. 3 is the structural drawing of hand-held many laser stripes 3 D measuring instrument in measuring process.
Reference numeral: 1, CCD camera; 2, LED light source; 3, cross laser device; 4, optical filtering; 5, laser stripe; 6, testee; 7, monumented point.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.In addition, if below in described each embodiment of the present invention involved technical characteristic do not form conflict each other and just can mutually combine.
The invention provides a kind of 3-D measuring apparatus, comprise hand-held 3 D measuring instrument, image processor, three-dimensional table millet cake counter and three-dimensional position Feature Calculator and three-dimensional position converter, wherein,
Described hand-held 3 D measuring instrument has support, multiple cross laser device or parallel laser device, multiple LED and two CCD camera of having demarcated, described laser instrument and CCD camera are all fixing on the bracket, each CCD camera side is provided with multiple LED and these LED are arranged around CCD camera, for irradiation object under test;
Described image processor obtains the two-dimensional coordinate information of point on laser stripe longitudinal centre line that described laser instrument sends and the two-dimensional coordinate information in the monumented point center of circle;
Described three-dimensional table millet cake counter is for being converted to the three-dimensional coordinate information under hand-held measuring appliance coordinate system by the two-dimensional coordinate information of the point on laser stripe longitudinal centre line, wherein, described hand-held 3 D measuring instrument coordinate is the camera coordinates system of one of them camera;
Described three-dimensional position Feature Calculator is used for the three-dimensional coordinate information two-dimensional coordinate information in the described monumented point center of circle is converted under hand-held measuring appliance coordinate system;
Described three-dimensional position converter is for calculating the transformational relation of current handheld measuring instrument coordinate system and world coordinate system, and the monumented point three-dimensional coordinate under current handheld 3 D measuring instrument coordinate system to be all transformed in world coordinate system and monumented point three-dimensional coordinate point set under being saved in world coordinate system, and the three-dimensional coordinate of object under test surface measurement point under current handheld measuring instrument coordinate system to be all transformed under world coordinate system and object under test surface measurement point three-dimensional coordinate point set under being saved in world coordinate system.
With reference to Fig. 1, described hand-held 3 D measuring instrument uses multiple cross laser device or parallel laser device to project two groups of orthogonal parallel laser stripeds to object under test surface, and simultaneously two in different angles and the projection of the collected by camera of known spatial transformational relation has the image of the body surface of laser stripe.
Present invention also offers a kind of method with measured object surface point three-dimensional coordinate under hand-held 3 D measuring instrument acquisition world coordinate system, specifically comprise following steps:
Acquisition is incident upon the method for the two-dimensional coordinate that object under test surface laser striped is put and obtains the method being pasted onto the two-dimensional coordinate in the circular index point center of circle of object under test body surface;
The method of the three-dimensional coordinate under the two-dimensional coordinate conversion 3 D measuring instrument coordinate system that described each object under test surface laser striped is put;
The method of circular index point center of circle three-dimensional coordinate under the two-dimensional coordinate in circular index point center of circle conversion 3 D measuring instrument coordinate system;
The circular index point center of circle three-dimensional coordinate point set obtained when pre-test and the circular index point center of circle three-dimensional coordinate point set collected are matched and calculate the method for current 3 D measuring instrument coordinate system and world coordinate system transformational relation;
Calculate, upgrade and collect the method for the existing circular index point center of circle three-dimensional coordinate point set be observed; Described three-dimensional surface point set is transformed into and the method in world coordinate system.
The method that the present invention obtains body surface two dimensional character point is as follows: use multiple laser instrument to project two groups of orthogonal parallel laser light to body surface simultaneously, two camera shootings from different perspectives are simultaneously incident upon the laser beam of body surface, use image processing algorithm to extract the center point set of described laser stripe; The sub-pix point of described algorithm energy rapid extraction laser stripe center on image, the two-dimensional coordinate of described some set representations body surface point respectively in two camera plane.
The method that the present invention obtains body surface point three-dimensional coordinate under hand-held 3 D measuring instrument coordinate system is as follows: obtain the method for the corresponding point of the body surface point extracted and calculate the method for body surface point three-dimensional coordinate under hand-held 3 D measuring instrument coordinate system.
The localization method that the present invention carries out handheld three-dimensional measuring equipment is as follows: before measuring object, at the circular fluorescent monumented point of object exterior pasting some, in measuring process, two cameras photograph these circular fluorescent monumented points simultaneously, the two-dimensional coordinate of these circular fluorescent monumented points is obtained by the method for image procossing, the three-dimensional coordinate of this circular fluorescent monumented point can be calculated by solving triangle, by analyze some circular fluorescent monumented point between geometric properties, position and the direction of 3 D measuring instrument can be solved.
The method that the data obtained in different angles are transformed in the world coordinate system constant relative to testee by the present invention is as follows: by locating position and the direction of 3 D measuring instrument, can obtain the relation between the 3 D measuring instrument coordinate system world coordinate system constant with relative testee, carrying out coordinate conversion to the data obtained when pre-test can be transformed into described data in world coordinate system.
Specifically, use hand-held 3 D measuring instrument to carry out the process of object under test surface three dimension measurement as shown in the figure,
1) sticking sign point: according to the size measuring visual field, at the monumented point of the some circles of object under test surface mount, and each monumented point is equipped with the fluorescent powder border circular areas concentric with monumented point in the one side away from object under test, in addition, the distance of center circle of any two monumented points is unequal;
The effect of monumented point is the hand-held 3 D measuring instrument in location, and monumented point is pasted onto testee surface, and its position and testee position are remained unchanged.Because the method for match flag point is realized by its geometry distribution characteristics at body surface, therefore, gauge point is pasted onto body surface can not occur that regular geometry distributes.The monumented point needing due to the location realizing hand-held 3 D measuring instrument the some identified again mates with the monumented point feature of collecting, monumented point distribution density should determine according to the size measuring visual field, to guarantee to collect the monumented point of sufficient amount;
2) start to measure: by controlling hand-held 3 D measuring instrument switch, the three-dimensional data measuring body surface can be started.During measurement, all laser instruments project some laser stripes to measured object surface simultaneously, and these laser stripes comprise at least two Article 1 streaklines be parallel to each other and at least two Article 2 streaklines be parallel to each other, and described Article 1 streakline is mutually vertical with Article 2 streakline;
3) image is gathered: the laser stripe of two CCD camera sync pulse jamming body surfaces and monumented point, the laser stripe information of image equal inclusion surface reflection of each collected by camera and the monumented point information of monumented point reflection; The laser stripe information of shooting is for obtaining the three-dimensional coordinate data of the point at the laser stripe place on object under test surface, and the described monumented point information of shooting is for determining the relative position relation of current hand-held 3 D measuring instrument coordinate system and the world coordinate system set up; Wherein, hand-held 3 D measuring instrument coordinate is the camera coordinates system of one of them camera, and world coordinates is hand-held 3 D measuring instrument coordinate system when initially taking;
Gather image to realize by using two rigidly connected camera synchronization shootings, between two cameras, locus transformation relation is known, and the distance between two cameras is called baseline distance.Each camera has oneself projection centre and coordinate system, and described coordinate system is called camera coordinates system.Gather the process of image to carry out all continuously on room and time, include in information such as the laser stripe of body surface reflection and monumented points in collected image;
4) image procossing: extract in the image of each camera two-dimensional coordinate information and the monumented point center of circle two-dimensional coordinate information on image every bar laser stripe longitudinal centre line put on image respectively; Wherein, the line that is linked to be for the central point that laser stripe longitudinally distributes of described laser stripe longitudinal centre line;
Because the laser being incident upon body surface is the orthogonal laser stripe of many groups, the feature showed on image after reflections off objects is many rules streakline.We can complete the extraction of laser stripe point by the feature extracted on described curve.In order to meet measuring fast accurately of Handheld laser 3 D measuring instrument, the method for image procossing must the accurate profile of curve described in rapid extraction.The present invention uses the method for a kind of rapid extraction laser stripe center sub-pix point to obtain the two-dimensional coordinate of laser stripe central point, the two-dimensional coordinate of these central points can obtain this three-dimensional coordinate under hand-held 3 D measuring instrument coordinate system through further process, and the method for described laser stripe center sub-pix point is a kind of sub-pixel precision laser stripe center line Fast Extraction based on Hessian matrix.
Another object of image procossing is the two-dimensional coordinate in the center of circle obtaining monumented point, monumented point is designed to circle, such design makes monumented point be elliptical shape when different angles are watched, and the center circle of simultaneously monumented point scribbles fluorescent material, monumented point can be made to be easy to identify.By carrying out edge extracting and ellipse fitting can obtain accurate oval central coordinate of circle to the figure gathered, described central coordinate of circle is also the central coordinate of circle of monumented point.
5) three-dimensional coordinate of monumented point calculates
By step 4) in the two-dimensional coordinate information in the center of circle of 2 cameras acceptance of the bid will points that obtains, adopt corresponding point matching and three-dimensional reconstruction, obtain the three-dimensional coordinate of the center of circle under current handheld measuring instrument coordinate system of each monumented point on object under test respectively;
The camera used is calibrated, namely knows inner parameter and the external parameter of two cameras.Three-dimensional coordinate calculates a bit corresponding with it on the right camera image point needing to know on left camera image, by the corresponding point pair using epipolar-line constraint can obtain coupling.Utilize the external parameter of calibration for cameras to calculate fundamental matrix, then can obtain the polar curve equation of current point, the monumented point be on another image on polar curve is exactly corresponding point.Utilize principle of triangulation can calculate the three-dimensional coordinate of monumented point under current handheld measuring instrument coordinate system; With under the world of bodies coordinate system recorded, the geometry distribution characteristics utilizing described monumented point indicates that point set mates, can realize the location of measuring instrument.
6) three-dimensional coordinate of body surface measurement point calculates
By step 4) in the two-dimensional coordinate information of laser stripe in the image of each camera that obtains, adopt Slope Constraint and epipolar-line constraint, by the point on the laser stripe longitudinal centre line in one of them camera image and the some one_to_one corresponding on the longitudinal centre line of the corresponding laser stripe in another camera image, then form multiple matching double points; By these above-mentioned matching double points, utilize the three-dimensional coordinate of object under test surface measurement point under current handheld measuring instrument coordinate system that three-dimensional reconstruction obtains corresponding to each matching double points respectively; Wherein, Slope Constraint refers to Article 1 streakline slope unanimously positive and negative of imaging in two cameras respectively; And Article 2 streakline slope unanimously positive and negative of imaging in two cameras respectively.Unanimously refer to if positive and negative the value of both canonical be on the occasion of, if negative then both value is negative value.
Measuring owing to present invention uses multi-stripe laser striped simultaneously, there will be the matching result of one-to-many when using polar curve matching process.Therefore necessary method must be adopted to realize the man-to-man exact matching of corresponding point, the laser stripe being incident upon body surface is two groups of mutually perpendicular directional lights, the method that we adopt the Slope Constraint of laser stripe and epipolar-line constraint to mate mutually, matching double points accurately can be obtained, described Slope Constraint to refer in space a laser stripe in two cameras after imaging, in two camera images, the sign of laser stripe slope is consistent, the matching double points obtained utilizes principle of triangulation can calculate the three-dimensional coordinate of described point under hand-held 3 D measuring instrument coordinate system.Described body surface point will by hand-held 3 D measuring instrument ordinate transform to world coordinate system.
7) location of measuring instrument and the split of data
The location of hand-held 3 D measuring instrument and data split, namely the rotation translation matrix from current hand-held measuring appliance coordinate system transformation to world coordinate system is obtained, to obtain object under test surface measurement point to be tied to world coordinate system transformational relation from hand-held measuring appliance coordinate, and by under under all hand-held 3 D measuring instrument coordinate systems, the three-dimensional coordinate of monumented point three-dimensional coordinate data and object under test surface measurement point is all saved in world coordinate system, it comprises following sub-step:
7.1) three-dimensional coordinate hand-held 3 D measuring instrument initially being taken first part of monumented point three-dimensional coordinate data and the object under test surface measurement point obtained is saved to the monumented point three-dimensional coordinate point set under world coordinate system and the object under test surface measurement point three-dimensional coordinate point set under world coordinate system respectively;
7.2) the monumented point three-dimensional coordinate point set obtained under current handheld 3 D measuring instrument coordinate system is mated with the monumented point three-dimensional coordinate point set under world coordinate system, if the match is successful the monumented point of more than 3, then can obtain the transformational relation between current handheld measuring instrument coordinate system and world coordinate system, then the monumented point three-dimensional coordinate under current handheld 3 D measuring instrument coordinate system to be all transformed in world coordinate system and monumented point three-dimensional coordinate point set under being saved in world coordinate system, and the three-dimensional coordinate of object under test surface measurement point under current handheld measuring instrument coordinate system to be all transformed under world coordinate system and object under test surface measurement point three-dimensional coordinate point set under being saved in world coordinate system,
7.3) step 7.2 is repeated), until hand-held 3 D measuring instrument completes the scanning on object under test surface, then complete body surface three-dimensional and measure and the three-dimensional data of object under test surface measurement point under obtaining world coordinate system.
Specifically, the object of locating hand-held 3 D measuring instrument calculates the rotation translation matrix from current handheld 3 D measuring instrument coordinate system transformation to world coordinate system, to realize current object surface measurement point to be tied to world coordinate system conversion from hand-held coordinate.Measuring the starting stage started, the three-dimensional point set of monumented point under world coordinate system is empty, when hand-held 3 D measuring instrument measurement obtain the first number according to time system-computed go out the three-dimensional coordinate of monumented point, and three-dimensional coordinate point set under these monumented point coordinates being saved to monumented point world coordinate system, and the primary importance of hand-held 3 D measuring instrument defines the world coordinate system of testee, all monumented point three-dimensional coordinates will be switched in this coordinate system.
After setting up the three-dimensional coordinate point set of monumented point under initial world coordinate system, monumented point subsequently can mate with three-dimensional coordinate point set under monumented point world coordinate system according to its geometry distribution characteristics, if the match is successful 3 and above monumented point, then can calculate the transformational relation between current handheld 3 D measuring instrument coordinate system and world coordinate system, this conversion can be thought accurately, then according to transformational relation, current flag point coordinate is all transformed in world coordinate system, and three-dimensional coordinate point is concentrated under the three-dimensional coordinate after conversion is saved in monumented point world coordinate system,
If do not have 3 and above Point matching success, the location of measuring instrument just cannot complete, the data obtained now due to world coordinate system cannot be transformed into by full scale clearance.
After achieving the location of measuring instrument, the transformational relation between current measuring instrument coordinate system and world coordinate system is determined, according to described transformational relation, current measurement point can be transformed into world coordinate system.Under point under the world coordinate system obtain all measurements is saved in world coordinate system, body surface point is concentrated, when measuring instrument completes the scanning around testee surface, now complete body surface three-dimensional is measured and is just completed, and then user can realize user's request by measuring rear Data Post.
Fig. 2 is the front view of hand-held 3 D measuring instrument, and described measuring instrument comprises 2 CCD camera, and the distance that two cameras are separated by is parallax range, is arranged side by side three cross laser devices, can ensures that phase function collects the laser stripe of projection like this between two cameras.In order to reduce the impact of surround lighting on measurement result, be provided with the optical filtering consistent with laser frequency before camera, described optical filtering can filter with the different light of laser instrument light frequency, decreases the interference of surround lighting.Owing to having installed optical filtering, general monumented point cannot blur-free imaging in the picture.We adopt the monumented point with fluorescent effect, and around camera, multiple LED light source is installed, the frequency of this light source is consistent with laser frequency, the light produced by LED light source is radiated at body surface, can blur-free imaging in camera image after the reflection of circular fluorescent monumented point, the home position of monumented point will be calculated accurately, thus realizes the accurate location of measuring instrument.
As shown in Figure 3, the measuring distance of this scanner is designed to 30-45cm, and therefore the parallax range of two cameras is about 20cm, and described measuring instrument can reach submillimeter precision.When measuring body surface, 3 laser instruments are simultaneously to body surface projecting laser striped, and for Handheld laser three-dimensional measurement, the laser beam being incident upon body surface is more, and the data of single measurement are more, and measuring speed is faster.Therefore the advantage of equipment of the present invention and measuring method is that achieving hand-held many laser stripes quick three-dimensional measures.
Those skilled in the art will readily understand; the foregoing is only preferred embodiment of the present invention; not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (9)
1. hand-held many laser stripes quick three-dimensional measuring method, is characterized in that: comprise the following steps:
1) sticking sign point: according to the size measuring visual field, at the monumented point of several circles of object under test surface mount, and each monumented point is away from the end face of object under test being equipped with the fluorescent powder border circular areas concentric with monumented point, in addition, the distance of center circle of any two monumented points is unequal;
2) hand-held 3 D measuring instrument is used to measure the three-dimensional data of body surface: described hand-held 3 D measuring instrument has multiple laser instrument, two CCD camera of having demarcated and multiple LED light source for irradiating object under test; All laser instruments project some laser stripes to measured object surface simultaneously, and these laser stripes comprise at least two Article 1 streaklines be parallel to each other and at least two Article 2 streaklines be parallel to each other, and described Article 1 streakline is mutually vertical with Article 2 streakline;
3) image is gathered: the laser stripe of two CCD camera sync pulse jamming body surfaces and monumented point, the laser stripe information of image equal inclusion surface reflection of each collected by camera and the monumented point information of monumented point reflection; The three-dimensional coordinate data of the point of described laser stripe information on the laser stripe longitudinal centre line obtaining object under test surface, described monumented point information is for determining current hand-held 3 D measuring instrument coordinate system and the relative position relation of world coordinate system set up; Wherein, hand-held 3 D measuring instrument coordinate is the camera coordinates system of one of them camera, and world coordinates is hand-held 3 D measuring instrument coordinate system when initially taking;
4) image procossing: extract two-dimensional coordinate information and the monumented point center of circle two-dimensional coordinate information on image of point on image in the image of each camera on every bar laser stripe longitudinal centre line respectively; Wherein, the line that is linked to be for the central point that laser stripe longitudinally distributes of described laser stripe longitudinal centre line;
5) by step 4) the middle two-dimensional coordinate information indicating the null circle heart, obtain the three-dimensional coordinate of the center of circle under current handheld measuring instrument coordinate system of the monumented point on object under test;
6) by step 4) in the two-dimensional coordinate information of every bar laser stripe, obtain the three-dimensional coordinate of object under test surface measurement point under current handheld measuring instrument coordinate system;
7) the data split under the location of hand-held 3 D measuring instrument and world coordinate system, namely monumented point information is utilized to obtain the rotation translation matrix from hand-held measuring appliance coordinate system transformation to world coordinate system, to obtain object under test surface measurement point to be tied to world coordinate system transformational relation from hand-held measuring appliance coordinate, and under the three-dimensional coordinate of the monumented point three-dimensional coordinate data under all hand-held 3 D measuring instrument coordinate systems meeting monumented point matching condition and object under test surface measurement point is all saved in world coordinate system; Then after completing object all surfaces three-dimensional measurement, the three-dimensional data of the measurement point on object under test surface under acquisition world coordinate system.
2. a kind of hand-held many laser stripes quick three-dimensional measuring method according to claim 1, is characterized in that: step 2) described in the solid colour of laser stripe that sends of the light color that sends of LED light source and laser instrument.
3. a kind of hand-held many laser stripes quick three-dimensional measuring method according to claim 1, it is characterized in that: step 2) described in CCD camera is provided with filter, to filter the different light of laser stripe color that the light, the laser instrument that send from LED light source send.
4. a kind of hand-held many laser stripes quick three-dimensional measuring method according to claim 1, it is characterized in that: step 4) in adopt sub-pixel extraction to obtain the central point that laser stripe longitudinally distributes, be then linked to be described longitudinal centre line by these central points.
5. a kind of hand-held many laser stripes quick three-dimensional measuring method according to claim 1, it is characterized in that: step 5) in, by step 4) in the two-dimensional coordinate information in the center of circle of monumented point in the image of two cameras that obtains, adopt corresponding point matching and three-dimensional reconstruction, obtain the three-dimensional coordinate of the center of circle under current handheld measuring instrument coordinate system of each monumented point on object under test respectively.
6. a kind of hand-held many laser stripes quick three-dimensional measuring method according to claim 1, it is characterized in that: step 6) in, adopt Slope Constraint and epipolar-line constraint, by the point on the laser stripe longitudinal centre line in one of them camera image and the some one_to_one corresponding on the longitudinal centre line of the corresponding laser stripe in another camera image, then form multiple matching double points; By these above-mentioned matching double points, utilize the three-dimensional coordinate of object under test surface measurement point under current handheld measuring instrument coordinate system that three-dimensional reconstruction obtains corresponding to each matching double points respectively; Wherein, Slope Constraint refers to Article 1 streakline slope unanimously positive and negative of imaging in two cameras respectively, and Article 2 streakline slope unanimously positive and negative of imaging in two cameras respectively.
7. a kind of hand-held many laser stripes quick three-dimensional measuring method according to claim 1, is characterized in that: step 7) comprise following sub-step:
7.1) three-dimensional coordinate hand-held 3 D measuring instrument initially being taken first part of monumented point three-dimensional coordinate data and the object under test surface measurement point obtained is saved to the monumented point three-dimensional coordinate point set under world coordinate system and the object under test surface measurement point three-dimensional coordinate point set under world coordinate system respectively;
7.2) the monumented point three-dimensional coordinate point set obtained under current handheld 3 D measuring instrument coordinate system is mated with the monumented point three-dimensional coordinate point set under world coordinate system, if the match is successful the monumented point of more than 3, then can obtain the transformational relation between current handheld measuring instrument coordinate system and world coordinate system, then the monumented point three-dimensional coordinate under current handheld 3 D measuring instrument coordinate system to be all transformed in world coordinate system and monumented point three-dimensional coordinate point set under being saved in world coordinate system, and the three-dimensional coordinate of object under test surface measurement point under current handheld measuring instrument coordinate system to be all transformed under world coordinate system and object under test surface measurement point three-dimensional coordinate point set under being saved in world coordinate system,
7.3) step 7.2 is repeated), until hand-held 3 D measuring instrument completes the scanning on object under test surface, then complete body surface three-dimensional and measure, and the three-dimensional data of object under test surface measurement point under finally obtaining world coordinate system.
8. a kind of hand-held many laser stripes quick three-dimensional measuring method according to claim 7, it is characterized in that: step 7.2) in, if there is no the Point matching success of more than 3, then hand-held measuring appliance cannot be located, laser stripe information now under current handheld measuring instrument coordinate system and monumented point information cannot be transformed into world coordinate system, will by full scale clearance.
9. a 3-D measuring apparatus, is characterized in that: comprise hand-held 3 D measuring instrument, image processor, three-dimensional table millet cake counter and three-dimensional position Feature Calculator and three-dimensional position converter, wherein,
Described hand-held 3 D measuring instrument comprises support, multiple cross laser device or parallel laser device, multiple LED and two CCD camera of having demarcated, described laser instrument and CCD camera are all fixing on the bracket, each CCD camera side is provided with multiple LED and these LED are arranged around CCD camera, for irradiation object under test;
Described image processor obtains the two-dimensional coordinate information of point on laser stripe longitudinal centre line that described laser instrument sends and the two-dimensional coordinate information in the monumented point center of circle;
Described three-dimensional table millet cake counter is for being converted to the three-dimensional coordinate information under hand-held measuring appliance coordinate system by the two-dimensional coordinate information of the point on laser stripe longitudinal centre line, wherein, described hand-held 3 D measuring instrument coordinate is the camera coordinates system of one of them camera;
Described three-dimensional position Feature Calculator is used for the three-dimensional coordinate information two-dimensional coordinate information in the described monumented point center of circle is converted under hand-held measuring appliance coordinate system;
Described three-dimensional position converter is for calculating the transformational relation of current handheld measuring instrument coordinate system and world coordinate system, and the monumented point three-dimensional coordinate under current handheld 3 D measuring instrument coordinate system to be all transformed in world coordinate system and monumented point three-dimensional coordinate point set under being saved in world coordinate system, and the three-dimensional coordinate of object under test surface measurement point under current handheld measuring instrument coordinate system to be all transformed under world coordinate system and object under test surface measurement point three-dimensional coordinate point set under being saved in world coordinate system.
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