CN105423949A - Four-dimensional imaging method and device based on structured light - Google Patents
Four-dimensional imaging method and device based on structured light Download PDFInfo
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- CN105423949A CN105423949A CN201510937944.6A CN201510937944A CN105423949A CN 105423949 A CN105423949 A CN 105423949A CN 201510937944 A CN201510937944 A CN 201510937944A CN 105423949 A CN105423949 A CN 105423949A
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- laser
- video camera
- camera
- structured light
- laser rays
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
Abstract
The invention discloses a four-dimensional imaging method based on structured light, which is applied to a structured light laser having different wave bands and forming a certain included angle with a camera. The surface of an object is irradiated by the laser, and laser rays are reflected by the object to a projection plane of the camera. The positions of the laser rays are searched by the camera, and coordinates and gray-scale information of each point of a center line of the laser rays in an image coordinate system are calculated; coordinates of the camera are obtained according to image coordinates of each point, and then four-dimensional information of the object can be obtained in combination with the gray-scale information of each point. The method has the advantages of being applied to objects with different reflection surfaces and realizing four-dimensional imaging of objects.
Description
Technical field
The invention belongs to rolling stock outward appearance field of fault detection, be specifically related to a kind of structure based light 4 and tie up formation method and device, be applicable to the appearance information collection of vehicle or other field object in the fields such as railway.
Background technology
Along with the fast development of China railways cause, the application that employing automatic checkout system carries out train overhaul is more and more extensive, camera sensor is more and more applied, but camera sensor can only obtain the two-dimensional signal of shot object, the three-dimensional information of object cannot be obtained, and although the 3D harvester on market can collect the three-dimensional information of object, the half-tone information of object cannot be collected simultaneously.The present invention can compatible the two advantage, while the three-dimensional information gathering object, collects the half-tone information of object, makes the information that collects abundanter.
Summary of the invention
The object of the invention is to, propose a kind of 4 dimension data acquisition systems being applicable to the laser instrument of different-waveband, for the measurement of imaging object, collect half-tone information and the three-dimensional information of imaging object outward appearance, realize 4 dimension imagings of imaging object.
A kind of structure based light 4 of the present invention ties up formation method, is realized by following step:
Step 1: by linear laser to imaging object surface projection structured light.
Step 2: regulate the angle between the camera lens of video camera and the projection optical axis of linear laser, make video camera can obtain the structured light laser rays crossing with imaging object.
Step 3: set up formula
Determine the three-dimensional coordinate of any point P under camera coordinate system in line-structured light plane:; In formula: ρ is scale-up factor, A is video camera internal reference matrix, P
c=(x
c, y
c, z
c, 1)
t, for a p is at camera coordinate system O
c(x
c, y
c, z
c) under homogeneous coordinates;
for a p is at image coordinate system O
u(x
u, y
u) under homogeneous coordinates; A, b, c, d represent four coefficients of the plane equation of structured light plane 5 respectively.
Step 4: the adjustment brightness of linear laser and the time shutter of video camera, enable video camera extract laser rays profile.
Step 5: take laser rays by video camera, obtains the image comprising laser rays.
Step 6: carry out binaryzation to the image that step 5 obtains, extracts laser rays profile.
Step 7: the position of center line of locating laser line profile, and the coordinate that on the center line obtaining laser rays, each point is fastened in image coordinate and half-tone information.
Step 8: bring each point on the center line of laser rays in step 7 into step 3 Chinese style (3) at the coordinate that image coordinate is fastened, the three-dimensional coordinate of each point under camera coordinate system on the center line calculating laser rays (x ', y ', z '); Further half-tone information g and depth information z ' is fused into 4 dimension coordinates (x ', y ', z ', g).
By video camera, imaging object surface laser line is taken continuously, thus obtain the three-dimensional information of diverse location on imaging object, then can be realized the three-D profile imaging of whole imaging object by splicing.
Tie up the imaging device of formation method for above-mentioned structure based light 4, comprise shell, connection bracket, video camera and linear laser.Wherein, connection bracket is for realizing the connection between video camera and linear laser; Make the coplanar A of the projection optical axis of the lens axis of video camera and linear laser.Above-mentioned laser instrument and video camera are encapsulated by shell.
The invention has the advantages that:
1, the present invention is based on structured light 4 and tie up formation method and device, be applicable to the object of different reflecting surfaces, realize 4 dimension imagings of object;
2, the present invention is based on structured light 4 and tie up formation method and device, three-dimensional information and the half-tone information of object can be gathered simultaneously;
3, the present invention is based on structured light 4 and tie up formation method and device, adopt linear laser, the linear laser of different wave bands can be selected according to different demand;
4, the present invention is based on structured light 4 and tie up formation method and device, adopt the mode of L-type and outer protection shell, anti-vibration and rain proofness better.
Accompanying drawing explanation
Fig. 1 is that structure based light 4 ties up formation method process flow diagram;
Fig. 2 is the line-structured light plane reference schematic diagram that camera parameters and linear laser are launched;
Fig. 3 is that structure based light 4 ties up imaging device one-piece construction schematic diagram;
Fig. 4 is the connected mode schematic diagram that structure based light 4 ties up between imaging device neutral line laser instrument and video camera.
In figure:
1-linear laser 2-video camera 3-imaging object 4-projection plane
5-structured light plane 6-shell 7-connection bracket 8-laser stent
9-camera mount 10-rotating shaft
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail.
The present invention is based on structured light 4 and tie up formation method and device, as shown in Figure 1 and Figure 2, realize especially by following step:
Step 1: by linear laser 1 to imaging object 3 surface projection structured light.
Step 2: according to the size of imaging object 3, and video camera 2 coverage of demand and shooting precision, regulate the angle between the camera lens of video camera 2 and the projection optical axis of linear laser 1, make video camera 2 can obtain the structured light laser rays crossing with imaging object 3; If imaging object 3 surface is without height change, then laser rays is straight line; Otherwise if imaging object 3 surface exists height change, then laser rays is curve.
Step 3: calibrating camera 2 parameter and structured light plane 5.
If any point P is at the projection plane x of video camera 2 in line-structured light plane 5
uo
uy
uon subpoint be p, some p at image coordinate system O
u(x
u, y
u) under homogeneous coordinates be
point p is at camera coordinate system O
c(x
c, y
c, z
c) under homogeneous coordinates be P
c=(x
c, y
c, z
c, 1)
t, some p is at world coordinate system O
w(x
w, y
w, z
w) under homogeneous coordinates be P
w=(x
w, y
w, z
w,
t1.
Thus, can obtain according to video camera 2 imaging model:
In formula (1), ρ is scale-up factor, and A is video camera 2 internal reference matrix, and R, t are respectively rotation matrix and the translation vector that world coordinates is tied to camera coordinate system, and M is video camera 2 projection matrix.
P point also meets the plane equation of place structured light plane 5 simultaneously, if structured light plane 5 is at camera coordinate system O
c(x
c, y
c, z
c) under meet equation:
ax
c+by
c+cz
c+d＝0(2)
In formula (2), a, b, c, d represent four coefficients of the plane equation of structured light plane 5 respectively.
Simultaneous formula (1), formula (2) can obtain:
At world coordinate system O
w(x
w, y
w, z
w) in, by video camera 2 imaging model determination ray O
cthe equation of p, is determined the plane equation of structured light plane 5, thus, by O by formula (2)
cthe intersection point of p and structured light plane 5 uniquely can determine the three-dimensional coordinate of a P under camera coordinate system.
Step 4: the adjustment brightness of the linear laser 1 and time shutter of video camera 2, avoids laser rays imaging overexposure, make laser rays can in measurement range blur-free imaging.Thus when binary image, what video camera 2 can be stable extracts laser rays profile;
Step 5: take laser rays by video camera 2, obtains the image comprising laser rays;
Step 6: carry out binaryzation to the image that step 5 obtains, extracts laser rays profile;
Step 7: because laser rays has one fixed width, by the position of center line of image procossing locating laser line profile in the present invention, and the coordinate that on the center line obtaining laser rays, each point is fastened in image coordinate and half-tone information (g);
Step 8: bring each point on the center line of laser rays in step 7 into step 3 Chinese style (3) at the coordinate that image coordinate is fastened, the three-dimensional coordinate of each point under camera coordinate system on the center line calculating laser rays (x ', y ', z '); Wherein, z ' is the depth information of imaging object; Further half-tone information g and depth information z ' is fused into 4 dimension coordinates (x ', y ', z ', g).
Thus, taken continuously by video camera 2 pairs of imaging object 3 surface laser lines, thus obtain the three-dimensional information of diverse location on imaging object 3, then can be realized the three-D profile imaging of whole imaging object 3 by splicing.
For said method, the present invention also proposes a kind of structure based light 4 and ties up imaging device, comprises shell 6, connection bracket 7, video camera 2 and linear laser 1; Wherein, connection bracket 7 adopts L-type structure, for realizing the connection between video camera 2 and linear laser 1.Connection bracket 7 one side fixed installation laser stent 8, linear laser 1 is arranged on laser stent 8; Another side of connection bracket 7 to be coupling camera mount 9 by rotating shaft 10, and video camera 2 is arranged on camera mount 9.The lens axis of above-mentioned video camera 2 and the coplanar A of projection optical axis of linear laser 1, and camera mount 9 is rotatable, and then the adjustment of angle between the projection optical axis realizing video camera 2 lens axis and linear laser 1.
Above-mentioned laser stent 8 is fixedly mounted in shell 6, is realized the encapsulation of laser instrument and video camera 2 by shell 6; And at the camera lens of laser instrument towards side, be positioned at laser instrument camera lens corresponding position and have opening, and sealed by clear glass; And have opening in video camera 2 camera lens corresponding position, sealed by clear glass equally.
The present invention is based on structured light 4 and tie up imaging device, the laser instrument of different-waveband (comprising 808nm ± 20nm, the wave bands such as 650nm ± 20nm) can be adopted, and video camera (ccd, cmos chip etc.) and optical filter array mode can be adopted.
Claims (6)
1. structure based light 4 ties up a formation method, it is characterized in that: realized by following step:
Step 1: by linear laser to imaging object surface projection structured light;
Step 2: regulate the angle between the camera lens of video camera and the projection optical axis of linear laser, make video camera can obtain the structured light laser rays crossing with imaging object;
Step 3: set up formula
determine the three-dimensional coordinate of any point P under camera coordinate system in line-structured light plane; In formula: ρ is scale-up factor, A is video camera internal reference matrix, P
c=(x
c, y
c, z
c, 1)
t, for a p is at camera coordinate system O
c(x
c, y
c, z
c) under homogeneous coordinates;
for a p is at image coordinate system O
u(x
u, y
u) under homogeneous coordinates; A, b, c, d represent four coefficients of the plane equation of structured light plane 5 respectively.
Step 4: the adjustment brightness of linear laser and the time shutter of video camera, enable video camera extract laser rays profile;
Step 5: take laser rays by video camera, obtains the image comprising laser rays;
Step 6: carry out binaryzation to the image that step 5 obtains, extracts laser rays profile;
Step 7: the position of center line of locating laser line profile, and the coordinate that on the center line obtaining laser rays, each point is fastened in image coordinate and half-tone information;
Step 8: each point on the center line of laser rays in step 7 is brought in the formula of step at the coordinate that image coordinate is fastened, the three-dimensional coordinate of each point under camera coordinate system on the center line calculating laser rays (x ', y ', z '); And then after half-tone information g and depth information z ' is merged, obtain imaging object 4 dimension coordinates (x ', y ', z ', g).
By video camera, imaging object surface laser line is taken continuously, thus obtain the three-dimensional information of diverse location on imaging object, then can be realized the three-D profile imaging of whole imaging object by splicing.
2. tie up the imaging device of formation method for structure based light 4 a kind of described in claim 1, it is characterized in that: comprise shell, connection bracket, video camera and linear laser; Wherein, connection bracket is for realizing the connection between video camera and linear laser; Make the coplanar A of the projection optical axis of the lens axis of video camera and linear laser; Above-mentioned laser instrument and video camera are encapsulated by shell.
3. a kind of structure based light 4 ties up imaging device as claimed in claim 2, it is characterized in that: between the projection optical axis of camera lens axis and linear laser, angle is adjustable.
4. a kind of structure based light 4 ties up imaging device as claimed in claim 2, it is characterized in that: described laser instrument adopts 808nm ± 20nm or 650nm ± 20nm wave band.
5. a kind of structure based light 4 ties up imaging device as claimed in claim 2, it is characterized in that: described video camera adopts ccd or cmos chip, and with optical filter Combination application.
6. above-mentioned laser stent 8 is fixedly mounted in shell 6, by and at the camera lens of laser instrument towards side, be positioned at laser instrument camera lens corresponding position and have opening, and sealed by clear glass; And have opening in video camera 2 camera lens corresponding position, sealed by clear glass equally.
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| CN105423949B CN105423949B (en) | 2018-06-19 |
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Cited By (3)
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| CN106840026A (en) * | 2017-01-11 | 2017-06-13 | 江苏科技大学 | A kind of three-dimension measuring system and method based on infrared level |
| CN110475078A (en) * | 2019-09-03 | 2019-11-19 | 河北科技大学 | Camera shutter time method of adjustment and terminal device |
| CN113074660A (en) * | 2021-03-26 | 2021-07-06 | 深度光学科技(天津)有限公司 | Surface shape measuring method for large-size transparent object |
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Inventor after: Li Liudu Inventor after: Zhang Zhuo Inventor after: Li Xia Inventor after: Han Tao Inventor after: Cui Chaohui Inventor after: Zhang Heng Inventor after: Gao Jianling Inventor before: Han Tao Inventor before: Li Xia Inventor before: Wang Hongzhi Inventor before: Cui Chaohui Inventor before: Zhang Heng Inventor before: Gao Jianling |
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Address after: 9th floor, No. 61 Zhichun Road, Haidian District, Beijing, 100190 Patentee after: Beijing Aerospace Shenzhou Intelligent Equipment Technology Co.,Ltd. Address before: 100080 No. 61, Haidian District, Beijing, Zhichun Road Patentee before: BEIJING CTROWELL INFRARED TECHNOLOGY Co.,Ltd. |