CN106871815A - A kind of class minute surface three dimension profile measurement method that Kinect is combined with streak reflex method - Google Patents
A kind of class minute surface three dimension profile measurement method that Kinect is combined with streak reflex method Download PDFInfo
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- CN106871815A CN106871815A CN201710048699.2A CN201710048699A CN106871815A CN 106871815 A CN106871815 A CN 106871815A CN 201710048699 A CN201710048699 A CN 201710048699A CN 106871815 A CN106871815 A CN 106871815A
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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
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
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Abstract
The invention discloses a kind of class minute surface three dimension profile measurement method that Kinect is combined with streak reflex method, it is made up of the three dimensional point cloud acquisition based on Kinect, the big key component of streak reflex three-dimensional measurement two.It is an advantage of the invention that：（1）Compared with traditional streak reflex method for three-dimensional measurement：Traditional streak reflex three-dimensional measurement can only measure some simple index plane shapes, and the class minute surface three dimension profile measurement method that Kinect is combined with streak reflex method is not limited then by tested surface shape, can measure the object of arbitrary face shape；（2）Based on the class minute surface three dimension profile measurement method that Kinect is combined with streak reflex method, treatment is acquired by Kinect measuring targets three-dimensional surface shape cloud datas, acquire the preliminary three-D profile information of body surface, using preliminary three-D profile information as wave-front reconstruction in traditional streak reflex three-dimensional measurement iteration datum level, iterations is greatly reduced, 3 d shape is improved and is rebuild speed.
Description
Technical field
The present invention relates to a kind of class minute surface three dimension profile measurement method that Kinect is combined with streak reflex method, more particularly to
Three dimensional point cloud based on Kinect obtains principle and streak reflex method for three-dimensional measurement.
Background technology
With the proposition and implementation of industry 4.0, manufacturing industry is intelligent, automate the trend of the times for having turned into industrial development,
Acquisition to class minute surface object surface appearance high speed, high accuracy three-dimensional data is extremely urgent.Method for three-dimensional measurement is support
Intelligence production, realizes one of human-computer interaction, key technology of 3D technology, is to integrate light, mechanical, electrical and computer technology height
New technology, it provides required three-dimensional data for intellectuality production.
High speed three-dimensional measurement for class minute surface object surface appearance both at home and abroad has above done a series of grinding in theoretical and application
Study carefully, the method for three-dimensional measurement of usual class mirror article can be divided into interferometric method and streak reflex method.
Interferometric method generally needs the complicated and optics of costliness, typically can only the less class mirror of measurement range
Body, and the three-dimensional measurement of dynamic mirror article can not be realized.In engineering, particularly in modern manufacturing industry, there are a large amount of classes
Mirror article needs measurement.For example, bodywork surface, polishing die surface, Building Ceramics Industry after spraying in auto industry
In ceramic tile surface etc. be respectively provided with class minute surface reflectivity properties, class minute surface object three-dimensional profile measuring technology has important application preceding
Scape.
Streak reflex method when class mirror article is measured due to noncontact, measurement of full field, measuring speed is fast and is easy to information
It is the advantages for the treatment of, significant in three-dimensional measurement.Three-dimensional measurement experimental provision as shown in figure 1, including flat-panel monitor,
CCD camera, computer, work station, reference planes and object under test；Flat-panel monitor projects the striped with characteristic information
Reference planes surface, stripe information is gathered by CCD camera, by obtaining fixed phase after work station treatment.Then by determinand
Body is placed on same position, and corresponding deformed grating picture is obtained by work station, calculates fixed phase, removes fixed phase and obtains final product
To the phase place change caused by determinand area distortion.Again by the mark of phase information and CCD photocentres, incident ray, reflection light etc.
Fixed number is according to comprehensive analysis processing, you can obtain final class minute surface 3 d shape to be measured.
Microsoft in 2009 is taken the lead in being proposed Kinect, and the theory of human-computer interaction is proposed first.HuaShuo Co., Ltd is also tight
With thereafter, be proposed Xtion series somatosensory device.Compared to other professional depth cameras, Kinect have low cost, easily
The advantages of configuration, considerable application prospect is shown in three-dimensional reconstruction field.
Most of class mirror articles often have its particularity and complexity, Bian single-measurement methods, however it is often difficult to reach
To the requirement of measurement.As traditional streak reflex method for three-dimensional measurement is not only difficult to carry out three-dimensional to complex class mirror article surface
The topography measurement and measurement to colored class minute surface is even more and is difficult to；Although and being based on the 3 D measuring method of Kinect
Can quick obtaining class mirror article surface cloud data and colouring information, but its certainty of measurement is relatively low.Therefore, incite somebody to action the two
It is effectively combined, using 3 D measuring method quick obtaining face graphic data and face shape colouring information based on Kinect, and
Iteration benchmark of the object under test surface topography cloud data that will be obtained as wave-front reconstruction in streak reflex method for three-dimensional measurement
Face, recovers 3 d shape and object color.
This method effectively expands streak reflex method for three-dimensional measurement range of application, and streak reflex three-dimensional measurement incorporates
So that this patent institute's extracting method has more flexibility and high efficiency in specified data precision, density, process time, this is industry
Eka-ytterbium looks unfamiliar product and the method for reconstructing three-dimensional model such as reverse-engineering proposes new approaches.
The content of the invention
Present invention aim at the three dimension profile measurement method that a kind of Kinect of proposition is combined with streak reflex method, the method
Compared to the method for three-dimensional measurement of traditional sine stripe projection, the face shape limitation of class minute surface to be measured is greatly breached, while
Also the colouring information of object under test can preferably be reduced.
The present invention is achieved like this, the class minute surface three dimension profile measurement side that a kind of Kinect is combined with streak reflex method
Method, is characterized in comprise the steps of：
(1) using Kinect rough measure object under test surface tri-dimensional profiles and colouring information is gathered, what is measured herein is thick
The iteration primary face shape during face shape will be measured as second step is omited, and as later stage fringe order judgment condition；
(2) by streak reflex method to object double measurement, high accuracy three-dimensional face shape is obtained；
(3) Data Fusion, Kinect will obtain during colouring information is attached to step 2 and measure what is obtained in the first step
High-precision three-dimensional face shape, obtains the object under test 3 d shape with colouring information.
Step (1) of the present invention is specific as follows：
(1) demarcation is carried out to the colour TV camera and thermal camera of Kinect and show that the two video cameras accurately rotate
Matrix and translation matrix；
(2) using the RGB video camera and thermal camera function of Kinect sensor, connect in the framework based on Open NI
The RGB image and depth image of class mirror article to be measured are obtained under mouthful, and the depth that will be gathered according to camera calibration result before
, in unified coordinate system, the cloud data to obtaining is filtered denoising, background subtraction to carry for degree information and RGB information unification
Take the depth information and colouring information in object under test region；
(3) more accurate cloud data after output treatment, so as to complete the rough of class minute surface object surface appearance to be measured
Measurement, and preserve as the iteration primary face shape in second step measurement, and as later stage fringe order judgment condition.
Step (2) of the present invention is specific as follows：
(1) sine streak of horizontal, vertical both direction is shown in streak reflex three-dimensional measurement on the flat display first, so
Record the sine streak picture reflected by tested surface and index plane respectively with CCD camera afterwards；
(2) each self-corresponding phase distribution is obtained by phase shift, surface to be measured is obtained compared with index plane phase distribution
Phase place change；
(3) required phase information is solved using the striped of horizontal, vertical both direction, is can obtain with reference to demarcation bright on screen
Position, incident ray direction, the corresponding reflection light direction in the clear zone of camera photocentre position and speculum of point, and by step 1
The middle acquisition rough face shape result of body surface fits determinand body surface as the iteration datum level in wavefront reconstruction fitting algorithm
Face 3 d shape.
Wherein, the three dimension profile measurement method that Kinect is combined with streak reflex method, by the three-dimensional point cloud based on Kinect
Data acquisition, the big key component of streak reflex three-dimensional measurement two composition；
Wherein, the three dimensional point cloud based on Kinect is obtained, first with the publication (US of PrimeSense companies
2010/0118123 A1-Depth Mapping using Projected Patterns) depth camera is demarcated, so
The colouring information of body surface is obtained with color camera afterwards, then by spin matrix obtained by calibrating and translation matrix, by coloured silk
Color information is incorporated into same coordinate system with depth information；And then preserve the three of complete body surface using PCL built-in functions
Dimension information；
Wherein, streak reflex three-dimensional measurement principle, is specifically shown the sine streak of advance coding, CCD camera by LCD screen
The reflection image on object under test surface is then recorded, phase distribution can be calculated by digital image correlation, demarcated in advance
System in, solved by striped and the information such as incident ray needed for obtaining, reflection light and gradient calculated by phase distribution,
The establishment of final face shape is completed finally according to wave-front reconstruction algorithm.According to telecentric beam path model, deflection of light schematic diagram such as Fig. 2 institutes
Show；
A bright spot A is shown on the black screen of LCD display, and this bright spot is irradiated into minute surface to be measured, then this
Individual bright spot by the photocentre C of CCD camera, and can be imaged on one speck of formation in CCD image planes after mirror-reflection to be measured；By anti-
Penetrate law to understand, the incidence angle of the incident ray from screen is equal to the angle of reflection of the reflection light for returning to camera, this two light
The tangent line of the angular bisector of line specular reflection point corresponding with speck in mirror image to be measured is vertical, therefore determines screen by demarcating
The position of upper bright spot, camera photocentre position, the corresponding reflection light direction in clear zone of speculum and correspondence incident ray direction, by
This can determine unique minute surface actual slope information, the Complete three-dimensional face shape of the lower accuracy obtained with reference to Kinect, by it
Wavefront reconstruction is carried out as iteration datum level fit determinand dignity shape.
In patent (the A1-Depth Mapping using of US 2010/0118123 of Prime-Sense companies
Projected Patterns) on be defined as the method：It is assumed that equipment front space 1-4m starts to take one every 0.1m
The individual plane of reference, can take 30 secondary such speckle patterns altogether.When we need measurement, a quantity space to be measured can be photographed
The speckle pattern of scene, and preserved before 30 it is secondary with reference to figure sequentially carry out cross-correlation calculation, may finally obtain 30 this
The correlation chart picture of sample.As long as there is object to occur in space, a peak value will be shown on correlation chart.As long as these peaks
Value is sequentially laminated to one piece, then by just obtaining the depth of whole scene after interpolation processing.
It is an advantage of the invention that：(1) compared with traditional streak reflex method for three-dimensional measurement：Traditional streak reflex three-dimensional measurement
Some simple index plane shapes can only be measured, such as spherical, circular, parabola face shape etc., and Kinect is combined with streak reflex method
Class minute surface three dimension profile measurement method do not limited by tested surface shape then, the object of arbitrary face shape can be measured；(2) it is based on
The class minute surface three dimension profile measurement method that Kinect is combined with streak reflex method, by Kinect measuring targets surface three dimension shapes
Looks cloud data is acquired treatment, acquires the preliminary three-D profile information of body surface, and preliminary three-D profile information is made
It is the iteration datum level of wave-front reconstruction in traditional streak reflex three-dimensional measurement, is greatly reduced iterations, simplifies calculating,
Improve 3 d shape and rebuild speed；(3) the class minute surface three dimension profile measurement method combined with streak reflex method based on Kinect, is led to
Cross Kinect measuring targets three-dimensional surface shape cloud datas to be acquired, colored object under test surface can be obtained complete
Colouring information.Breach and cannot recover in traditional streak reflex three-dimensional measurement object color this is not enough；(4) based on Kinect with
The class minute surface three dimension profile measurement method that streak reflex method is combined, remains the excellent of traditional streak reflex method for three-dimensional measurement
Gesture, compensate for being based purely on the three dimension profile measurement precision of Kinect problem not high.
Brief description of the drawings
Fig. 1 is Experimental equipment of the invention.
Fig. 2 is deflection of light schematic diagram of the present invention.
Fig. 3 is measurement procedure figure of the present invention.
Fig. 4 is Kinect space coordinates of the present invention and depth image coordinate graph of a relation.
Specific embodiment
Embodiments of the invention are described in further detail below in conjunction with brief description of the drawings.
The present invention is achieved like this, the complex three-dimensional surface shape measurement method that Kinect is combined with streak reflex method, its
It is characterized in：Obtained by the three dimensional point cloud based on Kinect and constituted with the big key component of streak reflex three-dimensional measurement two.
One is obtained based on kinect cloud datas；
Cloud data is obtained mainly includes two large divisions：Depth Information Acquistion, cloud data registration.Depth data is
The marrow of Kinect and soul.Conversion from two-dimensional depth image to three dimensions point cloud, is between two kinds of coordinate systems
Conversion, also has this inseparable to contact while the Depth Information Acquistion principle of equipment and coordinate system are changed.RGB-D information is to obtain
Three-dimensional point cloud is taken there is provided information source, this section will be cut from RGB-D images, analysis Kinect obtains three-dimensional point cloud from depth image
Operation principle.
Kinect can obtain the other data flow of 3 species：Color image data stream, user's partition data, depth image data
Stream, wherein colored and depth data stream constitutes RGB-D information.RGB-D information refer to by obtain in real time colored of Kinect and
Deep image information.
Have 2 coordinate systems in Fig. 4, be respectively space coordinates (X, Y, Z) with Kinect infrared cameras as origin and
The two-dimensional coordinate system (u, v) of depth image, by space X, Y-direction value is converted into the u of depth image, v values, depth distance to Kinect
Z is converted into gray-scale pixel values.The depth of target to be measured can be obtained using OpenNI depth images and coloured image generating function
And pixel is original partially in colour information, and according to pixel P (u, v) of the two-dimensional depth image and most initial plane for arriving
Shifting amount d, with reference to infrared camera internal reference coefficient, is calculated the depth distance value Z for obtaining.
Wherein, c0, c1 are Kinect depth camera internal references.
According to perspective projection rule, pixel P (u, v) projector space corresponding points P ' (X, Y, Z) meets perspective projection relation, tool
Body surface is shown as
Wherein, fx, fy are infrared camera focal lengths in the x, y direction, (cx, cy) be infrared camera projection centre into
Coordinate in image plane, A is camera calibration matrix, thus can be solved
With reference to above-mentioned formula, you can fathom Z by Kinect and depth image coordinate (u, v) obtains three dimensional space coordinate
(X, Y, Z), that is, got the rough 3 d shape of object under test.
2nd, streak reflex three-dimensional measurement principle；
LCD display shows sinusoidal coding striped both horizontally and vertically respectively, and according to four-step phase-shifting technology and right
The phase unwrapping algorithm answered obtains the demodulation phase of both direction, with reference to early stage CCD photocentres obtained by calibrating, incident ray,
The data of reflection light etc., you can actual slope information --- the gradient of class mirror article to be measured is obtained, then by wavefront weight
Build the surface three dimension face shape that algorithm recovers class mirror article to be measured.
Streak reflex art employs sine streak and digital image correlation, and system is shown by computer 3, work station 4, LED
Device 1, CCD camera 2, determinand 6 and reference substance 5 are constituted as shown in Figure 1.The generation of striped and the collection of ccd image are by computer
Control.When object plane is standard flat mirror, the reference stripe figure of standard can be obtained and then fixed phase is obtained；When object plane is present
During fluctuating, the deforming stripe figure by the modulation of object plane gradient is obtained, its expression formula is：
I (x, y)=A (x, y)+B (x, y) cos [(2p/p) x+q (x, y)+f (x, y)] (5)
In formula (5)：A and B are respectively the light field modulate intensities for being influenceed to be distributed with background light intensity and by object Shape ' reflectivity,
It is unknown constant；Q (x, y) is the additional phase error that system causes, and f (x, y) is the phase-modulation that object plane causes, when object plane is mark
During quasi- face, this is 0.
Known by Fig. 2, for any point shape on object plane, when the normal vector on surface and index plane has drift angle α, reflected light
2 α are turned over, now CCD pixel point no longer corresponds to fixed phase, but addition of phase offset.For B points, object under test surface
The angle [alpha] relative to standard deflecting facet, reflection light has then deflected 2 α, and α is the normal direction of object under test surface face shape function in B points
Measure the angle for being projected on plane XOZ and deviateing z-axis.That is the incident ray I that A points set out on LCD, treats when this light is irradiated to
When surveying B points on object, its reflection light R enters CCD points by C points；If B points are in standard flat, in its correspondence lcd screen
Pixel is then A1Point, then phase f (x, y) can be expressed as：
Calculate horizontal, vertical two put the phase in direction after, with reference to early stage CCD photocentres C obtained by calibrating, incident ray I,
The data of reflection light R etc., you can obtain actual slope information --- the gradient of class mirror article to be measured, obtain with reference to Kinect
Lower accuracy Complete three-dimensional face shape, carry out wavefront reconstruction as iteration datum level and fit high-precision object under test
Face shape.
Claims (3)
1. a kind of class minute surface three dimension profile measurement method that Kinect is combined with streak reflex method, is characterized in comprise the steps of：
（1）Using Kinect rough measure object under test surface tri-dimensional profiles and colouring information is gathered, the rough face for measuring herein
Shape will be measured as second step in iteration primary face shape, and as later stage fringe order judgment condition；
（2）By streak reflex method to object double measurement, high accuracy three-dimensional face shape is obtained；
（3）Data Fusion, Kinect will obtain during colouring information is attached to step 2 and measure the high-precision of acquisition in the first step
Degree 3 d shape, obtains the object under test 3 d shape with colouring information.
2. the class minute surface three dimension profile measurement method that a kind of Kinect according to claim 1 is combined with streak reflex method,
It is characterized in：The step（1）It is specific as follows：
（1）Demarcation is carried out to the colour TV camera and thermal camera of Kinect and draws the accurate spin matrix of the two video cameras
With translation matrix；
（2）Using the RGB video camera and thermal camera function of Kinect sensor, under the framework interface based on Open NI
The RGB image and depth image of class mirror article to be measured are obtained, and the depth letter that will be gathered according to camera calibration result before
Cease with RGB information unification to unified coordinate system, the cloud data to obtaining is filtered denoising, background subtraction and is treated with extracting
Survey the depth information and colouring information of object area；
（3）More accurate cloud data after output treatment, so that the rough measure of class minute surface object surface appearance to be measured is completed,
And preserve as the iteration primary face shape in second step measurement, and as later stage fringe order judgment condition.
3. the class minute surface three dimension profile measurement method that a kind of Kinect according to claim 1 is combined with streak reflex method,
It is characterized in：Step（2）It is specific as follows：
(1) sine streak of horizontal, vertical both direction, Ran Houyong are shown in streak reflex three-dimensional measurement on the flat display first
CCD camera records the sine streak picture reflected by tested surface and index plane respectively；
(2) each self-corresponding phase distribution is obtained by phase shift, surface phase to be measured is obtained compared with index plane phase distribution
Change；
（3）Required phase information is solved using the striped of horizontal, vertical both direction, bright spot on screen is can obtain with reference to demarcating
The corresponding reflection light direction in clear zone of position, incident ray direction, camera photocentre position and speculum, and will be obtained in step 1
The rough face shape result of body surface is taken as the iteration datum level in wavefront reconstruction fitting algorithm, object under test surface three is fitted
Dimension face shape.
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