CN106918302B - A kind of spatial digitizer self-adapting calibration method - Google Patents
A kind of spatial digitizer self-adapting calibration method Download PDFInfo
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- CN106918302B CN106918302B CN201710147917.8A CN201710147917A CN106918302B CN 106918302 B CN106918302 B CN 106918302B CN 201710147917 A CN201710147917 A CN 201710147917A CN 106918302 B CN106918302 B CN 106918302B
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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 present invention provides a kind of spatial digitizer self-adapting calibration methods, which comprises the following steps: the point for concentrating Harris angle point is divided into three classes；For the point that every Harris angle point is concentrated, its Laplce's coordinate is established；If 3 D scanning system has n platform camera, on the basis of taking the 1st camera Harris angle point collection collected, the Harris angle point collection of other each camera carries out automatic adjusument.After method provided by the invention, the angle point overlap problem in three-dimensional scanner system marked point process can solve, realize the self-adapting calibration to three-dimensional scanner system.
Description
Technical field
The present invention relates to the methods that a kind of pair of three-dimensional scanner system carries out self-adapting calibration.
Background technique
When building three-dimensional scanner system using multiple depth cameras, need single camera three-dimensional point cloud collected
Piece is stitched together.It is to have 16 × 10 chequered with black and white square dices above using the same scaling board that it, which splices principle,
The angle point constituted, referred to as Harris angle point.According to the image-forming principle of camera, if the purpose of camera calibration is cadre's phase
Several Harris angle point figures that machine is seen accurately overlap.However, the processing technology due to camera is not quite similar,
And when building three-dimensional scanner system, (such as camera case is under different screw tension for the objective reality of camera rigging error
Different degreeof tortuosities), will cause angle point excessive effects.
Summary of the invention
The purpose of the present invention is: overcome angle point excessive effects, realizes the self-adapting calibration to three-dimensional scanner system.
In order to achieve the above object, the technical solution of the present invention is to provide a kind of spatial digitizer self-adapting calibration sides
Method, which comprises the following steps:
Step 1, the point for concentrating Harris angle point are divided into three classes, and I type point is the non-boundary point that Harris angle point is concentrated
And non-four angle points, Type-II point are the boundary point for non-four angle points that Harris angle point is concentrated, Section III type point is the angle Harris
Four angle points that point is concentrated；
Step 2, the point concentrated for every Harris angle point, establish its Laplce's coordinate, comprising the following steps:
Step 2.1 calculates projection plane P=nxx+nyy+nzZ+d, normal direction n areWherein:
viFor the nearest-neighbors point of point v, for I type point, gather around that there are four nearest-neighbors point, k=4；For Type-II point,
Nearest-neighbors point there are three gathering around, k=3；For Section III type point, gather around there are two nearest-neighbors point, k=2；
D is average distance,
nx、ny、nzFor component of the normal direction n on tri- directions xyz；
Step 2.2 projects to point v and its nearest-neighbors point on projection plane P, and the spatial position expression of subpoint is such as
Under:
vproj=v- (d+ (vn)) n；
vi_proj=vi-(d+(viN)) n, in formula, vprojFor projection of the point v on projection plane P, vi_projRecently for it
Projection of neighbours' point on projection plane P；
Step 2.3 calculates v point relative to viThe tangential weight w of pointiAnd normal direction weight bi；
If step 3,3 D scanning system have n platform camera, on the basis of taking the 1st camera Harris angle point collection collected,
The automatic adjusument process of the Harris angle point collection of other each camera are as follows:
Step 3.1, for jth platform camera, j ≠ 1, Harris angle point collection for, according to the method in step 2.1, meter
Calculate the projection plane and average distance d' and normal direction n' that it is currently located；
Step 3.2, for jth platform camera, j ≠ 1, Harris angle point collection in i-th point for, by its neighbours' point
v'iIt projects on new projection plane, gained projected position v'i_projAre as follows:
v'i_proj=v'i-[d'+(v'i·n')]n'
Step 3.3, the tangential weight w according to step 2.3i, calculate jth platform camera, j ≠ 1, Harris angle point collection in
I-th point of projected position v'proj:
Step 3.4, calculate jth platform camera, j ≠ 1, Harris angle point collection in i-th point of final position
Preferably, in the step 2.3, tangential weight wiCalculating process are as follows:
In formula,Wherein:
Preferably, in the step 2.3, normal direction weight biCalculating process are as follows:
In formula,
After method provided by the invention, the angle point overlapping that can solve in three-dimensional scanner system marked point process is asked
Topic realizes the self-adapting calibration to three-dimensional scanner system.
Detailed description of the invention
Fig. 1 is effect contrast figure after applying the present invention.
Specific embodiment
Present invention will be further explained below with reference to specific examples.It should be understood that these embodiments are merely to illustrate the present invention
Rather than it limits the scope of the invention.In addition, it should also be understood that, after reading the content taught by the present invention, those skilled in the art
Member can make various changes or modifications the present invention, and such equivalent forms equally fall within the application the appended claims and limited
Range.
The present invention provides a kind of spatial digitizer self-adapting calibration methods, comprising the following steps:
Step 1, the point for concentrating Harris angle point are divided into three classes, and I type point is the non-boundary point that Harris angle point is concentrated
And non-four angle points, Type-II point are the boundary point for non-four angle points that Harris angle point is concentrated, Section III type point is the angle Harris
Four angle points that point is concentrated；
Step 2, the point concentrated for every Harris angle point, establish its Laplce's coordinate, comprising the following steps:
Step 2.1 calculates projection plane P=nxx+nyy+nzZ+d, normal direction n areWherein:
viFor the nearest-neighbors point of point v, for I type point, gather around that there are four nearest-neighbors point, k=4；For Type-II point,
Nearest-neighbors point there are three gathering around, k=3；For Section III type point, possess two nearest-neighbors points, k=2；
D is average distance,
nx、ny、nzFor component of the normal direction n on tri- directions xyz；
Step 2.2 projects to point v and its nearest-neighbors point on projection plane P, and the spatial position expression of subpoint is such as
Under:
vproj=v- (d+ (vn)) n；
vi_proj=vi-(d+(viN)) n, in formula, vprojFor projection of the point v on projection plane P, vi_projRecently for it
Projection of neighbours' point on projection plane P；
Step 2.3 calculates point v point relative to viThe tangential weight w of pointiAnd normal direction weight bi；
Tangential weight wiCalculating process are as follows:
In formula,Wherein:
Normal direction weight biCalculating process are as follows:
In formula,
If step 3,3 D scanning system have n platform camera, on the basis of taking the 1st camera Harris angle point collection collected,
The automatic adjusument process of the Harris angle point collection of other each camera are as follows:
Step 3.1, for jth platform camera, j ≠ 1, Harris angle point collection for, according to the method in step 2.1, meter
Calculate the projection plane and average distance d' and normal direction n' that it is currently located；
Step 3.2, for jth platform camera, j ≠ 1, Harris angle point collection in i-th point for, by its neighbours' point
v'iIt projects on new projection plane, gained projected position v'i_projAre as follows:
v'i_proj=v'i-[d'+(v'i·n')]n'
Step 3.3, the tangential weight w according to step 2.3i, calculate jth platform camera, j ≠ 1, Harris angle point collection in
I-th point of projected position v'proj:
Step 3.4, calculate jth platform camera, j ≠ 1, Harris angle point collection in i-th point of final position
Fig. 1 is shown to be compared using the effect of camera acquisition three-dimensional point cloud before and after the technology of the present invention, it can be seen that by this
After inventive technique demarcates camera, high quality three-dimensional point cloud can be generated.
Claims (3)
1. a kind of spatial digitizer self-adapting calibration method, which comprises the following steps:
Step 1, the point for concentrating Harris angle point are divided into three classes, and I type point is the non-boundary point and non-that Harris angle point is concentrated
Four angle points, Type-II point are the boundary point for non-four angle points that Harris angle point is concentrated, and Section III type point is Harris angle point collection
In four angle points；
Step 2, the point concentrated for every Harris angle point, establish its Laplce's coordinate, comprising the following steps:
Step 2.1 calculates projection plane P=nxx+nyy+nzZ+d, normal direction n are
Wherein:
viFor the nearest-neighbors point of point v, for I type point, gather around that there are four nearest-neighbors point, k=4；For Type-II point, possess
Three nearest-neighbors points, k=3；For Section III type point, gather around there are two nearest-neighbors point, k=2；
D is average distance,
nx、ny、nzFor component of the normal direction n on tri- directions xyz；
Step 2.2 projects to point v and its nearest-neighbors point on projection plane P, and the spatial position of subpoint is expressed as follows:
vproj=v- (d+ (vn)) n；
vi_proj=vi-(d+(viN)) n, in formula, vprojFor projection of the point v on projection plane P, vi_projFor its nearest-neighbors
Projection of the point on projection plane P；
Step 2.3 calculates v point relative to viThe tangential weight w of pointiAnd normal direction weight bi；
If step 3,3 D scanning system have n platform camera, on the basis of taking the 1st camera Harris angle point collection collected, other
The automatic adjusument process of the Harris angle point collection of each camera are as follows:
Step 3.1, for jth platform camera, j ≠ 1, Harris angle point collection for, according to the method in step 2.1, calculate it
The projection plane and average distance d' and normal direction n' being currently located；
Step 3.2, for jth platform camera, j ≠ 1, Harris angle point collection in i-th point for, by its neighbours' point v'iProjection
Onto new projection plane, gained projected position v'i_projAre as follows:
v'i_proj=v'i-[d'+(v'i·n')]n'
Step 3.3, the tangential weight w according to step 2.3i, calculate jth platform camera, j ≠ 1, Harris angle point collection in i-th
The projected position v' of pointproj:
Step 3.4, calculate jth platform camera, j ≠ 1, Harris angle point collection in i-th point of final position v ',
2. a kind of spatial digitizer self-adapting calibration method as described in claim 1, which is characterized in that in the step 2.3
In, tangential weight wiCalculating process are as follows:
In formula,Wherein:
3. a kind of spatial digitizer self-adapting calibration method as described in claim 1, which is characterized in that in the step 2.3
In, normal direction weight biCalculating process are as follows:
In formula,
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| CN101321303A (en) * | 2008-07-17 | 2008-12-10 | 上海交通大学 | Geometric and optical correction method for non-plane multi-projection display |
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| JP2011197120A (en) * | 2010-03-17 | 2011-10-06 | Toppan Printing Co Ltd | Pattern evaluation method and pattern evaluation device |
| CN103236064A (en) * | 2013-05-06 | 2013-08-07 | 东南大学 | Point cloud automatic registration method based on normal vector |
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