CN107170005B - A kind of three-dimensional data registration result correction judgement method based on two-dimensional projection - Google Patents
A kind of three-dimensional data registration result correction judgement method based on two-dimensional projection Download PDFInfo
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- CN107170005B CN107170005B CN201710352516.6A CN201710352516A CN107170005B CN 107170005 B CN107170005 B CN 107170005B CN 201710352516 A CN201710352516 A CN 201710352516A CN 107170005 B CN107170005 B CN 107170005B
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
- G06T7/33—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
- G06T7/337—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods involving reference images or patches
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Abstract
The present invention provides a kind of three-dimensional data registration result correction judgement method based on two-dimensional projection, the first three-dimensional data point set of registration completion and the second three-dimensional data point set into two-dimensional coordinate system and are subjected to grid dividing along optical axis direction projection first, then the first three-dimensional data point set image value and the second three-dimensional data point set image value of each grid of the two data point sets intersecting area in two-dimensional coordinate system are calculated, and judges the correctness of registration result according to the first three-dimensional data point set image value of mutually each grid and the second three-dimensional data point set image value.Specific data characteristics due to the first setting value and the second setting value used in deterministic process independent of the first three-dimensional data point set and the second three-dimensional data point set, so technical solution provided by the present invention can judge the registration result of any three-dimensional data point set, strong applicability.
Description
Technical field
The invention belongs to three-dimensional data point set processing technology fields, and in particular to a kind of three-dimensional data based on two-dimensional projection
Registration result correction judgement method.
Background technique
Three-dimensional data registration refers to the three-dimensional data by two panels from same material object, quickly quasi- according to certain rule
True fitting is fused into new entirety, therefore, to carry out object modeling to the measurement data obtained under multi-angle, it is necessary to adopt
With three-dimensional data registration technique.
After being registrated to three-dimensional data, it is also necessary to judge the result of registration with the presence or absence of mistake.Method common at present
It is to be judged using mean longitudinal error, i.e., all the points concentrated to wherein one group of three-dimensional data points search another group of three-dimensional
The distance between corresponding closest approach in data point set, then averaged, judges that three-dimensional data is registrated according to the average value
Result it is whether correct.
Although can be judged in many cases three-dimensional data registration result using mean longitudinal error,
Be this method to the concrete property of three-dimensional data there are biggish dependence, applicability is poor.
Summary of the invention
The three-dimensional data registration result correction judgement method based on two-dimensional projection that the purpose of the present invention is to provide a kind of,
For solving in the prior art when judging three-dimensional data registration result, the poor problem of judgment method applicability.
To achieve the above object, present invention provide the technical scheme that
A kind of three-dimensional data registration result correction judgement method based on two-dimensional projection, includes the following steps:
(1) two groups of first three-dimensional data point sets and the second three-dimensional data point set for being registrated completion are chosen, are put it into O
For the light that in the XYZ three-axis reference of origin, wherein OZ axis is acquired along the first three-dimensional data point set and the second three-dimensional data points collection
Axis direction；
(2) the first three-dimensional data point set and the second three-dimensional data point set are projected in XOY two-dimensional coordinate system；
(3) net is carried out to the projection of the first three-dimensional data point set and the second three-dimensional data point set in XOY two-dimensional coordinate system
Lattice divide, and calculate the first three-dimensional data point set and the second three-dimensional data point set projects intersection in XOY two-dimensional coordinate system
The number of grid M in domain；
(4) it calculates the first three-dimensional data point set and the second three-dimensional data point set projects intersection in XOY two-dimensional coordinate system
First three-dimensional data point set image value of each grid in domain and the second three-dimensional data point set image value, and calculate the difference absolute value of the two
Less than the number of grid N of the first setting value；
First three-dimensional data point set image value of certain grid or the second three-dimensional data point set image value refer to the one or three
Dimension data point set or the second three-dimensional data point set are projected in the average value of all the points Z axis coordinate of the grid；
(5) judge whether the ratio between N and M is greater than the second setting value, if it is greater, then being judged as the first three-dimensional data
The registration result of point set and the second three-dimensional data point set is correct, is otherwise judged as that the two three-dimensional data point set registration structures occur
Mistake.
Further, first setting value is 4 times of data acquisition resolution in the Z-axis direction.
Further, second setting value is 0.7.
A kind of three-dimensional data registration result correction judgement device based on two-dimensional projection, including following module:
Two groups of first three-dimensional data point sets and the second three-dimensional data point set for being registrated completion are chosen, puts it into and is with O
Module in the XYZ three-axis reference of origin；
First three-dimensional data point set and the second three-dimensional data point set are projected into the module in XOY two-dimensional coordinate system；
Grid is carried out to the projection of the first three-dimensional data point set and the second three-dimensional data point set in XOY two-dimensional coordinate system to draw
Point, and calculate the first three-dimensional data point set and the second three-dimensional data point set projects intersecting area in XOY two-dimensional coordinate system
The module of number of grid M；
Calculating the first three-dimensional data point set and the second three-dimensional data point set, that intersecting area is projected in XOY two-dimensional coordinate system is each
First three-dimensional data point set image value of grid and the second three-dimensional data point set image value, and the difference absolute value for calculating the two is less than
The module of the number of grid N of first setting value；
First three-dimensional data point set image value of certain grid or the second three-dimensional data point set image value refer to the one or three
Dimension data point set or the second three-dimensional data point set are projected in the average value of all the points Z axis coordinate of the grid；
Judge whether the ratio between N and M is greater than the second setting value, if it is greater, then being judged as the first three-dimensional data points
The registration result of collection and the second three-dimensional data point set is correct, and it is wrong to be otherwise judged as that the two three-dimensional data point set registration structures occur
Module accidentally.
Further, first setting value is 4 times of data acquisition resolution in the Z-axis direction.
Further, second setting value is 0.7.
The beneficial effects of the present invention are: technical solution provided by the invention, the first three-dimensional data for first completing registration
Point set and the second three-dimensional data point set into two-dimensional coordinate system and carry out grid dividing along optical axis direction projection, then according to this two
The image value of each grid of a data point set intersecting area in two-dimensional coordinate system judges the correctness of registration result.Due to judging
The first used setting value and the second setting value are independent of the first three-dimensional data point set and the second three-dimensional data point set in journey
Specific data characteristics, so technical solution provided by the present invention can judge the registration result of any three-dimensional data,
Strong applicability.
Detailed description of the invention
Fig. 1 is the flow chart of three-dimensional data registration result in embodiment；
Fig. 2 is the schematic diagram of three-dimensional data point set A in embodiment；
Fig. 3 is the schematic diagram of three-dimensional data point set B in embodiment；
Fig. 4 is that three-dimensional data point set A and three-dimensional data point set B is registrated correct schematic diagram in embodiment；
Fig. 5 is the schematic diagram of three-dimensional data point set A and three-dimensional data point set B registration mistake in embodiment.
Specific embodiment
The three-dimensional data registration result correction judgement method based on two-dimensional projection that the purpose of the present invention is to provide a kind of,
For solving in the prior art when judging three-dimensional data registration result, the poor problem of judgment method applicability.
To achieve the above object, present invention provide the technical scheme that
A kind of three-dimensional data registration result correction judgement method based on two-dimensional projection, includes the following steps:
(1) two groups of first three-dimensional data point sets and the second three-dimensional data point set for being registrated completion are chosen, are put it into O
For the light that in the XYZ three-axis reference of origin, wherein OZ axis is acquired along the first three-dimensional data point set and the second three-dimensional data points collection
Axis direction；
(2) the first three-dimensional data point set and the second three-dimensional data point set are projected in XOY two-dimensional coordinate system；
(3) net is carried out to the projection of the first three-dimensional data point set and the second three-dimensional data point set in XOY two-dimensional coordinate system
Lattice divide, and calculate the first three-dimensional data point set and the second three-dimensional data point set projects intersection in XOY two-dimensional coordinate system
The number of grid M in domain；
(4) it calculates the first three-dimensional data point set and the second three-dimensional data point set projects intersection in XOY two-dimensional coordinate system
First three-dimensional data point set image value of each grid in domain and the second three-dimensional data point set image value, and calculate the difference absolute value of the two
Less than the number of grid N of the first setting value；
First three-dimensional data point set image value of certain grid or the second three-dimensional data point set image value refer to the one or three
Dimension data point set or the second three-dimensional data point set are projected in the average value of all the points Z axis coordinate of the grid；
(5) judge whether the ratio between N and M is greater than the second setting value, if it is greater, then being judged as the first three-dimensional data
The registration result of point set and the second three-dimensional data point set is correct, is otherwise judged as that the two three-dimensional data point set registration structures occur
Mistake.
Embodiments of the present invention are described further with reference to the accompanying drawing.
Embodiment of the method:
The three-dimensional data registration result correction judgement method based on two-dimensional projection that the present embodiment provides a kind of, for judging
Whether the three-dimensional data after registration is correct, and process is as shown in Figure 1, the specific steps are as follows:
(1) the two groups of three-dimensional data point set A and three-dimensional data point set B of registered completion are chosen, wherein three-dimensional data points
Collect A as shown in Fig. 2, three-dimensional data point set B is as shown in Figure 3；
(2) three-dimensional data point set A and three-dimensional data point set B are put into using O as origin, are three phase coordinates with X, Y, Z axis
In XYZ three-dimensional system of coordinate, wherein OZ axis direction is that data acquisition equipment acquires three-dimensional data point set A's and three-dimensional data point set B
The optical axis direction of direction, as data acquisition；Three-dimensional data point set A and three-dimensional data point set B is [x_ in OX axis distribution
Min, x_max], OY axis distribution be [y_min, y_max], wherein x_min, x_max be respectively three-dimensional data point set A and
Min coordinates and maximum coordinates of each point on OX axis in three-dimensional data point set B, y_min, y_max are respectively three-dimensional data point set
Min coordinates and maximum coordinates of each point on OY axis in A and three-dimensional data point set B；
(3) three-dimensional data point set A and three-dimensional data point set B are projected in the XY coordinate system that X-axis and Y-axis determine, to XY
Region in coordinate system in X axis coordinate system [x_min, x_max] and Y axis coordinate system [y_min, y_max] range carries out grid and draws
Point, it is divided into the grid of M × N, data acquisition resolution of each grid in OX axis direction is x_res, in OY axis direction
Data acquisition resolution be y_res；
(4) determine that three-dimensional data point set A and three-dimensional data point set B are projected in the number of the intersecting area grid in XY coordinate system
The three-dimensional data point set A image value J1 and three-dimensional data point set B image value J2 for measuring I0 and each grid, it is poor to have calculated the two
It is worth the number of grid I1 that absolute value is less than set distance threshold value dist_thresh, then calculates grid number I1's and grid number I0
Ratio R, specific calculation formula are
The three-dimensional data point set A image value of some grid refers to all the points that the grid is projected in three-dimensional data point set A
In the average value of OZ axial coordinate value, the three-dimensional data point set B image value of some grid, which refers in three-dimensional data point set B, projects to this
Average value of all the points of grid in OZ axial coordinate value；
(5) judge whether ratio R is greater than given threshold ratio_thresh, if it is greater, then being judged as three-dimensional data points
The registration for collecting A and three-dimensional data point set B is correct, mistake does not occur, is otherwise judged as that mistake occurs in registration.
Above-mentioned set distance threshold value dist_thresh and given threshold ratio_thresh can be according to actual need
It asks and is adjusted, in the present embodiment, set distance threshold value dist_thresh uses the 4 of OZ axis direction data acquisition resolution
Times, given threshold ratio_thresh takes 0.7.When registration result such as Fig. 4 institute of three-dimensional data point set A and three-dimensional data point set B
When showing, can calculate ratio R is 0.93, is greater than given threshold ratio_thresh, so being judged as that registration result is correct；When matching
When quasi- result is as shown in Figure 5, can calculate ratio R is 0.32, is less than given threshold ratio_thresh, so being judged as that this is matched
Quasi- result mistake.
Installation practice:
The present embodiment provides a kind of three-dimensional data registration result correction judgement device based on two-dimensional projection, including it is as follows
Module:
Two groups of first three-dimensional data point sets and the second three-dimensional data point set for being registrated completion are chosen, puts it into and is with O
Module in the XYZ three-axis reference of origin, wherein OZ axis is acquired along the first three-dimensional data point set and the second three-dimensional data points collection
Optical axis direction；
First three-dimensional data point set and the second three-dimensional data point set are projected into the module in XOY two-dimensional coordinate system；
Grid is carried out to the projection of the first three-dimensional data point set and the second three-dimensional data point set in XOY two-dimensional coordinate system to draw
Point, and calculate the first three-dimensional data point set and the second three-dimensional data point set projects intersecting area in XOY two-dimensional coordinate system
The module of number of grid M；
Calculating the first three-dimensional data point set and the second three-dimensional data point set, that intersecting area is projected in XOY two-dimensional coordinate system is each
First three-dimensional data point set image value of grid and the second three-dimensional data point set image value, and the difference absolute value for calculating the two is less than
The module of the number of grid N of first setting value；
First three-dimensional data point set image value of certain grid or the second three-dimensional data point set image value refer to the one or three
Dimension data point set or the second three-dimensional data point set are projected in the average value of all the points Z axis coordinate of the grid；Judge between N and M
Ratio whether be greater than the second setting value, if it is greater, then being judged as the first three-dimensional data point set and the second three-dimensional data point set
Registration result it is correct, be otherwise judged as the two three-dimensional data point set registration structures occur mistake module.
A kind of three-dimensional data registration result correction judgement device based on two-dimensional projection provided by the present embodiment, wherein
Each module not instead of hardware module is programmed obtained software module according to corresponding method, operates in corresponding control
In device or processor, it can be stored in flash memory device or fixed-storage device.
Claims (6)
1. a kind of three-dimensional data registration result correction judgement method based on two-dimensional projection, which is characterized in that including walking as follows
It is rapid:
(1) two groups of first three-dimensional data point sets and the second three-dimensional data point set for being registrated completion are chosen, are put it into O as original
In the XYZ three-axis reference of point, wherein OZ axis is along the optical axis side that the first three-dimensional data point set and the second three-dimensional data points collection acquire
To；
(2) the first three-dimensional data point set and the second three-dimensional data point set are projected in XOY two-dimensional coordinate system；
(3) projection to the first three-dimensional data point set and the second three-dimensional data point set in XOY two-dimensional coordinate system carries out grid stroke
Point, and calculate the first three-dimensional data point set and the second three-dimensional data point set projects intersecting area in XOY two-dimensional coordinate system
Number of grid M；
(4) it is each to project intersecting area in XOY two-dimensional coordinate system for the first three-dimensional data point set of calculating and the second three-dimensional data point set
First three-dimensional data point set image value of grid and the second three-dimensional data point set image value, and the difference absolute value for calculating the two is less than
The number of grid N of first setting value；
First three-dimensional data point set image value of each grid or the second three-dimensional data point set image value refer to the one or three dimension
Strong point collection or the second three-dimensional data point set are projected in the average value of all the points Z axis coordinate of the grid；
(5) judge whether the ratio between N and M is greater than the second setting value, if it is greater, then being judged as the first three-dimensional data point set
It is correct with the registration result of the second three-dimensional data point set, it is wrong to be otherwise judged as that the two three-dimensional data point set registration results occur
Accidentally.
2. a kind of three-dimensional data registration result correction judgement method based on two-dimensional projection according to claim 1,
It is characterized in that, first setting value is 4 times of data acquisition resolution in the Z-axis direction.
3. a kind of three-dimensional data registration result correction judgement method based on two-dimensional projection according to claim 1,
It is characterized in that, second setting value is 0.7.
4. a kind of three-dimensional data registration result correction judgement device based on two-dimensional projection, which is characterized in that including such as lower die
Block:
Two groups of first three-dimensional data point sets and the second three-dimensional data point set for being registrated completion are chosen, are put it into using O as origin
XYZ three-axis reference in module；
First three-dimensional data point set and the second three-dimensional data point set are projected into the module in XOY two-dimensional coordinate system；
Grid dividing is carried out to the projection of the first three-dimensional data point set and the second three-dimensional data point set in XOY two-dimensional coordinate system,
And calculate the grid that the first three-dimensional data point set and the second three-dimensional data point set project intersecting area in XOY two-dimensional coordinate system
The module of quantity M；
It calculates the first three-dimensional data point set and the second three-dimensional data point set projects each grid of intersecting area in XOY two-dimensional coordinate system
The first three-dimensional data point set image value and the second three-dimensional data point set image value, and the difference absolute value both calculated is less than first
The module of the number of grid N of setting value；
First three-dimensional data point set image value of each grid or the second three-dimensional data point set image value refer to the one or three dimension
Strong point collection or the second three-dimensional data point set are projected in the average value of all the points Z axis coordinate of the grid；
Judge whether the ratio between N and M is greater than the second setting value, if it is greater, then be judged as the first three-dimensional data point set and
The registration result of second three-dimensional data point set is correct, is otherwise judged as that mistake occur in the two three-dimensional data point set registration results
Module.
5. a kind of three-dimensional data registration result correction judgement device based on two-dimensional projection according to claim 4,
It is characterized in that, first setting value is 4 times of data acquisition resolution in the Z-axis direction.
6. a kind of three-dimensional data registration result correction judgement device based on two-dimensional projection according to claim 4,
It is characterized in that, second setting value is 0.7.
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