CN107747914A - 360 ° of contour outline measuring sets and method based on line-structured light - Google Patents
360 ° of contour outline measuring sets and method based on line-structured light Download PDFInfo
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- CN107747914A CN107747914A CN201710940232.9A CN201710940232A CN107747914A CN 107747914 A CN107747914 A CN 107747914A CN 201710940232 A CN201710940232 A CN 201710940232A CN 107747914 A CN107747914 A CN 107747914A
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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
- G01B11/2513—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 with several lines being projected in more than one direction, e.g. grids, patterns
Abstract
The invention discloses a kind of 360 ° of contour outline measuring sets and method based on line-structured light, device includes three semiconductor line lasers being evenly distributed on around testee, three video cameras being evenly distributed on around testee, the image for being arrived to camera acquisition carry out the computer of image procossing；Semiconductor laser connects computer by parallel port respectively, and video camera is connected by image pick-up card with computer respectively.The present invention realizes quick cross-sectional profiles collection using three cable architecture semiconductor lasers and three industrial cameras, metrical information that is more objective, reflecting measured section exactly, measures the structure for without rotary optical system platform, simplifying system；Without carrying out complicated Coordinate Conversion and rotation, the possibility of measurement error caused by greatly reducing fusion dislocation；360 ° of profile measurement processes of the present invention only need to merge three width pictures, and fusion method is simpler efficient.
Description
Technical field
The invention belongs to profilometry field, more particularly to a kind of 360 ° of contour outline measuring sets based on line-structured light
And method.
Background technology
Since last world end, industry is flourished, and profilometry is either opened in industry, manufacturing industry, product
Hair, or reverse-engineering, material and device and on-line measurement etc. all play more and more important effect.It is especially near several
Nian Lai, computer technology and Digital image technology are fast-developing, and optical measurement is with its high-precision, non-contact, not damaged and efficiently
The advantages that property, is favored all the more by people.Exactly because industrial development is rapid, computer technology and digital image processing techniques
Involvement, promote that profilometry is fast-developing, and people are to the speed, precision, automation mechanized operation of profile measurement etc.
It is required that also more come also high.Object being measured is transitioned into three-D profile complicated and changeable by simple one-dimensional length, two dimensional surface；Survey
Amount environment also becomes the harsh conditions such as high temperature, high fever, high dust, high soda acid and high vibration；Metrical information also is intended to more detailed
It is real accurate.
In recent years, turned into one in three-dimensional measurement along with the rapid development of machine vision, the technology of view-based access control model measurement
Individual importance, and line-structured light three-dimensional measurement technology with precision it is higher, real-time the features such as, be widely used in industrial production
Among.Three-dimensional measurement technology based on line-structured light is that laser beam is projected into testee surface, and video camera obtains laser
The two dimensional image of light beam, is handled by series of algorithms, and combines measurement of correlation model to solve the three-D profile of testee
Information.The measuring three-dimensional profile method used at present mainly has 360 ° of contour measuring methods based on shadow occlusion method and based on double
360 ° of contour measuring methods of light cross-section method of video camera.
(1) principle of 360 ° of profile measurements based on shadow occlusion method is as shown in figure 1, the measuring principle of the program is to utilize
Shade width solves testee outline diameter, therefore this scheme is referred to as 360 ° of profile measurement sides based on shadow occlusion method
Method.
The program uses LED as lighting source, and LED light produces directional light by compound lens, directional light be irradiated to by
Body surface is surveyed, the part blocked by testee will produce shade, and be imaged by another set lens focus in CMOS
On machine.The data collected by the industrial camera of video camera can calculate shade width, that is, it is a certain to obtain testee
The size of individual outline diameter.In system operation, optical measuring system is constantly rotating the program relative to testee,
As shown in Fig. 2 being often rotated by 360 °, a complete section profile of testee is obtained.In the industrial production, if testee exists
Moved along some direction, then the track that the program is scanned is rendered as spiral form as shown in Figure 2.
This measuring method has the following disadvantages：
Shortcoming one：Whole optical system needs to rotate at a high speed around testee, it is necessary to by stepping electricity in the process of running
Machine drives, and causes system complex, poor real；
Shortcoming two：To the testee of motion, it measures track and spiral shape is presented, it is impossible to accurately reflects complete section
Profile information；
Shortcoming three：The inside of the system is very clean to environmental requirement, for severe rings such as high temperature, high dust and high humility
It is very harsh for border, therefore after continuously operation a period of time, often break down, less stable.
(2) 360 ° of profile measurements of the light cross-section method based on twin camera.Its measuring system is as shown in figure 3, the measuring system exists
Two video cameras are arranged in line-structured light plane of incidence both sides, using the complementary principle of visual field, suitably pull open between two video cameras
Distance, increase imaging optical axis included angle, advantageously accounts for the measurement dead unit problem brought during measured surface big rise and fall.Testee
Place on a spinstand, O points are turntable center, and α, β are respectively that video camera 1 and the imaging lens primary optical axis of video camera 2 and light are cut
The angle in face, f1And f2The respectively lens focus of video camera 1 and video camera 2, object space coordinate system from cylindrical coordinate system (r,
θ, z), z-axis overlaps with Pivot axle O, therefore three-dimensional object surface can be described as r=r (θ, z), and r is body surface away from z-axis
The distance of (Pivot axle).Turntable is by driving stepper motor, change of the line-structured light after the modulation of testee apparent height
Shape striped images in the image plane of video camera, by determining in image plane each Energy distribution central pixel position in image space
x1、x2, it is possible to obtain line-structured light section and the radial distance r at point A on testee surface intersection line respectively using following formula：
Wherein BO, CO represent video camera 1, the distance of the camera lens of video camera 2 to pivot O respectively.Then stepper motor drives
Dynamic turntable rotates certain angle, you can measures complete 360 ° of section profile.
Ideally, r1=r2.But the essence of the system is the parallel connection of two conventional single camera measuring systems, two
The available field of view of video camera is complementary, but the influence at visual field dead angle is nevertheless suffered from for single camera, therefore not object table
All measured points are all the common measurement points of two video cameras on face.For common measurement point, measured value r1And r2, for shooting
Machine 1 can be surveyed and video camera 2 can only try to achieve r for the point at dead angle1, it is on the contrary then r can only be tried to achieve2, therefore the final measurement final value of the system
R is r1And r2Union：
R=r1∪r2
Finally the r set for rotating a circle measured is merged and can obtain complete 360 ° of contour images number
According to.This measuring method has the following disadvantages：
Shortcoming one：The program can only also measure testee surface upper part profile, it is necessary to be rotated by turntable every time
360 ° of full-sized measurements, complex operation could be realized within one week；
Shortcoming two：The coordinate transform for carrying out eccentricity compensation and complexity is needed in the processing of program later data, real-time is not
By force；
Shortcoming three：The measuring system by system architecture and human factor due to being limited, and the randomness of system aligning is very
Greatly, larger bias often be present, easily cause data fusion dislocation and measurement error.
The content of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide one kind to use three cable architecture semiconductor lasers
Quick cross-sectional profiles collection is realized with three industrial cameras, it is only necessary to three width pictures is merged, fusion method is simpler
It is single efficient, 360 based on the line-structured light ° contour outline measuring set of metrical information that is more objective, reflecting measured section exactly
And method.
The purpose of the present invention is achieved through the following technical solutions：360 ° of profile measurements dress based on line-structured light
Put, including
Three are evenly distributed on around testee, and the sector of 360 ° of complete cross-sections of testee can be covered for sending
The semiconductor line laser of laser；
Three are evenly distributed on around testee, for gathering the laser lighting image of 360 ° of complete cross-sections of testee
Video camera；
Image for being arrived to camera acquisition carries out the computer of image procossing；
Semiconductor laser connects computer by parallel port respectively, and video camera passes through image pick-up card and computer phase respectively
Even.
Further, the video camera and semiconductor laser cross-distribution, three video cameras and semiconductor laser are consolidated
It is scheduled on same rigid metal construction frame, testee is located at the center of rigid metal construction frame.
Further, the computer is used to carry out lock imaging, mean filter, image two-value to the image collected
Change, image calibration is reduced, image co-registration and image thinning are handled.
Further, the optical section for the line-structured light that the optical axis of the video camera is sent with semiconductor line laser has one
30 °~45 ° of angle.
Present invention also offers a kind of 360 ° of contour measuring methods based on line-structured light, comprise the following steps：
The light belt image of S1, collection object under comprising bias light, startup program start to measure, and computer is sent out by parallel port
Go out high level, drive three semiconductor line laser transmitting laser；Computer sends pulse signal triggering three by another parallel port
Individual video camera carries out IMAQ；The image that three video cameras obtain is light belt image of the testee under comprising bias light,
Each video camera obtains the part image more than testee surface 1/3；
S2, the background light image on collection testee surface, computer send low level by parallel port, drive semiconductor line
Laser is closed；Simultaneous computer sends pulse signal by another parallel port and notifies video camera to obtain next two field picture；Now take the photograph
The image that camera obtains is the background light image on testee surface, without laser light belt；
S3, image procossing, by camera acquisition to image be uploaded to computer, computer arrives to each camera acquisition
Two field pictures handled, including following sub-step：
S31, lock imaging, bias light is eliminated, obtain the original contour images of testee；
S32, mean filter, eliminate original contour picture noise；
S33, image binaryzation, the gray value of the pixel on image is arranged to 0 or 255, reduces the data in image
Amount, highlight the profile of target；
S34, image calibration reduction, are corrected using the calibrating parameters of each video camera to fault image；
S35, image co-registration, three width images after correction are merged in order；
S36, image thinning, extract profile skeleton.
The concrete methods of realizing of the step S32 is：The principle of mean filter is：
Wherein, g (s, t) is noisy original contour image；F (x, y) is to carry out the image after mean filter operation；Sxy
Represent central point in (x, y) place, one group of coordinate of the rectangle subgraph window that size is m × n；
The concrete operation method of mean filter is：Utilize SxyTemplate window travels through entire image g (s, t) to slide, and uses window
The average of mouth template replaces the gray value of template center's pixel.
World coordinate system in the step S34 employed in image calibration reduction process is established with same scaling board
, i.e., the demarcation of three video cameras is in same world coordinate system.
The concrete methods of realizing of image co-registration is in the step S35：Correction chart picture after being reduced to demarcation is entered by pixel
Row superposition, each image during fusion are the images after binarization operation is handled, and pixel only has stain and white point in figure, black
Point and stain superposition are still stain, and stain and white point, white point and white point are superposed to white point.
The step S36 includes following sub-step：
S361, to define central point in reference template be target pixel points, is designated as P1, is at least gathered around in 8 neighborhood points around P1
There is a background dot；P1 pixel is expressed as F (P1), the pixel of 8 neighborhood points of P1 and its surrounding is expressed as：
P9、P2、P3
P8、P1、P4
P7、P6、P5
Because the image after binaryzation only has stain and white point, in 8 neighborhood points of P1 and its surrounding, target pixel points
The pixel of (stain) is 1, and the pixel of background dot (white point) is 0；
S362, judge whether target pixel points P1 meets following condition：
(a)2≤N(P1)≤6；(b) S (P1)=1；(c) F (P2) × F (P4) × F (P6)=0；(d)F(P4)×F(P6)
× F (P8)=0；
Wherein, N (P1) be P1 8 fields in non-zero pixels point (stain) number；S (P1) is represented with P2 starting points edge
The number that 8 connected domains search 0 to 1 change clockwise；F (P2), F (P4), F (P6), F (P8) represent respectively P2, P4,
P6, P8 pixel；
By image traversal one time, by all object pixel point deletions for meeting above-mentioned condition；
S363, judge whether target pixel points P1 meets following condition：
(a)2≤N(P1)≤6；(b) S (P1)=1；(c) F (P2) × F (P4) × F (P8)=0；(d)F(P2)×F(P6)
× F (P8)=0；
By image traversal one time, by all object pixel point deletions for meeting above-mentioned condition；
By step S362 and S363 operation, remaining pixel composition target's center pixel framework, i.e. testee
Single pixel contour images.
The beneficial effects of the invention are as follows：
1st, the present invention realizes quick cross-sectional profiles using three cable architecture semiconductor lasers and three industrial cameras
Collection, metrical information that is more objective, reflecting measured section exactly, is measured without rotary optical system platform, is simplified and is
The structure of system；Without carrying out complicated Coordinate Conversion and rotation, the possibility of measurement error caused by greatly reducing fusion dislocation
Property；
2nd, 360 ° of profile measurement processes of the invention only need to merge three width pictures, and fusion method is simpler high
Effect, reduce and multiple image is calculated in prior art and splicing is caused error；And due to gathering image
Less, and fusion method is more efficient, and algorithm complex is small, therefore has more preferable real-time；
3rd, the requirement of the invention for obtaining measurement apparatus and can adapt to various measuring environments, either in dark surrounds still bright
It can well work, be can be widely applied in various Photoelectric Detection work in bright ring border；
4th, measuring method of the invention belongs to the category of triangulation, according to testee, line-structured light light source and phase
Triangular space position relationship between machine solves testee surface profile information, has that non-contact, precision is high, and anti-electromagnetism is done
Disturb, the advantages that speed is fast.
Brief description of the drawings
Fig. 1 is the principle soil of 360 ° of profile measurements based on shadow occlusion method；
Fig. 2 is 360 ° of profile measurement trajectory diagrams based on shadow occlusion method；
Fig. 3 is 360 ° of profile measuring system structure charts of light cross-section method based on twin camera；
Fig. 4 is the schematic diagram of 360 ° of contour outline measuring sets of the present invention；
Fig. 5 is 360 ° of contour outline measuring set structure charts of the present invention；
Fig. 6 is the method flow diagram of 360 ° of contour outline measuring sets of the present invention；
Fig. 7 is that the embodiment of the present invention measures workpiece figure；
Fig. 8 is processing result image in measurement process of the embodiment of the present invention；
Fig. 9 is the profile diagram that the embodiment of the present invention measures workpiece.
Embodiment
The present invention solves the problems, such as to need rotary table subsidiary in traditional measurement method.Scheme before all needs
Optical system is rotated a circle at a high speed around testee or by testee itself, can just measure one 360 ° of complete wheel
Exterior feature, the present invention intactly cover a measured section using the semiconductor laser of three cable architectures, solved well existing
The problem of being rotated in technical scheme.Technical scheme is further illustrated below in conjunction with the accompanying drawings.
Fig. 4 is the schematic diagram of 360 ° of contour outline measuring sets of the present invention.Three lines being evenly arranged in around testee
Structural semiconductor laser sends fan laser, laser beam covering 360 ° of complete cross-sections of testee, three industrial cameras
Obtain laser lighting image and pass to computer and carry out image procossing, each industrial camera visual field covering testee is complete
More than the 1/3 of section.When laser beam vertical irradiation is to testee surface, highlighted section rim(ming) light can be formed on its surface
Band, video camera can carry out IMAQ to light belt image from another angle and reach computer.Three industrial cameras are equal
Even to be distributed in around testee, the central shaft of its optical axis and testee has an angle, can be measured that testee
Concavo-convex fluctuations.Therefore the image that each industrial camera is seen is analogous in Fig. 4 the distortion shown in (a) (b) (c)
Image, demarcation correction is carried out to fault image using calibrating parameters, shown in (d) (e) (f) in image such as Fig. 4 after correction, so
Afterwards by the image co-registration after three Camera calibrations, then by contours extract with regard to the integrity profile as shown in Fig. 4 (g) can be obtained.
Because the calibration process of three video cameras is disposably completed with same scaling board, the image coordinates of three video cameras by
Unification is into same world coordinate system so that the process very simple of image co-registration, it is only necessary to which three width images, which are simply added, is
Can.
As shown in figure 5, a kind of 360 ° of contour outline measuring sets based on line-structured light, including
Three are evenly distributed on around testee, and the sector of 360 ° of complete cross-sections of testee can be covered for sending
The semiconductor line laser of laser；
Three are evenly distributed on around testee, for gathering the laser lighting image of 360 ° of complete cross-sections of testee
Video camera；
Image for being arrived to camera acquisition carries out the computer of image procossing；
Semiconductor laser connects computer by parallel port respectively, and video camera passes through image pick-up card and computer phase respectively
Even.
Further, the video camera and semiconductor laser cross-distribution；Three video cameras and semiconductor laser are consolidated
It is scheduled on same rigid metal construction frame, to ensure to move without relative between laser plane and image plane when there is vibration interference
It is dynamic so that whole measurement apparatus is not disturbed by extraneous vibration；Testee is located at the center of rigid metal construction frame.
Further, the computer is used to carry out lock imaging, mean filter, image two-value to the image collected
Change, image calibration is reduced, image co-registration and image thinning are handled.
Further, the optical section for the line-structured light that the optical axis of the video camera is sent with semiconductor line laser has one
30 °~45 ° of angle.
Present invention also offers a kind of 360 ° of contour measuring methods based on line-structured light, idiographic flow is as shown in fig. 6, bag
Include following steps：
The light belt image of S1, collection object under comprising bias light, startup program start to measure, and computer is sent out by parallel port
Go out high level, drive three semiconductor line laser transmitting laser；Computer sends pulse signal triggering three by another parallel port
Individual video camera carries out IMAQ；The image that three video cameras obtain is light belt image of the testee under comprising bias light,
Each video camera obtains the part image more than testee surface 1/3；
S2, the background light image on collection testee surface, computer send low level by parallel port, drive semiconductor line
Laser is closed；Simultaneous computer sends pulse signal by another parallel port and notifies video camera to obtain next two field picture；Now take the photograph
The image that camera obtains is the background light image on testee surface, without laser light belt；
S3, image procossing, by camera acquisition to image be uploaded to computer, computer is obtained to increase after image and created
Two image procossing threads, three threads can perform parallel, carry out a system to epigraph, left image and right image simultaneously respectively
Row image processing operations, greatly promote software processing speed；Computer to each camera acquisition to two field pictures at
Reason includes following sub-step：
S31, lock imaging, bias light is eliminated, obtain the original contour images of testee；
S32, mean filter, eliminate original contour picture noise；Concrete methods of realizing is：The principle of mean filter is：
Wherein, g (s, t) is noisy original contour image；F (x, y) is to carry out the image after mean filter operation；Sxy
Represent central point in (x, y) place, one group of coordinate of the rectangle subgraph window that size is m × n；
The concrete operation method of mean filter is：Utilize SxyTemplate window travels through entire image g (s, t) to slide, and uses window
The average of mouth template replaces the gray value of template center's pixel；
S33, image binaryzation, the gray value of the pixel on image is arranged to 0 or 255, reduces the data in image
Amount, highlight the profile of target；
S34, image calibration reduction, are corrected using the calibrating parameters of each video camera to fault image；Image calibration is also
Used world coordinate system is established with same scaling board during original, i.e., the demarcation of three video cameras is in same
In world coordinate system；
S35, image co-registration, three width images after correction are merged in order；Concrete methods of realizing is：To demarcation also
Correction chart picture after original is overlapped by pixel, and each image during fusion is the image after binarization operation is handled, figure
Middle pixel only has stain and white point, and stain and stain superposition are still stain, and stain and white point, white point and white point are superposed to white point；
S36, image thinning, extract profile skeleton；Specifically include following sub-step：
S361, to define central point in reference template be target pixel points, is designated as P1, is at least gathered around in 8 neighborhood points around P1
There is a background dot (existing background dot also there are other target pixel points around P1)；P1 pixel is expressed as F (P1), P1 and its
The pixel of 8 neighborhood points of surrounding is expressed as：
P9、P2、P3
P8、P1、P4
P7、P6、P5
Because the image after binaryzation only has stain and white point, in 8 neighborhood points of P1 and its surrounding, target pixel points
The pixel of (stain) is 1, and the pixel of background dot (white point) is 0；
S362, judge whether target pixel points P1 meets following condition：
(a)2≤N(P1)≤6；(b) S (P1)=1；(c) F (P2) × F (P4) × F (P6)=0；(d)F(P4)×F(P6)
× F (P8)=0；
Wherein, N (P1) be P1 8 fields in non-zero pixels point (stain) number；S (P1) is represented with P2 starting points edge
The number that 8 connected domains search 0 to 1 change clockwise；F (P2), F (P4), F (P6), F (P8) represent respectively P2, P4,
P6, P8 pixel；
By image traversal one time, by all object pixel point deletions for meeting above-mentioned condition；
S363, judge whether target pixel points P1 meets following condition：
(a)2≤N(P1)≤6；(b) S (P1)=1；(c) F (P2) × F (P4) × F (P8)=0；(d)F(P2)×F(P6)
× F (P8)=0；
By image traversal one time, by all object pixel point deletions for meeting above-mentioned condition；
By step S362 and S363 operation, remaining pixel composition target's center pixel framework, i.e. testee
Single pixel contour images.
The complete 360 ° of optical sections of three industrial camera fast Acquisitions, it is not necessary to carry out any rotation process, solve
In existing wheel measuring method, when measured workpiece moves, helix measurement trajectory problem is produced, accurately truly reflects quilt
Survey the profile information of body surface.
The measurement process of the present invention needs to use three video cameras.For the sake of simplicity, the present embodiment using two video cameras as
Example explanation measurement process.Fig. 7 show the bright circular metal rod measurement workpiece of 23mm diameters.Measurement process and result such as Fig. 8
It is shown.Wherein, (a) is the original image that left camera acquisition arrives；(b) it is the image after left video camera lock imaging；(c) it is the right side
The original image that camera acquisition arrives, (d) are the image after right video camera lock imaging；(e) it is left demarcation reduction and binaryzation
Image afterwards；(f) it is the image after right demarcation reduction and binaryzation；(g) it is left profile refinement figure；(h) it is right contour thinning figure.
Fig. 9 is 360 ° of profile diagrams of metal bar after the fusion of left and right.
One of ordinary skill in the art will be appreciated that embodiment described here is to aid in reader and understands this hair
Bright principle, it should be understood that protection scope of the present invention is not limited to such especially statement and embodiment.This area
Those of ordinary skill can make according to these technical inspirations disclosed by the invention various does not depart from the other each of essence of the invention
The specific deformation of kind and combination, these deform and combined still within the scope of the present invention.
Claims (9)
1. 360 ° of contour outline measuring sets based on line-structured light, it is characterised in that including
Three are evenly distributed on around testee, and the fan laser of 360 ° of complete cross-sections of testee can be covered for sending
Semiconductor line laser；
Three are evenly distributed on around testee, and the laser lighting image for gathering testee 360 ° of complete cross-sections is taken the photograph
Camera；
Image for being arrived to camera acquisition carries out the computer of image procossing；
Semiconductor laser connects computer by parallel port respectively, and video camera is connected by image pick-up card with computer respectively.
2. 360 ° of contour outline measuring sets according to claim 1 based on line-structured light, it is characterised in that the video camera
With semiconductor laser cross-distribution, three video cameras and semiconductor laser are fixed on same rigid metal construction frame,
Testee is located at the center of rigid metal construction frame.
3. 360 ° of contour outline measuring sets according to claim 1 based on line-structured light, it is characterised in that the computer
For carrying out lock imaging, mean filter, image binaryzation, image calibration reduction, image co-registration and figure to the image collected
As micronization processes.
4. 360 ° of contour outline measuring sets according to claim 1 based on line-structured light, it is characterised in that the video camera
The optical section of line-structured light that sends of optical axis and semiconductor line laser have one 30 °~45 ° of angle.
5. 360 based on the line-structured light ° contour measuring method as described in Claims 1 to 4 any one, it is characterised in that
Comprise the following steps：
The light belt image of S1, collection object under comprising bias light, startup program start to measure, and computer sends height by parallel port
Level, drive three semiconductor line laser transmitting laser；Computer sends pulse signal triggering three by another parallel port and taken the photograph
Camera carries out IMAQ；The image that three video cameras obtain is light belt image of the testee under comprising bias light, each
Video camera obtains the part image more than testee surface 1/3；
S2, the background light image on collection testee surface, computer send low level by parallel port, drive semiconductor line laser
Device is closed；Simultaneous computer sends pulse signal by another parallel port and notifies video camera to obtain next two field picture；Now video camera
The image of acquisition is the background light image on testee surface, without laser light belt；
S3, image procossing, by camera acquisition to image be uploaded to computer, computer each camera acquisition is arrived two
Two field picture is handled, including following sub-step：
S31, lock imaging, bias light is eliminated, obtain the original contour images of testee；
S32, mean filter, eliminate original contour picture noise；
S33, image binaryzation, the gray value of the pixel on image is arranged to 0 or 255, reduces the data volume in image, it is convex
Show the profile of target；
S34, image calibration reduction, are corrected using the calibrating parameters of each video camera to fault image；
S35, image co-registration, three width images after correction are merged in order；
S36, image thinning, extract profile skeleton.
6. 360 ° of contour measuring methods according to claim 5 based on line-structured light, it is characterised in that the step
S32 concrete methods of realizing is：The principle of mean filter is：
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Wherein, g (s, t) is noisy original contour image；F (x, y) is to carry out the image after mean filter operation；SxyRepresent
Central point is in (x, y) place, one group of coordinate of the rectangle subgraph window that size is m × n；
The concrete operation method of mean filter is：Utilize SxyTemplate window travels through entire image g (s, t) to slide, with window mould
The average of plate replaces the gray value of template center's pixel.
7. 360 ° of contour measuring methods according to claim 5 based on line-structured light, it is characterised in that the step
World coordinate system in S34 employed in image calibration reduction process is established with same scaling board, i.e. three video cameras
Demarcation be in same world coordinate system.
8. 360 ° of contour measuring methods according to claim 7 based on line-structured light, it is characterised in that the step
The concrete methods of realizing of image co-registration is in S35：Correction chart picture after being reduced to demarcation is overlapped by pixel, each during fusion
Image is the image after binarization operation is handled, and pixel only has stain and white point in figure, and stain and stain superposition are still
Stain, stain and white point, white point and white point are superposed to white point.
9. 360 ° of contour measuring methods according to claim 5 based on line-structured light, it is characterised in that the step
S36 includes following sub-step：
S361, to define central point in reference template be target pixel points, is designated as P1, at least possesses one in 8 neighborhood points around P1
Individual background dot；P1 pixel is expressed as F (P1), the pixel of 8 neighborhood points of P1 and its surrounding is expressed as：
P9、P2、P3
P8、P1、P4
P7、P6、P5
In 8 neighborhood points of P1 and its surrounding, the pixel of target pixel points is 1, and the pixel of background dot is 0；
S362, judge whether target pixel points P1 meets following condition：
(a)2≤N(P1)≤6；(b) S (P1)=1；(c) F (P2) × F (P4) × F (P6)=0；(d)F(P4)×F(P6)×F
(P8)=0；
Wherein, N (P1) be P1 8 fields in non-zero pixels point number；S (P1) is represented with P2 starting points along 8 connected domains
The number of 0 to 1 change is searched clockwise；F (P2), F (P4), F (P6), F (P8) represent P2, P4, P6, P8 picture respectively
Element；
By image traversal one time, by all object pixel point deletions for meeting above-mentioned condition；
S363, judge whether target pixel points P1 meets following condition：
(a)2≤N(P1)≤6；(b) S (P1)=1；(c) F (P2) × F (P4) × F (P8)=0；(d)F(P2)×F(P6)×F
(P8)=0；
By image traversal one time, by all object pixel point deletions for meeting above-mentioned condition；
By step S362 and S363 operation, remaining pixel composition target's center pixel framework, the i.e. list of testee
Pixel profile image.
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