CN107796305A - A kind of phase deviation art measuring system scaling method and system - Google Patents
A kind of phase deviation art measuring system scaling method and system Download PDFInfo
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- CN107796305A CN107796305A CN201710976667.9A CN201710976667A CN107796305A CN 107796305 A CN107796305 A CN 107796305A CN 201710976667 A CN201710976667 A CN 201710976667A CN 107796305 A CN107796305 A CN 107796305A
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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
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
Abstract
The present invention discloses a kind of phase deviation art measuring system scaling method and system, this method is using parallel step level crossing to display screen catoptric imaging, spin matrix can be obtained by a parallel plane mirror position in position orientation relation, translation matrix need to only change a parallel step mirror position in position orientation relation, pass through linear solution, calibration process can be greatly simplified and reduce measurement cost, make calibration process more freely and efficient.
Description
Technical field
The present invention relates to field of optical measurements, more particularly to a kind of phase deviation art measuring system scaling method and system.
Background technology
For the three-dimensional measurement of specular reflection surface, according to properties of specular reflection, numerous scholars propose to be surveyed using phase
Deviation art is measured to measure mirror shape, its principle is that the gradient information of specular surface is determined according to phase information, is accumulated by gradient
Point or determine face shape the methods of interpolation.In phase measurement deviation art measuring method, display screen not in viewing field of camera and
The demarcation of camera position orientation relation is its key technology.
In existing calibration technique, the demarcation mirror that Petz proposes to stick control point using surface measures to demarcate deviation art
The position orientation relation of system, control point thereon need to measure accurate coordinates by identification and photogrammetric survey method.The survey of index point
Amount error system position orientation relation calibration result is had a great influence, and the measurement to index point can increase time of measuring and measurement into
This.The it is proposeds such as Xiao Yongliang are reflected display screen using minute surface standardization demarcation deviation art system position orientation relation using level crossing
Imaging, linear solution is carried out according to the display screen of foundation and the position orientation relation of its virtual image in level crossing and determines that system pose closes
System.Due at least need level crossing position change 3 times, camera needs to obtain the candy strip of several mirror-reflections, operate compared with
It is less efficient for complexity.And linear solution is generally smart to noise-sensitive, system position orientation relation calibration result in minute surface standardization
The distance and level crossing rotational angle of degree and level crossing to camera have relation.The it is proposeds such as Fu Shengpeng are using annulus minute surface demarcation system
System position orientation relation, determines pose of the annulus minute surface under camera coordinates system, then according to level crossing mirror by ellipses detection first
As principle determines the position orientation relation of display screen and camera.The processing of annular minute surface is complex, and due to annular minute surface
Special shape, cause when reflecting the object of reference of some shapes (such as gridiron pattern scaling board), camera can not obtain object of reference
The complete virtual image.Xiao etc. uses posture transformation approach calibration system position orientation relation, by introducing auxiliary camera and secondary monitor, leads to
Cross secondary monitor and connect two cameras and auxiliary camera, determination system position orientation relation is changed by posture.Auxiliary camera and aobvious
Show that the introducing of device adds cost, and cause calibration process to become complicated.How effectively simple system position orientation relation mark is carried out
It is fixed, it is the key of phase deviation art measurement.
The content of the invention
It is an object of the invention to by a kind of phase deviation art measuring system scaling method and system, carried on the back to solve the above
The problem of scape technology segment is mentioned.
To use following technical scheme up to this purpose, the present invention：
A kind of phase deviation art measuring system scaling method, it comprises the following steps：
S101, camera observe two void of the display screen in parallel step level crossing by parallel step level crossing
Picture；
S102, two virtual images of the display screen in parallel step level crossing are obtained by PnP methods sat in camera
Position orientation relation under mark system；The line of described two virtual images translation matrix in the position orientation relation under camera coordinates system is parallel rank
Terraced level crossing normal；Wherein, the PnP methods are the spatial positional information and their picture point by known n control point
Information calculates this position and attitude of n control point under camera coordinates system.
S103, based on the parallel step level crossing normal, the rotation in the position orientation relation is obtained by image theory
Matrix；
S104, change a parallel step mirror position, establish the restriction relation of display screen mirror image translation matrix, lead to
The translation matrix crossed in the linear solution acquisition position orientation relation.
Especially, the step S102 is specifically included：The display screen is obtained in parallel step plane by PnP methods
Position orientation relation of two virtual images under camera coordinates system in mirrorWith
Establish characteristic point p on display screeniOn parallel step level crossing mirror point pi' homogeneous expression formula：
For normal direction of the parallel step level crossing under camera coordinates system, diFor the distance of minute surface to camera；When using two
During parallel minute surface reflective display screen, camera observes display screen two parallel virtual images in minute surface；Solved by PnP methods
Position orientation relation of the obtained parallel virtual image of display screen under camera coordinates system beWithWherein, display screen is sat
Mark system is right-handed coordinate system, and its virtual image in minute surface is left-handed coordinate system, need to be by left-handed coordinate system { s when calculating1' and
{s2' it is transformed to right-handed system { s1" } and { s2" }, transformation relation are represented by following form：
I is 3 rank unit matrix.
Especially, the step S103 is specifically included：The display screen virtual image and display are established according to level crossing image theory
The position orientation relation of screen：
WithcRs、cTsBetween fundamental relation be specially：
Subtracted each other by translation matrix in two display screen virtual image position orientation relations and determine parallel step level crossing normal,Bring this normal into above-mentioned formula (4) or formula (5) can obtain spin matrix in position orientation relation.
Especially, the step S104 is specifically included：The solution of translation matrix need to change once parallel rank in position orientation relation
The position of terraced level crossing, in new position repeat step S103, obtain the parallel step level crossing normal under new positionTwo aobvious
Translation matrix of the display screen curtain virtual image under camera coordinates systemWithEstablish following system of linear equations：
Solution above-mentioned formula (6) can determine that the translation matrix in position orientation relation.
The invention also discloses a kind of phase deviation art measuring system calibration system, and it includes camera, display screen and put down
Row order ladder level crossing；The camera is used to obtain phase-shift pattern；The display screen is used to project phase-shift pattern；The parallel rank
Terraced level crossing is used for reflective display screen phase-shift pattern.
Phase deviation art measuring system scaling method proposed by the present invention and system use parallel step level crossing to display
Screen reflection is imaged, and spin matrix can be obtained by a parallel plane mirror position in position orientation relation, and square is translated in position orientation relation
Battle array only need to change a parallel step mirror position, by linear solution, calibration process can be greatly simplified and reduce measurement into
This, makes calibration process more freely and efficient.
Brief description of the drawings
Fig. 1 is phase deviation art measuring system calibration principle figure provided in an embodiment of the present invention；
Fig. 2 is phase deviation art measuring system scaling method flow chart provided in an embodiment of the present invention.
Embodiment
For the ease of understanding the present invention, the present invention is described more fully below with reference to relevant drawings.In accompanying drawing
Give presently preferred embodiments of the present invention.But the present invention can realize in many different forms, however it is not limited to this paper institutes
The embodiment of description.On the contrary, the purpose for providing these embodiments is made to the more thorough of the disclosure understanding
Comprehensively.It should be noted that unless otherwise defined, all of technologies and scientific terms used here by the article is with belonging to the present invention's
The implication that those skilled in the art are generally understood that is identical.Term used in the description of the invention is herein
In order to describe the purpose of specific embodiment, it is not intended that in the limitation present invention.Term as used herein " and/or " include one
The arbitrary and all combination of individual or multiple related Listed Items.
It refer to shown in Fig. 1, phase deviation art measuring system calibration system specifically includes camera 1, display in the present embodiment
Screen 2 and parallel step level crossing 3；The camera 1 is used to obtain phase-shift pattern；The display screen 2 is used to project phase shift figure
Case；The parallel step level crossing 3 is used for the phase-shift pattern of reflective display screen 2.Demarcate the pose of phase deviation art measuring system
Relation, specially camera 1 and the position orientation relation between the display screen 2 directly in its field range, position orientation relation do not include
Spin matrix and translation matrix.
As shown in Fig. 2 being based on above-mentioned phase deviation art measuring system calibration system, phase deviation art measures in the present embodiment
System calibrating method specifically comprises the following steps：
S101, camera 1 observe two of display screen 2 in parallel step level crossing 3 by parallel step level crossing 3
The virtual image.The parallel step level crossing 3 should into the flatness of, each level crossing by two parallel plane microscope groups in the present embodiment
Less than 1 micron, the Normal Error of two parallel plane mirrors is less than 0.01 degree.
S102, two virtual images of the display screen 2 in parallel step level crossing 3 are obtained in camera by PnP methods
Position orientation relation under coordinate system；The line of described two virtual images translation matrix in the position orientation relation under camera coordinates system is parallel
The normal of ladder level crossing 3.Wherein, the PnP methods are the spatial positional information and their picture by known n control point
Information is put to calculate this position and attitude of n control point under camera coordinates system.
Two virtual images of the display screen 2 in parallel step level crossing 3 are obtained in camera coordinates system by PnP methods
Under position orientation relationWith
Establish characteristic point p on display screen 2iOn the mirror point p of parallel step level crossing 3i' homogeneous expression formula：
For normal direction of the parallel step level crossing 3 under camera coordinates system, diDistance for minute surface to camera 1；When using two
During individual parallel minute surface reflective display screen 2, camera 1 observes the two parallel virtual images in minute surface of display screen 2；By PnP side
Position orientation relation of the 2 parallel virtual image of display screen that method solves to obtain under camera coordinates system beWithWherein, show
The coordinate system of display screen curtain 2 is right-handed coordinate system, and its virtual image in minute surface is left-handed coordinate system, need to be by left-handed coordinate system when calculating
{s1' and { s2' it is transformed to right-handed system { s1" } and { s2" }, transformation relation are represented by following form：
I is 3 rank unit matrix.
S103, based on the normal of parallel step level crossing 3, the rotation in the position orientation relation is obtained by image theory
Matrix.
The position orientation relation of the virtual image of display screen 2 and display screen 2 is established according to level crossing image theory：
WithcRs、cTsBetween fundamental relation be specially：
Subtracted each other by translation matrix in two virtual image position orientation relations of display screen 2 and determine the normal of parallel step level crossing 3,Bring this normal into above-mentioned formula (4) or formula (5) can obtain spin matrix in position orientation relation.
S104, change a position of parallel step level crossing 3, establish the restriction relation of the mirror image translation matrix of display screen 2,
Translation matrix in the position orientation relation is obtained by linear solution：Change the position of parallel step level crossing 3, camera 1 passes through flat
Row order ladder level crossing 3 observes two virtual images under new position, and all virtual images of display screen 2 are obtained in phase by PnP methods
Position orientation relation under machine coordinate system, normal is determined according to the line of translation matrix in position orientation relation, on the basis of the two normals
On establish mirror image the restriction relation of translation matrix, translation matrix can determine that by linear solution.
The solution of translation matrix need to change the position of a parallel step level crossing 3 in position orientation relation, be repeated in new position
Step S103, obtain the normal of parallel step level crossing 3 under new positionTwo virtual images of display screen 2 are under camera coordinates system
Translation matrixWithEstablish following system of linear equations：
Solution above-mentioned formula (6) can determine that the translation matrix in position orientation relation.
Deviation art measuring system pose is demarcated due to technical scheme proposed by the present invention using parallel step level crossing 3 to close
System, only need a position of parallel step level crossing 3 to can determine that spin matrix in position orientation relation, change a parallel step plane
The position of mirror 3 can determine that translation matrix in position orientation relation by linear solution, simplify measurement process, make calibration process more certainly
By with it is efficient.
It is to pass through one of ordinary skill in the art will appreciate that realizing all or part of flow in above-described embodiment
Computer program instructs the hardware of correlation to complete, and described program can be stored in a computer read/write memory medium,
The program is upon execution, it may include such as the flow of the embodiment of above-mentioned each method.Wherein, described storage medium can be magnetic disc,
CD, read-only memory (Read-Only Memory, ROM) or random access memory (Random Access
Memory, RAM) etc..
Pay attention to, above are only presently preferred embodiments of the present invention and institute's application technology principle.It will be appreciated by those skilled in the art that
The invention is not restricted to specific embodiment described here, can carry out for a person skilled in the art various obvious changes,
Readjust and substitute without departing from protection scope of the present invention.Therefore, although being carried out by above example to the present invention
It is described in further detail, but the present invention is not limited only to above example, without departing from the inventive concept, also
Other more equivalent embodiments can be included, and the scope of the present invention is determined by scope of the appended claims.
Claims (5)
1. a kind of phase deviation art measuring system scaling method, it is characterised in that comprise the following steps：
S101, camera observe two virtual images of the display screen in parallel step level crossing by parallel step level crossing；
S102, two virtual images of the display screen in parallel step level crossing are obtained in camera coordinates system by PnP methods
Under position orientation relation；Described two virtual images line of translation matrix in the position orientation relation under camera coordinates system is put down for parallel step
Face mirror normal；
S103, based on the parallel step level crossing normal, the spin matrix in the position orientation relation is obtained by image theory；
S104, change a parallel step mirror position, establish the restriction relation of display screen mirror image translation matrix, pass through line
Property solve the translation matrix obtained in the position orientation relation.
2. phase deviation art measuring system scaling method according to claim 1, it is characterised in that the step S102 tools
Body includes：Two virtual images of the display screen in parallel step level crossing are obtained under camera coordinates system by PnP methods
Position orientation relationWith
Establish characteristic point p on display screeniOn parallel step level crossing mirror point pi' homogeneous expression formula：
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Position orientation relation of the parallel virtual image of display screen under camera coordinates system beWithWherein, display screen coordinate system
For right-handed coordinate system, its virtual image in minute surface is left-handed coordinate system, need to be by left-handed coordinate system { s when calculating1' and { s2' become
It is changed to right-handed system { s1" and { s2", transformation relation is represented by following form：
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I is 3 rank unit matrix.
3. phase deviation art measuring system scaling method according to claim 2, it is characterised in that the step S103 tools
Body includes：The position orientation relation of the display screen virtual image and display screen is established according to level crossing image theory：
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Subtracted each other by translation matrix in two display screen virtual image position orientation relations and determine parallel step level crossing normal,
Bring this normal into above-mentioned formula (4) or formula (5) can obtain spin matrix in position orientation relation.
4. phase deviation art measuring system scaling method according to claim 3, it is characterised in that the step S104 tools
Body includes：The solution of translation matrix need to change the position of a parallel step level crossing in position orientation relation, repeat to walk in new position
Rapid S103, obtain the parallel step level crossing normal under new positionTwo display screen virtual images are flat under camera coordinates system
Move matrixWithEstablish following system of linear equations：
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Solution above-mentioned formula (6) can determine that the translation matrix in position orientation relation.
5. a kind of phase deviation art measuring system calibration system, it is characterised in that put down including camera, display screen and parallel step
Face mirror；The camera is used to obtain phase-shift pattern；The display screen is used to project phase-shift pattern；The parallel step level crossing
For reflective display screen phase-shift pattern.
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| CN110411376A (en) * | 2019-07-03 | 2019-11-05 | 复旦大学 | A kind of transparent element front and rear surfaces PHASE SEPARATION method for the measurement of phase deviation |
| CN110827360A (en) * | 2019-10-31 | 2020-02-21 | 华中科技大学 | Photometric stereo measurement system and method for calibrating light source direction thereof |
| CN110966935A (en) * | 2019-12-15 | 2020-04-07 | 复旦大学 | Deflection measurement system integrated geometric calibration method based on mark points |
| CN111366079A (en) * | 2020-04-07 | 2020-07-03 | 复旦大学 | Calibration method for rapidly determining geometric positions of components in deflection measurement system |
| CN112762858A (en) * | 2020-12-06 | 2021-05-07 | 复旦大学 | Compensation method for phase error in deflection measurement system |
| CN113362399A (en) * | 2021-07-02 | 2021-09-07 | 复旦大学 | Calibration method for positions and postures of focusing mirror and screen in deflection measurement system |
| CN114322838A (en) * | 2021-12-30 | 2022-04-12 | 天津大学 | Small coincidence view field multi-eye phase deflection measuring device and method |
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| CN111366079A (en) * | 2020-04-07 | 2020-07-03 | 复旦大学 | Calibration method for rapidly determining geometric positions of components in deflection measurement system |
| CN112762858A (en) * | 2020-12-06 | 2021-05-07 | 复旦大学 | Compensation method for phase error in deflection measurement system |
| CN112762858B (en) * | 2020-12-06 | 2021-11-19 | 复旦大学 | Compensation method for phase error in deflection measurement system |
| CN113362399A (en) * | 2021-07-02 | 2021-09-07 | 复旦大学 | Calibration method for positions and postures of focusing mirror and screen in deflection measurement system |
| CN113362399B (en) * | 2021-07-02 | 2022-08-30 | 复旦大学 | Calibration method for positions and postures of focusing mirror and screen in deflection measurement system |
| CN114322838A (en) * | 2021-12-30 | 2022-04-12 | 天津大学 | Small coincidence view field multi-eye phase deflection measuring device and method |
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