CN108662987A - The scaling method of 2D camera shooting type laser measuring heads - Google Patents
The scaling method of 2D camera shooting type laser measuring heads Download PDFInfo
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- CN108662987A CN108662987A CN201810366473.1A CN201810366473A CN108662987A CN 108662987 A CN108662987 A CN 108662987A CN 201810366473 A CN201810366473 A CN 201810366473A CN 108662987 A CN108662987 A CN 108662987A
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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 invention discloses a kind of scaling method of 2D camera shooting types laser measuring head, measurement head includes package casing, line laser and CCD camera；For laser line generator for emitting laser plane, laser plane projects object under test, and in one laser lines for being used to characterize profile of object under test Surface Creation, scaling board intersects with the laser plane that laser line generator is sent out；CCD camera is used to shoot the image of scaling board；This scaling method extracts laser line generator by calculus of finite differences and projects the laser striation on scaling board, extract center line, center line is reverted under camera coordinate system, it is fitted a plurality of center line in space, space equation of the laser plane under camera coordinate system is calculated, and then calculates the spatial relation of laser plane and camera coordinate system；The present invention can be used for inner parameter and the laser plane position of Accurate Calibration laser measuring head；Calibration process is not necessarily to other ancillary equipments, easy to operate.
Description
Technical field
Design profile fields of measurement of the present invention, the specially scaling method of 2D camera shooting types laser measuring head.
Background technology
The appearance profile of one object includes external a variety of essential informations, such as：Integrality, aesthetics etc..Measure one
Contour of object information is to obtain overall size common method.There are many contour measuring methods, such as：Three-coordinates measuring machine, machine regard
Feel measurement etc..In machine vision profile measurement, light cross-section method is a kind of common contour measuring method.Light cross-section method is swashed by projecting
Light line shoots the profile information with striation, appearance profile is obtained by image procossing to examined object surface.It is cut using light
Method measure profile, using scaling board close to by the way of laser plane Calibration of Laser plane space position.Due to being difficult to ensure laser
Plane is absolutely overlapped with scaling board plane, and therefore, calibration result is difficult to reach degree of precision.
Invention content
The object of the present invention is to provide a kind of scaling methods of 2D camera shooting types laser measuring head, are suitable for most of camera shooting types
The interior participation laser plane location position of laser measuring head improves stated accuracy.
In order to achieve the above object, technical solution of the present invention is as follows：
A kind of scaling method of 2D camera shooting types laser measuring head, 2D camera shooting type laser measuring heads are for obtaining object under test
2D contour detecting data, it is characterised in that：2D camera shooting type laser measuring heads include package casing, the line laser inside package casing
And CCD camera；Laser line generator is for emitting laser plane, and laser plane projects object under test, in object under test Surface Creation
One laser lines for characterizing profile, scaling board intersect with the laser plane that laser line generator is sent out；CCD camera is for shooting
The image of scaling board；This scaling method extracts laser line generator by calculus of finite differences and projects the laser striation on scaling board, in extraction
Heart line, center line is reverted under camera coordinate system, is fitted a plurality of center line in space, is calculated laser plane and is sat in video camera
Space equation under mark system, and then the spatial relation of laser plane and camera coordinate system is calculated, the calibration point of measurement head
For two parts：Camera internal parameter calibration and laser plane location position.
It is preferred that in entire calibration process, the calibration background image and spotting of multiple and different angles are shot
Image；It demarcates background image and spotting image forms uncalibrated image group.
It is preferred that camera internal parameter calibration and laser plane location position are separately demarcated, in first calibration for cameras
Portion's parameter, then Calibration of Laser plan-position.
It is preferred that laser plane is vertical with package casing axis.
It is preferred that the method further includes following steps：
(1) fixed 2D camera shooting type laser measuring heads position, the visual field that CCD camera can clearly be shot is placed on by scaling board
In range, and fixed scaling board；
(2) laser line generator is opened, scaling board image is spotting image at this time for acquisition；
(3) laser line generator is closed, scaling board image is calibration background image at this time for acquisition；
(4) it demarcates background image and spotting image forms image group, after terminating the image group of one angle of acquisition,
Change calibration Board position, shoots the image group of next angle；
(5) all calibration background images are demarcated, CCD camera inner parameter matrix is calculated；
(6) spotting image and calibration background image are made into difference, extracts laser light stripe centric line, calculate optical losses
The feature intersection point A of line and the outer rectangle of gridiron pattern characteristic pointiAnd Bi；
(7) feature intersection point is reverted under camera coordinate system, is fitted the feature intersection point of multiple angles, calculate laser plane
Space equation；According to spatial plane equation, the correlation between Calculation Plane and coordinate system seeks transformation matrix H.
It is preferred that demarcating the calibration background image of multiple different angles, using Zhang Zhengyou standardizations, camera is obtained
Inner parameter matrix M.
It is preferred that the step (6) is further：Spotting image and calibration background image work is poor, it obtains
It takes and only contains laser light image；Distortion correction is made to the laser optical strip image of extraction；Laser striation after Threshold segmentation correction
Image, and light stripe centric line is extracted, calculate the feature intersection point A of light stripe centric line and the outer rectangle of sub-pix angle pointiAnd Bi；Pass through square
Battle array operation calculates coordinate A of the feature intersection point under camera coordinate systemciAnd Bci；The wherein feature intersection point Ai、BiTo camera shooting
Feature intersection point A under machine coordinate systemci、BciRelational expression be：
Wherein, s is proportionality coefficient, and M is internal reference matrix.
It is preferred that the step (7) is further：It is plane to be fitted multiple feature intersection points, this plane is to swash
Spatial position of the optical plane under camera coordinate system；According to rotating vector law, you can calculate laser plane to camera coordinates
The spin matrix R of system；The translation matrix of laser plane to camera coordinate system is T, and value is that any point is sat on laser plane
Mark.
It is preferred that when seeking location matrix in step (7), it is flat by Accurate Calibration camera internal parameter and laser
The transformation relation formula of face position, laser plane to image coordinate system is：
Wherein, H-matrix is transformation matrix of the laser plane to the plane of delineation, and s is proportionality coefficient, and M is internal reference matrix, Rij
For the element of matrix R, TijFor the element of matrix T.
It is preferred that after completing camera internal parameter calibration and laser plane location position, swash in video camera and line
In the case of light device relative position is constant, external environment changes, it is only necessary to re-scale inner parameter.
Compared with prior art, the beneficial effects of the invention are as follows：1：The present invention can be used for Accurate Calibration laser measuring head
Inner parameter and laser plane position；2：By being fitted the laser striation of multiple calibration planes, high-precision laser plane is obtained
Spatial position；3：If the position of camera and laser line generator does not change, no longer need to demarcate after laser plane location position；4：Mark
Determine process and is not necessarily to other ancillary equipments, it is easy to operate.
Description of the drawings
Fig. 1 is to obtain spotting image schematic diagram；
Fig. 2 is uncalibrated image collecting flowchart figure；
Fig. 3 is spotting characteristics of image intersection point schematic diagram；
Fig. 4 is calibrated and calculated flow chart；
1 is package casing；2 be laser line generator；3 be CCD camera；4 be laser plane；5 be scaling board, and 6 be package casing
Axis.
Specific implementation mode
Illustrate that embodiments of the present invention, those skilled in the art can be by this specification below by way of specific specific example
Disclosed content understands other advantages and effect of the present invention easily.The present invention can also pass through in addition different specific realities
The mode of applying is embodied or practiced, the various details in this specification can also be based on different viewpoints with application, without departing from
Various modifications or alterations are carried out under the spirit of the present invention.
A kind of scaling method of 2D camera shooting types laser measuring head, 2D camera shooting type laser measuring heads are for obtaining object under test
2D contour detecting data, as shown in Figure 1,2D camera shooting type laser measuring heads include package casing 1, fixation be encapsulated in inside shell 1
Line laser 2 and CCD camera 3；Laser plane 4 is vertical with package casing axis 6, and to carry out profile measurement, laser line generator 2 is used
In transmitting laser plane 4, laser plane 4 projects object under test, and in object under test Surface Creation, one is used to characterize profile
Laser lines, scaling board 5 intersect with the laser plane 4 that laser line generator 2 is sent out；CCD camera 3 is used to shoot the image of scaling board 5；
2D camera shooting types laser measuring head before detection, is demarcated；This scaling method extracts laser line generator projection by calculus of finite differences
Laser striation on to scaling board extracts center line, center line is reverted under camera coordinate system, in a plurality of in fitting space
Heart line calculates space equation of the laser plane under camera coordinate system, and then calculates laser plane and camera coordinate system
The calibration of spatial relation, measurement head is divided into two parts：Camera internal parameter calibration and laser plane location position.
In entire calibration process, the calibration background image and spotting image of multiple and different angles are shot；Demarcate background
Image and spotting image form uncalibrated image group.
Camera internal parameter calibration and laser plane location position are separately demarcated, first calibration for cameras inner parameter, then are demarcated
Laser plane position.
As shown in Fig. 2, the scaling method of 2D camera shooting type laser measuring heads, the step of Image Acquisition, is：
(1) fixed 2D camera shooting type laser measuring heads position is regarded what scaling board 5 was placed on that CCD camera 3 can clearly shoot
In wild range, and fixed scaling board 5；
(2) laser line generator 2 is opened, scaling board image is spotting image at this time for acquisition；
(3) laser line generator 2 is closed, scaling board image is calibration background image at this time for acquisition；
(4) it demarcates background image and spotting image forms image group, after terminating the image group of one angle of acquisition,
Change calibration Board position, shoots the image group of next angle；
As shown in figure 4, the scaling method of 2D camera shooting type laser measuring heads, the step of calibration algorithm, is：
(1) all calibration background images are demarcated, CCD camera inner parameter matrix is calculated；
(2) spotting image and calibration background image are made into difference, extracts laser light stripe centric line, calculate optical losses
The feature intersection point A of line and the outer rectangle of gridiron pattern characteristic pointiAnd Bi；
(3) feature intersection point is reverted under camera coordinate system, is fitted the feature intersection point of multiple angles, calculate laser plane
Space equation；According to spatial plane equation, the correlation between Calculation Plane and coordinate system seeks transformation matrix H.
The calibration background image for demarcating multiple different angles obtains the inner parameter square of camera using Zhang Zhengyou standardizations
Battle array M.
As shown in figure 3, the calibration algorithm step (2) is further：Spotting image and calibration background image are made
Difference obtains and only contains laser light image；Distortion correction is made to the laser optical strip image of extraction；Laser after Threshold segmentation correction
Optical strip image, and light stripe centric line is extracted, calculate the feature intersection point A of light stripe centric line and the outer rectangle of sub-pix angle pointiAnd Bi；It is logical
Matrix operation is crossed, coordinate A of the feature intersection point under camera coordinate system is calculatedciAnd Bci；The wherein feature intersection point Ai、BiIt arrives
Feature intersection point A under camera coordinate systemci、BciRelational expression be：
Wherein, s is proportionality coefficient, and M is internal reference matrix.
The calibration algorithm step (3) is further：It is plane to be fitted multiple feature intersection points, this plane is laser plane
Spatial position under camera coordinate system；According to rotating vector law, you can calculate rotation of the laser plane to camera coordinate system
Torque battle array R；The translation matrix of laser plane to camera coordinate system is T, and value is any point coordinate on laser plane.
When seeking location matrix in calibration algorithm step (3), pass through Accurate Calibration camera internal parameter and laser plane position
It sets, the transformation relation formula of laser plane to image coordinate system is：
Wherein, H-matrix is transformation matrix of the laser plane to the plane of delineation, and s is proportionality coefficient, and M is internal reference matrix, Rij
For the element of matrix R, TijFor the element of matrix T.
After completing camera internal parameter calibration and laser plane location position, video camera and laser line generator relative position not
In the case of change, external environment changes, it is only necessary to re-scale inner parameter.
The above-described embodiments merely illustrate the principles and effects of the present invention, and is not intended to limit the present invention.It is any ripe
The personage for knowing this technology can all carry out modifications and changes to above-described embodiment without violating the spirit and scope of the present invention.Cause
This, all those of ordinary skill in the art are completed without departing from the spirit and technical ideas disclosed in the present invention
All equivalent modifications or change, should by the present invention claim be covered.
Claims (10)
1. a kind of scaling method of 2D camera shooting types laser measuring head, 2D camera shooting type laser measuring heads are used to obtain the 2D of object under test
Contour detecting data, it is characterised in that：2D camera shooting type laser measuring heads include the internal line of package casing (1), package casing (1)
Laser (2) and CCD camera (3)；For laser line generator (2) for emitting laser plane (4), laser plane (4) projects object under test,
In one laser lines for being used to characterize profile of object under test Surface Creation, the laser that scaling board (5) is sent out with laser line generator (2)
Plane (4) intersects；CCD camera (3) is used to shoot the image of scaling board (5)；This scaling method extracts line laser by calculus of finite differences
Device projects the laser striation on scaling board, extracts center line, center line is reverted under camera coordinate system, is fitted in space
A plurality of center line calculates space equation of the laser plane under camera coordinate system, and then calculates laser plane and sat with video camera
The spatial relation of system is marked, the calibration of measurement head is divided into two parts：Camera internal parameter calibration and laser plane position mark
It is fixed.
2. the scaling method of 2D camera shooting types laser measuring head according to claim 1, it is characterised in that：Entire calibration process
In, shoot the calibration background image and spotting image of multiple and different angles；Demarcate background image and spotting image group
At uncalibrated image group.
3. the scaling method of 2D camera shooting types laser measuring head according to claim 1, it is characterised in that：Camera internal parameter
Calibration and laser plane location position are separately demarcated, first calibration for cameras inner parameter, then Calibration of Laser plan-position.
4. the scaling method of 2D camera shooting types laser measuring head according to claim 1, it is characterised in that：Laser plane (4)
It is vertical with package casing axis (6).
5. the scaling method of 2D camera shooting types laser measuring head according to claim 1, it is characterised in that include the following steps：
(1) fixed 2D camera shooting type laser measuring heads position is regarded what scaling board (5) was placed on that CCD camera (3) can clearly shoot
In wild range, and fixed scaling board (5)；
(2) laser line generator (2) is opened, scaling board image is spotting image at this time for acquisition；
(3) laser line generator (2) is closed, scaling board image is calibration background image at this time for acquisition；
(4) it demarcates background image and spotting image forms image group, after terminating the image group of one angle of acquisition, change
Board position is demarcated, the image group of next angle is shot；
(5) all calibration background images are demarcated, CCD camera inner parameter matrix is calculated；
(6) spotting image and calibration background image are made into difference, extract laser light stripe centric line, calculate light stripe centric line with
The feature intersection point A of the outer rectangle of gridiron pattern characteristic pointiAnd Bi；
(7) feature intersection point is reverted under camera coordinate system, is fitted the feature intersection point of multiple angles, calculates the sky of laser plane
Between equation；According to spatial plane equation, the correlation between Calculation Plane and coordinate system seeks transformation matrix H.
6. the scaling method of 2D camera shooting types laser measuring head according to claim 2, it is characterised in that：Demarcate multiple differences
The calibration background image of angle obtains the inner parameter matrix M of camera using Zhang Zhengyou standardizations.
7. the scaling method of 2D camera shooting types laser measuring head according to claim 5, it is characterised in that：The step (6)
It is further：Spotting image and calibration background image work is poor, it obtains and only contains laser light image；To the laser of extraction
Optical strip image makees distortion correction；Laser optical strip image after Threshold segmentation correction, and light stripe centric line is extracted, calculate optical losses
The feature intersection point A of line and the outer rectangle of sub-pix angle pointiAnd Bi；By matrix operation, feature intersection point is calculated under camera coordinate system
Coordinate AciAnd Bci；The wherein feature intersection point Ai、BiFeature intersection point A under to camera coordinate systemci、BciRelational expression
For：
Wherein, s is proportionality coefficient, and M is internal reference matrix.
8. the scaling method of 2D camera shooting types laser measuring head according to claim 5, it is characterised in that：The step (7)
It is further：It is plane to be fitted multiple feature intersection points, this plane is spatial position of the laser plane under camera coordinate system；
According to rotating vector law, you can the spin matrix R of calculating laser plane to camera coordinate system；Laser plane is to camera coordinates
The translation matrix of system is T, and value is any point coordinate on laser plane.
9. the scaling method of 2D camera shooting types laser measuring head according to claim 5, it is characterised in that：Step is asked in (7)
When taking location matrix, pass through Accurate Calibration camera internal parameter and laser plane position, the change of laser plane to image coordinate system
Changing relational expression is：
Wherein, H-matrix is transformation matrix of the laser plane to the plane of delineation, and s is proportionality coefficient, and M is internal reference matrix, RijFor square
The element of battle array R, TijFor the element of matrix T.
10. the scaling method of 2D camera shooting types laser measuring head according to claim 1, it is characterised in that：It completes in camera
It is constant in video camera and laser line generator relative position after portion's parameter calibration and laser plane location position, external environment
It changes, it is only necessary to re-scale inner parameter.
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| CN110091891A (en) * | 2019-05-05 | 2019-08-06 | 中铁检验认证中心有限公司 | Bullet train dynamic clearance measurement method, device, storage medium and electronic equipment |
| CN110470239A (en) * | 2019-08-07 | 2019-11-19 | 上海交通大学 | A kind of laser profile sensor calibration system and method based on crosspoint |
| CN110702423A (en) * | 2019-09-16 | 2020-01-17 | 南京工程学院 | Dynamic stability analysis method and device for metro vehicle door system |
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| CN112344876A (en) * | 2020-11-03 | 2021-02-09 | 上海港旺新能源科技有限公司 | System and method for detecting installation error of light gathering and reflecting plate of groove type solar thermal device |
| CN112381888A (en) * | 2020-11-19 | 2021-02-19 | 上海方菱计算机软件有限公司 | Dynamic compensation method for H-shaped steel cutting path |
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| CN110091891B (en) * | 2019-05-05 | 2020-03-31 | 中铁检验认证中心有限公司 | High-speed train dynamic limit measuring method and device, storage medium and electronic equipment |
| CN110470239A (en) * | 2019-08-07 | 2019-11-19 | 上海交通大学 | A kind of laser profile sensor calibration system and method based on crosspoint |
| CN110702423A (en) * | 2019-09-16 | 2020-01-17 | 南京工程学院 | Dynamic stability analysis method and device for metro vehicle door system |
| CN111366128A (en) * | 2020-03-09 | 2020-07-03 | 上海海事大学 | Distance information analysis method based on single image |
| CN111366128B (en) * | 2020-03-09 | 2022-12-02 | 上海海事大学 | Distance information analysis method based on single image |
| WO2021253940A1 (en) * | 2020-06-19 | 2021-12-23 | Zhejiang Huaray Technology Co., Ltd. | Systems and methods for object measurement |
| CN112344876A (en) * | 2020-11-03 | 2021-02-09 | 上海港旺新能源科技有限公司 | System and method for detecting installation error of light gathering and reflecting plate of groove type solar thermal device |
| CN112381888A (en) * | 2020-11-19 | 2021-02-19 | 上海方菱计算机软件有限公司 | Dynamic compensation method for H-shaped steel cutting path |
| CN113096183A (en) * | 2021-03-18 | 2021-07-09 | 武汉科技大学 | Obstacle detection and measurement method based on laser radar and monocular camera |
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