CN109146981A - The parallel AA method, apparatus of structure optical mode group, equipment and storage medium - Google Patents
The parallel AA method, apparatus of structure optical mode group, equipment and storage medium Download PDFInfo
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- CN109146981A CN109146981A CN201811043756.9A CN201811043756A CN109146981A CN 109146981 A CN109146981 A CN 109146981A CN 201811043756 A CN201811043756 A CN 201811043756A CN 109146981 A CN109146981 A CN 109146981A
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- projection plane
- angle
- image
- projector
- video camera
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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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30244—Camera pose
Abstract
The invention discloses a kind of parallel AA methods of structure optical mode group, comprising: according to the first image, obtains the reference spacing in projection plane between 0 grade of point and specified reference point；According to the second image, determine video camera optical axis and perpendicular to projection plane direction the second angle and specified reference point to video camera incidence angle；According to reference spacing, the second angle and incidence angle, the first angle between the light-emitting axis of projector and projection plane is obtained；According to the first angle and the second angle, it is parallel with video camera to adjust projector.The method of the parallel AA of structure optical mode group provided in the present invention can quickly and accurately judge and adjust the malalignment of the light-emitting axis of projector and the optical axis of video camera, avoid the service performance due to the obliquity effects structure optical mode group of structure optical mode group.Device, equipment and the computer readable storage medium of a kind of parallel AA of structure optical mode group are additionally provided in the present invention, and there is above-mentioned beneficial effect.
Description
Technical field
The present invention relates to structured light technique field, more particularly to a kind of parallel AA of structure optical mode group method, apparatus,
Equipment and computer readable storage medium.
Background technique
Structured light technique (Structured Light) is technology when a kind of active optical is surveyed, the basic principle is that by tying
Structure light projector projects controllable luminous point, striation or smooth surface structure to testee surface, and by imaging sensor (as imaged
Machine) it obtains image the three-dimensional coordinate of object is calculated using triangle principle by system geometrical relationship.Structured light technique
Measuring principle has the characteristics that calculating is simple, small in size, price is low, big basin journey, is easily installed and safeguards, in practical three-D profile
It is widely used in measurement.
Theoretically, the light-emitting axis of the projector and entering for camera should be parallel to each other between optical axis in structure optical mode group, but
It is due to making tolerance and design error etc., structure optical mode group inevitably has tilt problem.
Summary of the invention
The object of the present invention is to provide method, apparatus, equipment and the computers of a kind of parallel AA of structure optical mode group can
Storage medium is read, solves the asking of not being parallel to each other between optical axis of entering of the light-emitting axis of the projector and camera in structure optical mode group
Topic.
In order to solve the above technical problems, the present invention provides a kind of parallel AA method of structure optical mode group, the structure optical mode
Group includes projector, video camera and projection plane, the projector and video camera setting in the same side of the projection plane,
The side away from the projector of the projection plane is provided with CCD camera, and the photosurface of the CCD camera and the throwing
It is parallel to penetrate plane；
The parallel AA method includes:
According to the first image, the reference spacing in the projection plane between 0 grade of point and specified reference point is obtained；Its
In, first image is that the CCD camera shoots structure light image and multiple reference points in the projection plane
The image of acquisition；The structure light image is the image that the projector is formed to the projection plane projective structure light；It is described
Specified reference point is one in multiple reference points in the projection plane；0 grade of point is that 0 grade of light of the projector exists
The subpoint of the projection plane；
According to the second image, the optical axis of the video camera and the second folder perpendicular to the projection plane direction are determined
The incidence angle of angle and the specified reference point to the video camera；Wherein, second image is video camera bat
Take the photograph the image that multiple reference points obtain in the projection plane；
According to described with reference to spacing, second angle and the incidence angle, obtain the projector light-emitting axis and
The first angle between the projection plane；
According to first angle and second angle, it is parallel with the video camera to adjust the projector.
Wherein, described according to the first image, obtain 0 grade of point and spy in the projection plane
The reference spacing determined between reference point includes:
According to first image, determine 0 grade of point and the specified reference point on the CCD photosurface
Spacing d between imaging pixel point1；
According to similar triangles ratio formula:It obtains and refers to spacing d2；Wherein f1For the coke of CCD camera
Away from h1For the distance between the camera lens of the CCD camera and described projection plane, p1For the pixel of the CCD camera.
Wherein, described according to the second image, determine the optical axis of the video camera and perpendicular to the projection plane side
To the second angle and the incidence angle of the specified reference point to the video camera include:
Using the photosurface central point of the video camera as origin, three-dimensional right angle is established on the photosurface of the video camera and is sat
Mark system；
It obtains in second image, photosurface corresponding projection image of each reference point in the video camera
First coordinate value of the vegetarian refreshments in three-dimensional cartesian coordinate system；
According to first coordinate value, each reference point in the projection plane is obtained in three-dimensional cartesian coordinate system
In the second coordinate value；
The optical axis of the video camera is obtained according to second coordinate value and perpendicular to described in the projection plane direction
Second angle.
Wherein, described according to the second image, determine the optical axis of the video camera and perpendicular to the projection plane side
To the second angle and the incidence angle of the specified reference point to the video camera include:
According to the specified reference point the photosurface of the video camera projection image's vegetarian refreshments in three-dimensional cartesian coordinate system
Coordinate value, determine the specified reference point to the video camera incidence angle.
Wherein, according to described with reference to spacing, second angle and the incidence angle, the projector and described is obtained
The first angle between projection plane includes:
According to α=β+γ,Obtain the Relative Zero in the projection plane
Relative spacing d between point and the specified reference point3；Wherein, the relative zero is described in distance in the projection plane
The nearest location point of projector, spacing of the d between the projector and the video camera, h2For the video camera to the throwing
Penetrate the distance of plane, l1For the specified reference point on the photosurface of the video camera and the origin of three-dimensional cartesian coordinate system
Distance, f2For the focal length of the video camera, p2For the pixel of the video camera, α is the specified reference point to the video camera
The complementary angle of angle between incident ray and the projection plane, β are the incidence angle, and γ is second angle；
According toObtain the first angle δ.
Wherein, according to first angle and second angle, it is parallel with the video camera to adjust the projector
Later, further includes:
According to third image, judge that the projector whether there is rotation angle in optical axis direction, if it is, according to
The rotation angle rotates the projector around 0 grade of light of the projector, so that the rotation angle of the projector is 0；
Wherein, the third image is for the structured light projection in the projection plane and with reference to line segment described
The image formed on the photosurface of CCD camera；And the structured light projection in the projection plane is the projector adjusted
The projection of the structure light of projection, it is described parallel with the projection plane edge line with reference to line segment.
Wherein, described according to the third image, judge the projector in optical axis direction with the presence or absence of rotation angle
Include:
According to the third image, the structure light image on the photosurface of the CCD camera and the reference are obtained
The projected pixel line segment of line segment；
Judge whether edge line and the reference line segment of the structure light image are parallel, if it is not, then the projector
In optical axis direction, there are rotation angles.
The present invention also provides a kind of parallel AA device of structure optical mode group, the structure optical mode group includes projector, takes the photograph
Camera and projection plane, the projector and video camera setting in the same side of the projection plane, the projection plane
The side of the projector is provided with CCD camera, and the photosurface of the CCD camera is parallel with the projection plane；
Described device includes:
First computing module, for obtaining 0 grade of point and specified reference point in the projection plane according to the first image
Between reference spacing；Wherein, first image is that the CCD camera shoots the structure light figure in the projection plane
The image that picture and multiple reference points obtain；The structure light image is the projector to the projection plane projective structure light
The image of formation；The specified reference point is one in multiple reference points in the projection plane；0 grade of point is the throwing
Subpoint of the 0 grade of light of shadow instrument in the projection plane；
Second computing module, for determining the optical axis of the video camera and perpendicular to the throwing according to the second image
Penetrate in-plane the second angle and the specified reference point to the video camera incidence angle；Wherein, second imaging
Image is the image that multiple reference points are formed on the photosurface of the video camera in the projection plane；
Third computing module, for according to described with reference to spacing, second angle and the incidence angle, described in acquisition
The first angle between projector and the projection plane；
Module is adjusted, for adjusting the projector and the camera shooting according to first angle and second angle
Machine is parallel.
The present invention also provides the equipment of the parallel AA of structure optical mode group a kind of, including CCD camera and processor；
The projection plane that the CCD camera is used to be arranged in structure optical mode group deviates from the side of projector, and shoots institute
The projected image in projection plane is stated, the image formed on the photosurface of the CCD camera；
The processor is connected with the CCD camera, for according to image execution any one as above
Structure optical mode group parallel AA method operation.
The present invention also provides a kind of computer readable storage medium, knot is stored on the computer readable storage medium
The computer program of the parallel AA of structure optical mode group realizes the as above any one knot when computer program is executed by processor
The step of parallel AA method of structure optical mode group.
The method of the parallel AA of structure optical mode group provided by the present invention, is parallel to each other by means of photosurface and projection plane
CCD camera, and reference point is set in the projection plane of projective structure light, and respectively in CCD camera shooting projection plane
The second image that the image in the first image and video camera shooting projection plane that image generates generates, is projected
The first angle between the light-emitting axis and projection plane of instrument and the second angle between the optical axis and projection plane of video camera,
So when if the first angle and the second angle are equal, that is to say, the optical axis of the light-emitting axis of bright projector and video camera is flat
Row, conversely, the two is then not parallel, then only needs that projector is adjusted corresponding angle according to the difference of the first angle and the second angle
Degree can guarantee that the light-emitting axis of projector is parallel with the optical axis of video camera.
The method of the parallel AA of structure optical mode group provided in the present invention can quickly and accurately judge and adjust projector
Light-emitting axis and video camera optical axis malalignment, avoiding is made due to the obliquity effects structure optical mode group of structure optical mode group
Use performance.
Device, equipment and the computer-readable storage medium of a kind of parallel AA of structure optical mode group are additionally provided in the present invention
Matter has above-mentioned beneficial effect.
Detailed description of the invention
It, below will be to embodiment or existing for the clearer technical solution for illustrating the embodiment of the present invention or the prior art
Attached drawing needed in technical description is briefly described, it should be apparent that, the accompanying drawings in the following description is only this hair
Bright some embodiments for those of ordinary skill in the art without creative efforts, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the flow diagram of the parallel AA method of structure optical mode group provided in an embodiment of the present invention；
Fig. 2 is the light path schematic diagram of the parallel AA of structure optical mode group provided in an embodiment of the present invention；
Fig. 3 is the flow diagram provided in an embodiment of the present invention for obtaining the second angle；
Fig. 4 is the light path schematic diagram provided in an embodiment of the present invention for obtaining the second angle；
Fig. 5 is the schematic diagram of projection plane provided in an embodiment of the present invention；
Fig. 6 is the structural block diagram of the parallel AA device of structure optical mode group provided in an embodiment of the present invention.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, with reference to the accompanying drawings and detailed description
The present invention is described in further detail.Obviously, described embodiments are only a part of the embodiments of the present invention, rather than
Whole embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Under every other embodiment obtained, shall fall within the protection scope of the present invention.
As depicted in figs. 1 and 2, Fig. 1 is that the process of the parallel AA method of structure optical mode group provided in an embodiment of the present invention is shown
It is intended to, Fig. 2 is the light path schematic diagram of the parallel AA of structure optical mode group provided in an embodiment of the present invention.The method of the parallel AA can be with
Include:
Step S11: it according to the first image, obtains between the reference in projection plane between 0 grade of point and specified reference point
Away from.
Specifically, as shown in Fig. 2, projector forms structure light image to projection plane projective structure light, in projection plane.
In addition, being additionally provided with multiple reference points in projection plane, and projection plane can be but be not limited to light-permeable
Curtain, reference point can be but not limited to using the film figure with the fixed stain pattern in position.
CCD camera shoots the structure light and multiple reference points in projection plane, and generates on the photosurface of CCD camera the
One image.
Step S12: according to the second image, the optical axis of video camera and the second folder perpendicular to projection plane direction are determined
The incidence angle of angle and specified reference point to video camera.
Specifically, projector is to after projection plane projective structure light, and video camera shoots projection plane, in the transmission of video camera
Plane generates the second image.
Step S13: according to reference spacing, the second angle and incidence angle, the light-emitting axis and projection plane of projector are obtained
Between the first angle.
Step S14: according to the first angle and the second angle, it is parallel with video camera to adjust projector.
Structure light AA (active alignment) refers to the 0 grade of light and video camera of the projector in structure optical mode group
Optical axis it is parallel.
As shown in Fig. 2, being carried out the adjusting of structure light AA in the present invention to projector and video camera by means of CCD camera.
In the actual operation process, projector and position for video camera be in the same side of projection plane, and in the projection of projector
Line between the heart and the camera lens optical center of video camera is parallel with projection plane.
The other side of projection plane is arranged in CCD camera, and the optical axis of CCD camera is perpendicular to projection plane；In order to
Enough ensure that CCD camera can take complete structure light image in projection plane, between the camera lens and projection plane of CCD camera
Distance be greater than the distance between projector and projection plane.
By shooting the structure light image in projection plane by CCD camera and referring to dot pattern in the present invention, accurately
It determines the spacing in projection plane between the imaging point of 0 grade of light of specified reference point and projector, and distinguishes on this basis
Obtain the between the optical axis and projection plane of 0 grade of first angle and video camera between light and projection plane of projector
Two angles.When 0 grade of light of projector is parallel with the optical axis of video camera, the first angle and the second angle are also just equal, conversely,
The two also there is difference, then adjusting the side of projector projects structure light according to the difference between the first angle and the second angle
To may make 0 grade of light of projector parallel with the optical axis of video camera.The parallel AA of structure optical mode group provided in the present invention
Method, can quickly and accurately judge and adjust the malalignment of the light-emitting axis of projector and the optical axis of video camera, avoid
Due to the service performance of the obliquity effects structure optical mode group of structure optical mode group.
Based on the above embodiment, in another embodiment of the present invention, in above-mentioned steps 11 according to the first one-tenth
As image, the reference spacing in projection plane between 0 grade of point and specified reference point is obtained, can specifically include:
According to the first image, determine 0 grade of point and specified reference point between the imaging pixel point on CCD photosurface
Spacing d1；
According to similar triangles ratio formula:It obtains and refers to spacing d2；
Wherein f1For the focal length of CCD camera, h1The distance between projection plane, p are arrived for the camera lens of CCD camera1For CCD phase
The pixel of machine.
It should be noted that because structure light image is histogram when 0 grade of light of projector is perpendicular to projection plane
Picture, 0 grade of light of projector are rectangular centre point in 0 grade of point that projection plane is imaged；When 0 grade of light of projector is not orthogonal to
When projection plane, structure light image is to generate the quadrangular image centainly deformed by rectangular image, and 0 grade of point should be located at quadrangle figure
The central point of picture.
It include identical with the structure light image of projection plane in the first image on the photosurface of CCD camera
Downscaled images can find 0 grade of point on the photosurface of CCD camera according to the image；And then it determines in the photosensitive of CCD camera
On face, the pixel distance of specified reference point and 0 grade of point.
As shown in Fig. 2, setting specified reference point in projection plane as G point, projector is Q in 0 grade of point of projection plane
Point, the optical center of CCD camera are O point.
Corresponding, pixel of the G point on the photosurface of CCD camera is G1Point, Q point is on the photosurface of CCD camera
Pixel is Q1Point.Because the photosurface of CCD camera is parallel with projection plane, triangle G1Q1O and triangle GQO phase
Seemingly.Thus,
Wherein, d1The imaging pixel point Q for being 0 grade of point Q and specified reference point G on CCD photosurface1And G1Between spacing；
d2It is 0 grade of point Q and specified reference point G in the physical distance of projection plane, that is to say reference distance；
f1For the focal length of CCD camera, p1It is for known parameters for the pixel of CCD camera；
h1For the distance between the camera lens of CCD camera and projection plane, can be obtained through actual measurement.
In addition, why needing to be addedProportionality coefficient, be because projection plane on reference spacing for physics away from
From, and the distance on sensitized lithography is pixel distance, is needed the dimension of two kinds of different distances is unified.
Based on above-mentioned any embodiment, in another embodiment of the present invention, in above-mentioned steps S12, according to second
Image obtains the second angle between the photosurface and projection plane of video camera, as shown in figure 3, Fig. 3 is that the present invention is implemented
The flow diagram for the second angle of acquisition that example provides, can specifically include:
Step S21: using the photosurface center of video camera as origin, three-dimensional rectangular coordinate is established on the photosurface of video camera
System.
Step S22: it obtains in the second image, photosurface corresponding projection image vegetarian refreshments of each reference point in video camera
The first coordinate value in three-dimensional cartesian coordinate system.
Step S23: according to the first coordinate value, each reference point in projection plane is obtained in three-dimensional cartesian coordinate system
Second coordinate value.
Step S24: the second angle between projection plane and the photosurface of video camera is obtained according to the second coordinate value.
In order to be illustrated in more detail to the mode for obtaining the second angle in the present embodiment, below more specifically with one kind
Embodiment is illustrated.Specifically, it can refer to Fig. 4, Fig. 4 is the optical path signal provided in an embodiment of the present invention for obtaining the second angle
Figure.The embodiment may include:
Step 31: on the photosurface of video camera, coordinate system M-xyz being established as coordinate origin using the central point M of photosurface.
Step 32: obtain tri- reference points of A, B, C respectively the projected position point A ' on photosurface, B ', C ' in M coordinate system
In coordinate value (x1,y1,0)、(x2,y2,0)、(x3,y3,0)。
It should be noted that it itself is provided with plane right-angle coordinate N-xy for the photosurface of video camera, it should
The origin of plane coordinate system is typically situated in the upper left corner of photosurface, thus A ', B ', the C ' on sensitized lithography be can directly from
It is read in the plane coordinate system.
And x-axis, the y-axis of coordinate system M-xyz are parallel with x-axis, the y-axis of coordinate system N-xy in sensitized lithography respectively, that root
It can be obtained the coordinate value of A ', B ', C ' in coordinate system M-xyz relative to the offset of N point according to M point in photosurface.
In addition, tri- reference points of A, B, C are that three reference points of setting on a projection plane specifically can be and pass through
Paste three stains on a projection plane, wherein the line segment BC that the line segment AB that A, B are connected to form is connected to form perpendicular to B, C.
Step 33: according to the ratio formula of similar triangle theory: It obtains
Coordinate value (the X of reference point B2,Y2,Z2)。
As shown in figure 4, M1Point is the intersection point of projection plane and the Z axis of coordinate system M-xyz, then M1Point coordinate value is (0,0, H+
s)。
H is M1It, can actual measurement acquisition with the distance of camera optical center.
S be video camera camera lens optical center to photosurface distance.
p2It for the pixel of video camera, and is known quantity.
Set M1B is parallel to MB ', then triangle M1BO is similar with triangle MB ' O, as shown in figure 4, also there is M1B/
MB '=OM1/ OM, it is possible thereby to deriveBecause each on projection plane
Spacing between point is physical distance, and the distance of each point is pel spacing on the photosurface of video camera, for the ease of operation,
SettingAs unit conversion factor.
For parameter H, required precision is not high, can estimate to obtain by actual measurement.
And according to the optics Gauss formula of lens imaging:It can obtainWherein f is the mirror of video camera
The focal length of head is known parameters.Therefore, according to optics Gauss formula, it can calculate and obtain s.
Step 34: according toWith the coordinate value (X of reference point B2,Y2,Z2), obtain reference point A and reference Point C
Z-axis coordinate value Z1And Z3, wherein n is constant.
Specifically, byIt can obtain:
If
It can obtain:Wherein Z10And Z30Respectively Z1And Z3Initial value, can set
One Z10And Z30Above-mentioned formula is substituted into, Z can be generally set10And Z30It is equal to H, then is obtained by 10 approximate algorithms of iteration
Z1And Z3。
Step 35: according toWith It obtains
Obtain the coordinate value (X of reference point A and reference Point C1,Y1,Z1), (X3,Y3,Z3)。
Because of Z1And Z3Acquisition is calculated, then principle identical with step S33, is based on triangle M1AO and triangle MA '
O is similar and triangle M1CO is similar with triangle MC ' O, can be obtained the coordinate value of reference point A and C.
Step 36: according toAnd m
The coordinate value of ≠ n and reference point A, B, C, the photosurface and projection plane for obtaining video camera are respectively in the opposite folder of X-direction
Angle θxWith the relative angle θ of Y directiony。
Specifically, by calculating separately line segment AB, line segment BC and line segment AC respectively in X-direction relative to sensitized lithography
Angle, then calculating the average value of three groups of angles is the relative angle θ of X-directionx, similarly can get in the same fashion
The relative angle θ of Y directiony。
It should be noted that in the present embodiment only by taking three reference points as an example to the photosurface and throwing for calculating CCD camera
The calculation of angle is specifically described between shadow plane.In practical applications, it can be transported using more reference points
It calculates, can be obtained the more multiple groups line segment angle in X-axis and Y direction relative to sensitized lithography respectively relatively, eventually by multiple groups
Relative angle θ of the angle average value calculated as X-directionxAnd the relative angle θ of Y directionyAlso just more accurate.
In addition, be to characterize the second angle by two different components in the present embodiment, and relative angle θxWith
Relative angle θyTwo components of as the second angle.
Optionally, in another embodiment of the present invention, in above-mentioned steps S12, according to second image,
Determine that specified reference point to the incidence angle of the video camera, can specifically include:
According to specified reference point the photosurface of video camera coordinate value of projection image's vegetarian refreshments in three-dimensional cartesian coordinate system,
Determine specified reference point to video camera incidence angle.
Specifically, as shown in Fig. 2, because specified reference point the photosurface of video camera projection image vegetarian refreshments G2And photosurface
The distance of central point M can directly be read in a coordinate system, and the camera lens of video camera can be with to the spacing between photosurface
Approximately think equal with the focal length of video camera, thus the tangent value of incidence angle of the available specified reference point to video camera, into
And obtain incidence angle.
Optionally, in another embodiment of the present invention, in above-mentioned steps S13, the specific side of the first angle is obtained
Formula may include: with reference to Fig. 2
Step S41: according to α=β+γ,It obtains opposite in projection plane
Relative spacing d between zero point and specified reference point3。
As shown in Fig. 2, relative zero W is location point nearest apart from projector in projection plane；
Spacing of the d between projector and video camera；
h2For the distance of video camera to projection plane；
L is the distance of specified reference point M point on the photosurface of video camera；
f2For the focal length of video camera, p2It is known parameters for the pixel of video camera；
α is specified reference point to the complementary angle of angle between the incident ray and projection plane of video camera, and β is specified reference point
To the incidence angle of video camera, γ is the second angle, that is to say the optical axis of video camera and the angle perpendicular to projection plane direction.
α=β+γ can be obtained by Fig. 2,Relationship because
Step S42: according toObtain the first angle δ.
Based on above-mentioned any embodiment, in another embodiment of the present invention, after above-mentioned steps S14, may be used also
To further include:
According to third image, judge that projector whether there is rotation angle in optical axis direction, if it is, according to rotation
Angle is around 0 grade of light rotating projector of projector, so that the rotation angle of projector is 0.
As previously mentioned, adjustment projector 0 grade of light it is parallel with the optical axis of video camera after, it is also possible to there are projector with
Centered on 0 grade of light, there are certain rotation angle, structure light image of the projector projects made in projection plane revolves
Turn, influences the normal work of structure optical mode group.
In the present embodiment ensure projector 0 grade of light it is parallel with the optical axis of video camera on the basis of, pass through projector
The structure light image of projection plane is projected, accurately judges that the light of projector whether there is rotation angle, and to this
It is adjusted, ensure that the structure light of projector can reach normal work demand.
Optionally, for judging specific embodiment of the projector in optical axis direction with the presence or absence of rotation angle, it can refer to figure
5, Fig. 5 be the schematic diagram of projection plane provided in an embodiment of the present invention, as shown in figure 5, may include:
Step S51: according to third image, the structure light image on the photosurface of CCD camera and the reference are obtained
The projected pixel line segment of line segment.
Specifically, adjust projector 0 grade of light it is parallel with the optical axis of video camera after, projector to projection plane project tie
Structure light image；CCD camera shoots the image of projection plane, forms third image in the photosurface of CCD camera.
Step S52: judge whether the edge line of structure light image and the reference line segment are parallel, if it is not, then the throwing
There are rotation angles in optical axis direction for shadow instrument.
Specifically, as shown in figure 5, there are certain angles the edge of structure light image and the edge of projection plane.
For the angle at precise measurement structure light image edge and projection plane edge, set in the present embodiment in projection plane
It sets with reference to line segment, this refers to the sides aligned parallel of line segment and projection plane；It carries and projection plane is shot by CCD camera, obtain in CCD
The third image that the photosurface of camera is formed；Not only included structure light image so in the third image but also had included reference
Line segment, structure light image edge and with reference to the angle between line segment be structure light image edge and projection plane edge it
Between angle.
The parallel AA device of structure optical mode group provided in an embodiment of the present invention is introduced below, structure described below
The parallel AA device of optical mode group AA method parallel with above-described structure optical mode group can correspond to each other reference.
Fig. 6 is the structural block diagram of the parallel AA device of structure optical mode group provided in an embodiment of the present invention, referring to Fig. 6 structure light
The parallel AA device of mould group may include:
First computing module 100, for obtaining 0 grade of point and specified reference point in projection plane according to the first image
Between reference spacing；
Wherein, the first image be the projection plane on structure light image and multiple reference points in the CCD
The image formed on the photosurface of camera；Structure light image is the image that projector is formed to projection plane projective structure light；It is special
Determining reference point is one in projection plane in multiple reference points；The photosurface of CCD camera is parallel with projection plane；
Second computing module 200, for determining the optical axis of video camera and perpendicular to projection plane according to the second image
The incidence angle of second angle in direction and specified reference point to video camera；Wherein, the second image is more in projection plane
The image that a reference point is formed on the photosurface of video camera；
Third computing module 300, for obtaining projector and projection according to reference spacing, the second angle and incidence angle
The first angle between plane；
Module 400 is adjusted, for it is parallel with video camera to adjust projector according to the first angle and the second angle.
It should be noted that structure optical mode group includes projector, video camera and projection plane, projector and video camera are set
It is placed in the same side of projection plane, the side away from projector of projection plane is provided with CCD camera.
The equipment of the parallel AA of structure optical mode group a kind of, including CCD camera and processor are additionally provided in the present invention；
The projection plane that CCD camera is used to be arranged in structure optical mode group deviates from the side of projector, and it is flat to shoot projection
Structure light image on face, the image formed on the photosurface of the CCD camera；
The processor is connected with the CCD camera, implements for executing as above any one according to the image
The operation of the method for the parallel AA of structure optical mode group described in example.
A kind of embodiment of computer readable storage medium, the computer readable storage medium are additionally provided in the present invention
On be stored with structure optical mode group parallel AA computer program, when the computer program is executed by processor realize such as take up an official post
The step of parallel AA method of structure optical mode group described in embodiment of anticipating.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with it is other
The difference of embodiment, same or similar part may refer to each other between each embodiment.For being filled disclosed in embodiment
It sets, for equipment and computer readable storage medium, since it is corresponded to the methods disclosed in the examples, so the ratio of description
Relatively simple, reference may be made to the description of the method.
Claims (10)
1. a kind of parallel AA method of structure optical mode group, which is characterized in that the structure optical mode group include projector, video camera with
And projection plane, the projector and video camera setting, in the same side of the projection plane, the projection plane deviates from institute
The side for stating projector is provided with CCD camera, and the photosurface of the CCD camera is parallel with the projection plane；
The parallel AA method includes:
According to the first image, the reference spacing in the projection plane between 0 grade of point and specified reference point is obtained；Wherein,
First image shoots structure light image and the acquisition of multiple reference points in the projection plane for the CCD camera
Image；The structure light image is the image that the projector is formed to the projection plane projective structure light；It is described specific
Reference point is one in multiple reference points in the projection plane；0 grade of point is 0 grade of light of the projector described
The subpoint of projection plane；
According to the second image, determine the video camera optical axis and perpendicular to the projection plane direction the second angle with
And the specified reference point is to the incidence angle of the video camera；Wherein, second image shoots institute for the video camera
State the image that multiple reference points obtain in projection plane；
According to described with reference to spacing, second angle and the incidence angle, the light-emitting axis of the projector and described is obtained
The first angle between projection plane；
According to first angle and second angle, it is parallel with the video camera to adjust the projector.
2. the method as described in claim 1, which is characterized in that it is described according to the first image, obtain the projection plane
Reference spacing between upper 0 grade of point and specified reference point includes:
According to first image, the imaging of 0 grade of point and the specified reference point on the CCD photosurface is determined
Spacing d between pixel1；
According to similar triangles ratio formula:It obtains and refers to spacing d2；Wherein f1For the coke of the CCD camera
Away from h1For the distance between the camera lens of the CCD camera and described projection plane, p1For the pixel of the CCD camera.
3. the method as described in claims 1, which is characterized in that it is described according to the second image, determine the camera shooting
The optical axis of machine and the second angle and the specified reference point entering to the video camera perpendicular to the projection plane direction
Firing angle includes:
Using the photosurface central point of the video camera as origin, three-dimensional rectangular coordinate is established on the photosurface of the video camera
System；
It obtains in second image, photosurface corresponding projection image vegetarian refreshments of each reference point in the video camera
The first coordinate value in three-dimensional cartesian coordinate system；
According to first coordinate value, each reference point in the projection plane is obtained in three-dimensional cartesian coordinate system
Second coordinate value；
The optical axis of the video camera is obtained according to second coordinate value and perpendicular to described the second of the projection plane direction
Angle.
4. the method as described in claims 3, which is characterized in that it is described according to the second image, determine the camera shooting
The optical axis of machine and the second angle and the specified reference point entering to the video camera perpendicular to the projection plane direction
Firing angle includes:
According to the specified reference point the photosurface of the video camera seat of projection image's vegetarian refreshments in three-dimensional cartesian coordinate system
Scale value, determine the specified reference point to the video camera incidence angle.
5. the method as described in claims 4, which is characterized in that according to it is described with reference to spacing, second angle and
The incidence angle, the first angle obtained between the projector and the projection plane include:
According to α=β+γ,Obtain the relative zero in the projection plane and institute
State the relative spacing d between specified reference point3；Wherein, the relative zero is projector described in distance in the projection plane
Nearest location point, spacing of the d between the projector and the video camera, h2For the video camera to the projection plane
Distance, l1It is the specified reference point on the photosurface of the video camera and the distance of the origin of three-dimensional cartesian coordinate system, f2
For the focal length of the video camera, p2For the pixel of the video camera, α is incident light of the specified reference point to the video camera
The complementary angle of angle between line and the projection plane, β are the incidence angle, and γ is second angle；
According toObtain the first angle δ.
6. such as the described in any item methods of claims 1 to 5, which is characterized in that according to first angle and described
Second angle, adjust the projector it is parallel with the video camera after, further includes:
According to third image, judge that the projector whether there is rotation angle in optical axis direction, if it is, according to described
Rotation angle rotates the projector around 0 grade of light of the projector, so that the rotation angle of the projector is 0；
Wherein, the third image is for the structured light projection in the projection plane and with reference to line segment in the CCD phase
The image formed on the photosurface of machine；And the structured light projection in the projection plane is the projector projects adjusted
The projection of structure light, it is described parallel with the projection plane edge line with reference to line segment.
7. the method as described in claims 6, which is characterized in that it is described according to the third image, judge institute
Projector is stated in optical axis direction includes: with the presence or absence of rotation angle
According to the third image, structure light image on the photosurface of the CCD camera is obtained and described with reference to line segment
Projected pixel line segment；
Judge whether edge line and the reference line segment of the structure light image are parallel, if it is not, then the projector is in light
There are rotation angles for axis direction.
8. a kind of parallel AA device of structure optical mode group, which is characterized in that the structure optical mode group include projector, video camera with
And projection plane, the projector and video camera setting, in the same side of the projection plane, the projection plane deviates from institute
The side for stating projector is provided with CCD camera, and the photosurface of the CCD camera is parallel with the projection plane；
Described device includes:
First computing module, for obtaining in the projection plane between 0 grade of point and specified reference point according to the first image
Reference spacing；Wherein, first image be the CCD camera shoot the structure light image in the projection plane with
And the image that multiple reference points obtain；The structure light image is that the projector is formed to the projection plane projective structure light
Image；The specified reference point is one in multiple reference points in the projection plane；0 grade of point is the projector
0 grade of light the projection plane subpoint；
Second computing module, for determining the optical axis of the video camera and being put down perpendicular to the projection according to the second image
The incidence angle of second angle in face direction and the specified reference point to the video camera；Wherein, second image
The image formed on the photosurface of the video camera for the reference points multiple in the projection plane；
Third computing module, for, with reference to spacing, second angle and the incidence angle, obtaining the projection according to described
The first angle between instrument and the projection plane；
Module is adjusted, for the projector being adjusted and the video camera being flat according to first angle and second angle
Row.
9. a kind of equipment of the parallel AA of structure optical mode group, which is characterized in that including CCD camera and processor；
The projection plane that the CCD camera is used to be arranged in structure optical mode group deviates from the side of projector, and shoots the throwing
The projected image in plane is penetrated, the image formed on the photosurface of the CCD camera；
The processor is connected with the CCD camera, for being executed according to the image as claim 1 to 7 is any
The operation of the method for the parallel AA of structure optical mode group described in.
10. a kind of computer readable storage medium, which is characterized in that be stored with structure light on the computer readable storage medium
The computer program of the parallel AA of mould group is realized when the computer program is executed by processor such as any one of claim 1 to 7
The step of parallel AA method of the structure optical mode group.
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| CN201811043756.9A CN109146981A (en) | 2018-09-07 | 2018-09-07 | The parallel AA method, apparatus of structure optical mode group, equipment and storage medium |
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| CN201811043756.9A CN109146981A (en) | 2018-09-07 | 2018-09-07 | The parallel AA method, apparatus of structure optical mode group, equipment and storage medium |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110542540A (en) * | 2019-07-18 | 2019-12-06 | 北京的卢深视科技有限公司 | optical axis alignment correction method of structured light module |
| CN112330737A (en) * | 2020-11-06 | 2021-02-05 | 歌尔光学科技有限公司 | Parallel detection method, parallel detection equipment, storage medium and device |
-
2018
- 2018-09-07 CN CN201811043756.9A patent/CN109146981A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110542540A (en) * | 2019-07-18 | 2019-12-06 | 北京的卢深视科技有限公司 | optical axis alignment correction method of structured light module |
| CN112330737A (en) * | 2020-11-06 | 2021-02-05 | 歌尔光学科技有限公司 | Parallel detection method, parallel detection equipment, storage medium and device |
| CN112330737B (en) * | 2020-11-06 | 2023-08-29 | 歌尔光学科技有限公司 | Parallel detection method, device, storage medium and apparatus |
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