CN109751969A - A kind of three-dimensional non-contact scanning method using positive and negative Gray's code line shifted raster - Google Patents
A kind of three-dimensional non-contact scanning method using positive and negative Gray's code line shifted raster Download PDFInfo
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Abstract
The invention belongs to the technical fields of active gratings image three-dimensional reconstruction, are related to a kind of three-dimensional point cloud non-contact scanning method, project stripe grating using raster generator and two CCD cameras acquire image, including the following steps: carry out the acquisition of testee one-sided image；Positive Gray code when carrying out Gray's sky to the image of every spoke line project structured light to testee surface using the phase information of fringe light；The 3 d space coordinate of testee is calculated according to the relative position of each pair of image pixel phase position of the same name and preparatory two CCD cameras demarcated；The texture information of testee three-dimensional coordinate point is calculated using three-dimensional space linear interpolation method；Carry out feature extraction；According to calculated three-dimensional coordinate, single side point cloud data is formed；According to the texture or index point of testee, a cloud anastomosing and splicing is carried out, forms multi-panel point cloud.A kind of three-dimensional non-contact scanning method using positive and negative Gray's code line shifted raster of the present invention, has easy to operate, advantage with high accuracy.
Description
Technical field
The invention belongs to the technical field of image three-dimensional signal reconstruct, it is related to a kind of using positive and negative Gray's code line shifted raster
Three-dimensional non-contact scanning method.
Background technique
3 D non-contacting type noodles line raster scanning measuring technique have it is easy to operate, measuring speed is fast, and precision height etc. is huge
Big advantage is a widely used technology in advanced manufacturing technology and innovation creative design field.Non-contact scanning method
It is widely used to the multiple fields such as industrial detection, reverse-engineering, body scans, historical relic's protection, clothes, shoes and hats.Stripe grating is swept
It retouches mensuration and belongs to phase measuring profilometer scope, Gray code phase shift method is common auxiliary solution phase method.Gray code method
Encoded mainly by the binaryzation of image, in complex scene object and color of object surface change more feelings
Condition generally requires spray development agent and is just able to achieve preferable measurement effect, and this method precision is inadequate, and it is multiple to operate
Miscellaneous, pollution is big, and noise and miscellaneous point are more.Single width planar survey terminates, with it is this carry out method and spliced when, body surface index point
Or texture is as a reference point, system can according to these common reference points of different angle, by its split in unified coordinate system,
To obtain complete 3-D scanning point cloud data.Accurately identifying these reference point locations is whole system key, it usually needs
Human assistance improves accuracy of identification.If this step misoperation, it just will appear three-dimensional point cloud point in entire subsequent splicing
Layer phenomenon.
Positive and negative Gray's code line shifted raster non-contact scanning method is a kind of improvement of proposition on the basis of traditional Gray code method
Three-dimensional rebuilding method, seen using positive and negative Gray's code line shifted raster non-contact scanning method Gray code striped local threshold selection figure
Binaryzation can be only used only come the case where carrying out Threshold segmentation to avoid Gray code and phase shifting method in attached drawing 1.Its principle is benefit
With the positive and negative two width phase-shifted grating of the black and white strip of a variety of same frequencys, after comparing superposition, the unique phase of the whole audience is calculated.This method
Based on multi-frequency, it is contemplated that local and global bias light and diffusing reflection interference has centainly than traditional Gray code method
Superiority, be able to solve light and shade contrast in the case of complex scene it is big and can not spray development agent three-dimensional reconstruction problem.
Summary of the invention
The purpose of the present invention is overcoming the above-mentioned deficiency of the prior art, provide it is a kind of it is easy to operate, precision is high, adapts to occasion
Wide three-dimensional point cloud non-contact scanning method.
Technical scheme is as follows:
Using the three-dimensional non-contact scanning method of positive and negative Gray's code line shifted raster, stripe grating generator and two CCD phases are utilized
Machine acquires image, including the following steps:
1) whole system is initialized first: carries out the focus adjustment of stripe grating generator and CCD camera, makes its imaging
Size accomplishes to match with the actual size of measured object；After adjusting, the lens parameters calibration processing of two CCD cameras is carried out,
Calculate the relative position of two CCD cameras and focal length, principal point, radial direction and the tangential distortion of camera lens；
2) acquisition of testee one-sided image is then carried out: using stripe grating generator by the black and white strip of several different frequencies
Structure light is transmitted to testee surface, acquires the multipair image with striated structure, the image of acquisition using two CCD cameras
Image preprocessing is carried out after being admitted to computer；
3) Gray's sky is carried out using image of the phase information of fringe light to every spoke line project structured light to testee surface
When encode, the pixel-phase of image needs to be determined according to the gray scale difference of forward and reverse image when coding；
4) testee is calculated according to each pair of image pixel phase position of the same name and two calibrated relative positions of CCD camera
Space three-dimensional point cloud coordinate；
5) texture information and texture feature extraction point of testee three-dimensional coordinate point are calculated using three-dimensional space linear interpolation method；
6) according to calculated three-dimensional coordinate and its texture information, the three-dimensional point cloud of single side is formed；
7) multi-panel point cloud is formed: testee being rotated an angle, re-starts step 2-6, forms a new three-dimensional point
Cloud face；
8) newborn Texture Points cloud face is matched with previous generation face textural characteristics or mark point feature, calculates two breadths not
It with the mahalanobis distance between feature, finds nearest apart from matching characteristic, it is opposite that two amplitude point cloud faces is calculated according to its relative position
Rotation and translation, and then by two width Texture Points cloud face normalizings under the same coordinate, complete the difference cloud based on textural characteristics
Face splicing；It repeats the above process, rotation can repeatedly be normalized under a scale in point cloud face, to complete entire measured object
Body spelling termination process.
Innovative point of the invention has at two:
1、The non-contact scanning technique of three-dimensional based on positive and negative Gray's code line shifted raster:With traditional Gray code phase-shifted grating 3-D scanning
System is compared, and using the positive and negative two width phase-shifted grating of the black and white strip of a variety of same frequencys, after comparing superposition, it is unique to calculate the whole audience
Phase, binaryzation can only be used only to avoid Gray code phase shifting method, and to generate the case where carrying out Threshold segmentation, error is big, puts cloud
Ropy problem.This method is based on multi-frequency, it is suppressed that global context bias light and the local interference problem that diffuses, than
Traditional Gray code method has certain superiority, is able to solve that light and shade contrast is big in the case of complex scene and can not spray aobvious
The three-dimensional reconstruction problem of shadow agent.
2、Reference joining method based on positive and negative Gray's code line shifted raster:In traditional non-contact scanning method, multiple plate three-dimensional point
The joining method of cloud, mode or textural characteristics based on object labelling point carry out, this process recognizer stability is not high,
Present invention employs the feature matching methods based on positive and negative Gray's code line shifted raster, due to having the phase calculation energy of high stability
Power can be quickly found out the characteristic point of the same name of Blending surfaces, by the mutual rotation and translation relationship between them that converts, by it
Normalization completes splicing conversion process, this is owned by France in method for automatically split-jointing under the same coordinate system.The present invention is due to reference to mark
The high-precision wire jayrator information of will point, it will be able to complete splicing function, the method phase spliced with other reference point methods
Than substantially increasing splicing efficiency.In addition, system also supports reference point joining method, it is special to be suitable for testee surface texture
Levy unconspicuous occasion.
The present invention has flexible point cloud data processing and treating method, that is, supports the basic behaviour such as to delete, enclose choosing, percentages show
Make, and the clipping functions such as a cloud noise processed, homogenization and removal overlapping point cloud can be carried out.The treatment effeciency of three-dimensional point cloud is high,
Arithmetic speed is fast, is suitble to the scanning of high-precision object.The operation such as any rotation, scaling, local scale is realized to three-dimensional point cloud.
Detailed description of the invention
Fig. 1: figure is chosen using positive and negative Gray's code line shifted raster non-contact scanning method Gray code striped local threshold.
Fig. 2: the three-dimensional non-contact scanning method system structure diagram of positive and negative Gray's code line shifted raster is utilized.
Fig. 3: broad flow diagram is handled using the three-dimensional non-contact scanning method system software of positive and negative Gray's code line shifted raster.
Specific embodiment
The three-dimensional non-contact scanning method system structure diagram using positive and negative Gray's code line shifted raster that the present invention uses is such as
Shown in attached drawing 2, wherein image acquisition units are made of 2 industrial CCD cameras and 1 stripe grating generator.Entire scanning system
System, which is adopted, to computerized control, and the fringe light of different resolution is projected testee surface by knot stripe grating generator,
Computer controls the positive and inverse code stripe pattern that two CCD camera synchronous acquisitions project every time at the same time, compiles when forming Gray's sky
Code, computer can be according to the phase of two images pixel phase of the same name (i.e. Gray's Space Time Coding is identical) position and two CCD cameras
Testee 3 d space coordinate is calculated to position.
Main flow such as 3 institute of attached drawing is handled using the three-dimensional non-contact scanning method system software of positive and negative Gray's code line shifted raster
Show: first to left and right camera shooting image pre-process, carry out texture analysis after will each texture characteristic points save under
Come, the three dimensional space coordinate of image pixel is then resolved according to the space phase position of left and right cameras, it is empty to form testee
Between put cloud, finally according to a cloud textural characteristics, its texture is restored by interpolation method, forms a three-dimensional point cloud face；
By rotating testee, repeat the above process to form multiple mutually overlapping three-D grain point cloud faces；Final system is according to a cloud
The textural characteristics matching degree and stripe grating phase information in face come out these cloud face automatic Mosaics, form testee
Three-dimensional point cloud.
Workflow of the invention is described in detail below:
(1) initialize first to whole system: the focus adjustment including carrying out stripe grating generator and CCD camera makes
Its imaging size is accomplished to match with the actual size of measured object；After adjusting, the lens parameters calibration of two CCD cameras is carried out
Processing, system using meet national standard, precision reaches the glass target of 0.001mm and carries out Image Acquisition, then using just
Friendly [2] scaling method calculates the relative position of CCD camera and the focal length of camera lens, principal point, radial direction and tangential distortion, construction rotation
Matrix R and translation vector T, spin matrix R=[r1, r2, r3; r4,r5,r6 ;R7, r8, r9] and translation vector T=
[tx,ty,tz]；Wherein spin matrix R and translation vector T expression in right CCD camera relative to left CCD camera coordinate origin
Rotating vector and position translation vector.
(2) acquisition of testee one-sided image is then carried out: no by several (requiring according to scanning accuracy, determine the width number of scanning)
The stripe grating of same frequency is transmitted to body surface, and CCD camera collects the image with striated structure in real time, by computer
Image preprocessing is carried out after acquisition；
(3) it using the phase information of the relative position of two CCD cameras and positive and negative Gray code stripe grating, calculates each in image
The texture information of the practical three-dimensional coordinate of pixel, pixel is obtained using following bilinear interpolation method:
The fringe light of different resolution is projected into testee surface, two CCD camera acquisitions by stripe grating generator
The stripe pattern projected every time, phase code when forming positive and negative Gray's sky, computer can be according to two images pixel phases of the same name
(i.e. Gray's Space Time Coding is identical) position and two CCD camera relative positions calculate testee 3 d space coordinate.
General binocular CCD three-dimensional coordinates measurement model can be represented by the formula [1]:
x = zX1/f1
y = zY1/f1
z = f1(f2tx- X2tz)/(X2( r7X1+ r8Y1+ f1r9) - f2 (r1X1+ r2Y1+ f1r3))
= f1(f2ty- Y2tz)/(Y2 (r7X1+ r8Y1+ f1r9) - f2 (r4X1+ r5Y1+ f1r6))
Known focal length f1、f2, spin matrix R and translation vector T.(X in formula1,Y1), (X2,Y2) it is respectively in two width figures
Same-phase pixel.It can be obtained by the three dimensional space coordinate of testee point.This method can not only facilitate calculating body surface
Three-dimensional dimension, and retain the texture information of body surface pixel.
Pixel to be calculated for one, its position coordinates can be expressed as (i+u, j+v), and (wherein i, j are floating-point coordinate
Integer part, u, v are the fractional part of floating-point coordinate, be value [0,1) section floating number), then value P (i+u, the j of this pixel
+ v) can be (i, j) by coordinate in original image, (i+1, j), (i, j+1), corresponding to (i+1, j+1) around four pixel values
It determines, it may be assumed that
P(i+u,j+v) = (1-u)(1-v)P(i,j) + (1-u)vP(i,j+1) + u(1-v)P(i+1,j) + uvP(i+
1, j+1), P (i, j) indicates the pixel value at image (i, j) in formula.
Due to being to texture interpolation in three-dimensional space, because the invention is using three-dimensional space linear interpolation method, it is in three-dimensional
The method of linear interpolation is carried out on discrete data tensor product grid.This tensor product grid may have arbitrarily on every dimension
Nonoverlapping grid pixel, but be not the finite element analysis grid of trigonometric ratio.Pixel is in local rectangular prism on grid
On linearly approximate can calculate a texture value for testee three-dimensional coordinate point；
(4) it is handling simultaneously, is carrying out the extraction of image texture characteristic, system, which utilizes, is based on Wavelet Texture [3] [4] extraction side
Method records the corresponding local feature of pixel；
(5) it forms single side point cloud: according to calculated three-dimensional coordinate and its texel information, forming the point cloud of single side.System
It is programmed using DirectX, can be convenient the operations such as rotation, scaling and the part deletion of control three-dimension curved surface；
(6) multi-panel point cloud is formed: testee being rotated an angle, re-starts the operation of 3-5 step, forms one new three
Dimension point cloud face, the same texture information for recording each pixel on generation face；New dough and previous generation face textural characteristics are carried out
Matching, calculates the mahalanobis distance between two breadth different characteristics, finds nearest apart from matching characteristic, is counted according to its relative position
Two amplitude point cloud face relative rotation and translation are calculated, and then by two amplitude point cloud face normalizings under the same coordinate, completes to be based on texture
Splice in the different breadth point cloud faces of characteristic point.It repeats the above process, can will rotate the normalization of multiple Texture Points cloud face at one
Under scale, to complete entire testee spelling termination process.
Bibliography:
[1] Zhou Fuqiang, Zhu, a state in the Zhou Dynasty is after expensive, Yang Xueyou, leaf good reputation etc., the field calibration technology of binocular vision sensor, instrument and meter
Report, 2000,21(2), 142-145
[2] Z. Zhang. A flexible new technique for camera calibration. IEEE
Transactions on Pattern Analysis and Machine Intelligence, 22(11):1330-1334,
2000
[3] Kamarainen JK, Kyrki V, Kalviainen H. Invariance properties of Gabor
filter-based features - Overview and applications. IEEE Trans on Image
Processing, 2006,15(5):1088−1099.
[4] Manjunath BS, Ma WY. Texture features for browsing and retrieval of
image data. IEEE Trans on Pattern Analysis and Machine Intelligence,1996, 18
(8):837−842.
Claims (1)
1. the three-dimensional non-contact scanning method of positive and negative Gray's code line shifted raster utilizes stripe grating generator and two CCD cameras
Acquire image, including the following steps:
1) whole system is initialized first: carries out the focus adjustment of stripe grating generator and CCD camera, makes its imaging
Size accomplishes to match with the actual size of measured object；After adjusting, the lens parameters calibration processing of two CCD cameras is carried out.
Based on national forest park in Xiaokeng, the relative position of two CCD cameras and focal length, principal point, radial direction and the tangential distortion of camera lens are calculated；
2) acquisition of testee one-sided image is then carried out: using stripe grating generator by the striated structure of several different frequencies
Light transmission acquires the multipair image with fringe structure light, the image quilt of acquisition to testee surface, using two CCD cameras
Image filtering smoothing processing is carried out after being sent into computer；The different frequency fringe structure light for continuing projection phase-reversal coding, utilizes two
A CCD camera acquires the image of these striated structures, and the image of acquisition carries out image filtering smoothing processing after being admitted to computer.
3) Gray's sky is carried out using image of the phase information of fringe light to every spoke line project structured light to testee surface
When encode, the pixel-phase of image needs to be determined according to the gray scale difference of forward and reverse image when coding；
4) space of testee is calculated according to the relative position of each pair of image pixel phase position of the same name and two CCD cameras
Three-dimensional coordinate；
5) texture information of testee three-dimensional coordinate point is calculated using three-dimensional space linear interpolation method；
6) extraction for carrying out image texture characteristic, according to the calculated three-dimensional coordinate of space polarity solid geometry triangle relation, shape
At the Texture Points cloud of single side；
7) testee is rotated into an angle, re-starts step 2-7, form the new Texture Points cloud face of a width；
8) newborn Texture Points cloud face is matched with previous generation face textural characteristics or mark point feature, calculates two breadths not
It with the mahalanobis distance between feature, finds nearest apart from matching characteristic, it is opposite that two amplitude point cloud faces is calculated according to its relative position
Rotation and translation, and then by two width Texture Points cloud face normalizings under the same coordinate, complete the difference cloud based on textural characteristics
Face splicing；It repeats the above process, rotation can repeatedly be normalized under a scale in point cloud face, to complete entire measured object
Body spelling termination process.
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| CN113513987A (en) * | 2021-07-10 | 2021-10-19 | 深慧视(深圳)科技有限公司 | 3D point cloud coordinate generating device |
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