CN110111390A - Thin-wall part omnidirectional vibration measurement method and system based on binocular vision optical flow tracking - Google Patents
Thin-wall part omnidirectional vibration measurement method and system based on binocular vision optical flow tracking Download PDFInfo
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Abstract
The invention discloses a kind of thin-wall part omnidirectional vibration measurement methods and system based on binocular vision optical flow tracking, are related to thin-wall part vibration measurement technique field, comprising: the thin-wall part for obtaining two camera shootings vibrates video data；Characteristic point detection is carried out to first frame picture captured by left camera, chooses vibration performance point to be measured；The first frame picture of the first frame picture of right camera and left camera is subjected to characteristic matching, obtains the pixel coordinate of corresponding vibration performance point to be measured；The pixel coordinate of vibration performance point to be measured on the second frame to last frame picture of left and right camera shooting is obtained using optical flow tracking algorithm；Minimum distance between different surface beeline is calculated according to pixel coordinate, and the midpoint coordinates of minimum distance is determined as to the 3 d space coordinate of vibration performance point to be measured, and then calculate vibration displacement of the thin-wall part in every frame time.The method of the present invention is easy to operate, and measurement accuracy is high, practical, and the contactless vibration measurement of non-loaded effect may be implemented.
Description
Technical field
The present invention relates to thin-wall part vibration measurement technique field, more particularly to a kind of based on binocular vision optical flow tracking
Thin-wall part omnidirectional vibration measurement method and system.
Background technique
Thin-wall part has many advantages, such as light weight, compact-sized strong with bearing capacity with it, has been widely used in work
Journey field.Meanwhile thin-wall part also has the characteristics that relative rigidity is low, intensity is weak and size is big, easily causes noise, unstability etc. and asks
Topic, equipment possibly even causes significant mechanical failure in the process of running, to cause serious accident, needs efficiently and accurately
Thin-wall part vibration measurement is carried out to realize real time monitoring.And conventional vibration measurement method often uses acceierometer sensor, top
The contact type measurements such as spiral shell instrument sensor and piezoceramic transducer, these methods are all made of sensor, increase the quality of structure,
It generates load effect and changes the original dynamic property of thin-wall part, while that there is also spatial resolutions is low, sensor is difficult to install etc.
Problem.
Summary of the invention
In view of the problems of the existing technology, the object of the present invention is to provide a kind of based on the thin of binocular vision optical flow tracking
Wall pieces vibration measurement method and system, this method do not generate load effect, operation letter while carrying out thin-wall part vibration measurement
Single, measurement accuracy is high.
To achieve the above object, the present invention provides following schemes:
A kind of thin-wall part omnidirectional vibration measurement method based on binocular vision optical flow tracking, comprising:
Obtain the first thin-wall part vibration video data and the second thin-wall part vibration video data；The first thin-wall part vibration
Video data is to shoot thin-wall part by first camera to vibrate, and second thin-wall part vibration video data is by the
Two cameras shooting thin-wall part vibrates；Wherein, the first camera and the thin-wall part of second camera shooting are same
Thin-wall part；
Characteristic point detection is carried out to the first frame picture of first thin-wall part vibration video data, determines that vibration to be measured is special
Sign point and the vibration performance point to be measured corresponding the on the first frame picture of first thin-wall part vibration video data
One pixel coordinate；
Using optical flow tracking algorithm, the corresponding first pixel coordinate set of the vibration performance point to be measured is determined；Described
One pixel coordinate collection is combined into described on the second frame picture to last frame picture of first thin-wall part vibration video data
The set of the corresponding first pixel coordinate composition of vibration performance point to be measured；
The first frame picture of second thin-wall part vibration video data and first thin-wall part are vibrated into video data
First frame picture carry out characteristic matching, determine on the first frame picture of second thin-wall part vibration video data it is described to
Corresponding second pixel coordinate of characteristic point is moved in vibration measuring；
Using optical flow tracking algorithm, the corresponding second pixel coordinate set of the vibration performance point to be measured is determined；Described
Two pixel coordinate collection are combined into described on the second frame picture to last frame picture of second thin-wall part vibration video data
The set of the corresponding second pixel coordinate composition of vibration performance point to be measured；
According to pixel coordinate and world coordinates conversion formula, the corresponding first straight line of each first pixel coordinate is determined
Second straight line corresponding with each second pixel coordinate；
According to the first straight line and the second straight line, the corresponding first straight line of every frame picture and second straight line are calculated
Common vertical line section, and the midpoint coordinates of the common vertical line section is determined as the corresponding spatial point three-dimensional of the vibration performance point to be measured and is sat
Mark；Wherein, the corresponding first straight line of every frame picture and second straight line are different surface beeline；
According to each spatial point three-dimensional coordinate, vibration displacement of the thin-wall part in every frame time is calculated；The vibration
Displacement includes oscillation distances and direction of vibration.
Optionally, before the first frame picture to first thin-wall part vibration video data carries out characteristic point detection,
Thin-wall part omnidirectional vibration measurement method further include:
Video data is vibrated to first thin-wall part and second thin-wall part vibration video data pre-processes；Its
In, pretreated algorithm includes image enhancement method and filtering and noise reduction method.
Optionally, when the first camera is left camera, the second camera is right camera；When the first camera is
When right camera, the second camera is Zuo Xiangji.
Optionally, the first frame picture to first thin-wall part vibration video data carries out characteristic point detection, really
Fixed vibration performance point to be measured and the vibration spy to be measured on the first frame picture of first thin-wall part vibration video data
Corresponding first pixel coordinate of sign point, specifically includes:
Using Harris's Corner Detection Algorithm, the first frame picture of first thin-wall part vibration video data is carried out special
Sign point detection, determines vibration performance point to be measured；
According to the vibration performance point to be measured, determine on the first frame picture of first thin-wall part vibration video data
Corresponding first pixel coordinate of the vibration performance point to be measured.
Optionally, described to use optical flow tracking algorithm, determine corresponding first pixel coordinate of the vibration performance point to be measured
Set, specifically includes:
Since the second frame picture, the former frame picture and present frame in the first thin-wall part vibration video data are chosen
Picture simultaneously calculates grey scale change value；
According to the grey scale change value, determine that corresponding first pixel of the vibration performance point to be measured is sat on present frame picture
Mark；
It repeats the above steps, until present frame picture is the last frame figure that first thin-wall part vibrates video data
Piece, and will be in determining all first pixel coordinate storages to the first pixel coordinate set.
Optionally, described according to pixel coordinate and world coordinates conversion formula, determine each first pixel coordinate pair
The first straight line and the corresponding second straight line of each second pixel coordinate answered, specifically include:
The expression formula of the first straight line are as follows:
Wherein, (Xi,Yi,Zi) indicate 3 d space coordinate of the vibration performance o'clock to be measured on the i-th frame picture, (ui1,vi1)
Indicate vibration performance o'clock to be measured corresponding first pixel coordinate on the i-th frame picture；Indicate first
The parameter matrix of camera；
The expression formula of the second straight line are as follows:
Wherein, (Xi,Yi,Zi) indicate 3 d space coordinate of the vibration performance o'clock to be measured on the i-th frame picture, (ui2,vi2)
Indicate vibration performance o'clock to be measured corresponding second pixel coordinate on the i-th frame picture；Indicate second
The parameter matrix of camera.
Optionally, described according to each spatial point three-dimensional coordinate, calculate vibration position of the thin-wall part in every frame time
It moves, specifically includes:
According to formulaThin-wall part is calculated in i+1 frame time
Oscillation distances；
Wherein, (Xi+1,Yi+1,Zi+1) indicate the corresponding 3 d space coordinate of vibration performance point to be measured in i+1 frame time；
(Xi,Yi,Zi) indicate the corresponding 3 d space coordinate of vibration performance point to be measured in the i-th frame time；di+1Indicate thin-wall part in i+1
Oscillation distances in frame time；
In i+1 frame time, vibration projector distance of the thin-wall part vibration displacement on each change in coordinate axis direction is (Δ xi+1,
Δyi+1,Δzi+1), calculation formula is
In i+1 frame time, thin-wall part vibration displacement and the angle of each reference axis areIt calculates
Formula
A kind of thin-wall part omnidirectional Vibration-Measuring System based on binocular vision optical flow tracking, comprising:
Video data obtains module, vibrates video counts for obtaining the first thin-wall part vibration video data and the second thin-wall part
According to；The first thin-wall part vibration video data is to shoot thin-wall part by first camera to vibrate, second thin-walled
Part vibration video data is to shoot thin-wall part by second camera to vibrate；Wherein, the first camera and described second
The thin-wall part of camera shooting is same thin-wall part；
Vibration performance point determining module to be measured, for first thin-wall part vibration video data first frame picture into
The detection of row characteristic point determines vibration performance point to be measured and on the first frame picture of first thin-wall part vibration video data
Corresponding first pixel coordinate of the vibration performance point to be measured；
First pixel coordinate set determining module determines the vibration performance point to be measured for using optical flow tracking algorithm
Corresponding first pixel coordinate set；The first pixel coordinate collection is combined into the of first thin-wall part vibration video data
The set of the corresponding first pixel coordinate composition of the vibration performance point to be measured on two frame pictures to last frame picture；
Characteristic matching module, for the first frame picture of second thin-wall part vibration video data and described first is thin
The first frame picture that wall pieces vibrate video data carries out characteristic matching, determines the of second thin-wall part vibration video data
Corresponding second pixel coordinate of the vibration performance point to be measured on one frame picture；
Second pixel coordinate set determining module determines the vibration performance point to be measured for using optical flow tracking algorithm
Corresponding second pixel coordinate set；The second pixel coordinate collection is combined into the of second thin-wall part vibration video data
The set of the corresponding second pixel coordinate composition of the vibration performance point to be measured on two frame pictures to last frame picture；
First straight line and second straight line determining module, for determining every according to pixel coordinate and world coordinates conversion formula
A corresponding first straight line of first pixel coordinate and the corresponding second straight line of each second pixel coordinate；
Spatial point three-dimensional coordinate computing module, for calculating every frame figure according to the first straight line and the second straight line
The common vertical line section of the corresponding first straight line of piece and second straight line, and the midpoint coordinates of the common vertical line section is determined as described to be measured
The corresponding spatial point three-dimensional coordinate of vibration performance point；Wherein, the corresponding first straight line of every frame picture and second straight line are antarafacial
Straight line；
Thin-wall part vibration displacement computing module, for calculating thin-wall part every according to each spatial point three-dimensional coordinate
Vibration displacement in frame time；The vibration displacement includes oscillation distances and direction of vibration.
Optionally, thin-wall part omnidirectional Vibration-Measuring System further include:
Preprocessing module, for vibrating video data and second thin-wall part vibration video counts to first thin-wall part
According to being pre-processed；Wherein, pretreated algorithm includes image enhancement method and filtering and noise reduction method.
Optionally, the vibration performance point determining module to be measured, specifically includes:
Vibration performance point determination unit to be measured shakes to first thin-wall part for using Harris's Corner Detection Algorithm
The first frame picture of dynamic video data carries out characteristic point detection, determines vibration performance point to be measured；
First pixel coordinate determination unit, for determining in first thin-wall part according to the vibration performance point to be measured
Vibrate corresponding first pixel coordinate of the vibration performance point to be measured on the first frame picture of video data.
The specific embodiment provided according to the present invention, the invention discloses following technical effects:
The present invention provides a kind of thin-wall part omnidirectional vibration measurement methods and system based on binocular vision optical flow tracking, real
When obtain binocular camera in characteristic point vibration pixel coordinate, using the midpoint coordinates of common vertical line section between different surface beeline as feature
Point three-dimensional coordinate, reduces influence of noise in measurement process, and measurement accuracy is high.
In addition, camera may be mounted under work adverse circumstances, the vibration displacement of thin-wall part can be effectively monitored in real time, grasp
Make simply, practicability is high, and durability is strong, and camera is not contacted with thin-wall part, will not generate load effect.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without any creative labor, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is that the process of thin-wall part omnidirectional vibration measurement method of the embodiment of the present invention based on binocular vision optical flow tracking is shown
It is intended to；
Fig. 2 is the flow diagram that vibration performance point to be measured of the embodiment of the present invention carries out optical flow tracking algorithm；
Fig. 3 is that the structure of thin-wall part omnidirectional Vibration-Measuring System of the embodiment of the present invention based on binocular vision optical flow tracking is shown
It is intended to.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
As shown in Figure 1, a kind of thin-wall part omnidirectional vibration measurement based on binocular vision optical flow tracking provided in this embodiment
Method, comprising:
Step 101: obtaining the first thin-wall part vibration video data and the second thin-wall part vibrates video data；First thin-wall part
Vibration video data is to shoot thin-wall part by first camera to vibrate, and the second thin-wall part vibration video data is by the
Two cameras shooting thin-wall part vibrates；Wherein, first camera and the thin-wall part of second camera shooting are same thin-wall part.
Step 102: characteristic point detection being carried out to the first frame picture of the first thin-wall part vibration video data, is determined to vibration measuring
Dynamic characteristic point and corresponding first picture of vibration performance point to be measured on the first frame picture of the first thin-wall part vibration video data
Plain coordinate.
Step 103: using optical flow tracking algorithm, determine the corresponding first pixel coordinate set of vibration performance point to be measured；The
One pixel coordinate collection is combined into the vibration to be measured on the second frame picture to last frame picture of the first thin-wall part vibration video data
The set of the corresponding first pixel coordinate composition of characteristic point.
Step 104: the first frame picture of the second thin-wall part vibration video data and the first thin-wall part are vibrated into video data
First frame picture carry out characteristic matching, determine the vibration to be measured spy on the first frame picture of the second thin-wall part vibration video data
Corresponding second pixel coordinate of sign point.
Step 105: using optical flow tracking algorithm, determine the corresponding second pixel coordinate set of vibration performance point to be measured；The
Two pixel coordinate collection are combined into the vibration to be measured on the second frame picture to last frame picture of the second thin-wall part vibration video data
The set of the corresponding second pixel coordinate composition of characteristic point；
Step 106: according to pixel coordinate and world coordinates conversion formula, determining each first pixel coordinate corresponding first
Straight line and the corresponding second straight line of each second pixel coordinate.
Step 107: according to first straight line and second straight line, calculating the corresponding first straight line of every frame picture and second straight line
Common vertical line section, and the midpoint coordinates of common vertical line section is determined as the corresponding spatial point three-dimensional coordinate of vibration performance point to be measured；Wherein,
The corresponding first straight line of every frame picture and second straight line are different surface beeline.
Step 108: according to each spatial point three-dimensional coordinate, calculating vibration displacement of the thin-wall part in every frame time；The vibration
Dynamic displacement includes oscillation distances and direction of vibration.
The principle of the present invention are as follows: vibrated using two camera shooting thin-wall parts, the first frame picture of two cameras is taken, to it
In camera first frame picture carry out feature detection, another camera first frame picture carries out Corresponding matching, chooses to be measured
Characteristic point, respectively by optical flow tracking algorithm obtain the second frame to last frame picture on characteristic point pixel coordinate, in conjunction with double
Different surface beeline minimum distance principle in visually feeling, obtains the midpoint coordinates of common vertical line section, and the midpoint coordinates is determined as to be measured
Characteristic point corresponding three-dimensional space coordinate in the shooting frame picture finally calculates the thin-wall part vibration in every frame time
Distance and direction.
Before executing step 101, it is also necessary to vibrate video data to the first thin-wall part and the second thin-wall part vibrates video
Data are pre-processed；Wherein, pretreated algorithm includes image enhancement method and filtering and noise reduction method.
The tandem of left and right camera optical flow tracking does not require, and can also first carry out the first frame picture of right camera shooting
Feature detection, i.e., when first camera be left camera when, second camera be right camera；When first camera is right camera, second
Camera is Zuo Xiangji.
Step 102 specifically includes:
Using Harris's Corner Detection Algorithm (Harris Corner Detection Algorithm), to the first thin-wall part vibration video data
First frame picture carries out characteristic point detection, determines vibration performance point to be measured.
According to vibration performance point to be measured, the vibration to be measured on the first frame picture of the first thin-wall part vibration video data is determined
Corresponding first pixel coordinate of characteristic point.
As shown in Fig. 2, the corresponding first pixel coordinate set of vibration performance point to be measured is determined using optical flow tracking algorithm,
It specifically includes:
Step 201: since the second frame picture, choosing the former frame picture in the first thin-wall part vibration video data and work as
Previous frame picture simultaneously calculates grey scale change value.
Step 202: according to grey scale change value, determining that corresponding first pixel of vibration performance point to be measured is sat on present frame picture
Mark.
Step 203: judge present frame picture whether be the first thin-wall part vibration video data last frame picture, if
Step 204 is executed, if otherwise return step 201, until present frame picture is last of the first thin-wall part vibration video data
Frame picture.
Step 204: exiting circulation, terminate optical flow tracking, and determining all first pixel coordinates are stored to the first picture
In plain coordinate set.
Step 106 specifically includes:
The three-dimensional coordinate of spatial point P is P (XW,YW,ZW), pixel coordinate and world coordinates conversion formula are as follows:
The pixel of left and right camera is respectively Pl(u1,v1) and Pr(u2,v2),For
Internal reference matrix,For left camera coordinates system to the rotational translation matrix of right camera coordinates system.
Above-mentioned formula can be written as
Then, left magazine pixel coordinate and world coordinates conversion formula can abbreviations are as follows:
Both the above formula from mathematics it is upper be the equal of two plane equations that left camera determines, intersect at world coordinates
Straight line in system.
Both the above formula is mathematically the equal of two plane equations that right camera determines, intersects at world coordinate system
In straight line.
Spatial point P is the point that two straight line intersections are determined in two cameras.Due to there are influence of noise and calibrated error,
That is, this two optical path straight lines are different surface beelines, in the present invention it is possible to sit the midpoint of the common vertical line section of different surface beeline
It is denoted as real space point three-dimensional coordinate.
Based on principles above, in the present embodiment, according to pixel coordinate and world coordinates conversion formula, each first is determined
The corresponding first straight line of pixel coordinate and the corresponding second straight line of each second pixel coordinate.
Wherein, the expression formula of the first straight line are as follows:
(Xi,Yi,Zi) indicate 3 d space coordinate of the vibration performance o'clock to be measured on the i-th frame picture, (ui1,vi1) indicate to
Characteristic point corresponding first pixel coordinate on the i-th frame picture is moved in vibration measuring；Indicate first camera
Parameter matrix.
The expression formula of the second straight line are as follows:
(Xi,Yi,Zi) indicate 3 d space coordinate of the vibration performance o'clock to be measured on the i-th frame picture, (ui2,vi2) indicate to
Characteristic point corresponding second pixel coordinate on the i-th frame picture is moved in vibration measuring；Indicate second camera
Parameter matrix.
It is that the corresponding first straight line of every frame picture and second is calculated directly according to first straight line and second straight line in the present embodiment
The common vertical line section of line, and then the midpoint coordinates of common vertical line section is determined as the corresponding spatial point three-dimensional of vibration performance point to be measured and is sat
Mark.Although this calculating process precision is very high, calculate more complicated.It calculates for simplicity, while guaranteeing certain precision,
Based on principles above, present embodiments provide using iterative cycles calculation method, calculate minimum distance between different surface beeline | | M1M2|
|, the common vertical line section being approximately equivalent between different surface beeline, and by minimum distance | | M1M2| | midpoint coordinatesFor to
The 3 d space coordinate of characteristic point is moved in vibration measuring, improves computational accuracy, reduces error.It specifically includes:
Input the corresponding pixel coordinate of left and right camera shooting figure on piece vibration performance point to be measured；
Using the corresponding pixel coordinate of vibration performance point to be measured, objective function is constructed；The objective function is between different surface beeline
Distance length | | M1M2| | function；
The position coordinates of the point on different surface beeline are inputted, distance length between different surface beeline is calculated | | M1M2||
Three-dimensional coordinate computational accuracy is determined by certain threshold epsilon；
If | | M1M2| |≤ε then takes distance length | | M1M2| | corresponding midpoint coordinatesFor vibration to be measured
The space actual bit coordinate of characteristic point is set, and estimates the corresponding three-dimensional coordinate of vibration performance point to be measured on thin-wall part
Corresponding space physical location when to shoot the frame picture；
If | | M1M2| | > ε then re-enters the position coordinates of the point on different surface beeline, returns between calculating different surface beeline
The step of distance length, until meeting condition.
Wherein, the threshold value of ε distance length between preset different surface beeline, reasonable ε, which is arranged, to be improved to a certain extent
Computational accuracy.
Step 108 specifically includes:
According to formulaThin-wall part is calculated in i+1 frame time
Oscillation distances.
Wherein, (Xi+1,Yi+1,Zi+1) indicate the corresponding 3 d space coordinate of vibration performance point to be measured in i+1 frame time；
(Xi,Yi,Zi) indicate the corresponding 3 d space coordinate of vibration performance point to be measured in the i-th frame time；di+1Indicate thin-wall part in i+1
Oscillation distances in frame time.
In i+1 frame time, vibration projector distance of the thin-wall part vibration displacement on each change in coordinate axis direction is (Δ xi+1,
Δyi+1,Δzi+1), calculation formula is
In i+1 frame time, thin-wall part vibration displacement and the angle of each reference axis areIt calculates
Formula
To achieve the above object, the present embodiment additionally provides a kind of thin-wall part omnidirectional vibration based on binocular vision optical flow tracking
Dynamic measuring system.
As shown in figure 3, a kind of thin-wall part omnidirectional Vibration-Measuring System based on binocular vision optical flow tracking, comprising:
Video data obtains module 100, for obtaining the first thin-wall part vibration video data and the second thin-wall part vibration view
Frequency evidence；The first thin-wall part vibration video data is to shoot thin-wall part by first camera to vibrate, described second
Thin-wall part vibration video data is to shoot thin-wall part by second camera to vibrate；Wherein, the first camera and described
The thin-wall part of second camera shooting is same thin-wall part.
Vibration performance point determining module 200 to be measured, for the first frame figure to first thin-wall part vibration video data
Piece carries out characteristic point detection, determines vibration performance point to be measured and the first frame figure in first thin-wall part vibration video data
Corresponding first pixel coordinate of vibration performance point to be measured described on piece.
First pixel coordinate set determining module 300 determines the vibration performance to be measured for using optical flow tracking algorithm
The corresponding first pixel coordinate set of point；The first pixel coordinate collection is combined into first thin-wall part vibration video data
The set of the corresponding first pixel coordinate composition of the vibration performance point to be measured on second frame picture to last frame picture.
Characteristic matching module 400, for by the first frame picture and described the of second thin-wall part vibration video data
The first frame picture that one thin-wall part vibrates video data carries out characteristic matching, determines and vibrates video data in second thin-wall part
First frame picture on corresponding second pixel coordinate of the vibration performance point to be measured.
Second pixel coordinate set determining module 500 determines the vibration performance to be measured for using optical flow tracking algorithm
The corresponding second pixel coordinate set of point；The second pixel coordinate collection is combined into second thin-wall part vibration video data
The set of the corresponding second pixel coordinate composition of the vibration performance point to be measured on second frame picture to last frame picture.
First straight line and second straight line determining module 600, for determining according to pixel coordinate and world coordinates conversion formula
Each corresponding first straight line of first pixel coordinate and the corresponding second straight line of each second pixel coordinate.
Spatial point three-dimensional coordinate computing module 700, for calculating every frame according to the first straight line and the second straight line
The common vertical line section of the corresponding first straight line of picture and second straight line, and by the midpoint coordinates of the common vertical line section be determined as it is described to
The corresponding spatial point three-dimensional coordinate of characteristic point is moved in vibration measuring；Wherein, the corresponding first straight line of every frame picture is different with second straight line
Face straight line.
Thin-wall part vibration displacement computing module 800, for calculating thin-wall part and existing according to each spatial point three-dimensional coordinate
Vibration displacement in every frame time；The vibration displacement includes oscillation distances and direction of vibration.
Thin-wall part omnidirectional Vibration-Measuring System further include:
Preprocessing module, for vibrating video data and second thin-wall part vibration video counts to first thin-wall part
According to being pre-processed；Wherein, pretreated algorithm includes image enhancement method and filtering and noise reduction method.
The vibration performance point determining module 200 to be measured, specifically includes:
Vibration performance point determination unit to be measured shakes to first thin-wall part for using Harris's Corner Detection Algorithm
The first frame picture of dynamic video data carries out characteristic point detection, determines vibration performance point to be measured.
First pixel coordinate determination unit, for determining in first thin-wall part according to the vibration performance point to be measured
Vibrate corresponding first pixel coordinate of the vibration performance point to be measured on the first frame picture of video data.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For system disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is said referring to method part
It is bright.
Used herein a specific example illustrates the principle and implementation of the invention, and above embodiments are said
It is bright to be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art, foundation
Thought of the invention, there will be changes in the specific implementation manner and application range.In conclusion the content of the present specification is not
It is interpreted as limitation of the present invention.
Claims (10)
1. a kind of thin-wall part omnidirectional vibration measurement method based on binocular vision optical flow tracking, which is characterized in that the thin-wall part
Omnidirectional's vibration measurement method includes:
Obtain the first thin-wall part vibration video data and the second thin-wall part vibration video data；First thin-wall part vibrates video
Data are to shoot thin-wall part by first camera to vibrate, and the second thin-wall part vibration video data is by the second phase
Machine shooting thin-wall part vibrates；Wherein, the first camera and the thin-wall part of second camera shooting are same thin-walled
Part；
Characteristic point detection is carried out to the first frame picture of first thin-wall part vibration video data, determines vibration performance point to be measured
And corresponding first picture of the vibration performance point to be measured on the first frame picture of first thin-wall part vibration video data
Plain coordinate；
Using optical flow tracking algorithm, the corresponding first pixel coordinate set of the vibration performance point to be measured is determined；First picture
Plain coordinate set is described to be measured on the second frame picture to last frame picture that first thin-wall part vibrates video data
The set of the corresponding first pixel coordinate composition of vibration performance point；
By the of the first frame picture of second thin-wall part vibration video data and first thin-wall part vibration video data
One frame picture carries out characteristic matching, determines described to vibration measuring on the first frame picture of second thin-wall part vibration video data
Dynamic corresponding second pixel coordinate of characteristic point；
Using optical flow tracking algorithm, the corresponding second pixel coordinate set of the vibration performance point to be measured is determined；Second picture
Plain coordinate set is described to be measured on the second frame picture to last frame picture that second thin-wall part vibrates video data
The set of the corresponding second pixel coordinate composition of vibration performance point；
According to pixel coordinate and world coordinates conversion formula, the corresponding first straight line of each first pixel coordinate and every is determined
The corresponding second straight line of a second pixel coordinate；
According to the first straight line and the second straight line, the public affairs for calculating the corresponding first straight line of every frame picture and second straight line are hung down
Line segment, and the midpoint coordinates of the common vertical line section is determined as the corresponding spatial point three-dimensional coordinate of the vibration performance point to be measured；
Wherein, the corresponding first straight line of every frame picture and second straight line are different surface beeline；
According to each spatial point three-dimensional coordinate, vibration displacement of the thin-wall part in every frame time is calculated；The vibration displacement
Including oscillation distances and direction of vibration.
2. thin-wall part omnidirectional according to claim 1 vibration measurement method, which is characterized in that first thin-wall part
Before the first frame picture progress characteristic point detection for vibrating video data, thin-wall part omnidirectional vibration measurement method further include:
Video data is vibrated to first thin-wall part and second thin-wall part vibration video data pre-processes；Wherein,
Pretreated algorithm includes image enhancement method and filtering and noise reduction method.
3. thin-wall part omnidirectional according to claim 1 vibration measurement method, which is characterized in that when the first camera is a left side
When camera, the second camera is right camera；When the first camera is right camera, the second camera is Zuo Xiangji.
4. thin-wall part omnidirectional according to claim 1 vibration measurement method, which is characterized in that described to first thin-walled
The first frame picture that part vibrates video data carries out characteristic point detection, determines vibration performance point to be measured and in first thin-walled
Part vibrates corresponding first pixel coordinate of the vibration performance point to be measured on the first frame picture of video data, specifically includes:
Using Harris's Corner Detection Algorithm, characteristic point is carried out to the first frame picture of first thin-wall part vibration video data
Detection, determines vibration performance point to be measured；
According to the vibration performance point to be measured, determine described on the first frame picture of first thin-wall part vibration video data
Corresponding first pixel coordinate of vibration performance point to be measured.
5. thin-wall part omnidirectional according to claim 1 vibration measurement method, which is characterized in that described to be calculated using optical flow tracking
Method determines the corresponding first pixel coordinate set of the vibration performance point to be measured, specifically includes:
Since the second frame picture, the former frame picture and present frame picture in the first thin-wall part vibration video data are chosen
And calculate grey scale change value；
According to the grey scale change value, corresponding first pixel coordinate of the vibration performance point to be measured on present frame picture is determined；
It repeats the above steps, until present frame picture is the last frame picture that first thin-wall part vibrates video data, and
It will be in determining all first pixel coordinate storages to the first pixel coordinate set.
6. thin-wall part omnidirectional according to claim 1 vibration measurement method, which is characterized in that it is described according to pixel coordinate with
World coordinates conversion formula determines the corresponding first straight line of each first pixel coordinate and each second pixel coordinate
Corresponding second straight line, specifically includes:
The expression formula of the first straight line are as follows:
Wherein, (Xi,Yi,Zi) indicate 3 d space coordinate of the vibration performance o'clock to be measured on the i-th frame picture, (ui1,vi1) indicate to
Characteristic point corresponding first pixel coordinate on the i-th frame picture is moved in vibration measuring；Indicate first camera
Parameter matrix；
The expression formula of the second straight line are as follows:
Wherein, (Xi,Yi,Zi) indicate 3 d space coordinate of the vibration performance o'clock to be measured on the i-th frame picture, (ui2,vi2) indicate to
Characteristic point corresponding second pixel coordinate on the i-th frame picture is moved in vibration measuring；Indicate second camera
Parameter matrix.
7. thin-wall part omnidirectional according to claim 1 vibration measurement method, which is characterized in that described according to each sky
Between put three-dimensional coordinate, calculate vibration displacement of the thin-wall part in every frame time, specifically include:
According to formulaCalculate vibration of the thin-wall part in i+1 frame time
Distance；
Wherein, (Xi+1,Yi+1,Zi+1) indicate the corresponding 3 d space coordinate of vibration performance point to be measured in i+1 frame time；(Xi,
Yi,Zi) indicate the corresponding 3 d space coordinate of vibration performance point to be measured in the i-th frame time；di+1Indicate thin-wall part in i+1 frame
Interior oscillation distances；
In i+1 frame time, vibration projector distance of the thin-wall part vibration displacement on each change in coordinate axis direction is (Δ xi+1,Δ
yi+1,Δzi+1), calculation formula is
In i+1 frame time, thin-wall part vibration displacement and the angle of each reference axis areCalculation formula
8. a kind of thin-wall part omnidirectional Vibration-Measuring System based on binocular vision optical flow tracking, which is characterized in that the thin-wall part
Omnidirectional's Vibration-Measuring System includes:
Video data obtains module, vibrates video data for obtaining the first thin-wall part vibration video data and the second thin-wall part；
The first thin-wall part vibration video data is to shoot thin-wall part by first camera to vibrate, the second thin-wall part vibration
Dynamic video data is to shoot thin-wall part by second camera to vibrate；Wherein, the first camera and the second camera
The thin-wall part of shooting is same thin-wall part；
Vibration performance point determining module to be measured carries out special for the first frame picture to first thin-wall part vibration video data
Sign point detection, determine vibration performance point to be measured and on the first frame picture of first thin-wall part vibration video data it is described
Corresponding first pixel coordinate of vibration performance point to be measured；
First pixel coordinate set determining module determines that the vibration performance point to be measured is corresponding for using optical flow tracking algorithm
The first pixel coordinate set；The first pixel coordinate collection is combined into the second frame in first thin-wall part vibration video data
The set of the corresponding first pixel coordinate composition of the vibration performance point to be measured on picture to last frame picture；
Characteristic matching module, for second thin-wall part to be vibrated to the first frame picture and first thin-wall part of video data
The first frame picture for vibrating video data carries out characteristic matching, determines the first frame in second thin-wall part vibration video data
Corresponding second pixel coordinate of the vibration performance point to be measured on picture；
Second pixel coordinate set determining module determines that the vibration performance point to be measured is corresponding for using optical flow tracking algorithm
The second pixel coordinate set；The second pixel coordinate collection is combined into the second frame in second thin-wall part vibration video data
The set of the corresponding second pixel coordinate composition of the vibration performance point to be measured on picture to last frame picture；
First straight line and second straight line determining module, for determining each institute according to pixel coordinate and world coordinates conversion formula
State the corresponding first straight line of the first pixel coordinate and the corresponding second straight line of each second pixel coordinate；
Spatial point three-dimensional coordinate computing module, for calculating every frame picture pair according to the first straight line and the second straight line
The common vertical line section of the first straight line and second straight line answered, and the midpoint coordinates of the common vertical line section is determined as the vibration to be measured
The corresponding spatial point three-dimensional coordinate of characteristic point；Wherein, the corresponding first straight line of every frame picture and second straight line are different surface beeline；
Thin-wall part vibration displacement computing module, for calculating thin-wall part in every frame according to each spatial point three-dimensional coordinate
Interior vibration displacement；The vibration displacement includes oscillation distances and direction of vibration.
9. thin-wall part omnidirectional according to claim 8 Vibration-Measuring System, which is characterized in that the thin-wall part omnidirectional vibration
Measuring system further include:
Preprocessing module, for first thin-wall part vibrate video data and second thin-wall part vibrate video data into
Row pretreatment；Wherein, pretreated algorithm includes image enhancement method and filtering and noise reduction method.
10. thin-wall part omnidirectional according to claim 8 Vibration-Measuring System, which is characterized in that the vibration performance to be measured
Point determining module, specifically includes:
Vibration performance point determination unit to be measured is vibrated first thin-wall part and is regarded for using Harris's Corner Detection Algorithm
The first frame picture of frequency evidence carries out characteristic point detection, determines vibration performance point to be measured；
First pixel coordinate determination unit, for determining and being vibrated in first thin-wall part according to the vibration performance point to be measured
Corresponding first pixel coordinate of the vibration performance point to be measured on the first frame picture of video data.
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