CN110470320B - Calibration method of swinging scanning type line structured light measurement system and terminal equipment - Google Patents
Calibration method of swinging scanning type line structured light measurement system and terminal equipment Download PDFInfo
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Abstract
The invention is suitable for the technical field of non-contact measurement, and provides a calibration method of a swinging scanning line structured light measurement system and terminal equipment, wherein the method comprises the following steps: presetting a plurality of rotation angles, respectively determining the actual laser plane characteristic vector in the camera coordinate system corresponding to each preset rotation angle, and then obtaining the corresponding relation between the actual laser plane characteristic vector in the camera coordinate system and the rotation angle according to the actual laser plane characteristic vector and the camera parameter in the camera coordinate system corresponding to each preset rotation angle, thereby completing the calibration. After calibration is completed, in the actual measurement process, the laser plane characteristic vector can be obtained only by determining the rotation angle of the laser, and then the three-dimensional coordinate of the workpiece to be measured in the world coordinate system is obtained. The calibration method provided by the invention effectively simplifies the calibration model, and has the advantages of simple and easy calibration process and better practicability.
Description
Technical Field
The invention belongs to the technical field of non-contact measurement, and particularly relates to a calibration method of a swinging scanning line structured light measurement system and terminal equipment.
Background
The line structured light measurement is a non-contact measurement technology emerging in recent years, and a line structured light measurement system generally comprises a camera, a laser, a workbench and a computer. The line structured light measurement system has strong adaptability to the working environment, is easy to model and has wide application prospect.
The linear structured light measuring system can be classified into a linear motion scanning type and a swing scanning type according to a scanning motion mode. When a workpiece to be measured is measured by adopting the swing scanning type linear structured light measuring system, the position and the attitude of a laser plane relative to a laser rotating shaft and the position and the attitude of the laser rotating shaft in a camera coordinate system need to be respectively calibrated, and then the coefficient of a laser plane equation is obtained by calculation according to the rotating angle of the laser, so that the calibration process is complex and difficult.
Disclosure of Invention
In view of this, the embodiment of the present invention provides a calibration method and a terminal device for a swinging scanning line structured light measurement system, so as to solve the problems of complicated calibration process and difficult calibration of the line structured light measurement system in the prior art.
The first aspect of the embodiments of the present invention provides a calibration method for a swing scanning line structured light measurement system, where the line structured light measurement system includes a rotatable laser, and the calibration method for the swing scanning line structured light measurement system includes:
acquiring a first laser line image of a laser on a first target and a second laser line image of the laser on a second target respectively at a plurality of preset rotation angles, wherein the heights of a plane where the first target is located and a plane where the second target is located are different;
determining actual laser plane characteristic vectors respectively corresponding to a plurality of preset rotation angles in a camera coordinate system according to a camera parameter calibrated in advance and a first laser line image and a second laser line image respectively corresponding to the preset rotation angles;
and determining the corresponding relation between the actual laser plane characteristic vector and the rotation angle in the camera coordinate system according to the actual laser plane characteristic vector and the camera parameter which are respectively corresponding to a plurality of preset rotation angles in the camera coordinate system.
A second aspect of an embodiment of the present invention provides a calibration device for a swinging scanning line structured light measurement system, where the swinging scanning line structured light measurement system includes a rotatable laser, and the calibration device includes:
the laser line image acquisition module is used for acquiring a first laser line image of the laser on a first target and a second laser line image of the laser on a second target when the laser is at a plurality of preset rotation angles, wherein the heights of the plane where the first target is located and the plane where the second target is located are different;
the actual laser line plane characteristic vector determining module is used for determining actual laser line characteristic vectors corresponding to a plurality of preset rotation angles in a camera coordinate system according to a first laser line image and a second laser line image which are respectively corresponding to a camera parameter which is calibrated in advance and a plurality of preset rotation angles;
and the corresponding relation determining module is used for determining the corresponding relation between the actual laser plane characteristic vector and the rotation angle in the camera coordinate system according to the actual laser plane characteristic vector and the camera parameter which are respectively corresponding to the plurality of preset rotation angles in the camera coordinate system.
A third aspect of an embodiment of the present invention provides a terminal device, including: comprising a memory, a processor and a computer program stored in the memory and being executable on the processor, when executing the computer program, performing the steps of the calibration method of an oscillatory scanning line structured light measuring system according to the first aspect of an embodiment of the present invention.
A fourth aspect of the embodiments of the present invention provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the computer program implements the steps of the calibration method for the oscillatory scanning linear structured light measurement system according to the first aspect of the embodiments of the present invention.
Compared with the prior art, the embodiment of the invention has the following beneficial effects: the embodiment of the invention is provided with two non-coplanar targets, a first laser line image and a second laser line image of a laser on the two targets are respectively obtained, the two laser lines determine a laser plane, and the actual laser plane characteristic vector in a camera coordinate system can be obtained according to the first laser line image and the second laser line image. Presetting a plurality of rotation angles, respectively determining the actual laser plane characteristic vector in the camera coordinate system corresponding to each preset rotation angle, and then obtaining the corresponding relation between the actual laser plane characteristic vector in the camera coordinate system and the rotation angle according to the actual laser plane characteristic vector and the camera parameter in the camera coordinate system corresponding to each preset rotation angle, thereby completing the calibration. The calibration method provided by the embodiment of the invention effectively simplifies the calibration model, and is simple to operate and easy to use.
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In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic flow chart illustrating an implementation of a calibration method of a swing scanning line structured light measurement system according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a swinging scanning line structured light measuring system according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of the initial position and the maximum rotation angle of the laser according to the embodiment of the present invention;
FIG. 4 is a diagram illustrating the measurement effect of the swing scanning line structured light measurement system on a workpiece to be measured according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a calibration apparatus of an oscillatory scanning line structured light measurement system according to an embodiment of the present invention;
fig. 6 is a schematic diagram of a terminal device according to an embodiment of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
In order to explain the technical means of the present invention, the following description will be given by way of specific examples.
Referring to fig. 1, an embodiment of the present invention provides a calibration method for a swinging scanning line structured light measurement system, where, referring to fig. 2, the swinging scanning line structured light measurement system includes a rotatable laser 21, and the calibration method for the swinging scanning line structured light measurement system includes:
step S101: and acquiring a first laser line image of the laser 21 on the first target and a second laser line image of the laser 21 on the second target respectively at a plurality of preset rotation angles, wherein the heights of the plane where the first target is located and the plane where the second target is located are different.
Referring to fig. 2, the wobbling scanning line structured light measuring system may include: a rotatable laser 21, a camera 22, a computer 23, a table 24, and auxiliary components (a stepper motor 25). For example, the camera 22 may be a CCD camera.
The laser 21 is a linear laser, the projected laser plane intersects with the workpiece 26 to be measured, and forms a high-brightness laser line 27 on the surface of the workpiece 26 to be measured, the camera 22 captures an image of the laser line reflected by the surface of the workpiece 26 to be measured and transmits the image to the computer 23, and the computer 23 calculates the three-dimensional coordinate of the position of the laser line according to the image of the laser line, so that the measurement of the workpiece 26 to be measured is realized. Meanwhile, the computer 23 is also used for controlling the action of the laser 21 and calibrating the swinging scanning line structured light measuring system.
An oscillatory scanning line-structured light measurement system is provided with the laser 21 mounted on a rotating component such that the laser 21 is rotatable along an axis 28. Wherein the relative position of the rotation axis 28 of the laser 21 and the camera 22 is unchanged.
And arranging a first target and a second target on the plane, wherein the heights of the planes of the first target and the second target are different. A plurality of laser rotation angles are preset, and a first laser line image of the laser 21 on the first target and a second laser line image of the laser 21 on the second target at the plurality of preset rotation angles are obtained, that is, each preset rotation angle corresponds to one first laser line image and one second laser line image. Wherein the laser 21 is set to an initial position n0The laser rotation angle is the laser 21 relative to the initial position n0The angle of rotation of (c).
In some embodiments, the predetermined rotation angle is greater than or equal to 0 and less than or equal to a predetermined maximum rotation angle.
Setting the initial position n of the laser according to actual conditions0And maximum rotation angle thetamax. Initial position n of the laser0Is disposed at any position within the field of view of the photograph where the laser line can be captured by the camera 22. OptionallyWith reference to fig. 3, the initial position n0May be such that when the laser 21 is in the initial position n0The laser line is located at the most peripheral position on one side within the field of view of the camera 22. The laser 21 rotates along the axis 28, the laser line moves to the middle position of the camera 22 in the shooting visual field range, and when the laser line moves to the initial position n and the shooting visual field range of the camera 220When the laser line is at the edge position of the other side opposite to the laser line, the rotation angle of the laser 21 reaches the maximum, and the laser line is moved out of the shooting range of the camera 22 by the continuous rotation of the laser 21 and cannot be captured by the camera 22. At this time, the laser 21 is at the initial position n0Is determined as the maximum rotation angle theta of the laser 21max。
At an initial position n0And a predetermined maximum rotation angle thetamaxIncluding an initial position n0And maximum rotation angle thetamaxAnd selecting a plurality of preset rotation angles. In some embodiments, the ith preset rotation angle θiCan be as follows:
wherein, thetamaxN is the number of preset rotation angles, i is 1,2 … N.
I.e. the first predetermined angle of rotation theta1Is 0, then is
The laser 21 is rotated for the rotation angle step to obtain N positions corresponding to N preset rotation angles.
And respectively acquiring a first laser line image on the first target and a second laser line image on the second target when the laser 21 is at the N positions to obtain N groups of laser line images.
Step S102: and determining actual laser plane characteristic vectors respectively corresponding to a plurality of preset rotation angles in a camera coordinate system according to the pre-calibrated camera parameters and the first laser line image and the second laser line image respectively corresponding to the plurality of preset rotation angles.
The camera model has four coordinate systems, which are respectively: the system comprises a pixel coordinate system, an image coordinate system, a camera coordinate system and a world coordinate system, wherein corresponding conversion relations exist among the four coordinate systems, and the conversion among the four coordinate systems can be realized according to camera parameters (parameters of the camera 22) and the corresponding relations.
In some embodiments, step S102 may include:
converting a laser line in a pixel coordinate system in a first laser line image corresponding to a first preset rotation angle into a first target laser line corresponding to the first preset rotation angle in a camera coordinate system according to camera parameters, wherein the first preset rotation angle is any one preset rotation angle in a plurality of preset rotation angles;
converting the laser line in the pixel coordinate system in the second laser line image corresponding to the first preset rotation angle into a second target laser line corresponding to the first preset rotation angle in the camera coordinate system according to the camera parameters;
and obtaining an actual laser plane characteristic vector corresponding to a first preset rotation angle in the camera coordinate system according to the first target laser line and the second target laser line.
And extracting the laser line in the first laser line image corresponding to the first preset rotation angle to obtain the pixel coordinate corresponding to the pixel point in the laser line. And converting the pixel coordinates of each pixel point in the laser line in the pixel coordinate system into coordinates in the camera coordinate system according to the camera parameters to form a first target laser line corresponding to a first preset rotation angle in the camera coordinate system. Similarly, a second target laser line corresponding to the first preset rotation angle is obtained according to a second laser line image corresponding to the first preset rotation angle. Because the first target and the first target are parallel and have a height difference, the first target laser line and the second target laser line corresponding to the first preset rotation angle are coplanar but not collinear, and two non-collinear straight lines on the same plane can determine a plane, so that the first target laser line and the second target laser line can determine a laser plane corresponding to the first preset rotation angle, and further, an actual laser plane feature vector corresponding to the first preset rotation angle in a camera coordinate system can be obtained.
The first preset rotation angle is any one of the preset rotation angles, and the actual laser plane feature vectors corresponding to the preset rotation angles in the camera coordinate system, that is, the actual laser plane feature vectors in the N camera coordinate systems, can be determined according to the method.
In some embodiments, step S102 may be preceded by step S104,
and step S104, calibrating the parameters of the camera by adopting a checkerboard feature corner method to obtain the camera parameters calibrated in advance.
The camera 22 is calibrated by using the set planar first target and the set planar second target by using a checkerboard feature corner method, so as to obtain camera parameters calibrated in advance. The camera parameters may include camera internal parameters and camera external parameters.
Step S103: and determining the corresponding relation between the actual laser plane characteristic vector and the rotation angle in the camera coordinate system according to the actual laser plane characteristic vector and the camera parameter which are respectively corresponding to a plurality of preset rotation angles in the camera coordinate system.
And determining the corresponding relation between the actual laser plane characteristic vector and the rotation angle in the camera coordinate system according to the actual laser plane characteristic vector (the actual laser plane characteristic vector in the N camera coordinate systems) and the camera parameters which respectively correspond to the plurality of preset rotation angles in the camera coordinate system, namely completing the calibration of the swing scanning line structured light measurement system. In the actual measurement process, the rotation angle of the laser 21 is obtained, the actual laser plane feature vector in the camera coordinate system at the current rotation angle can be obtained according to the corresponding relation between the actual laser plane feature vector in the camera coordinate system and the rotation angle, the three-dimensional coordinate modeling of the workpiece to be tested can be realized according to the actual laser plane feature vector in the camera coordinate system, the laser line image shot by the camera at the current rotation angle and the camera parameters, only one camera parameter calibration needs to be carried out at the beginning of the test, and the condition that the camera parameters need to be calibrated every time the laser 21 rotates once is avoided.
In some embodiments, step S103 may include:
converting actual laser plane feature vectors corresponding to a plurality of preset rotation angles in a camera coordinate system into actual laser plane feature vectors corresponding to a plurality of preset rotation angles in a world coordinate system according to camera parameters;
establishing a relation model of the ideal laser plane characteristic vector and the actual laser plane characteristic vector in the world coordinate system based on an error model between the ideal laser plane and the actual laser plane in the world coordinate system and the actual laser plane characteristic vectors corresponding to a plurality of preset rotation angles in the world coordinate system;
determining a relation model between an actual laser plane characteristic vector and a rotation angle in a camera coordinate system according to a relation model between an ideal laser plane characteristic vector and an actual laser plane characteristic vector in a world coordinate system and camera parameters;
determining a corresponding relation coefficient between an actual laser plane characteristic vector and a rotating angle in a relation model between the actual laser plane characteristic vector and the rotating angle in a camera coordinate system according to the actual laser plane characteristic vector corresponding to each of a plurality of preset rotating angles in the camera coordinate system;
and obtaining the corresponding relation between the actual laser plane feature vector and the rotating angle in the camera coordinate system according to the corresponding relation coefficient.
Referring to fig. 2, with the rotation axis of the laser 21 as the x-axis and the vertical direction as the z-axis, a right-hand coordinate system is established, which is a world coordinate system, and the transformation relationship between the world coordinate system and the camera coordinate system can be determined according to the camera parameters. Defining the equation of the laser plane of the laser 21 at the ith position (i.e. the position corresponding to the ith preset rotation angle) in the camera coordinate system as Aix+Biy+Cix +1 is 0, the feature vector of the actual laser plane in the camera coordinate system is
According to the world coordinate system and the camera coordinate systemThe transformation relation of (a) is to make the feature vector into
Conversion to actual laser plane eigenvectors in world coordinate system
An ideal laser plane feature vector in a world coordinate system is assumed to be
Introducing an error model to establish an ideal laser plane characteristic vector in a world coordinate system
And the actual laser plane eigenvector
The relationship model of (1) is as follows:
where ψ is the rotation error angle, ex、eyAnd ezThe laser plane is the translation error of coordinate axis in three directions respectively.
According to ideal laser plane characteristic vector in world coordinate system
And the actual laser plane feature vector
Determining the actual laser plane feature vector in the camera coordinate system
Angle of rotation theta with respect to laser 21iA relationship model between them. In some embodiments, the phasesActual laser plane feature vector in machine coordinate system
And angle of rotation thetaiThe relationship between the following models:
respectively corresponding actual laser plane feature vectors to a plurality of preset rotation angles in a camera coordinate system
Substituting the model into the model to calculate and obtain the actual laser plane characteristic vector in the camera coordinate system
And angle of rotation thetaiCoefficient of correspondence between them.
Substituting the corresponding relation coefficient into a formula (3) to obtain the actual laser plane characteristic vector in the camera coordinate system
And angle of rotation thetaiThe corresponding relation between them.
In the above embodiment, an error model is introduced, and the measurement error is considered, so that the calibration of the swing scanning line structured light measurement system is more accurate, and the measurement result of the swing scanning line structured light measurement system is more accurate.
In some embodiments, determining a relation model between the actual laser plane feature vector and the rotation angle in the camera coordinate system according to the relation model between the ideal laser plane feature vector and the actual laser plane feature vector in the world coordinate system and the camera parameters may include:
determining ideal laser plane characteristic vectors and initial positions n corresponding to different preset rotation angles in a world coordinate system0A relation model of corresponding ideal laser plane characteristic vectors;
according to a relation model of ideal laser plane characteristic vectors and actual laser plane characteristic vectors in a world coordinate system and ideal laser plane characteristic vectors and initial positions n corresponding to different preset rotation angles in the world coordinate system0Determining the ideal laser plane characteristic vector and the initial position n corresponding to different preset rotation angles in the world coordinate system by the corresponding relation model of the ideal laser plane characteristic vector0A relation model of the corresponding actual laser plane feature vector;
according to the ideal laser plane characteristic vector and the initial position n corresponding to different preset rotation angles in the world coordinate system0Determining the corresponding relation model of the actual laser plane characteristic vector and the relation model of the ideal laser plane characteristic vector and the actual laser plane characteristic vector in the world coordinate system, and determining the actual laser plane characteristic vector and the initial position n corresponding to different preset rotation angles in the world coordinate system0A relation model of the corresponding actual laser plane feature vector;
according to camera parameters, actual laser plane feature vectors corresponding to different preset rotation angles in a world coordinate system and an initial position n0Converting the relation model of the corresponding actual laser plane feature vector into the actual laser plane feature vector and the initial position n corresponding to different preset rotation angles in the camera coordinate system0A relation model of the corresponding actual laser plane feature vector;
actual laser plane feature vectors and initial positions n corresponding to different preset rotation angles in camera coordinate system0And simplifying the corresponding relation model of the actual laser plane feature vector to obtain the relation model between the actual laser plane feature vector and the rotation angle in the camera coordinate system.
Setting an initial position n in a world coordinate system0Corresponding to the ideal laser plane eigenvector of
Initial position n0The corresponding actual laser plane feature vector is
Determining ideal laser plane characteristic vectors corresponding to different preset rotation angles in world coordinate system
And an initial position n0Corresponding ideal laser plane eigenvector
The relationship model of (1). Ideal laser plane characteristic vector corresponding to different preset rotation angles in world coordinate system
And an initial position n0Corresponding ideal laser plane eigenvector
The relationship model of (1) is as follows:
determining ideal laser plane characteristic vectors corresponding to different preset rotation angles in a world coordinate system according to formula (2) and formula (4)
And an initial position n0Corresponding actual laser plane feature vector
The relationship model of (1);
ideal laser plane characteristic vector corresponding to different preset rotation angles in world coordinate system
And an initial position n0Corresponding actual laser plane feature vector
Relation model of (1) and ideal laser plane feature vector in world coordinate system
Relation model with actual laser plane characteristic vector
(formula (2)), determining the actual laser plane characteristic vectors corresponding to different preset rotation angles in the world coordinate system
And an initial position n0Corresponding actual laser plane feature vector
The relationship model of (1);
setting an initial position n in a camera coordinate system0The corresponding actual laser plane feature vector is
According to the camera parameters, the actual laser plane characteristic vectors corresponding to different preset rotation angles in the world coordinate system
And an initial position n0Corresponding actual laser plane feature vector
Is converted into actual laser plane feature vectors corresponding to different preset rotation angles in a camera coordinate system
And an initial position n0Corresponding actual laser plane feature vector
The relationship model of (1);
actual laser plane feature vectors corresponding to different preset rotation angles in camera coordinate system
And an initial position n0Corresponding actual laser plane feature vector
The relation model is transformed to obtain the actual laser plane characteristic vector in the camera coordinate system
And angle of rotation thetaiA relationship model between them.
In some embodiments, the correspondence coefficient T is:
actual laser plane feature vector in camera coordinate system
And angle of rotation thetaiThe corresponding relation between the two is as follows:
wherein (A)i,Bi,Ci)TIs the actual laser plane characteristic vector theta corresponding to the ith preset rotation angle in the camera coordinate systemiThe number of the ith preset rotation angle is 1,2 … N, N is the number of the preset rotation angles, and N is more than or equal to 3; t is t11、t12、t13、t21、t22、t23、t31、t32And t33Are the elements of the matrix T.
The determining, according to the actual laser plane feature vectors respectively corresponding to the plurality of preset rotation angles in the camera coordinate system, the correspondence coefficient between the actual laser plane feature vector and the rotation angle in the relationship model between the actual laser plane feature vector and the rotation angle in the camera coordinate system specifically includes:
the N preset rotation angles respectively correspond to the N actual laser plane characteristic vectors, the N preset rotation angles and the corresponding N actual laser plane characteristic vectors are substituted into a relation model between the actual laser plane characteristic vectors and the rotation angles in the camera coordinate system to obtain a corresponding relation equation, the equation is solved to obtain a corresponding relation coefficient T, and therefore the corresponding relation between the actual laser plane characteristic vectors and the rotation angles in the camera coordinate system is obtained. Since the corresponding relation coefficient T is a 3 × 3 matrix, the corresponding relation coefficient T can be obtained only by calculating the number N of the preset rotation angles to be more than or equal to 3.
The calibration method of the swing scanning line structured light measurement system presets a plurality of rotation angles, respectively determines the actual laser plane characteristic vector in the camera coordinate system corresponding to each preset rotation angle, and then obtains the corresponding relation between the actual laser plane characteristic vector and the rotation angle in the camera coordinate system according to the actual laser plane characteristic vector and the camera parameters in the camera coordinate system corresponding to each preset rotation angle, thereby completing calibration. The calibration method provided by the embodiment of the invention is simple to operate and easy to use. Meanwhile, the swing scanning line structured light measurement system calibrated by the calibration method provided by the embodiment of the invention establishes a corresponding relation model between the actual laser plane characteristic vector and the rotation angle in the camera coordinate system, the model has universality, the actual laser plane characteristic vector in the camera coordinate system can be obtained only by acquiring the rotation angle of the laser in the actual measurement process, and then the three-dimensional coordinate of the surface of the workpiece to be measured, which is intersected with the laser plane, in the world coordinate system is obtained, the measurement of any scanning density can be completed, and the actual measurement process is greatly simplified. Referring to fig. 4, the calibration method of the swing scanning line structured light measurement system is used to calibrate the system, 100 preset rotation angles are set to measure a mouse to obtain a mouse point cloud image as shown in fig. 4, and it can be known that the swing scanning line structured light measurement system calibrated by the method can realize accurate measurement of an object to be measured.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
Corresponding to the calibration method of the swinging scanning line structured light measuring system in the above embodiment, fig. 5 shows a schematic diagram of a calibration apparatus of the swinging scanning line structured light measuring system provided by the embodiment of the present invention, where the swinging scanning line structured light measuring system includes a rotatable laser, and the apparatus may include:
a laser line image obtaining module 501, configured to obtain a first laser line image on a first target and a second laser line image on a second target when a laser is at a plurality of preset rotation angles, where a plane where the first target is located and a plane where the second target is located are different in height;
an actual laser line plane feature vector determining module 502, configured to determine, according to a pre-calibrated camera parameter and a first laser line image and a second laser line image corresponding to a plurality of preset rotation angles, an actual laser plane feature vector corresponding to each of the plurality of preset rotation angles in a camera coordinate system;
the correspondence determining module 503 is configured to determine a correspondence between an actual laser plane feature vector and a rotation angle in the camera coordinate system according to the actual laser plane feature vector and the camera parameter that respectively correspond to the plurality of preset rotation angles in the camera coordinate system.
In some embodiments, the calibration apparatus of the above swinging scanning line structured light measuring system may further include:
and the calibration module is used for calibrating the parameters of the camera by adopting a checkerboard characteristic corner method to obtain the camera parameters calibrated in advance.
In some embodiments, the predetermined rotation angle is greater than or equal to 0 and less than or equal to a predetermined maximum rotation angle.
In some embodiments, the laser line image acquisition module may include:
a preset rotation angle determination unit for determining a plurality of preset rotation angles. Ith preset rotation angle thetaiComprises the following steps:
wherein, thetamaxN is the number of preset rotation angles, i is 1,2 … N.
In some embodiments, the correspondence determining module may include:
the characteristic vector conversion unit is used for converting actual laser plane characteristic vectors corresponding to a plurality of preset rotation angles in a camera coordinate system into actual laser plane characteristic vectors corresponding to a plurality of preset rotation angles in a world coordinate system according to camera parameters;
the first model establishing unit is used for establishing a relation model between an ideal laser plane characteristic vector and an actual laser plane characteristic vector in the world coordinate system based on an error model between the ideal laser plane and the actual laser plane in the world coordinate system and the actual laser plane characteristic vector corresponding to a plurality of preset rotation angles in the world coordinate system;
the second model establishing unit is used for determining a relation model between the actual laser plane characteristic vector and the rotation angle in the camera coordinate system according to the relation model between the ideal laser plane characteristic vector and the actual laser plane characteristic vector in the world coordinate system and the camera parameters;
the coefficient determining unit is used for determining a corresponding relation coefficient between an actual laser plane characteristic vector and a rotating angle in a relation model between the actual laser plane characteristic vector and the rotating angle in the camera coordinate system according to the actual laser plane characteristic vector corresponding to each of a plurality of preset rotating angles in the camera coordinate system;
and the corresponding relation determining unit is used for obtaining the corresponding relation between the actual laser plane characteristic vector and the rotating angle in the camera coordinate system according to the corresponding relation coefficient.
In some embodiments, the correspondence coefficient T is:
actual laser plane feature vector in camera coordinate system
And angle of rotation thetaiThe corresponding relation between the two is as follows:
wherein (A)i,Bi,Ci)TIs the actual laser plane characteristic vector theta corresponding to the ith preset rotation angle in the camera coordinate systemiThe number of the ith preset rotation angle is 1,2 … N, N is the number of the preset rotation angles, and N is more than or equal to 3; t is t11、t12、t13、t21、t22、t23、t31、t32And t33Are the elements of the matrix T.
In some embodiments, the actual laser line plane feature vector determination module may include:
the first target laser line determining unit is used for converting a laser line in a pixel coordinate system in a first laser line image corresponding to a first preset rotation angle into a first target laser line corresponding to the first preset rotation angle in a camera coordinate system according to camera parameters, wherein the first preset rotation angle is any one preset rotation angle in a plurality of preset rotation angles;
the second target laser line determining unit is used for converting the laser line in the pixel coordinate system in the second laser line image corresponding to the first preset rotation angle into a second target laser line corresponding to the first preset rotation angle in the camera coordinate system according to the camera parameters;
and the characteristic vector determining unit is used for obtaining an actual laser plane characteristic vector corresponding to a first preset rotation angle in the camera coordinate system according to the first target laser line and the second target laser line.
Fig. 6 is a schematic diagram of a terminal device according to an embodiment of the present invention. As shown in fig. 6, the terminal device 600 of this embodiment includes: a processor 601, a memory 602, and a computer program 603, such as a program for a calibration method of a wobble scanning line structured light measurement system, stored in the memory 602 and executable on the processor 601. The processor 601 executes the computer program 603 to implement the steps in the calibration method embodiment of the wobble scanning line structured light measurement system, such as the steps S101 to S103 shown in fig. 1, and the processor 601 executes the computer program 603 to implement the functions of the modules in the device embodiments, such as the modules 501 to 503 shown in fig. 5.
Illustratively, the computer program 603 may be partitioned into one or more program modules, which are stored in the memory 602 and executed by the processor 601 to implement the present invention. One or more of the program modules may be a series of computer program instruction segments for describing the execution of the computer program 603 in the wobble scanning line structured light measuring system calibration apparatus 500 or the terminal device 600, which can perform certain functions. For example, the computer program 603 can be divided into a laser line image obtaining module 501, an actual laser line plane feature vector determining module 502, and a corresponding relationship determining module 503, and specific functions of each module are not described in detail herein.
The terminal device 600 may be a desktop computer, a notebook, a palm computer, a cloud server, or other computing devices. The terminal device 600 may include, but is not limited to, a processor 601, a memory 602. Those skilled in the art will appreciate that fig. 6 is merely an example of a terminal device 600 and does not constitute a limitation of terminal device 600 and may include more or less components than those shown, or combine certain components, or different components, e.g., the terminal device may also include input output devices, network access devices, buses, etc.
The Processor 601 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The storage 602 may be an internal storage unit of the terminal device 600, such as a hard disk or a memory of the terminal device 600. The memory 602 may also be an external storage device of the terminal device 600, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like provided on the terminal device 600. Further, the memory 602 may also include both internal and external memory units of the terminal device 600. The memory 602 is used for storing computer programs and other programs and data required by the terminal device 600. The memory 602 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules, so as to perform all or part of the functions described above. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, a module or a unit may be divided into only one logical function, and may be implemented in other ways, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow in the method according to the embodiments of the present invention may also be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of the embodiments of the method. . Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, recording medium, U.S. disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution media, and the like. It should be noted that the computer readable medium may contain other components which may be suitably increased or decreased as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, in accordance with legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunications signals.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (10)
1. A calibration method of a swinging scanning line structured light measurement system is characterized in that the swinging scanning line structured light measurement system comprises a rotatable laser, and the calibration method of the swinging scanning line structured light measurement system comprises the following steps:
respectively acquiring first laser line images of a laser on a first target at a plurality of preset rotation angles, and respectively acquiring second laser line images of the laser on a second target at the plurality of preset rotation angles, wherein the height of a plane where the first target is located is different from that of a plane where the second target is located;
determining actual laser plane feature vectors corresponding to the preset rotation angles in a camera coordinate system according to the pre-calibrated camera parameters and the first laser line image and the second laser line image corresponding to the preset rotation angles respectively;
and determining the corresponding relation between the actual laser plane characteristic vector and the rotation angle in the camera coordinate system according to the actual laser plane characteristic vector and the camera parameter which are respectively corresponding to the preset rotation angles in the camera coordinate system.
2. The method of calibrating an oscillatory scanning line structured light measurement system of claim 1, wherein the predetermined angle of rotation is greater than or equal to 0 and less than or equal to a predetermined maximum angle of rotation.
3. The method of calibrating an oscillatory scanning linear structured light measurement system of claim 2, wherein the ith predetermined rotation angle θiComprises the following steps:
wherein, thetamaxAnd N is the number of the preset rotation angles, i is 1 and 2 … N.
4. The method for calibrating a sweep scan line structured light measurement system as claimed in claim 1, wherein said determining the correspondence between the actual laser plane eigenvector and the rotation angle in the camera coordinate system based on the actual laser plane eigenvector and the camera parameter respectively corresponding to the plurality of preset rotation angles in the camera coordinate system comprises:
converting actual laser plane feature vectors corresponding to the preset rotation angles in the camera coordinate system into actual laser plane feature vectors corresponding to the preset rotation angles in a world coordinate system according to the camera parameters;
establishing a relation model between the ideal laser plane characteristic vector and the actual laser plane characteristic vector in the world coordinate system based on an error model between the ideal laser plane and the actual laser plane in the world coordinate system and the actual laser plane characteristic vectors corresponding to the preset rotation angles in the world coordinate system;
determining a relation model between the actual laser plane characteristic vector and the rotation angle in a camera coordinate system according to the relation model between the ideal laser plane characteristic vector and the actual laser plane characteristic vector in the world coordinate system and the camera parameters;
determining a corresponding relation coefficient between an actual laser plane feature vector and a rotation angle in a relation model between the actual laser plane feature vector and the rotation angle in the camera coordinate system according to the actual laser plane feature vector corresponding to each of the preset rotation angles in the camera coordinate system;
and obtaining the corresponding relation between the actual laser plane feature vector and the rotation angle in the camera coordinate system according to the corresponding relation coefficient.
5. The method for calibrating an oscillatory scanning line structured light measurement system according to claim 4,
the corresponding relation coefficient T is as follows:
the corresponding relation between the actual laser plane feature vector in the camera coordinate system and the rotation angle is as follows:
wherein (A)i,Bi,Ci)TAn actual laser plane feature vector theta corresponding to the ith preset rotation angle in the camera coordinate systemiSetting the number of the ith preset rotation angle as 1,2 … N, wherein N is the number of the preset rotation angles, and N is more than or equal to 3; t is t11、t12、t13、t21、t22、t23、t31、t32And t33Are the elements of the matrix T.
6. The calibration method of the wiggle scanning line structured light measuring system according to claim 1, wherein the first laser line image and the second laser line image respectively corresponding to the predetermined camera parameters and the predetermined rotation angles,
determining actual laser plane feature vectors corresponding to the preset rotation angles in a camera coordinate system respectively, wherein the actual laser plane feature vectors comprise:
converting a laser line in a pixel coordinate system in a first laser line image corresponding to a first preset rotation angle into a first target laser line corresponding to the first preset rotation angle in a camera coordinate system according to the camera parameter, wherein the first preset rotation angle is any one preset rotation angle in the plurality of preset rotation angles;
converting the laser line in the pixel coordinate system in the second laser line image corresponding to the first preset rotation angle into a second target laser line corresponding to the first preset rotation angle in the camera coordinate system according to the camera parameters;
and obtaining an actual laser plane feature vector corresponding to the first preset rotation angle in the camera coordinate system according to the first target laser line and the second target laser line.
7. The calibration method of the oscillatory scanning line structured light measurement system according to any one of claims 1 to 6, wherein before determining the actual laser plane feature vectors corresponding to the preset rotation angles in the camera coordinate system according to the pre-calibrated camera parameters and the first laser line image and the second laser line image corresponding to the preset rotation angles, respectively, further comprises:
and calibrating the parameters of the camera by adopting a checkerboard feature corner method to obtain the pre-calibrated camera parameters.
8. A calibration device of a swinging scanning line structured light measurement system, which is characterized in that the swinging scanning line structured light measurement system comprises a rotatable laser, the calibration device of the swinging scanning line structured light measurement system comprises:
the laser line image acquisition module is used for respectively acquiring first laser line images of the laser on a first target at a plurality of preset rotation angles and respectively acquiring second laser line images of the laser on a second target at the plurality of preset rotation angles, wherein the height of a plane where the first target is located is different from that of a plane where the second target is located;
the actual laser line plane characteristic vector determining module is used for determining actual laser line characteristic vectors corresponding to the preset rotation angles in a camera coordinate system according to the pre-calibrated camera parameters and the first laser line image and the second laser line image corresponding to the preset rotation angles respectively;
and the corresponding relation determining module is used for determining the corresponding relation between the actual laser plane characteristic vector and the rotation angle in the camera coordinate system according to the actual laser plane characteristic vector and the camera parameter which are respectively corresponding to the preset rotation angles in the camera coordinate system.
9. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor, when executing the computer program, carries out the steps of the calibration method of an oscillatory scanning line structured light measuring system according to any of claims 1 to 7.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of a calibration method for an oscillatory scanning line-structured light measuring system according to any one of claims 1 to 7.
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| CN114485386B (en) * | 2020-10-23 | 2023-11-07 | 广东天机工业智能系统有限公司 | Workpiece coordinate system calibration method, device and system |
| CN112710235B (en) * | 2020-12-21 | 2022-08-26 | 阿波罗智联(北京)科技有限公司 | Calibration method and device of structured light measuring sensor |
| CN112819805B (en) * | 2021-02-23 | 2024-05-10 | 北京布科思科技有限公司 | Object position identification method and device based on in-line laser |
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