CN110954017B - Method for acquiring and resolving laser scanning data reflected by any curved mirror - Google Patents
Method for acquiring and resolving laser scanning data reflected by any curved mirror Download PDFInfo
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- CN110954017B CN110954017B CN201911152390.3A CN201911152390A CN110954017B CN 110954017 B CN110954017 B CN 110954017B CN 201911152390 A CN201911152390 A CN 201911152390A CN 110954017 B CN110954017 B CN 110954017B
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- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
Abstract
The invention belongs to the technical field of surveying and mapping, and discloses a method for acquiring and resolving laser scanning data reflected by any curved mirror, which comprises the steps of firstly pre-scanning the curved mirror, fitting the curved mirror, and resolving a pre-positioned rotation matrix; then, placing the curved mirror at a dead angle of an operation space, scanning an object through a three-dimensional laser scanner, separating obtained laser point cloud scanning data to obtain a positioned point cloud coordinate, and calculating a positioned rotation matrix; and performing space coordinate conversion, converting the positioned point cloud coordinate into a preset space coordinate, resolving an object point cloud coordinate on the object corresponding to the laser image point in the laser point cloud reflected by the curved mirror, and registering and synthesizing to obtain the complete point cloud of the object. The invention solves the problems of point cloud data loss and cavities in the non-direct-view area of the scanned object in the prior art, and can obtain complete point cloud of the object.
Description
Technical Field
The invention relates to the technical field of surveying and mapping, in particular to a method for acquiring and resolving laser scanning data reflected by any curved mirror.
Background
Due to the national emphasis on cultural heritage protection, more and more high and new technologies are put into the cultural heritage protection, including the three-dimensional reconstruction work by using a laser scanning technology. The laser scanning technology is an important means for high-precision three-dimensional reconstruction, can obtain dense point clouds on the surface of an object with the precision superior to 2mm, and is widely applied to precision measurement, virtual geographic environment, cultural relic protection, virtual reality and the like. The integrity of a scanned object is a basic requirement of high-precision three-dimensional reconstruction, and in order to ensure that the data of the object is as complete as possible, the current common method is as follows: multi-station scanning and multi-scanner joint scanning. However, when objects which are complex in structure and not movable, such as stone caves temple, ancient buildings, sculpture and the like, are scanned, scanning dead angles are often caused due to the problems of limited working space, serious shielding and the like, and the problems of point cloud data loss, holes and the like occur in non-direct-view areas of the scanned objects.
Disclosure of Invention
The embodiment of the application provides the method for acquiring and resolving the laser scanning data reflected by any curved mirror, and solves the problems that in the prior art, due to the problems of limited operation space, serious shielding and the like, scanning dead angles are caused, and point cloud data are lost and holes are generated in a non-direct-view area of a scanning object.
The embodiment of the application provides a method for acquiring and resolving laser scanning data reflected by any curved mirror, which comprises the following steps:
s1, pre-scanning the curved mirror to obtain point cloud data of the curved mirror, and fitting the curved mirror according to the point cloud data of the curved mirror to obtain a fitted curved surface equation;
s2, according to the fitted surface equation, the mirror surface position and the posture of the curved mirror are pre-solved, and a first rotation matrix is obtained for pre-positioning;
s3, placing the curved mirror at the dead angle of the working space;
s4, placing the three-dimensional laser scanner at a position which keeps the three-dimensional laser scanner in a perspective mode with the curved mirror, and scanning an object through the three-dimensional laser scanner to obtain laser point cloud scanning data;
s5, separating the laser point cloud scanning data into point cloud coordinates of positioning of three parts, namely direct-view surface area point cloud, mirror surface positioning ring area point cloud and mirror surface reflection area point cloud;
s6, resolving the mirror surface position and the attitude of the curved mirror according to the mirror surface positioning ring area point cloud to obtain a second rotation matrix for positioning;
s7, converting the point cloud coordinates of the positioning of the three parts in the step S5 into the spatial coordinates of the predetermined positions by using the first rotation matrix of the predetermined positions in the step S2 and the second rotation matrix of the positioning in the step S6;
s8, resolving object point cloud coordinates on an object corresponding to a laser image point in the curved mirror reflection laser point cloud according to the direct-view surface area point cloud after space coordinate conversion and the mirror reflection area point cloud after space coordinate conversion;
and S9, registering and synthesizing the direct-view surface area point cloud after space coordinate conversion and the object point cloud coordinate on the object corresponding to the laser image point in the curved mirror reflection laser point cloud obtained through calculation to obtain the complete point cloud of the object.
Preferably, in step S1, before the pre-scanning of the curved mirror, the curved mirror is pre-processed to cover the surface of the curved mirror with powder so that the curved mirror is not easily reflected.
Preferably, in step S2, the first rotation matrix is calculated by using a diffused reflection circle around the curved mirror.
Preferably, in step S3, the curved mirror is fixed on a support capable of rotating and moving at multiple angles.
Preferably, in step S4, when the object is scanned by the three-dimensional laser scanner, the angle of the curved mirror is adjusted and the object is scanned a plurality of times.
Preferably, in step S6, the second rotation matrix is calculated by using a diffused reflection circle around the curved mirror.
Preferably, the step S8 specifically includes:
establishing a space linear equation of a laser image point and an original point in a laser point cloud reflected by a curved mirror;
reflecting a space linear equation of a laser image point and an original point in the laser point cloud by the simultaneous curved surface mirror and obtaining an intersection point coordinate of the space linear and the curved surface mirror by the fitting curved surface equation of the curved surface mirror in the step S1;
according to a fitted surface equation of the curved mirror, obtaining a tangent plane equation of the intersection point of the space straight line and the curved mirror on the curved surface;
and obtaining a symmetrical point of the laser image point in the curved mirror reflection laser point cloud about the tangent plane according to the tangent plane equation, wherein the coordinate of the symmetrical point is the object point coordinate on the object corresponding to the laser image point in the curved mirror reflection laser point cloud.
Preferably, the space linear equation of the laser image point and the origin in the laser point cloud reflected by the curved mirror is as follows:
wherein (x)1，y1，z1) Is the origin of coordinates (0, 0, 0), (x)2，y2，z2) The method comprises the steps that a curved mirror reflects laser image points in laser point cloud, and t is a parameter;
the fitting curved surface of the curved mirror is as follows:
Z＝a+bX+cY+dX2+eXY+fY2 (2)
wherein the parameters a, b, c, d, e, f can be obtained by fitting;
simultaneous (1) and (2), a function equation for the parameter t is obtained:
F(t)＝a+bx2t+cy2t+d(x2t)2+ex2y2t2+f(y2t)2 (3)
will (x)2，y2，z2) Substituting the obtained value into (3) to obtain a value t, and obtaining an intersection point (x, y, z) of the space straight line and the curved mirror;
the curved surface function of the curved surface mirror in the three-dimensional space is as follows:
f(X，Y，Z)＝a+bX+cY+dX2+eXY+fY2-Z (4)
the tangent plane of the intersection point of the space straight line and the curved surface on the curved surface is as follows:
fx′(X-x)+fy′(Y-y)+fz′(Z-z)＝0
fx′X+fy′Y+fz′Z-(fx′x+fy′y+fz′z)＝0 (5)
symmetrical point (x) of laser image point in curved mirror reflection laser point cloud about tangent plane3，y3，z3) Comprises the following steps:
obtained (x)3，y3，z3) The object point coordinates on the object corresponding to the laser image point in the laser point cloud reflected by the curved mirror.
One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:
in the embodiment of the application, a curved mirror is pre-scanned, the curved mirror is fitted, and a pre-positioned rotation matrix is calculated; then, placing the curved mirror at a dead angle of an operation space, scanning an object through a three-dimensional laser scanner, separating obtained laser point cloud scanning data to obtain a positioned point cloud coordinate, and calculating a positioned rotation matrix; and performing space coordinate conversion, converting the positioned point cloud coordinate into a preset space coordinate, resolving an object point cloud coordinate on the object corresponding to the laser image point in the laser point cloud reflected by the curved mirror, and registering and synthesizing to obtain the complete point cloud of the object. The method can realize the possibility of scanning the object under the complex condition, obtains the complete point cloud of the object, and has universality.
Drawings
In order to more clearly illustrate the technical solution in the present embodiment, the drawings needed to be used in the description of the embodiment will be briefly introduced below, and it is obvious that the drawings in the following description are one embodiment of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
FIG. 1 is a flow chart of a method for acquiring and resolving laser scanning data reflected by any curved mirror according to an embodiment of the present invention;
fig. 2 is an experimental schematic diagram of a laser scanning data acquisition and calculation method by any curved mirror reflection according to an embodiment of the present invention.
Detailed Description
In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.
The embodiment provides a method for acquiring and resolving laser scanning data reflected by any curved mirror, and with reference to fig. 1-2, the method comprises the following steps:
and S1, fitting the curved mirror, pre-scanning the curved mirror to obtain point cloud data of the curved mirror, and fitting the curved mirror.
Specifically, in the actual scanning process, the point cloud data of the complete curved mirror cannot be obtained, so that the curved mirror needs to be preprocessed, the surface is covered by dusting, the point cloud data of the complete curved mirror is obtained by not easily reflecting the point cloud data, and then the curved mirror is fitted. Namely, the parameters of the quadric surface equation are solved by using the point cloud data in the fitting process of the parameters of the curved surface mirror, and the mathematical equation of the curved surface mirror is obtained.
S2, pre-calculating the position and posture of the mirror surface, and calculating the first rotation matrix E by using the diffuse reflection ring around the curved mirror1Pre-positioning is performed.
Specifically, when the mirror is scanned, the mirror surface cannot be scanned, the mirror surface only has a reflection function, and an image is formed behind the mirror. When the position of the mirror is determined, the position needs to be determined through the diffuse reflection ring, and the rotation matrix of the position of the mirror can be obtained by selecting a plurality of points on the diffuse reflection ring.
S3, placing the curved mirror, fixing the support and placing the curved mirror at the dead corner of the working space.
Specifically, the curved mirror is fixed on a support which can rotate and move at multiple angles.
And S4, the three-dimensional laser scanner acquires point cloud data, the three-dimensional laser scanner is placed in a place which can keep a communication with the curved mirror, and then scanning is carried out to acquire the point cloud data.
Specifically, the three-dimensional laser scanner is placed on a tripod, an appropriate angle is adjusted, a mirror is kept in a perspective view with the scanner, and the parameters of the scanner instrument are adjusted to scan an object (such as a Buddha figure in fig. 2). And adjusting the angle of the mirror, and performing multiple scanning to ensure the completeness of the obtained data as much as possible.
And S5, separating the laser scanning point cloud into a direct-view surface area point cloud, a mirror surface positioning ring area point cloud and a mirror surface reflection area point cloud.
Specifically, according to the mirror surface range of the curved mirror, the separation is: the system comprises three parts of a direct-view surface area point cloud, a mirror surface positioning ring area point cloud and a mirror surface reflection area point cloud. And importing the scanned complete point cloud data into software, and then separating and storing the three parts respectively.
S6, calculating the position and posture of the mirror surface, and calculating the second rotation moment by using the diffuse reflection ring around the curved mirrorArray E2And (6) positioning.
Specifically, both step S6 and step S2 actually use the diffuse reflection circle around the curved mirror to obtain the rotation matrix. The generator of the three-dimensional rotation matrix is a three-dimensional oblique symmetry matrix through points on the diffuse reflection circle. Because only three real numbers are needed to specify the three-dimensional oblique symmetric matrix, the result is that only three real numbers are used to specify a three-dimensional rotation matrix. One simple way to generate the rotation matrix is to complex it as a sequence of three basic rotations. The rotations about the x-, y-, and z-axes of the right-handed Cartesian coordinate system are called roll, pitch, and yaw rotations, respectively. Because these rotations are expressed as rotations about one axis, their generators are easily expressed. The difference is that step S2 is pre-solution, step S6 is solution scanned during actual operation, the two spatial coordinate systems are different, and the purpose of solving the rotation matrix is to convert the point cloud coordinates into the pre-solution coordinate system.
S7, space coordinate transformation, using the first rotation matrix E with pre-positioning in S21And a second rotation matrix E located in S62And converting the point cloud coordinates of the positioning into the spatial coordinates of the predetermined positioning.
Specifically, a first rotation matrix E using predetermined bits in S21And a second rotation matrix E located in S62And converting point cloud coordinates of three parts of the positioned point cloud coordinate including a direct-view surface area point cloud, a mirror surface positioning ring area point cloud and a mirror surface reflection area point cloud into a preset spatial coordinate.
And S8, resolving object point coordinates on the object corresponding to the laser image point in the laser point cloud reflected by the curved mirror.
Specifically, a scanner coordinate system is established, a space linear equation of a laser image point and an original point in a laser point cloud reflected by a curved mirror is established, and the space linear equation is expressed by two points:
wherein (x)1，y1，z1) Is a coordinate sourcePoints (0, 0, 0), (x)2，y2，z2) The method is characterized in that a curved mirror reflects laser image points in laser point cloud, and t is a parameter.
The curved surface equation under the three-dimensional space needs to be fitted according to actually scanned point cloud data, the point cloud data of various curved surface mirrors are pre-scanned, then a model of any curved surface mirror is fitted through the data, for example, the fitting is carried out by utilizing a quadric surface, and the formula is as follows:
Z＝a+bX+cY+dX2+eXY+fY2 (2)
wherein the parameters a, b, c, d, e, f can be obtained by fitting;
simultaneous (1) and (2), a function equation for the parameter t is obtained:
F(t)＝a+bx2t+cy2t+d(x2t)2+ex2y2t2+f(y2t)2 (3)
will (x)2，y2，z2) The value of t is obtained by substituting this value into (3), and the intersection (x, y, z) of the spatial straight line and the curved mirror can be obtained.
The three-dimensional space lower surface function (taking a quadratic surface as an example) is:
f(X，Y，Z)＝a+bX+cY+dX2+eXY+fY2-Z (4)
the tangent plane of the intersection point of the space straight line and the curved surface on the curved surface is as follows:
fx′(X-x)+fy′(Y-y)+fz′(Z-z)＝0
fx′X+fy′Y+fz′Z-(fx′x+fy′y+fz′z)＝0 (5)
symmetrical point (x) of laser image point in curved mirror reflection laser point cloud about tangent plane3，y3，z3)：
Obtained (x)3，y3，z3) The object point coordinates on the object corresponding to the laser image point in the laser point cloud reflected by the curved mirror.
And S9, registering the direct-view surface point cloud after the space coordinate conversion with the object point cloud on the object corresponding to the laser image point in the curved mirror reflection laser point cloud obtained by calculation, and synthesizing the complete object.
Specifically, two parts of feature points are judged and selected, and multiple pairs are selected for registration synthesis.
In summary, the method for acquiring and calculating the laser scanning data reflected by any curved surface provided by the invention can accurately calculate the object point coordinates on the object corresponding to the laser image point in the cloud of the laser point reflected by the curved surface mirror, and provides the whole process design scheme for acquiring the laser scanning data reflected by any curved surface mirror, the method for calculating the cloud of the laser point by using any curved surface mirror and the method for positioning the curved surface mirror, thereby realizing the acquisition and calculation of the laser scanning data reflected by any curved surface mirror.
The method for acquiring and calculating the laser scanning data reflected by any curved mirror provided by the embodiment of the invention at least comprises the following technical effects:
1. the invention realizes the acquisition and calculation of laser scanning data reflected by any curved mirror by using a method for calculating point cloud by any curved mirror and a method for positioning the curved mirror.
2. The invention can obtain complete point cloud of an object, provides great help for subsequent three-dimensional modeling, realizes the possibility of scanning the object under complex conditions, and the universality of any curved mirror is more favorable for realizing the integrity of cultural protection.
Finally, it should be noted that the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to examples, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.
Claims (5)
1. The method for acquiring and resolving the laser scanning data reflected by any curved mirror is characterized by comprising the following steps of:
s1, pre-scanning the curved mirror to obtain point cloud data of the curved mirror, and fitting the curved mirror according to the point cloud data of the curved mirror to obtain a fitted curved surface equation;
s2, according to the fitted surface equation, the mirror surface position and the posture of the curved mirror are pre-solved, and a first rotation matrix is obtained for pre-positioning;
s3, placing the curved mirror at the dead angle of the working space;
s4, placing the three-dimensional laser scanner at a position which keeps the three-dimensional laser scanner in a perspective mode with the curved mirror, and scanning an object through the three-dimensional laser scanner to obtain laser point cloud scanning data;
s5, separating the laser point cloud scanning data into point cloud coordinates of positioning of a direct-view surface area point cloud, a specular diffuse reflection circle area point cloud and a specular reflection area point cloud;
s6, resolving the mirror surface position and the attitude of the curved mirror according to the point cloud of the diffuse reflection circle area of the mirror surface to obtain a second rotation matrix for positioning;
s7, converting the point cloud coordinates of the positioning of the three parts in the S5 into a pre-positioned space coordinate system by using the first rotation matrix pre-positioned in the S2 and the second rotation matrix positioned in the S6;
s8, resolving object point cloud coordinates on an object corresponding to a laser image point in the curved mirror reflection laser point cloud according to the direct-view surface area point cloud after space coordinate conversion and the mirror reflection area point cloud after space coordinate conversion;
s9, registering and synthesizing the direct-view surface area point cloud after space coordinate conversion and the object point cloud coordinate on the object corresponding to the laser image point in the curved mirror reflection laser point cloud obtained through calculation to obtain complete point cloud of the object;
in step S2, the first rotation matrix is solved by using a diffuse reflection circle around the curved mirror;
the step S8 specifically includes:
establishing a space linear equation of a laser image point and an original point in a laser point cloud reflected by a curved mirror;
reflecting a space linear equation of a laser image point and an original point in the laser point cloud by the simultaneous curved surface mirror and obtaining an intersection point coordinate of the space linear and the curved surface mirror by the fitting curved surface equation of the curved surface mirror in the step S1;
according to a fitted surface equation of the curved mirror, obtaining a tangent plane equation of the intersection point of the space straight line and the curved mirror on the curved surface;
and obtaining a symmetrical point of the laser image point in the curved mirror reflection laser point cloud about the tangent plane according to the tangent plane equation, wherein the coordinate of the symmetrical point is the object point coordinate on the object corresponding to the laser image point in the curved mirror reflection laser point cloud.
2. The method for acquiring and calculating the laser scanning data reflected by any curved mirror according to claim 1, wherein in step S1, before the curved mirror is pre-scanned, the curved mirror is pre-processed, and the powder is spread to cover the surface of the curved mirror, so that the curved mirror is not easily reflected.
3. The method for acquiring and resolving laser scanning data reflected by any curved mirror according to claim 1, wherein in step S3, the curved mirror is fixed on a support capable of rotating and moving at multiple angles.
4. The method for acquiring and resolving laser scan data for arbitrary curved mirror reflections as claimed in claim 1, wherein in step S4, when scanning the object with the three-dimensional laser scanner, the angle of the curved mirror is adjusted to perform multiple scans.
5. The method for acquiring and resolving laser scanning data reflected by any curved mirror according to claim 1, wherein a spatial linear equation between a laser image point and an origin point in the laser point cloud reflected by the curved mirror is as follows:
wherein (x)1，y1，z1) Is the origin of coordinates (0, 0, 0), (x)2，y2，z2) The method comprises the steps that a curved mirror reflects laser image points in laser point cloud, and t is a parameter;
the fitting curved surface of the curved mirror is as follows:
Z＝a+bX+cY+dX2+eXY+fY2 (2)
wherein the parameters a, b, c, d, e, f can be obtained by fitting;
simultaneous (1) and (2), a function equation for the parameter t is obtained:
F(t)＝a+bx2t+cy2t+d(x2t)2+ex2y2t2+f(y2t)2 (3)
will (x)2，y2，z2) Substituting the obtained value into (3) to obtain a value t, and obtaining an intersection point (x, y, z) of the space straight line and the curved mirror;
the curved surface function of the curved surface mirror in the three-dimensional space is as follows:
f(X，Y，Z)＝a+bX+cY+dX2+eXY+fY2-Z (4)
the tangent plane of the intersection point of the space straight line and the curved surface on the curved surface is as follows:
fx′(X-x)+f′y(Y-y)+fz′(Z-z)＝0
fx′X+f′yY+fz′Z-(fx′x+f′yy+fz′z)＝0 (5)
symmetrical point (x) of laser image point in curved mirror reflection laser point cloud about tangent plane3，y3，z3) Comprises the following steps:
obtained (x)3，y3，z3) The object point coordinates on the object corresponding to the laser image point in the laser point cloud reflected by the curved mirror.
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