CN111028274A - Smooth curved surface mesh traceless division-oriented projection marking system and working method thereof - Google Patents
Smooth curved surface mesh traceless division-oriented projection marking system and working method thereof Download PDFInfo
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- G06T7/00—Image analysis
- G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
- G06T7/33—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/254—Projection of a pattern, viewing through a pattern, e.g. moiré
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/50—Depth or shape recovery
- G06T7/521—Depth or shape recovery from laser ranging, e.g. using interferometry; from the projection of structured light
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
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Abstract
The invention belongs to the technical field of computer vision processing, and provides a projection marking system for smooth curved surface mesh traceless division and a working method thereof. The projection marking system comprises a camera, a semi-permeable and semi-reflective mirror, a notebook computer and a laser grating projector; the curved surface information is reflected to the camera through the semi-permeable and semi-reflective mirror for shooting, the camera transmits the shot data information to the notebook computer, the notebook computer independently assembles grid patterns through the identified characteristic information of the curved surface to ensure that the linear grid and the grid can be seamlessly spliced, then feeds the grid patterns back to the laser grating projector, and finally projects the grid patterns onto the curved surface through the semi-permeable and semi-reflective mirror. By adopting the projection marking system and the working method thereof, the three-dimensional scanning software can accurately identify the coded marking point information on the curved surface, and finally a three-dimensional model with a smooth curved surface is generated.
Description
Technical Field
The invention belongs to the technical field of computer vision processing, and particularly relates to a smooth curved surface mesh traceless division-oriented projection marking system and a working method thereof.
Background
Stereoscopic vision is one of the computer vision techniques that can be used to acquire 3D information of an environment. The principle of stereo vision consists of imaging a certain surface from two or more cameras. Then, solving the correspondence problem between the cameras, triangulation can be used to reconstruct the 3D position of the matching pixels. However, the corresponding problem is not always easy to solve. To alleviate this problem, structured light technology has emerged. Such techniques are based on replacing one of the cameras with a light source. Then, a set of known patterns is projected onto the measurement scene and the images are captured with the remaining cameras, the corresponding problem being solved by all the points onto which the patterns are projected. Structured light systems can perform some important functions, such as: a large number of 3D reconstruction points (high resolution) are evenly distributed over the measurement surface with good accuracy in the 3D measurement. Most structured light source systems are based on scanning a laser stripe onto the measurement surface and acquiring an image of the laser source at each known angle. Such systems obtain very accurate measurements, but a large number of images must be captured and do not allow the measurement of moving surfaces. To address this limitation, some coded structured light systems based primarily on unique pattern projection may be used.
In three-dimensional scanning measurement, a common three-dimensional measurement system can only obtain point cloud data of one side surface of a measured object at one time, and a camera needs to be moved for multiple times to carry out multi-view detection to obtain complete shape information of the object, so that the steps are complicated. Because coordinate systems of measurement at different viewing angles are different, curved surface three-dimensional data measured at multiple viewing angles must be subjected to data splicing, and converted into the same coordinate system to obtain shape information of the whole surface of an object. For three-dimensional data splicing of large-area object full-field detection, in order to avoid accumulated errors of multiple splicing, the data splicing is realized by utilizing a digital camera to carry out large-area full-field shooting on an object, introducing coded mark points in the splicing, and detecting and matching the coded features and the spatial features of the mark points on the surface of the object to obtain the coordinate transformation relation among all shot images in the full field, thereby constructing a spatial feature point frame of the object.
The point cloud splicing method based on the mark points has high splicing precision, strong stability and wider application, but the time is consumed for attaching the points before measurement, particularly for measuring the shape surface of a large object; meanwhile, a plurality of scanned surfaces are not allowed to be pasted with mark points, such as precious cultural relics and the like; and the three-dimensional data is usually difficult to calculate due to the reflection of light at the position of the object surface where the mark points are pasted, and the completeness of the data is recovered by post-processing such as point cloud hole filling and feature removal, so that the reality of measurement can be influenced by pasting the mark points, and the difficulty of post-point cloud processing is increased, so that the point cloud splicing technology based on the mark points still has certain limitation in practical use.
For some smooth surfaces, especially for some cylindrical inner and outer surfaces without obvious contour features, a three-dimensional model of real coordinates cannot be generated through the pasted control points. The active light projection mark points are more convenient and faster to arrange than the pasted mark points, and have good environmental adaptability, so that the active light projection mark points serve as important research contents of three-dimensional scanning measurement.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a smooth curved surface mesh traceless division-oriented projection marking system and a working method thereof, so that three-dimensional scanning software can accurately identify the coded marking point information on a curved surface and finally generate a three-dimensional model with a smooth curved surface.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows.
A projection marking system facing smooth curved surface mesh traceless division comprises a camera, a semi-permeable and semi-reflective mirror, a notebook computer and a laser grating projector; the curved surface information is reflected to the camera through the semi-permeable and semi-reflective mirror for shooting, the camera transmits the shot data information to the notebook computer, the notebook computer independently assembles grid patterns through the identified characteristic information of the curved surface to ensure that the linear grid and the grid can be seamlessly spliced, then feeds the grid patterns back to the laser grating projector, and finally projects the grid patterns onto the curved surface through the semi-permeable and semi-reflective mirror.
In the above technical solution, the laser grating projector is composed of one or more laser grating projection pens, the laser grating projection pens project different line forms including line type thickness, line type color, grid size and grid type, the grid type is further divided into a linear grid including rectangular grid, rhombic grid, polygonal grid and the like, and a curved grid including petal grid and the like.
In the technical scheme, the semi-transparent and semi-reflective mirror is formed by plating a layer of semi-reflective film on glass, and the transmissivity and the reflectivity of the glass are respectively 50% through the plating film. This allows the camera and laser grating projector to have a consistent field of view, facilitating the taking of photographs and later synthesis.
The invention also provides a working method of the smooth curved surface mesh traceless division-oriented projection marking system, which comprises the following steps:
(1) shooting
The curved surface information of the object to be reconstructed is reflected to a camera through a semi-transparent and semi-reflective mirror for shooting, and the shot data information is transmitted to a notebook computer so as to determine the size of the object to be reconstructed;
(2) planning
The notebook computer obtains the number of the laser grating projection pens and determines the distance and the direction of the laser grating projection pens according to the size of an object to be reconstructed and a mesh traceless splicing method through the identified characteristic information of the curved surface, then feeds the number back to the laser grating projector, and finally projects a mesh pattern onto the curved surface through the semi-transparent and semi-reflective mirror;
the grid traceless splicing method comprises the following steps:
the method comprises the following steps that firstly, the number of laser grating projection pens is determined according to the size of a smooth curved surface, for a linear grid, smooth redundancy-free splicing is guaranteed to be distributed on the whole curved surface, and for a curved grid, the redundancy of the grid is guaranteed to be as small as possible;
secondly, according to the size of the curved surface to be projected, firstly, adjusting the placement distance and the angle of the No. 1 laser grating projection pen to determine that the grid 1 can be fully distributed on the current interface, and determining the placement position and the angle of the No. 2 laser grating projection pen by matching the points of the upper edge and the lower edge of the right side of the grid projected by the No. 1 laser grating projection pen with the points of the upper edge and the lower edge of the left side of the grid 2 projected by the corresponding No. 2 laser grating projection pen, and so on to ensure that the grid on the whole curved surface has no redundancy or minimum redundancy splicing;
(3) collecting
Shooting an object to be reconstructed and a pattern projected on the surface of the object through the semi-transparent and semi-reflective mirror again, and transmitting shot data information to the notebook computer so as to acquire image information;
(4) modeling
The method comprises the steps of carrying out grid pattern projection on an object to be reconstructed, increasing characteristic information of the object, extracting and matching the projected characteristic information to obtain point cloud data of the measured object, collecting the point cloud data at different viewing angles, finally carrying out point cloud registration to obtain complete point cloud data, and reconstructing a three-dimensional model to obtain three-dimensional information.
Compared with the prior art, the invention has the following advantages:
1. the problems that the tiny smooth curved surface cannot be positioned and no control point exists can be solved;
2. the problem that oblique modeling cannot be performed due to the fact that the projection mark reflects light on the tiny smooth curved surface is avoided;
3. by adopting the grid division method, the splicing marks without redundant division can be realized.
Drawings
FIG. 1 is a schematic view of a projected marking system of the present invention.
FIG. 2 is a schematic diagram of a laser grating projector pen according to the present invention.
Fig. 3 is a second schematic diagram (with the end cap removed) of the laser grating projector pen of the present invention.
Fig. 4 is a schematic diagram of a rectangular grid projection effect.
Fig. 5 is a schematic diagram of the projection effect of the diamond-shaped mesh.
FIG. 6 is a schematic diagram illustrating the placement of a laser grating projector according to an embodiment.
Fig. 7 is a schematic diagram of grid stitching.
Wherein, 1: semi-transparent semi-reflective mirror, 2: camera, 3: notebook computer, 4: laser grating projectors.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, the present embodiment provides a projection marking system facing smooth curved surface mesh traceless division, which includes a camera 2, a semi-transparent semi-reflective mirror 1, a notebook computer 3 and a laser grating projector 4; the curved surface information is reflected to the camera 2 through the semi-permeable and semi-reflective mirror 1 for shooting, the camera 2 transmits the shot data information to the notebook computer 3, the notebook computer 3 automatically assembles grid patterns (matches the grid patterns which can be projected by various laser grating projection pens and selects one of the grid patterns) through the identified characteristic information of the curved surface, the seamless splicing between the line type and the grid is ensured, then the grid patterns are fed back to the laser grating projector 4, and finally the grid patterns are projected to the curved surface through the semi-permeable and semi-reflective mirror 1.
In the above embodiment, the laser grating projector 1 is composed of one or more laser grating projection pens, as shown in fig. 2 and 3, the laser grating projection pens can project different line forms including line-type thickness, line-type color, grid size and grid type, the grid type is further divided into a linear grid including rectangular grid, rhombic grid, polygonal grid, etc., and a curved grid including petal grid, etc. The projected effect of the rectangular grid and the diamond grid is shown in fig. 4 and 5.
In the above embodiment, the transflective mirror is formed by coating a semi-reflective film on glass, and the transmittance and reflectance of the glass are 50% each by coating. This allows the camera and laser grating projector to have a consistent field of view, facilitating the taking of photographs and later synthesis.
The embodiment further provides a working method of the smooth curved surface mesh traceless division-oriented projection marking system, which comprises the following steps:
firstly, the curved surface information of an object to be reconstructed is reflected to the camera 2 through the semi-transparent and semi-reflective mirror 1 for shooting, and the shot data information is transmitted to the notebook computer 3 so as to determine the size of the object to be reconstructed.
Secondly, according to the size of the curved surface grid, firstly, the distance and the angle of the No. 1 laser grating projection pen are adjusted to determine that the grid 1 can be fully distributed on the current interface. The position and the angle of the No. 2 laser grating projection pen are determined by matching points of the upper edge and the lower edge of the right side of the grid projected by the grid 1, namely the No. 1 laser grating projection pen, with points of the upper edge and the lower edge of the left side of the grid 2 projected by the corresponding No. 2 laser grating projection pen. By analogy, the non-redundant splicing of the grids on the whole curved surface is ensured, as shown in fig. 6.
Fig. 7 is a case of curved surface projection mesh division, B is a front view of a smooth surface of a cylinder, meshes are projected onto a curved surface through a laser projector, a is meshes projected by a laser grating projector No. 1, C is meshes projected by a laser grating projector No. 2, and the meshes are all seamlessly spliced. A plurality of laser grating projection pens are uniformly distributed for 360 degrees around a curved surface to be shot, and the placement positions of the laser grating projection pens and the number of the laser projection pens can be determined according to the projection size of the curved surface.
The object to be reconstructed and the pattern projected on the surface of the object are shot by the semi-transparent semi-reflecting mirror 1 again, and the shot data information is transmitted to the notebook computer 3 so as to collect image information.
The method comprises the steps of carrying out grid pattern projection on an object to be reconstructed, increasing feature information of the object, extracting and matching the projected feature information to obtain point cloud data of the object to be reconstructed, collecting the point cloud data at different viewing angles, finally carrying out point cloud registration to obtain complete point cloud data, and finally completing reconstruction of a three-dimensional model to obtain three-dimensional information.
Details not described in the present specification belong to the prior art known to those skilled in the art.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (4)
1. The utility model provides a projection mark system towards seamless division of smooth curved surface net which characterized in that: comprises a camera, a semi-transparent and semi-reflective mirror, a notebook computer and a laser grating projector; the curved surface information is reflected to the camera through the semi-permeable and semi-reflective mirror for shooting, the camera transmits the shot data information to the notebook computer, the notebook computer independently assembles grid patterns through the identified characteristic information of the curved surface to ensure that the linear grid and the grid can be seamlessly spliced, then feeds the grid patterns back to the laser grating projector, and finally projects the grid patterns onto the curved surface through the semi-permeable and semi-reflective mirror.
2. The smooth surface mesh traceless projection marker system of claim 1, wherein: the laser grating projector is composed of one or more laser grating projection pens, the laser grating projection pens project different line forms including line type thickness, line type color, grid size and grid type, the grid type is divided into a linear grid including a rectangular grid, a rhombic grid and a polygonal grid, and a curved grid including a petal grid.
3. The smooth surface mesh traceless projection marker system of claim 1, wherein: the semi-transparent and semi-reflective mirror is formed by plating a semi-reflective film on glass, and the transmissivity and the reflectivity of the glass are respectively 50% through the film plating.
4. A method of operating a smooth surface mesh traceless projection marker system according to claim 1, comprising the steps of:
(1) shooting
The curved surface information of the object to be reconstructed is reflected to a camera through a semi-transparent and semi-reflective mirror for shooting, and the shot data information is transmitted to a notebook computer so as to determine the size of the object to be reconstructed;
(2) planning
The notebook computer obtains the number of the laser grating projection pens and determines the distance and the direction of the laser grating projection pens according to the size of an object to be reconstructed and a mesh traceless splicing method through the identified characteristic information of the curved surface, then feeds the number back to the laser grating projector, and finally projects a mesh pattern onto the curved surface through the semi-transparent and semi-reflective mirror;
the grid traceless splicing method comprises the following steps:
the method comprises the following steps that firstly, the number of laser grating projection pens is determined according to the size of a smooth curved surface, for a linear grid, smooth redundancy-free splicing is guaranteed to be distributed on the whole curved surface, and for a curved grid, the redundancy of the grid is guaranteed to be as small as possible;
secondly, according to the size of the curved surface to be projected, firstly, adjusting the placement distance and the angle of the No. 1 laser grating projection pen to determine that the grid 1 can be fully distributed on the current interface, and determining the placement position and the angle of the No. 2 laser grating projection pen by matching the points of the upper edge and the lower edge of the right side of the grid projected by the No. 1 laser grating projection pen with the points of the upper edge and the lower edge of the left side of the grid 2 projected by the corresponding No. 2 laser grating projection pen, and so on to ensure that the grid on the whole curved surface has no redundancy or minimum redundancy splicing;
(3) collecting
Shooting an object to be reconstructed and a pattern projected on the surface of the object through the semi-transparent and semi-reflective mirror again, and transmitting shot data information to the notebook computer so as to acquire image information;
(4) modeling
The method comprises the steps of carrying out grid pattern projection on an object to be reconstructed, increasing characteristic information of the object, extracting and matching the projected characteristic information to obtain point cloud data of the measured object, collecting the point cloud data at different viewing angles, finally carrying out point cloud registration to obtain complete point cloud data, and reconstructing a three-dimensional model to obtain three-dimensional information.
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Cited By (1)
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Application publication date: 20200417 |