CN111127312A - Method for extracting circle from point cloud of complex object and scanning device - Google Patents
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Abstract
The invention discloses a method for extracting a circle from a point cloud of a complex object, which comprises the following steps: firstly, visualizing the point cloud of the complex object, manually selecting data points of a slice reference plane, and obtaining a characteristic vector of the reference slice plane by using a plane fitting method; slicing the complex object point cloud by using two slicing planes with the distance delta to obtain a three-dimensional tangent plane point cloud, wherein the two slicing planes are respectively parallel to a reference slicing plane; converting the three-dimensional tangent plane point cloud into a two-dimensional tangent plane point cloud by adopting a projection method; and finally, extracting a circle according to the point cloud of the two-dimensional tangent plane and calculating circle parameters. The invention integrates data in a certain range into a smaller range, thereby converting the problem of processing three-dimensional data into the problem of processing two-dimensional data, reducing the data search range, simplifying the calculation and improving the efficiency.
Description
Technical Field
The invention relates to the technical field of three-dimensional scanning, in particular to a method for extracting a circle from a point cloud of a complex object and a scanning device.
Background
The conventional industrial size detection method generally adopts a CCD/CMOS image sensor for image acquisition, and needs to consider various factors such as light source, lens selection, sensor type selection, installation and arrangement, automation integration, environmental factor consideration, workpiece state change, and the like. Deviations in either aspect can affect imaging quality and, thus, imaging results. And the industrial parts are three-dimensional parts, aiming at the difficulty of deep hole parts in parameter detection, binocular camera three-dimensional imaging is utilized, binocular vision three-dimensional reconstruction is one of important research contents in the field of computer vision, the method is widely applied to the aspects of precision measurement, robot navigation, virtual reality and the like, and has very important practical significance and theoretical research value for three-dimensional realistic modeling.
The file obtained by three-dimensional scanning is called point cloud data. The point cloud scanning system consists of a large number of coordinate points, and the points contained in a point cloud file can be hundreds of points to millions according to the properties of a scanner, scanning parameters and the size of a scanned object. At present, under the dual driving of sensor technology and industrial detection requirements, the three-dimensional scanning equipment makes great progress in hardware and point cloud data processing, but also faces challenges.
In the scanning process of the point cloud data, for a large object, the scanning equipment cannot scan the whole appearance of the object at one time, so that the three-dimensional data is scattered. The point cloud slicing technology can convert the space discrete points into point cloud slices and integrate data in a certain range into a smaller range, so that the problem of processing three-dimensional data is converted into the problem of processing two-dimensional data, namely, dimension reduction processing is carried out, the data search range is reduced, and certain problems which are difficult to process in a three-dimensional space are simplified.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a method for extracting a circle from a point cloud of a complex object, which is used for converting three-dimensional data into two-dimensional data and simplifying data processing.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the method for extracting the circle from the point cloud of the complex object comprises the following steps:
s1, visualizing the complex object point cloud, manually selecting data points of a slice reference plane, and obtaining a characteristic vector of the reference slice plane by using a plane fitting method;
s2, slicing the complex object point cloud by using two slicing planes with the distance delta to obtain a three-dimensional tangent plane point cloud, wherein the two slicing planes are respectively parallel to a reference slicing plane;
s3, converting the three-dimensional tangent plane point cloud into a two-dimensional tangent plane point cloud by adopting a projection method;
and S4, extracting a circle according to the point cloud of the two-dimensional tangent plane and calculating circle parameters.
In the above technical solution, the plane fitting method in step S1 is a total least square method, and the eigenvector A, B, C, D of the reference slice plane satisfies:
wherein A, B, C is a plane equation coefficient, and D is a constant term.
In the above technical solution, the distance δ between the two slice planes in step S2 is a certain multiple of the point cloud density.
According to the technical scheme, the calculation process of the point cloud density comprises the following steps:
s21, randomly selecting n points in the complex object point cloud, and recording the n points as points (P)0,…,Pi,…,Pn)；
S22, for any point P selectediSearching and P in complex object point cloudiM points with the shortest distance are calculated to PiThe distance of (d);
s23, calculating the density of the point cloud, wherein the calculation formula is as follows:
wherein rho is the density of the point cloud,
the distance between the ith point selected at random and the kth point in the m points closest to the point changed is calculated.
In the above technical solution, the circle parameter in step S4 includes a circle center and a radius.
In connection with the above technical solution, the step of extracting a circle according to the point cloud of the two-dimensional tangent plane in step S5 is as follows:
s41, translating the point cloud of the two-dimensional tangent plane into a first quadrant;
s42, rounding the point cloud data of the two-dimensional tangent plane;
s43, carrying out Hough transformation on the rounded two-dimensional tangent plane point cloud data, and preliminarily calculating circle parameters;
s44, acquiring point cloud of an original two-dimensional tangent plane of the circle according to the preliminarily calculated circle parameters;
and S45, performing circle fitting by using a least square method according to the acquired point cloud of the two-dimensional tangent plane of the circle, and calculating circle parameters.
According to the technical scheme, the complex object point cloud is obtained by scanning the complex object point cloud scanning device, the complex object point cloud scanning device comprises a base, wherein a rotating mechanism, a control mechanism and a supporting rod are arranged on the base, a binocular camera mechanism is arranged on the supporting rod, and the rotating mechanism and the binocular camera mechanism are both connected with the control mechanism.
According to the technical scheme, the binocular camera mechanism comprises an installation frame and a binocular camera, the installation frame and the binocular camera are connected through a steering engine, the installation frame is fixed on the supporting rod, the installation height can be adjusted, and the steering engine is connected with the control mechanism.
Connect above-mentioned technical scheme, rotary mechanism includes rotation module and drive module, rotation module includes rotary platform, rotary platform below center is provided with the axis of rotation, be provided with in the axis of rotation from the driving wheel, the axis of rotation pass through the bearing fixed with on the base, drive module includes the motor, the motor fixed with on the base, be provided with the action wheel on its output shaft, the action wheel pass through the belt with connect from the driving wheel.
The invention also provides a computer storage medium, in which a computer program executable by a computer processor is stored, the computer program executing the method for extracting a circle from a point cloud of a complex object according to the above technical scheme.
The invention has the following beneficial effects: the invention provides a method for extracting a circle from a complex object point cloud. The invention integrates data in a certain range into a smaller range, thereby converting the problem of processing three-dimensional data into the problem of processing two-dimensional data, reducing the data search range, simplifying the calculation and improving the efficiency.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a flow chart of a complex object point cloud circle extraction method of the present invention;
FIG. 2 is a flow chart of a two-dimensional point cloud circle extraction method of the present invention;
fig. 3 is a schematic diagram of a complex object point cloud scanning apparatus of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, the invention provides a method for extracting a circle from a point cloud of a complex object, comprising the following steps:
s1, visualizing the complex object point cloud, manually selecting data points of a slice reference plane, and obtaining a characteristic vector of the reference slice plane by using a plane fitting method;
s2, slicing the complex object point cloud by using two slicing planes with the distance delta to obtain a three-dimensional tangent plane point cloud, wherein the two slicing planes are respectively parallel to a reference slicing plane;
s3, converting the three-dimensional tangent plane point cloud into a two-dimensional tangent plane point cloud by adopting a projection method;
and S4, extracting a circle according to the point cloud of the two-dimensional tangent plane and calculating circle parameters.
The method integrates data in a certain range into a smaller range, thereby converting the problem of processing three-dimensional data into the problem of processing two-dimensional data, reducing the data search range, simplifying the calculation and improving the efficiency.
Further, the plane fitting method in step S1 is a total least squares method, and the matrix eigenvector A, B, C, D of the reference slice plane satisfies:
wherein A, B, C is a plane equation coefficient, and D is a constant term. When outliers are added to a plane, a plane fitting method using the total least squares method can result in more accurate values.
Further, the distance δ between the two slice planes in step S2 is a certain multiple of the density of the point cloud. Typically 4-8 times.
Further, the calculation process of the point cloud density is as follows:
s21, randomly selecting n points in the complex object point cloud, and recording the n points as points (P)0,…,Pi,…,Pn)；
S22, for any point P selectediSearching and P in complex object point cloudiM points with the shortest distance are calculated to PiThe distance of (d);
s23, calculating the density of the point cloud, wherein the calculation formula is as follows:
wherein rho is the density of the point cloud,
the distance between the ith point selected at random and the kth point in the m points closest to the point changed is calculated.
Further, the circle parameters in step S4 include the center and the radius.
Further, as shown in fig. 2, the step of extracting a circle from the two-dimensional tangent point cloud in step S5 is as follows:
s41, translating the point cloud of the two-dimensional tangent plane into a first quadrant;
s42, rounding the point cloud data of the two-dimensional tangent plane, namely, reserving the integral part of the data, thereby simplifying the data processing;
s43, carrying out Hough transformation on the rounded two-dimensional tangent plane point cloud data, and preliminarily calculating circle parameters;
s44, acquiring point cloud of an original two-dimensional tangent plane of the circle according to the preliminarily calculated circle parameters;
and S45, performing circle fitting by using a least square method according to the acquired point cloud of the two-dimensional tangent plane of the circle, and calculating circle parameters.
As shown in fig. 3, a complex object point cloud scanning device is provided for acquiring a complex object point cloud, and includes a base 1, a rotating mechanism 2, a control mechanism 3 and a support rod 4 are arranged on the base 1, a binocular camera mechanism 5 is arranged on the support rod 4, and both the rotating mechanism 2 and the binocular camera mechanism 5 are connected with the control mechanism 3.
Further, binocular camera mechanism 5 includes mounting bracket 52 and binocular camera 51, connects through steering wheel 53 between the two, and mounting bracket 52 is fixed in on the bracing piece 4, and the mounting height can be adjusted, and steering wheel 53 is connected with control mechanism 3.
Further, rotary mechanism 2 includes rotation module and drive module, and rotation module includes rotary platform 21, and rotary platform below center is provided with the axis of rotation, is provided with from driving wheel 22 in the axis of rotation, and the axis of rotation passes through bearing 23 fixed with base 1 on, and drive module includes motor 24, and motor 24 is fixed with base 1 on, is provided with action wheel 25 on its output shaft, and action wheel 25 passes through belt 26 and is connected from driving wheel 22.
The invention also provides a computer storage medium, in which a computer program executable by a computer processor is stored, the computer program executing the method for extracting a circle from a point cloud of a complex object according to the above technical scheme.
It will be understood that modifications and variations can be made by persons skilled in the art in light of the above teachings and all such modifications and variations are intended to be included within the scope of the invention as defined in the appended claims.
Claims (10)
1. A method for extracting a circle from a point cloud of a complex object is characterized by comprising the following steps:
s1, visualizing the complex object point cloud, manually selecting data points of a slice reference plane, and obtaining a characteristic vector of the reference slice plane by using a plane fitting method;
s2, slicing the complex object point cloud by using two slicing planes with the distance delta to obtain a three-dimensional tangent plane point cloud, wherein the two slicing planes are respectively parallel to a reference slicing plane;
s3, converting the three-dimensional tangent plane point cloud into a two-dimensional tangent plane point cloud by adopting a projection method;
and S4, extracting a circle according to the point cloud of the two-dimensional tangent plane and calculating circle parameters.
2. The method for extracting a circle from a point cloud of complex objects as claimed in claim 1, wherein the plane fitting method in step S1 is a total least square method, and the feature vector A, B, C, D of the reference slice plane satisfies:
wherein A, B, C is a plane equation coefficient, and D is a constant term.
3. The method for extracting a circle from a point cloud of a complex object as claimed in claim 1, wherein the distance δ between two slice planes in the step S2 is a multiple of the density of the point cloud.
4. The method for extracting the circle from the point cloud of the complex object as claimed in claim 3, wherein the calculation process of the point cloud density is as follows:
s21, randomly selecting n points in the complex object point cloud, and recording the n points as points (P)0,…,Pi,…,Pn)；
S22, for the selected taskA point PiSearching and P in complex object point cloudiM points with the shortest distance are calculated to PiThe distance of (d);
s23, calculating the density of the point cloud, wherein the calculation formula is as follows:
wherein rho is the density of the point cloud,
the distance between the ith point selected at random and the kth point in the m points closest to the point changed is calculated.
5. The method for extracting a circle from a point cloud of complex objects as claimed in claim 1, wherein the circle parameters in the step S4 include a center and a radius.
6. The method for extracting a circle from a point cloud of complex objects as claimed in claim 1, wherein the step of extracting a circle from a point cloud of two-dimensional tangent plane in step S5 is as follows:
s41, translating the point cloud of the two-dimensional tangent plane into a first quadrant;
s42, rounding the point cloud data of the two-dimensional tangent plane;
s43, carrying out Hough transformation on the rounded two-dimensional tangent plane point cloud data, and preliminarily calculating circle parameters;
s44, acquiring point cloud of an original two-dimensional tangent plane of the circle according to the preliminarily calculated circle parameters;
and S45, performing circle fitting by using a least square method according to the acquired point cloud of the two-dimensional tangent plane of the circle, and calculating circle parameters.
7. The method for extracting the circle from the complex object point cloud according to any one of claims 1 to 6, wherein the complex object point cloud is obtained by scanning a complex object point cloud scanning device, the complex object point cloud scanning device comprises a base, a rotating mechanism, a control mechanism and a support rod are arranged on the base, a binocular camera mechanism is arranged on the support rod, and the rotating mechanism and the binocular camera mechanism are both connected with the control mechanism.
8. The method for extracting the circle from the point cloud of the complex object as claimed in claim 7, wherein the binocular camera mechanism comprises an installation frame and a binocular camera, the installation frame and the binocular camera are connected through a steering engine, the installation frame is fixed on the support rod, the installation height can be adjusted, and the steering engine is connected with the control mechanism.
9. The method for extracting the circle from the point cloud of the complex object as claimed in claim 7, wherein the rotating mechanism comprises a rotating module and a driving module, the rotating module comprises a rotating platform, a rotating shaft is arranged at the center below the rotating platform, a driven wheel is arranged on the rotating shaft, the rotating shaft is fixed on the base through a bearing, the driving module comprises a motor, the motor is fixed on the base, a driving wheel is arranged on an output shaft of the motor, and the driving wheel is connected with the driven wheel through a belt.
10. A computer storage medium, characterized in that it has stored therein a computer program executable by a computer processor, the computer program performing the method of complex object point cloud extraction circle as claimed in any one of claims 1-6.
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| CN114485438A (en) * | 2022-01-06 | 2022-05-13 | 博迈科海洋工程股份有限公司 | Method for measuring distance between round stand columns of large module steel structure |
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| CN114485438A (en) * | 2022-01-06 | 2022-05-13 | 博迈科海洋工程股份有限公司 | Method for measuring distance between round stand columns of large module steel structure |
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