CN111561868A - Method for realizing non-contact measurement of antenna profile by utilizing optical tracking structure optical scanner - Google Patents
Method for realizing non-contact measurement of antenna profile by utilizing optical tracking structure optical scanner Download PDFInfo
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- CN111561868A CN111561868A CN202010434501.6A CN202010434501A CN111561868A CN 111561868 A CN111561868 A CN 111561868A CN 202010434501 A CN202010434501 A CN 202010434501A CN 111561868 A CN111561868 A CN 111561868A
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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
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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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
- G01B11/2513—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 with several lines being projected in more than one direction, e.g. grids, patterns
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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
- G01B11/2545—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 with one projection direction and several detection directions, e.g. stereo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
Abstract
A method for realizing non-contact measurement of an antenna profile by utilizing an optical tracking structure optical scanner is characterized in that an optical tracking system is combined with the structure optical scanner, a target ball structure is additionally arranged outside the structure optical scanner, so that the optical tracking system can track the position and the posture of the structure optical scanner in real time, and cloud data measured by the structure optical scanner are unified under a coordinate system of the optical tracking system in real time, and the method comprises the following steps: (1) calibrating the relation between the scanning module of the structured light scanner and the structural pose of the external target ball of the structured light scanner; (2) the invention does not contact the surface of the measured object from the beginning to the end of measurement, does not damage the measured object, and has the advantages of high measurement precision, high measurement speed, high measurement point density, huge measurement size, high working efficiency and huge social and economic benefits.
Description
Technical Field
The invention relates to the technical field of non-contact measurement, in particular to a method for realizing non-contact measurement of an antenna profile by using an optical tracking structure optical scanner.
Background
In the modern industrial production and manufacturing process, rapid three-dimensional measurement of workpieces is an important link, and at present, a plurality of high-precision industrial measurement technologies are provided, including sticking an artificial target on the surface of a measured object, utilizing a camera to acquire images and calculate the industrial photogrammetry of three-dimensional coordinates of a target point, utilizing a spherical coordinate system and utilizing laser to track the coordinates of a reflector in real time, based on the forward intersection principle, utilizing two or more theodolites to realize space point positioning, utilizing a double (multi) theodolite measurement technology, utilizing a guide and length measuring mechanism arranged in the three axial directions, and utilizing a probe to contact the surface of the object to read the three-dimensional coordinates of the point. The above various technologies can achieve higher measurement accuracy, but these measurement methods have a common property that the measurement can be completed only by contacting the surface of the object to be measured, and the measurement cannot be performed accurately on the object to be measured (such as a coated reflecting surface) which cannot contact the surface of the object. The industrial photogrammetry technology based on the optical target, which replaces a reflective target with a high-brightness optical target point and projects the high-brightness optical target point to the surface of an object, avoids the contact with the surface of the object to be measured, but the density of the projected points is far less than that of the points scanned by structured light, and the detailed structure of the object to be measured cannot be represented.
The structured light scanning comprises a structured light projector and a double camera, the structured light projector is used for projecting planar structured light with a plurality of laser lines arranged in a cross mode on the surface of an object, the double camera collects images in real time and calculates the images in real time to obtain image sheet two-dimensional coordinates (X, Y) of points on all laser lines contained in the planar structured light, the point three-dimensional coordinates (X, Y, Z) are calculated by using a binocular vision principle, and the structured light scanner is moved to measure point cloud coordinates covering the surface of the measured object.
The optical tracking is double-camera photogrammetry, a photogrammetry target and a coding mark point are pasted on the surface of a measured object, images of the measured object are simultaneously collected by two cameras with proper axle distance, then image point scanning, identification and matching are carried out on the images, and the three-dimensional coordinates of the target point are calculated based on the binocular vision principle.
The two measurement modes are independently carried out, the scanning measurement range of the structured light is small, large-size three-dimensional measurement cannot be met, target points need to be pasted on the surface of a measured object when the two camera photogrammetry technologies are realized, the two camera photogrammetry technologies cannot be applied under the condition that the two camera photogrammetry technologies cannot be contacted, the point density is small, the detailed characteristics of the surface of the measured object cannot be expressed, and the measurement method of the large-size non-contact high-precision high-point density has not been reported in the open.
Disclosure of Invention
In view of the above situation, to overcome the defects of the prior art, the present invention provides a method for realizing non-contact measurement of an antenna profile by using an optical tracking structured light scanner, which can effectively solve the problem of measuring a measured object by combining structured light scanning and optical tracking without contacting the surface of the measured object.
In order to achieve the above object, the technical solution of the present invention is a method for realizing non-contact measurement of an antenna profile by using an optical tracking structured light scanner, wherein an optical tracking system is used in combination with the structured light scanner, and a target ball structure is added outside the structured light scanner, so that the optical tracking system can track the position and posture of the structured light scanner in real time and unify cloud data measured by the structured light scanner under a coordinate system of the optical tracking system in real time, and the method comprises the following steps:
(1) the scanning module of the structured light scanner and the external target ball structure pose relationship of the structured light scanner are calibrated: a. setting the structured light scanner and the calibration board in the measuring range of the optical tracking system and defining the coordinate system of the optical tracking system as C1Structured light scanner coordinate system C2The coordinate system of the external target ball structure of the structured light scanner is C3；
The calibration plate is a planar plate with the surface uniformly adhered with photogrammetric target points, and the optical heelThe tracker system is a double-camera measuring system with a fixed camera wheelbase; b. the handheld structure optical scanner measures the calibration plate to obtain the target point of the calibration plate in the coordinate system C of the structure optical scanner2The coordinates of the lower part are marked as A; simultaneously, the optical tracking system measures to obtain the target point of the calibration plate and the external target ball structure of the structured light scanner in the coordinate system C of the optical tracking system1Coordinates of (1) are marked as B and C respectively, and the external target ball structure of the structured light scanner is arranged at C3The coordinate under the coordinate system is D; c. obtaining a structured light scanner coordinate system C from A and B2And optical tracking system coordinate system C1Position and posture conversion matrix R1Obtaining the structural coordinate system C of the external target ball of the structured light scanner from C and D3And optical tracking system coordinate system C1Conversion matrix R2To obtain the external structure target spherical coordinate system C of the structured optical scanner3And the structural optical scanner coordinate system C2Pose transformation matrix is R1R2That is, the scanning module of the structured light scanner and the structural pose transformation matrix of the external target ball of the structured light scanner are R1R2；
(2) Single or multi-station non-contact measurements of structured light scanners are tracked using an optical tracking system: when the measurement is single-station non-contact measurement, the structured light scanner is calibrated according to the method, the relative positions of two cameras of the optical tracking system are calibrated, the optical tracking system obtains the pose parameters of the structured light scanner by measuring the external target ball structure of the structured light scanner, the structured light scanner carries out non-contact scanning measurement on the surface of an object, the point cloud coordinates obtained by scanning are converted through a conversion matrix R1、R2Converting the point cloud three-dimensional coordinates into an optical tracking system coordinate system, and performing the operation in real time to realize non-contact scanning measurement in the field range of the optical tracking system under the single measurement station; when the multi-station non-contact measurement is carried out, photogrammetric target points are distributed around a measured object to be measured to serve as common points, a single-camera photogrammetric system is used for measuring the common points to obtain three-dimensional coordinates of the common points, a coordinate system where the common points are located is taken as a global coordinate system, and when each single-station measurement is carried out, an optical tracking system simultaneously measures the common points to obtain the common points in the single-station lightLearning a point set under a tracking system coordinate system; obtaining a pose transformation matrix of the two coordinate systems by a point set of the common point in a coordinate system of the single-station optical tracking system and a point set in a global coordinate system; converting the single-station measuring point cloud data from the single-station optical tracking system coordinate system to the global coordinate system by the two coordinate system pose conversion matrixes; and sequentially measuring all single-station data, and converting all the measured data into a global coordinate system to realize multi-station non-contact measurement.
The invention does not contact the surface of the measured object from the beginning to the end of the measurement, does not damage the measured object, and has the advantages of high measurement precision, high measurement speed, high measurement point density, large measurement size, high working efficiency and great social and economic benefits.
Drawings
FIG. 1 is a flow chart of a process for carrying out the present invention;
FIG. 2 is a schematic view of a structured light scanner coordinate system in accordance with the present invention;
FIG. 3 is a schematic diagram of the calibration of the structural pose relationship between the scanning module of the structured light scanner and an external target ball;
FIG. 4 is a schematic view of a single station measurement of the optical tracking system of the present invention in conjunction with a structured light scanner;
FIG. 5 is a dot map of common targets of the present invention;
FIG. 6 is a schematic diagram of a common point switching based multi-station measurement of the optical tracking system of the present invention; .
Detailed Description
The following detailed description of the embodiments of the invention refers to the accompanying drawings and detailed description.
In the concrete implementation, the invention obtains very good beneficial technical effects through field application and repeated tests, and comprises the following steps:
(1) the scanning module of the structured light scanner and the external target ball structure pose relationship of the structured light scanner are calibrated: a. setting the structured light scanner and the calibration board in the measuring range of the optical tracking system and defining the coordinate system of the optical tracking system as C1Structured light scanner coordinate system C2The coordinate system of the external target ball structure of the structured light scanner is C3；
The calibration plate is a planar plate with the surface uniformly adhered with photogrammetric target points, and the optical tracker system is a dual-camera measuring system with a fixed camera axis distance;
b. the handheld structure optical scanner measures the calibration plate to obtain the target point of the calibration plate in the coordinate system C of the structure optical scanner2The coordinates of the lower part are marked as A; simultaneously, the optical tracking system measures to obtain the target point of the calibration plate and the external target ball structure of the structured light scanner in the coordinate system C of the optical tracking system1Coordinates of (1) are marked as B and C respectively, and the external target ball structure of the structured light scanner is arranged at C3The coordinate under the coordinate system is D; c. the coordinate system C of the structured light scanner is obtained from A and B by using the target point on the calibration plate as a common point2And optical tracking system coordinate system C1Position and posture conversion matrix R1Taking the target ball as a common point, and obtaining the structural coordinate system C of the external target ball of the structured light scanner from C and D3And optical tracking system coordinate system C1Conversion matrix R2To obtain the external structure target spherical coordinate system C of the structured optical scanner3And the structural optical scanner coordinate system C2Pose transformation matrix is R1R2That is, the scanning module of the structured light scanner and the structural pose transformation matrix of the external target ball of the structured light scanner are R1R2Completing calibration;
(2) non-contact measurement of the measured object is carried out under a single measuring station of the structured light scanner by utilizing an optical tracking system:
a1, mounting the optical tracking system on a tripod and connecting to a computer, connecting the structured light scanner to the computer, holding the structured light scanner, ensuring that it is within the tracking range of the optical tracking system and ensuring that the structured light scanner can scan the surface of the object to be measured
A2, handheld structure optical scanner measure the testee, and the testee is diameter 2m plane reflecting surface, places the reflecting surface in structure optical scanner measuring range, and with testee surface distance 20-30cm for the structured light projector on the structure optical scanner can be with the clear projection of structured light to the object surface, and the structured light scanner continuously scans the reflecting surface, and is straightUntil the point cloud completely covers the reflecting surface, the double cameras of the scanning module of the structured light scanner acquire image data in real time, acquire point cloud coordinate data at a moment, upload the point cloud coordinate data to a computer, and process the point cloud coordinate data in real time to obtain C in the pose state2Point cloud data under coordinates; meanwhile, the optical tracking system collects images of the external target ball of the structured light scanner in real time, uploads the images to the computer, and processes the structured light scanner (target ball) in real time at C1Position posture under the coordinate system, because the outer structure of the structure optical scanner is a carbon fiber structure, the structure is stable, the relative position relation of the target ball is unchanged, in the process of tracking the structure optical scanner, the coordinates of the target ball are measured, the position posture of the structure optical scanner can be calculated, and a conversion matrix R is calculated1R2；
A3 passing through pose transformation matrix R1R2Converting the scanning point cloud data of the structured light scanner at the same moment into C in real time1Under a coordinate system;
a4, setting the coordinate system established by taking the measured object as the center as a global coordinate system C0The coordinate system C is set up by using optical tracker as center1A coordinate system C established with the structured light scanner as a center2If i ≥ 4 external target balls on different straight lines on structured light scanner are identified by optical tracker, the external target balls are in C1The middle coordinate matrix is (X)b，Yb，Zb) And these targets are at C2The coordinate in the coordinate system is (X)c，Yc，Zc) And is provided with C1Is linked with C2The rotation matrix of the system is R12Translation matrix is T12：
A5, when measured by a single measuring station, C0Is linked with C1The system is overlapped, and the coordinate of the three-dimensional point cloud scanned by the structured light scanner is set as (x)c，yc，zc) Is converted to C1The coordinates after the system are (x)b，yb，zb) Is also C0Coordinates (x, y, z) in the system, and non-contact measurement of the measured object under a single measuring station is completed:
(3) if the size of the measured object is overlarge, the optical tracker needs to be moved, and the measured object is subjected to non-contact measurement under a plurality of measuring stations of the structured light scanner tracked by the optical tracking system:
b1, arranging photogrammetric target points around the object to be measured as common points, measuring the common points by using a single-camera photogrammetric system to obtain three-dimensional coordinates of the common points, wherein the common point set coordinate system is C0System, i.e. global coordinate system;
b2, when measuring at each station, the same procedure as the single station, except that in the measuring process, the common point is placed in the visual field of the optical tracking system as much as possible, and the common point measured at the single station and the common point set of the global coordinate system are combined to obtain the conversion moment R of the station01Using the determined transformation matrix R01Converting the point cloud measured at a single station into a global coordinate system C0Let the common point be C0The system coordinate is (X)a，Ya，Za) One of the stations C1The coordinates of the system are (X)b，Yb，Zb) And is provided with C0Is linked with C1The rotation matrix of the system is R01Translation matrix is T01And then:
b3, obtaining the three-dimensional coordinates (x, y, z) of the final point cloud by known quantity as:
b4, completing the non-contact measurement of the measured object under a plurality of measuring stations after the measurement of all the measuring stations is completed;
wherein the matrix R01、R02For the rotation matrix:
wherein a is1，b1，c1，a2，b2，c2，a3，b3，c3Is a matrix rotation angle
The matrix T is a translation matrix, i.e. T ═ TXTYTZ]T，Tx，Ty，TzFor the corresponding xyz-direction coordinate increment, then the corresponding R01、R02Comprises the following steps:
the invention can measure without contacting the measured object and the plane thereof, and does not stick any target tool auxiliary tool on the measured surface, and the optical tracking system tracks the structure optical scanner in real time, the structure optical scanner scans the measured surface in real time, and the point cloud data is converted into the uniform coordinate system in real time through the conversion matrix, thus completing the whole non-contact measurement.
The above embodiments are only for explaining the present invention, and not for limiting the scope of the present invention, and any person skilled in the art may fall within the scope of the present invention without departing from the technical scope of the present invention, as equivalent embodiments that can be changed or modified by the technical content disclosed above fall within the scope of the present invention, and the present invention also performs the test on other products than the above-mentioned tested object for many times, all of which achieve the same and similar results, and are not repeated here, and the method of the present invention has the following advantageous technical effects:
(1) the measuring speed is fast: for a reflecting surface with the diameter of 2m, the surface measurement can be completed within 20 minutes;
(2) the measurement accuracy is high: the nominal measurement accuracy RMS is better than 0.030 mm;
(3) the density of the measuring points is high: the most dense dot spacing is 0.020mm, and the highest dot density can reach 2500 dots/cm2The performance of the detail joint of the measured object is good;
(4) non-contact measurement: the surface of the measured object is not contacted from the beginning of measurement to the end of measurement, and compared with the conventional structured light scanning measurement, the steps of pasting a target point on the surface of the measured object and the like are omitted, and the measured object is not damaged;
(5) the measurement size is huge: the single-station optical tracking system has the measuring depth of 1.5m to 4.2m, the measuring range in the height direction of 1.4m to 3.7m, the measuring range in the width direction of 0.9m to 3.6m and the total effective measuring volume of 17.6m3If the common point is combined to carry out multi-station measurement, the effective measurement range can be multiplied;
(6) the anti-interference capability is strong: the optical tracking system double cameras are integrated by the carbon fiber shaft tube, the relative posture is stable, the improvement of the measurement stability is facilitated, the external target ball structure of the structured light scanner is also used as a frame by the carbon fiber, the influence of field vibration and the like is avoided in the measurement process, the measurement accuracy and stability are guaranteed, the working efficiency is high, and the economic benefit and the social benefit are huge.
Claims (2)
1. A method for realizing non-contact measurement of an antenna profile by utilizing an optical tracking structure optical scanner is characterized in that an optical tracking system is combined with the optical tracking structure, a target ball structure is additionally arranged outside the optical tracking structure optical scanner, so that the optical tracking system can track the position and the posture of the optical tracking structure optical scanner in real time, and cloud data measured by the optical tracking structure optical scanner are unified under a coordinate system of the optical tracking system in real time, and the method comprises the following steps:
(1) the scanning module of the structured light scanner and the external target ball structure pose relationship of the structured light scanner are calibrated: a. setting the structured light scanner and the calibration board in the measuring range of the optical tracking system and defining the coordinate system of the optical tracking system as C1Structured light scanner coordinate system C2Structured light broomCoordinate system of external target ball structure of scanner is C3；
The calibration plate is a planar plate with the surface uniformly adhered with photogrammetric target points, and the optical tracker system is a dual-camera measuring system with a fixed camera axis distance; b. the handheld structure optical scanner measures the calibration plate to obtain the target point of the calibration plate in the coordinate system C of the structure optical scanner2The coordinates of the lower part are marked as A; simultaneously, the optical tracking system measures to obtain the target point of the calibration plate and the external target ball structure of the structured light scanner in the coordinate system C of the optical tracking system1Coordinates of (1) are marked as B and C respectively, and the external target ball structure of the structured light scanner is arranged at C3The coordinate under the coordinate system is D; c. obtaining a structured light scanner coordinate system C from A and B2And optical tracking system coordinate system C1Position and posture conversion matrix R1Obtaining the structural coordinate system C of the external target ball of the structured light scanner from C and D3And optical tracking system coordinate system C1Conversion matrix R2To obtain the external structure target spherical coordinate system C of the structured optical scanner3And the structural optical scanner coordinate system C2Pose transformation matrix is R1R2That is, the scanning module of the structured light scanner and the structural pose transformation matrix of the external target ball of the structured light scanner are R1R2；
(2) Single or multi-station non-contact measurements of structured light scanners are tracked using an optical tracking system: when the measurement is single-station non-contact measurement, the structured light scanner is calibrated according to the method, the relative positions of two cameras of the optical tracking system are calibrated, the optical tracking system obtains the pose parameters of the structured light scanner by measuring the external target ball structure of the structured light scanner, the structured light scanner carries out non-contact scanning measurement on the surface of an object, the point cloud coordinates obtained by scanning are converted through a conversion matrix R1、R2Converting the point cloud three-dimensional coordinates into an optical tracking system coordinate system, and performing the operation in real time to realize non-contact scanning measurement in the field range of the optical tracking system under the single measurement station; when the measurement is multi-station non-contact measurement, the photogrammetric target points are distributed around the measured object as common points, and the common points are measured by using the single-camera photogrammetric system to obtain the common pointThe three-dimensional coordinates of the points are taken as a global coordinate system, and when each single station measures, the optical tracking system measures the common points at the same time to obtain a point set of the common points under the coordinate system of the single station optical tracking system; obtaining a pose transformation matrix of the two coordinate systems by a point set of the common point in a coordinate system of the single-station optical tracking system and a point set in a global coordinate system; converting the single-station measuring point cloud data into a global coordinate system from a single-station optical tracking system coordinate system by using two coordinate system pose conversion matrixes; and sequentially measuring all single-station data, and converting all the measured data into a global coordinate system to realize multi-station non-contact measurement.
2. The method for non-contact measurement of antenna profiles using an optical tracking structured light scanner as claimed in claim 1, wherein the single or multi-station non-contact measurement of the structured light scanner using the optical tracking system is performed by: when the single-station non-contact measurement is carried out, firstly, an optical tracking system is placed at a position which can ensure that a structural optical scanner can be tracked, and a handheld structural optical scanner is placed in a measurement field range of the optical tracking system to scan the surface of a measured object;
②, the handheld structured light scanner measures the object to be measured, the distance between the object to be measured and the surface of the object to be measured is 20-30cm, the structured light projector on the structured light scanner clearly projects structured light to the surface of the object, the double cameras of the scanning module of the structured light scanner acquire image data in real time and upload the image data to the computer, and the C under the pose state is obtained through real-time processing2Point cloud data under coordinates; meanwhile, the optical tracking system collects images of the external target ball of the structured light scanner in real time, uploads the images to the computer, and processes and calculates the target ball at C in real time1Coordinates under a coordinate system;
③, using the measured object as the center, establishing a coordinate system as a global coordinate C0The system, using the optical tracker as the center, establishes the coordinate C1The system, using the structured light scanner as the center, establishes the coordinate C2If i ≥ 4 external target balls on different straight lines on structured light scanner are identified by optical tracker, the external target balls are in C1Sit in the middleThe label matrix is (X)b，Yb，Zb) And these targets are at C2The coordinate in the system is (X)c，Yc，Zc) And is provided with C1Is linked with C2The rotation matrix of the system is R12Translation matrix is T12：
④, when measured by a single station, C0Is linked with C1The system is overlapped, and the coordinate of the three-dimensional point cloud scanned by the structured light scanner is set as (x)c，yc，zc) Is converted to C1The coordinates after the system are (x)b，yb，zb) Is also C0Coordinates (x, y, z) in the system:
completing single-station non-contact measurement;
⑤, when the measurement is multi-station non-contact measurement, arranging photogrammetric target points around the measured object as common points, and measuring the common points by using a single-camera photogrammetric system to obtain three-dimensional coordinates of the common points, wherein the set coordinate of the common points is C0System, i.e. global coordinate system C0Let the common point be C0The system coordinate is (X)a，Ya，Za) One of the stations C1The coordinates of the system are (X)b，Yb，Zb) And is provided with C0Is linked with C1The rotation matrix of the system is R01Translation matrix is T01：
And obtaining the three-dimensional coordinates (x, y, z) of the final point cloud as follows:
and (4) finishing all the stations, namely finishing the whole measurement.
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| CN112880557A (en) * | 2021-01-08 | 2021-06-01 | 武汉中观自动化科技有限公司 | Multi-mode tracker system |
| CN113340234A (en) * | 2021-06-30 | 2021-09-03 | 杭州思锐迪科技有限公司 | Adapter, three-dimensional scanning system, data processing method and data processing system |
| CN113446934A (en) * | 2021-06-03 | 2021-09-28 | 中国人民解放军海军工程大学 | Close-range photogrammetry rotatable code calibration equipment and calibration method |
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