CN111833392A - Multi-angle scanning method, system and device for mark points - Google Patents
Multi-angle scanning method, system and device for mark points Download PDFInfo
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- G06T2207/10028—Range image; Depth image; 3D point clouds
Abstract
The invention discloses a multi-angle scanning method, a system and a device for mark points, wherein the method comprises the following steps: acquiring mark point data of a scanned mark point under different visual angles, reconstructing the mark point data, determining a mark point plane according to the reconstructed mark point data, and dividing the mark point plane into at least two angle areas; in the continuous scanning process at different visual angles, projecting the center of the scanner instrument scanned each time to the marking point plane, and calculating the times of falling into each angle area; counting the times of falling into each angle area in real time, and finishing scanning when the times meet a preset threshold value of a corresponding angle; and after the scanning is finished, carrying out data structure conversion on the mark point reconstruction data, carrying out global optimization on the converted mark point reconstruction data by using a beam adjustment method, and outputting the obtained global optimal solution as a scanning result. The invention can improve the splicing precision of the whole mark points, so that the laser scanning is better applied to the field of industrial measurement.
Description
Technical Field
The invention relates to the technical field of three-dimensional scanners, in particular to a multi-angle scanning method, a multi-angle scanning system and a multi-angle scanning device for mark points.
Background
With the progress of computer technology, automation technology, and image processing technology, three-dimensional scanning and measurement technology based on structured light stereovision has been rapidly developed. The basic principle of structured light stereo vision is that a contour image of a measured object is obtained by utilizing structured light projection, local three-dimensional information of the object is obtained after image matching based on the binocular vision principle, and then an integral three-dimensional model of the object is obtained through point cloud splicing and reconstruction. The structured light three-dimensional scanning measurement has the advantages of high speed, high precision and convenient use, and in recent years, various structured light three-dimensional scanning measurement devices, particularly handheld three-dimensional scanners, are developed rapidly and are more and more widely applied to the industries of machinery, automobiles, aviation, medical treatment, cultural relics and the like.
A hand-held laser three-dimensional scanner typically comprises at least one laser projector, at least two cameras and a computing unit for three-dimensional digital image processing. Laser projects on the surface of an object, two cameras capture laser lines and obtain three-dimensional data of the object through the epipolar line principle, and data splicing is carried out based on characteristic points, so that three-dimensional scanning and measuring functions are achieved. The handheld laser three-dimensional scanner has the advantages of convenience in carrying, freedom in use and high precision, and is suitable for the field of industrial measurement.
The mark point is the most effective means for assisting point cloud splicing in handheld laser three-dimensional scanning, and the efficiency of point cloud splicing in scanning can be greatly improved. Through the reconstructed mark points, the conversion relation of the matching mark points of two continuous frames can be quickly obtained, so that the point clouds reconstructed by the two continuous frames are spliced through the splicing conversion relation of the matching relation of the two continuous frames of the mark points. Therefore, the reconstruction precision of the mark points directly influences the calculation of the matching conversion relation of the mark points, thereby influencing the splicing precision of the reconstructed point cloud and finally influencing the precision of the whole three-dimensional reconstruction model.
At present, under the condition of scanning at a single angle or a small number of angles, the scanning splicing accumulated error is increased continuously along with the scanning, so that the final scanning result has low precision and is not suitable for the industrial field.
Disclosure of Invention
The invention provides a multi-angle scanning method, a system and a device for marking points, and mainly aims to improve the splicing precision of the whole marking points and enable laser scanning to be better applied to the field of industrial measurement.
In order to solve the technical problems, the invention adopts the following technical scheme:
a multi-angle scanning method of a mark point comprises the following steps;
acquiring mark point data of a scanned mark point under different visual angles, and reconstructing the mark point data to obtain mark point reconstruction data;
determining a marking point plane according to the marking point reconstruction data, and dividing the marking point plane into at least two angle areas;
in the continuous scanning process at different visual angles, projecting the center of the scanner instrument scanned each time to the mark point plane, and calculating the times that the center of the scanner instrument falls into each angle area; counting the times of falling into each angle area in real time, and finishing scanning when the times in each angle area meet a preset threshold value of a corresponding angle;
and after scanning at different view angles is finished, carrying out data structure conversion on the mark point reconstruction data, carrying out global optimization on the converted mark point reconstruction data by using a beam adjustment method, and outputting the obtained global optimal solution of each mark point under each view angle as a scanning result.
As an implementation, the determining a marker plane according to the marker reconstruction data and dividing the marker plane into at least two angular regions includes the following steps;
and establishing a mark point plane equation according to the mark point coordinates and the mark point vectors in the mark point reconstruction data to determine a mark point plane, and dividing the mark point plane into at least two angle areas by taking the normal of the mark point plane as a main axis.
As an embodiment, the number of the angle regions is four.
As an implementable mode, the multi-angle scanning method for the mark points, provided by the invention, further comprises the following steps;
after the number of times that the center of the scanner instrument falls into each angle area is calculated, corresponding colors are configured for different point quantities of the marking points in each angle area, and corresponding termination colors are configured for the termination point quantity of the marking points in each angle area.
As an implementation manner, the counting the number of times of falling into each angle region in real time, and completing the scanning when the number of times in each angle region meets a preset threshold of a corresponding angle, includes the following steps;
counting the frequency change of each angle area in multi-angle division in real time, identifying the corresponding color in the identification point of the corresponding angle area along with the frequency change of each angle area, and finishing scanning when the identification point of the angle area is identified by the termination color.
As an implementation manner, the data structure conversion of the marker point reconstruction data includes the following steps;
and storing the mark point reconstruction data by utilizing a dynamic non-full octree.
As an implementable mode, the formula for carrying out global optimization by the beam adjustment method is
In the formula, k is the number of three-dimensional space points; n is the number of imaging planes of k points; m isijRepresenting the characteristic point coordinate corresponding to the ith three-dimensional point on the jth imaging plane; v. ofijRepresenting whether point i has a projection on imaging plane j; pjRepresenting an extrinsic parameter vector corresponding to each imaging plane; miA coordinate vector representing each three-dimensional point; q (P)j,Mi) Is a reprojection function, and three-dimensional points MiMapping to an imaging plane; d (x, y) is a distance metric function.
Correspondingly, the invention also provides a multi-angle scanning system of the mark points, which comprises a reconstruction module, a segmentation module, a statistic module and an optimization module;
the reconstruction module is used for acquiring mark point data of the scanned mark point under different visual angles and reconstructing the mark point data to obtain mark point reconstruction data;
the dividing module is used for determining a marking point plane according to the marking point reconstruction data and dividing the marking point plane into at least two angle areas;
the statistical module is used for projecting the center of the scanner instrument scanned each time to the mark point plane in the continuous scanning process at different visual angles, and calculating the times that the center of the scanner instrument falls into each angle area; counting the frequency change in each angle area in real time, and finishing scanning when the frequency in each angle area meets a preset threshold value of a corresponding angle;
and the optimization module is used for performing data structure conversion on the mark point reconstruction data after scanning at different visual angles is finished, performing global optimization on the converted mark point reconstruction data by using a beam adjustment method, and outputting the obtained global optimal solution of each mark point under each visual angle as a scanning result.
Correspondingly, the invention also provides a multi-angle scanning device for the mark points, which comprises a processor and a memory;
the memory is used for storing program codes and transmitting the program codes to the processor; the processor is used for executing the multi-angle scanning method for the mark points according to the instructions in the program codes, wherein the method comprises the steps of 1-6.
As an implementable mode, the multi-angle scanning device for the mark points, provided by the invention, further comprises a scanner;
the processor is electrically connected with the scanner;
the scanner comprises at least two cameras; the scanner is provided with a light source and can illuminate the scanned mark point at the same time.
Compared with the prior art, the technical scheme has the following advantages:
according to the multi-angle scanning method, the system and the device for the marking point, the marking point plane is established by the marking point reconstruction data, the marking point plane is divided to obtain at least two angle areas, the scanning of different angles is identified by the angle areas, and the application difficulty is reduced; after scanning is finished, data structure conversion is carried out on the mark point reconstruction data, global optimization is carried out on the converted mark point reconstruction data by using a beam adjustment method, and the obtained global optimal solution of the mark points under each view angle is output as a scanning result; therefore, the splicing precision of the whole mark points is improved, and the laser scanning is better applied to the field of industrial measurement.
Drawings
FIG. 1 is a schematic flow chart illustrating a multi-angle scanning method for mark points according to an embodiment of the present invention;
FIG. 2 is a schematic layout diagram of multi-angle scanning of mark points according to a first embodiment of the present invention;
FIG. 3 is a schematic diagram of color marks for multi-angle scanning of mark points according to an embodiment of the present invention;
FIG. 4 is a diagram illustrating a mark point plane segmentation according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a multi-angle scanning system for mark points according to a fourth embodiment of the present invention.
In the figure: 1. an image acquisition device; 2. a scanned mark point; 3. an angular region; 100. a reconstruction module; 200. a segmentation module; 300. a statistical module; 400. and an optimization module.
Detailed Description
The above and further features and advantages of the present invention will be apparent from the following, complete description of the invention, taken in conjunction with the accompanying drawings, wherein the described embodiments are merely some, but not all embodiments of the invention.
Referring to fig. 1, fig. 2 and fig. 3, a multi-angle scanning method for mark points according to an embodiment of the present invention includes the following steps;
s100, obtaining mark point data of the scanned mark point 2 under different visual angles, and reconstructing the mark point data to obtain mark point reconstruction data;
s200, determining a marking point plane according to the marking point reconstruction data, and dividing the marking point plane into at least two angle areas 3;
s300, in the continuous scanning process at different visual angles, projecting the center of the scanner instrument scanned each time to a mark point plane, and calculating the times that the center of the scanner instrument falls into each angle area 3; counting the times of falling into each angle area 3 in real time, and finishing scanning when the times in each angle area 3 meet a preset threshold value of a corresponding angle;
s400, after scanning at different view angles is finished, data structure conversion is carried out on the mark point reconstruction data, global optimization is carried out on the converted mark point reconstruction data through a beam adjustment method, and the obtained global optimal solution of the mark points under each view angle is output as a scanning result.
It should be noted that the image acquisition apparatus 1 for controlling the scanner acquires the mark point data, the image acquisition apparatus 1 is a part of the scanner, the image acquisition apparatus 1 includes at least two cameras for synchronous scanning, and the at least two cameras are controlled for synchronous scanning by the epipolar line principle. The number of cameras is at least two, and may also be three, four or more. In operation, the cameras each perform a simultaneous scan. That is, the marking point data can be obtained by simultaneous scanning with two cameras. Marker point data includes, but is not limited to: the coordinates of the center point of the mark point, the normal direction of the mark point, the radius of the mark point, the number of the ellipse of the mark point in the image of the two-phase camera and the like. In the two-dimensional image, the edges of the mark points can be extracted by using a pixel edge gradient sub-pixel extraction method in the image, the image position of the center of the mark point is obtained by using an ellipse fitting method, and after the two-dimensional coordinates of the mark points respectively identified in the two images are obtained, the three-dimensional coordinates and the vectors of the mark points under the common view field of the current camera are reconstructed according to the epipolar line principle.
In this embodiment, the data reconstruction tool may be used to reconstruct the marker point data to obtain marker point reconstruction data. The marker reconstruction data may include marker coordinates and a marker vector. And then, according to the mark point coordinate and the mark point vector, determining a mark point plane, and dividing the mark point plane into at least two angle areas 3. The whole scanning process and the result are independently calculated by dividing different angle areas 3 so as to reduce the total accumulated error of scanning calculation. And different angular areas 3 can be assigned in the subsequent identification for user understanding and application, respectively. For example, in a certain area, when the number of times that the center of the scanner apparatus falls into each angle area 3 reaches a preset threshold value, it indicates that the scanning of the area is completed, and then only the other areas need to be scanned in a focused manner. The center of the scanner instrument may be the center of the scanner in its own coordinate system.
And after scanning at different visual angles is finished, carrying out data structure conversion on the mark point reconstruction data, converting the mark point reconstruction data into a specific data structure, and carrying out global optimization on the converted mark point reconstruction data by using a beam adjustment method. The marker point reconstruction data can be stored by using a dynamic non-full octree, and converted into a data structure of the octree. In this embodiment, the data structure may be struct MKTP, and the specific conversion may be implemented by using a program, for example:
the marking points are scanned from multiple angles, multiple groups of conditional constraints are added for each marking point, and the scanned marking points are subjected to global optimization by using a beam adjustment method, so that the splicing precision of the whole marking points is improved, the reconstruction precision of subsequent three-dimensional scanning point clouds is improved, and the scanning is better applied to the field of industrial measurement.
According to the multi-angle scanning method, the system and the device for the mark points, the mark point plane is established by the mark point reconstruction data, the mark point plane is divided to obtain at least two angle areas 3, the scanning of different angles is identified by the angle areas 3, and the application difficulty is reduced; after scanning is finished, data structure conversion is carried out on the mark point reconstruction data, global optimization is carried out on the converted mark point reconstruction data by using a beam adjustment method, and the obtained global optimal solution of the mark points under each view angle is output as a scanning result; therefore, the splicing precision of the whole mark points is improved, and the laser scanning is better applied to the field of industrial measurement.
Further, the formula for global optimization by the beam adjustment method is
In the formula, k isThe number of three-dimensional space points; n is the number of imaging planes of k points; m isijRepresenting the characteristic point coordinate corresponding to the ith three-dimensional point on the jth imaging plane; v. ofijRepresenting whether point i has a projection on imaging plane j; pjRepresenting an extrinsic parameter vector corresponding to each imaging plane; miA coordinate vector representing each three-dimensional point; q (P)j,Mi) Is a reprojection function, and three-dimensional points MiMapping to an imaging plane; d (x, y) is a distance metric function, typically a Euclidean distance function.
Further, step S200 includes the following steps;
and establishing a mark point plane equation according to the mark point coordinates and the mark point vectors in the mark point reconstruction data to determine a mark point plane, and dividing the mark point plane into at least two angle areas 3 by taking the normal of the mark point plane as a main axis.
In this embodiment, the mark point coordinates may be (Px, Py, Pz). The marker point vector may be (Nx, Ny, Nz). Then the plane equation of the marker point established according to the marker point coordinates and the marker point vectors in the marker point reconstruction data is Nx (X-Px) + Ny (Y-Py) + Nz (Z-Pz) ═ 0. Determining a marking point plane according to the marking point plane equation; the normal line of the marking point plane is used as a main shaft to divide the marking point plane into at least two angle areas 3; the number of angular zones 3 can be two, three, four and other numbers. In other embodiments, the number of the angle areas 3 is four.
In order to facilitate the use and understanding of a user, the multi-angle scanning method for the mark points provided by the second embodiment of the invention further comprises the following steps on the basis of the first embodiment;
after the number of times that the center of the scanner instrument falls into each angle area 3 is calculated, corresponding colors are configured for different point quantities of the marking points in each angle area 3, and corresponding termination colors are configured for the termination point quantities of the marking points in each angle area 3.
Accordingly, step S400 includes the following steps;
counting the change of times of each angle area 3 in multi-angle division in real time, identifying the corresponding color in the identification point of the corresponding angle area 3 along with the change of times of falling into each angle area 3, and finishing scanning when the identification point of the angle area 3 is identified by the termination color.
The correspondingly configured color can be changed from light color to dark color along with the increase of the total number of the falling times; and the specific color is configured as the end color. The user can know whether the scanning is finished only by observing the color, and the darker the color is, the closer the scanning is finished is represented; and when the mark point of the divided certain angle area 3 is seen to display the termination color, the scanning of the divided certain angle area 3 is finished. Of course, it is also possible to set only the end color, and not configure the color with the point amount changing during the scanning process, for example, configure black as the end color, and when black is displayed, that is, the scanning is completed as shown in fig. 4.
Based on the same inventive concept, the embodiment of the invention also provides a multi-angle scanning system for the mark points, the implementation of the system can be realized by referring to the process of the method, and the repeated parts are not described redundantly.
FIG. 5 is a schematic structural diagram of a multi-angle scanning system for mark points according to a third embodiment of the present invention, including a reconstruction module 100, a segmentation module 200, a statistics module 300, and an optimization module 400; the reconstruction module 100 is configured to obtain mark point data of the scanned mark point at different viewing angles, and reconstruct the mark point data to obtain mark point reconstruction data; the dividing module 200 is configured to determine a marker plane according to the marker reconstruction data, and divide the marker plane into at least two angle regions; the statistical module 300 is configured to project the center of the scanner instrument scanned each time to the mark point plane in the continuous scanning process at different viewing angles, and calculate the number of times that the center of the scanner instrument falls into each angle region; counting the times of falling into each angle area in real time, and finishing scanning when the times in each angle area meet a preset threshold value of a corresponding angle; the optimization module 400 is configured to perform data structure conversion on the marker point reconstruction data after scanning at different viewing angles is completed, perform global optimization on the converted marker point reconstruction data by using a beam adjustment method, and output an obtained global optimal solution of the marker point at each viewing angle as a scanning result.
The multi-angle scanning system for the mark points improves the splicing precision of the whole mark points, so that laser scanning is better applied to the field of industrial measurement.
Based on the same inventive concept, the embodiment of the invention also provides a multi-angle scanning device for the mark points, the implementation of the device can be realized by referring to the process of the method, and the repeated parts are not described redundantly.
The multi-angle scanning device for the mark points provided by the fourth embodiment of the invention comprises a processor and a memory; the memory is used for storing the program codes and transmitting the program codes to the processor; the processor is used for executing the marking point multi-angle scanning method provided by the first embodiment and the second embodiment according to the instructions in the program codes.
The multi-angle scanning device for the mark points improves the splicing precision of the whole mark points, so that laser scanning is better applied to the field of industrial measurement.
Furthermore, the multi-angle scanning device for the mark points, provided by the invention, further comprises a scanner on the basis of the processor and the memory; the processor is electrically connected with the scanner; the scanner comprises at least two cameras; the scanner is provided with a light source, and can simultaneously illuminate the scanned mark point 2.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.
Claims (10)
1. A multi-angle scanning method of a mark point is characterized by comprising the following steps;
acquiring mark point data of a scanned mark point under different visual angles, and reconstructing the mark point data to obtain mark point reconstruction data;
determining a marking point plane according to the marking point reconstruction data, and dividing the marking point plane into at least two angle areas;
in the continuous scanning process at different visual angles, projecting the center of the scanner instrument scanned each time to the mark point plane, and calculating the times that the center of the scanner instrument falls into each angle area; counting the times of falling into each angle area in real time, and finishing scanning when the times in each angle area meet a preset threshold value of a corresponding angle;
and after scanning at different view angles is finished, carrying out data structure conversion on the mark point reconstruction data, carrying out global optimization on the converted mark point reconstruction data by using a beam adjustment method, and outputting the obtained global optimal solution of each mark point under each view angle as a scanning result.
2. The multi-angle scanning method of a marker as claimed in claim 1, wherein said determining a marker plane from said marker reconstruction data and dividing the marker plane into at least two angular regions comprises the steps of;
and establishing a mark point plane equation according to the mark point coordinates and the mark point vectors in the mark point reconstruction data to determine a mark point plane, and dividing the mark point plane into at least two angle areas by taking the normal of the mark point plane as a main axis.
3. The multi-angle scanning method of marks according to claim 2, wherein the number of the angle areas is four.
4. The multi-angle scanning method for the marker as recited in any one of claims 1 to 3, further comprising the steps of;
after the number of times that the center of the scanner instrument falls into each angle area is calculated, corresponding colors are configured for different point quantities of the marking points in each angle area, and corresponding termination colors are configured for the termination point quantity of the marking points in each angle area.
5. The multi-angle scanning method of mark points according to claim 4, wherein the real-time statistics of the number of times of falling into each angle region, and the completion of the scanning when the number of times of falling into each angle region satisfies a preset threshold value of the corresponding angle, comprises the following steps;
counting the frequency change of each angle area in multi-angle division in real time, identifying the corresponding color in the identification point of the corresponding angle area along with the frequency change of each angle area, and finishing scanning when the identification point of the angle area is identified by the termination color.
6. The multi-angle scanning method for marker points according to claim 4, wherein said converting the data structure of the marker point reconstruction data comprises the steps of;
and storing the mark point reconstruction data by utilizing a dynamic non-full octree.
7. The multi-angle scanning method for marks according to claim 4, wherein the global optimization formula by the beam adjustment method is
In the formula, k is the number of three-dimensional space points; n is the number of imaging planes of k points; m isijRepresenting the characteristic point coordinate corresponding to the ith three-dimensional point on the jth imaging plane; v. ofijRepresenting whether point i has a projection on imaging plane j; pjRepresenting an extrinsic parameter vector corresponding to each imaging plane; miA coordinate vector representing each three-dimensional point; q (P)j,Mi) Is a reprojection function, and three-dimensional points MiMapping to an imaging plane; d (x, y) is a distance metric function.
8. A multi-angle scanning system for mark points is characterized by comprising a reconstruction module, a segmentation module, a statistic module and an optimization module;
the reconstruction module is used for acquiring mark point data of the scanned mark point under different visual angles and reconstructing the mark point data to obtain mark point reconstruction data;
the dividing module is used for determining a marking point plane according to the marking point reconstruction data and dividing the marking point plane into at least two angle areas;
the statistical module is used for projecting the center of the scanner instrument scanned each time to the mark point plane in the continuous scanning process at different visual angles, and calculating the times that the center of the scanner instrument falls into each angle area; counting the frequency change in each angle area in real time, and finishing scanning when the frequency in each angle area meets a preset threshold value of a corresponding angle;
and the optimization module is used for performing data structure conversion on the mark point reconstruction data after scanning at different visual angles is finished, performing global optimization on the converted mark point reconstruction data by using a beam adjustment method, and outputting the obtained global optimal solution of each mark point under each visual angle as a scanning result.
9. A multi-angle scanning device for mark points is characterized by comprising a processor and a memory;
the memory is used for storing program codes and transmitting the program codes to the processor; the processor is used for executing the multi-angle scanning method for the mark points according to the instructions in the program codes, wherein the method comprises the steps of 1-7.
10. The multi-angle scanning apparatus for marking points as claimed in claim 9, further comprising a scanner;
the processor is electrically connected with the scanner;
the scanner comprises at least two cameras; the scanner is provided with a light source and can illuminate the scanned mark point at the same time.
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| CN115439630B (en) * | 2022-08-04 | 2024-04-19 | 思看科技(杭州)股份有限公司 | Mark point splicing method, photogrammetry method, device and electronic device |
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