CN112665528B - Correction method for laser scanning three-dimensional imaging - Google Patents
Correction method for laser scanning three-dimensional imaging Download PDFInfo
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Abstract
A correction method of laser scanning three-dimensional imaging includes obtaining laser lattice data through laser scanning object description, and storing the laser lattice data in a database; reading laser lattice data from a database into a temporary variable data table; compensating the scanned dot matrix data and inserting a dot value; performing matrix transformation of coordinates after the dot matrix data is inserted; and storing and outputting the converted dot matrix data. The application solves the data insertion method relative to a specific point based on the real-time measurement of the scanning angle and the inclination angle, realizes the conversion from the sparse inconsistent state to the uniform lattice, ensures that the lattice truly reflects the actual object state, and provides good data information for the subsequent lattice graph processing.
Description
Technical Field
The application relates to the technical field of dot pattern processing, in particular to a complex deformed dot pattern processing method.
Background
In the current intelligent control system of the crane, the information sensing of the lifted materials is an essential ring, and various methods are adopted for the information sensing, such as machine vision, laser, radar, various sensors and the like, which are respectively suitable for different application scenes, and a laser scanning mode has the advantages of strong anti-interference capability, strong environmental adaptability and the like, so that more and more applications are obtained. The lattice information of laser scanning is a key ring for sensing material information, but in an actual scene, as the distance between the material and the scanner is different and the scanning resolution of the laser scanning head is unchanged, the lattice distribution is uneven, and the problem of great later processing is caused, so that the sensing of the material becomes difficult or even fails.
Disclosure of Invention
In order to overcome the defects in the background art, the application discloses a correction method for laser scanning three-dimensional imaging, which realizes uniform laser lattice distribution, and the output lattice data accurately reflects real material information through calculation and data interpolation of space point positions, so that the accuracy of information perception is ensured.
The object of the application is achieved in the following way:
a method of correction of laser scanning three-dimensional imaging, the method comprising:
step one: obtaining laser lattice data through laser scanning of an object and storing the laser lattice data in a database;
step two: reading laser lattice data from a database into a temporary variable data table;
step three: compensating the scanned dot matrix data and inserting a dot value;
step four: performing matrix transformation of coordinates after the dot matrix data is inserted;
step five: and storing and outputting the converted dot matrix data.
The laser scanning scans the object in a set scanning interval according to a fixed scanning resolution.
The third step specifically comprises: and calculating coordinates of the dot matrix data and determining the inserted dot matrix data.
And calculating coordinates of the dot matrix data: taking the position of the laser scanner as an origin, and a value corresponding to a tangent plane relative to a plane, wherein according to the angle a and the distance l of each point of scanning, the x position of a trigonometric function relative to the origin is x=l×sin (a), and the height is z=l×cos (a); an object is composed of a plurality of tangential planes, and three coordinate values of x, y and z are described corresponding to points with inclination angles; and further solving the x, y and z coordinates of the lattice by utilizing the inclined angle b.
Determination of inserted dot matrix data: and respectively calculating the values of two points in the middle and two points at the farthest ends in the dot matrix data, finding out the greatest common divisor of the two points, changing the original dot matrix into a new dot matrix by taking the greatest common divisor as a reference, calculating the distance between every two points, and then performing multiple calculation to obtain the respectively inserted dot number.
After the dot matrix is inserted into the data, the whole graph is required to be subjected to matrix transformation according to the coordinate origin of the laser scanner, the actual coordinate point of the crane and the actual coordinate origin of the factory building, so that an actual position dot matrix relative to the factory building is obtained.
The application has the beneficial effects that: the application solves the data insertion method relative to a specific point based on the real-time measurement of the scanning angle and the inclination angle, realizes the conversion from the sparse inconsistent state to the uniform lattice, ensures that the lattice truly reflects the actual object state, and provides good data information for the subsequent lattice graph processing.
Drawings
Fig. 1 is a schematic view of a laser scanning plane in the present application.
Fig. 2 is a schematic view of a laser scanning space.
Fig. 3 is a rectangular coordinate transformation diagram of image coordinates and two-dimensional coordinates.
Fig. 4 is a schematic diagram after interpolation calculation.
Detailed Description
The application will be described in further detail with reference to the drawings and the detailed description.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
In the present application, terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", etc. refer to an orientation or a positional relationship based on that shown in the drawings, and are merely relational terms, which are used for convenience in describing structural relationships of various components or elements of the present application, and do not denote any one of the components or elements of the present application, and are not to be construed as limiting the present application.
In the present application, terms such as "fixedly attached," "connected," "coupled," and the like are to be construed broadly and refer to either a fixed connection or an integral or removable connection; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the terms in the present application can be determined according to circumstances by a person skilled in the relevant art or the art, and is not to be construed as limiting the present application.
A method of correction of laser scanning three-dimensional imaging, the method comprising:
step one: obtaining laser lattice data through laser scanning of an object and storing the laser lattice data in a database;
step two: reading laser lattice data from a database into a temporary variable data table;
step three: compensating the scanned dot matrix data and inserting a dot value;
step four: performing matrix transformation of coordinates after the dot matrix data is inserted;
step five: and storing and outputting the converted dot matrix data.
The laser scanning scans the object in a set scanning interval according to a fixed scanning resolution.
The third step specifically comprises: and calculating coordinates of the dot matrix data and determining the inserted dot matrix data.
And calculating coordinates of the dot matrix data: taking the position of the laser scanner as an origin, and a value corresponding to a tangent plane relative to a plane, wherein according to the angle a and the distance l of each point of scanning, the x position of a trigonometric function relative to the origin is x=l×sin (a), and the height is z=l×cos (a); an object is composed of a plurality of tangential planes, and three coordinate values of x, y and z are described corresponding to points with inclination angles; and further solving the x, y and z coordinates of the lattice by utilizing the inclined angle b.
Determination of inserted dot matrix data: and respectively calculating the values of two points in the middle and two points at the farthest ends in the dot matrix data, finding out the greatest common divisor of the two points, changing the original dot matrix into a new dot matrix by taking the greatest common divisor as a reference, calculating the distance between every two points, and then performing multiple calculation to obtain the respectively inserted dot number.
After the dot matrix is inserted into the data, the whole graph is required to be subjected to matrix transformation according to the coordinate origin of the laser scanner, the actual coordinate point of the crane and the actual coordinate origin of the factory building, so that an actual position dot matrix relative to the factory building is obtained.
Examples:
a laser scanner is arranged on the crane or above the tested material, and the scanning process is shown in fig. 2 due to the point laser scanning which is generally adopted: in the set scanning interval, the laser scans from the point A to the point B and then back from the point A1 to the point B1, and the like, until the whole set interval is completed.
Due to the continuous updating of the scanning information, scanned data are read out in a socket mode in real time and then stored in a database.
When the whole scanning is completed, the database stores a three-dimensional lattice diagram of the whole scanning area, and the lattice data records the angle of the whole holder and the angle of the laser, and the data are measured and recorded.
The database program sorts the three-dimensional data of the scanned data according to a certain rule, deletes some data beyond the normal range, and carries out filtering insertion by two adjacent normal data.
Since the scanning resolution of the laser cannot be changed in the whole process, the distance between two scanning points is changed, when the scanning angle is large, huge distance difference between the two far-end points and the middle point can possibly occur, even more than 2 times, and at the moment, the original data are read in for correction.
And respectively calculating the values of the two middle points and the two farthest points, finding out the greatest common divisor of the two middle points and the two farthest points, changing the original lattice into a new lattice by taking the greatest common divisor as a reference, calculating the distance between every two points, and then performing multiple calculation to obtain the points which are respectively inserted.
The lattice actually builds the map of the inverse mapping algorithm used for remapping. That is, for each pixel in the target (corrected) image, the corresponding coordinate in the source image is calculated. The effective area extraction adopts a scanning line approximation method and a variable angle scanning method with transverse and longitudinal directions; conversion between the image coordinates uv and the cartesian coordinate system (rectangular coordinate system xy). As shown in fig. 3, x=u-u 0 ;y=-(v-v 0 ). As shown in fig. 4, the image accuracy and distortion after the correction algorithm is greatly improved.
The numerical value of each point is calculated according to the algorithm, then the abnormal value is removed, and the abnormal value is stored in a new table of the database.
The above description is only of the preferred embodiments of the present application and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.
While the foregoing description of the embodiments of the present application has been presented in conjunction with the drawings, it should be understood that it is not intended to limit the scope of the application, but rather, it is intended to cover all modifications or variations within the scope of the application as defined by the claims of the present application.
Claims (3)
1. A correction method for laser scanning three-dimensional imaging is characterized in that: the method comprises the following steps:
step one: obtaining laser lattice data through laser scanning of an object and storing the laser lattice data in a database;
step two: reading laser lattice data from a database into a temporary variable data table;
step three: compensating the scanned dot matrix data and inserting a dot value;
step four: performing matrix transformation of coordinates after the dot matrix data is inserted;
step five: storing and outputting the transformed lattice data;
the third step specifically comprises: coordinate calculation of dot matrix data and determination of inserted dot matrix data;
and calculating coordinates of the dot matrix data: taking the position of the laser scanner as an origin, and a value corresponding to a tangent plane relative to a plane, wherein according to the angle a and the distance l of each point of scanning, the x position of a trigonometric function relative to the origin is x=l×sin (a), and the height is z=l×cos (a); an object is composed of a plurality of tangential planes, and three coordinate values of x, y and z are described corresponding to points with inclination angles; further solving the x, y and z coordinates of the lattice by utilizing the inclined angle b;
determination of inserted dot matrix data: and respectively calculating the values of two points in the middle and two points at the farthest ends in the dot matrix data, finding out the greatest common divisor of the two points, changing the original dot matrix into a new dot matrix by taking the greatest common divisor as a reference, calculating the distance between every two points, and then performing multiple calculation to obtain the respectively inserted dot number.
2. The method for correcting laser scanning three-dimensional imaging according to claim 1, wherein: the laser scanning scans the object in a set scanning interval according to a fixed scanning resolution.
3. The method for correcting laser scanning three-dimensional imaging according to claim 1, wherein: after the dot matrix is inserted into the data, the whole graph is required to be subjected to matrix transformation according to the coordinate origin of the laser scanner, the actual coordinate point of the crane and the actual coordinate origin of the factory building, so that an actual position dot matrix relative to the factory building is obtained.
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