CN113888395A - Power equipment three-dimensional visualization method and device fusing infrared temperature measurement images - Google Patents
Power equipment three-dimensional visualization method and device fusing infrared temperature measurement images Download PDFInfo
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Abstract
The application discloses a three-dimensional visualization method and a three-dimensional visualization device for power equipment fused with infrared temperature measurement images, wherein the method comprises the following steps: dividing an infrared power equipment image in an infrared temperature measurement image based on a three-dimensional texture image section of the power equipment; extracting key points from the three-dimensional texture image of the power equipment and the infrared power equipment image by adopting an SIFT algorithm, and performing local picture matching according to the Euclidean distance between the calculated infrared key point image and the key points in the three-dimensional texture key point image to obtain an infrared local image of the power equipment; the method comprises the steps of three-dimensionally transforming an infrared local graph of the power equipment into a three-dimensional infrared image according to a preset rotation translation matrix; performing image fusion on the three-dimensional infrared image and the three-dimensional texture image of the power equipment based on the edge information and the fusion weight to obtain a three-dimensional infrared texture image; and visually displaying the three-dimensional infrared texture image. The application can alleviate the technical problems that the visualization is single, the intuition is poor, and richer power equipment information cannot be provided in the prior art.
Description
Technical Field
The application relates to the technical field of three-dimensional image display, in particular to a three-dimensional visualization method and device for power equipment fusing infrared temperature measurement images.
Background
With the continuous progress and development of scientific technology, the three-dimensional modeling technology is widely applied to the transformer substation. The three-dimensional model displays information such as size, position and structure of the substation equipment in a visual mode. Along with the application upgrading of the three-dimensional technology, at present, richer information display needs to be provided for transformer substation workers on a three-dimensional model, and the intuitiveness and the visualization capability of abstract spatial information need to be enhanced, so that operation and maintenance workers can be assisted to make quick and accurate judgment in work.
The conventional power equipment is visually displayed, namely, an infrared thermal imaging temperature measurement image is acquired, and then the unstructured data are manually processed to perform two-dimensional plane display; or directly carrying out three-dimensional modeling and independently displaying the temperature distribution of the equipment. Obviously, the current visual display mode of the power equipment cannot meet the development requirement of the power system.
Disclosure of Invention
The application provides a three-dimensional visualization method and device for power equipment fusing infrared temperature measurement images, which are used for solving the technical problems that the visualization means of the existing two-dimensional infrared temperature measurement image display or independent three-dimensional modeling display technology is single, the intuition is poor, and richer power equipment information cannot be provided.
In view of this, the first aspect of the present application provides a three-dimensional visualization method for power equipment by fusing infrared temperature measurement images, including:
dividing the corresponding infrared power equipment image in the infrared temperature measurement image based on a preset section of the power equipment three-dimensional texture image;
respectively extracting key points of the three-dimensional texture image of the power equipment and the image of the infrared power equipment by adopting an SIFT algorithm to obtain an infrared key point image and a three-dimensional texture key point image;
performing local picture matching according to the calculated Euclidean distance between the infrared key point image and the corresponding key points of the three-dimensional texture key point image to obtain a plurality of power equipment infrared local images;
performing three-dimensional processing on the infrared local image of the power equipment according to a preset rotation and translation matrix to obtain a three-dimensional infrared image, wherein the preset rotation and translation matrix is determined according to world coordinates, pixel coordinates and camera parameters;
performing image fusion on the three-dimensional infrared image and the three-dimensional texture image of the power equipment based on the edge information and the fusion weight to obtain a three-dimensional infrared texture image;
and carrying out scene three-dimensional model mapping processing on the three-dimensional infrared texture image to realize visual display.
Preferably, the segmenting of the corresponding infrared power device image in the infrared temperature measurement image based on the preset section of the power device three-dimensional texture image includes:
acquiring pixel data of an infrared temperature measurement image, and determining a candidate area according to a rectangular pixel array formed by the pixel data;
screening the pixel points of the candidate area by adopting a preset screening range to obtain a preliminary infrared equipment image;
and performing edge background segmentation on the preliminary infrared equipment image by taking a preset tangent plane of the three-dimensional texture image of the power equipment as a reference standard to obtain the infrared power equipment image.
Preferably, the extracting key points from the three-dimensional texture image of the power device and the image of the infrared power device by using the SIFT algorithm to obtain the image of the infrared key point and the image of the three-dimensional texture key point respectively includes:
respectively carrying out fuzzy processing on the three-dimensional texture image of the power equipment and the image of the infrared power equipment by adopting different preset fuzzy parameters to obtain an infrared fuzzy image and a three-dimensional texture fuzzy image;
and respectively extracting key points from the infrared blurred image and the three-dimensional texture blurred image by adopting an SIFT algorithm to obtain an infrared key point image and a three-dimensional texture key point image.
Preferably, the extracting key points from the infrared blurred image and the three-dimensional texture blurred image by using the SIFT algorithm to obtain an infrared key point image and a three-dimensional texture key point image, and then further comprising:
determining the position information and the scale information of the infrared key point image and the three-dimensional texture key point image in a preset quadratic function fitting mode;
and respectively calculating the direction information and the gradient information of each key point in the infrared key point image and the three-dimensional texture key point image.
Preferably, the three-dimensionally processing the infrared local map of the power device according to a preset rotation and translation matrix to obtain a three-dimensional infrared image further includes:
converting a world coordinate system into a camera coordinate system through a first preset conversion parameter, and converting the camera coordinate system into a pixel coordinate system through a second preset conversion parameter to obtain a coordinate conversion relation between the pixel coordinate system and the world coordinate system;
and calculating a preset rotation and translation matrix according to the world coordinate related to the pixel, the pixel coordinate and the camera parameter based on the coordinate conversion relation.
Preferably, the image fusion of the three-dimensional infrared image and the three-dimensional texture image of the power device based on the edge information and the fusion weight value to obtain the three-dimensional infrared texture image includes:
adopting a Gaussian filter to respectively extract the edge information of the three-dimensional infrared image and the three-dimensional texture image of the power equipment to obtain three-dimensional infrared edge information and three-dimensional texture edge information;
sub-feature information is respectively decomposed from the three-dimensional infrared image and the three-dimensional texture image of the power equipment, so that three-dimensional infrared sub-feature information and three-dimensional texture sub-feature information are obtained;
calculating a fusion weight between the three-dimensional infrared sub-feature information and the three-dimensional texture sub-feature information by a preset weight calculation method;
and carrying out image fusion on the three-dimensional infrared image and the three-dimensional texture image of the power equipment based on the three-dimensional infrared edge information, the three-dimensional texture edge information and the fusion weight value to obtain a three-dimensional infrared texture image.
The application second aspect provides a three-dimensional visualization device of power equipment who fuses infrared temperature measurement image, includes:
the image segmentation module is used for segmenting the corresponding infrared power equipment image in the infrared temperature measurement image based on a preset section of the power equipment three-dimensional texture image;
the key point extraction module is used for respectively extracting key points from the three-dimensional texture image of the power equipment and the infrared power equipment image by adopting an SIFT algorithm to obtain an infrared key point image and a three-dimensional texture key point image;
the image matching module is used for carrying out local image matching according to the Euclidean distance between the infrared key point image obtained through calculation and the corresponding key points of the three-dimensional texture key point image to obtain a plurality of power equipment infrared local images;
the three-dimensional conversion module is used for performing three-dimensional processing on the infrared local image of the power equipment according to a preset rotation and translation matrix to obtain a three-dimensional infrared image, and the preset rotation and translation matrix is determined according to world coordinates, pixel coordinates and camera parameters;
the image fusion module is used for carrying out image fusion on the three-dimensional infrared image and the three-dimensional texture image of the power equipment based on the edge information and the fusion weight value to obtain a three-dimensional infrared texture image;
and the three-dimensional display module is used for carrying out scene three-dimensional model mapping processing on the three-dimensional infrared texture image so as to realize visual display.
Preferably, the image segmentation module comprises:
the image preprocessing submodule is used for acquiring pixel data of the infrared temperature measurement image and determining a candidate area according to a rectangular pixel array formed by the pixel data;
the pixel point screening submodule is used for screening the pixel points of the candidate area by adopting a preset screening range to obtain a primary infrared equipment image;
and the background segmentation submodule is used for carrying out edge background segmentation on the preliminary infrared equipment image by taking a preset tangent plane of the three-dimensional texture image of the electric power equipment as a reference standard to obtain the infrared electric power equipment image.
Preferably, the method further comprises the following steps:
the first characteristic information module is used for determining the position information and the scale information of the infrared key point image and the three-dimensional texture key point image in a preset quadratic function fitting mode;
and the second characteristic information module is used for respectively calculating the direction information and the gradient information of each key point in the infrared key point image and the three-dimensional texture key point image.
Preferably, the image fusion module includes:
the edge information extraction submodule is used for respectively extracting the edge information of the three-dimensional infrared image and the three-dimensional texture image of the power equipment by adopting a Gaussian filter to obtain three-dimensional infrared edge information and three-dimensional texture edge information;
the characteristic information extraction submodule is used for respectively resolving sub-characteristic information from the three-dimensional infrared image and the three-dimensional texture image of the power equipment to obtain three-dimensional infrared sub-characteristic information and three-dimensional texture sub-characteristic information;
the fusion weight calculation submodule is used for calculating a fusion weight between the three-dimensional infrared sub-feature information and the three-dimensional texture sub-feature information through a preset weight calculation method;
and the three-dimensional image fusion submodule is used for carrying out image fusion on the three-dimensional infrared image and the three-dimensional texture image of the power equipment based on the three-dimensional infrared edge information, the three-dimensional texture edge information and the fusion weight value to obtain a three-dimensional infrared texture image.
According to the technical scheme, the embodiment of the application has the following advantages:
the application provides a three-dimensional visualization method for power equipment fused with infrared temperature measurement images, which comprises the following steps: dividing the corresponding infrared power equipment image in the infrared temperature measurement image based on a preset section of the power equipment three-dimensional texture image; extracting key points of the three-dimensional texture image of the power equipment and the image of the infrared power equipment by adopting an SIFT algorithm to obtain an infrared key point image and a three-dimensional texture key point image; performing local picture matching according to the Euclidean distance between the calculated infrared key point image and the corresponding key points of the three-dimensional texture key point image to obtain a plurality of power equipment infrared local images; the method comprises the steps that three-dimensional processing is conducted on an infrared local graph of the power equipment according to a preset rotation and translation matrix to obtain a three-dimensional infrared image, and the preset rotation and translation matrix is determined according to world coordinates, pixel coordinates and camera parameters; performing image fusion on the three-dimensional infrared image and the three-dimensional texture image of the power equipment based on the edge information and the fusion weight to obtain a three-dimensional infrared texture image; and carrying out scene three-dimensional model mapping processing on the three-dimensional infrared texture image to realize visual display.
According to the power equipment three-dimensional visualization method fusing the infrared temperature measurement images, the infrared equipment extraction is carried out on the infrared temperature measurement images based on the three-dimensional images of the equipment, and the target power equipment images can be roughly separated; and through the key point matching between the three-dimensional texture image and the two-dimensional infrared image, a plurality of different surfaces of the equipment can be cut from the two-dimensional infrared key point image, the three-dimensional infrared image can be obtained by carrying out three-dimensional processing on the cut different surfaces, and finally the three-dimensional infrared image and the three-dimensional texture image are subjected to image fusion, so that the obtained three-dimensional infrared texture image can not only keep the temperature distribution condition of the infrared temperature measurement image, but also realize the three-dimensional texture expression of the equipment, and can provide richer electric equipment information for operators. Therefore, the technical problems that the visualization of the existing two-dimensional infrared temperature measurement image display or independent three-dimensional modeling display technology is too single, the intuition is poor, and more abundant power equipment information cannot be provided can be solved.
Drawings
Fig. 1 is a schematic flowchart of a three-dimensional visualization method for an electrical device fusing an infrared temperature measurement image according to an embodiment of the present disclosure;
fig. 2 is another schematic flow chart of a three-dimensional visualization method for electric power equipment, which is provided by the embodiment of the present application and is fused with an infrared temperature measurement image;
fig. 3 is a schematic structural diagram of a three-dimensional visualization device for power equipment, which is provided by the embodiment of the present application and is fused with an infrared temperature measurement image;
FIG. 4 is a schematic diagram of a world coordinate system, a camera coordinate system, and a pixel coordinate system transformation relationship provided in an embodiment of the present application;
fig. 5 is a schematic diagram of detail information of a fusion process of two three-dimensional images according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
For convenience of understanding, referring to fig. 1, a first embodiment of a three-dimensional visualization method for electric power equipment with fused infrared temperature measurement images provided by the present application includes:
The three-dimensional texture image of the power equipment comprises a plurality of different surfaces of the power equipment, different tangent planes, namely a certain surface of the power equipment, are extracted from the three-dimensional texture image and are used for segmenting the equipment in the two-dimensional infrared temperature measurement image, and the power equipment in the infrared temperature measurement image can be roughly separated. It can be understood that the infrared thermometry image is an image obtained through a series of pre-processing in an earlier stage, such as de-noising and the like.
102, extracting key points of the three-dimensional texture image of the power equipment and the infrared power equipment image by adopting an SIFT algorithm to obtain an infrared key point image and a three-dimensional texture key point image.
The SIFT algorithm, namely the scale invariant feature transform algorithm, is a description for image processing, and retains the detail features in the image by adopting a function filtering mode when a scale space is constructed, and the filtering enables the detail features to be gradually reduced, so that the feature expression under the condition of large scale is simulated. The detail features in this embodiment are the key points, that is, the SIFT algorithm is adopted to extract the key points in different scale spaces, which are also called feature points; the map formed by these keypoints includes a two-dimensional infrared keypoint image and a three-dimensional texture keypoint image. It can be understood that the key points are not affected by illumination or noise to change, and accurate and reliable key point features can be extracted even if the images of the substation power equipment are under different weather conditions.
And 103, carrying out local picture matching according to the calculated Euclidean distance between the infrared key point image and the corresponding key points of the three-dimensional texture key point image to obtain a plurality of infrared local pictures of the power equipment.
The process of local image matching is essentially the matching process of key points, the matching between a certain key point in a two-dimensional infrared key point image and a key point at a corresponding position in a three-dimensional texture key point image is calculated, and generally, the description is carried out by calculating the distance between two key points; and more than one matching keypoint may be selected for a target keypoint. All key points are traversed to complete matching operation, a plurality of different power equipment infrared local graphs of the same equipment in the power equipment infrared key point images can be differentiated, and the graphs are two-dimensional and can express the red text temperature measurement.
And 104, performing three-dimensional processing on the infrared local image of the power equipment according to a preset rotation and translation matrix to obtain a three-dimensional infrared image, wherein the preset rotation and translation matrix is determined according to world coordinates, pixel coordinates and camera parameters.
The preset rotation and translation matrix can reflect the relation between the pixel coordinate system and the world coordinate system, so that the pixel map on the two-dimensional plane can be directly converted into a three-dimensional image form in the world coordinate system. The three-dimensional infrared image refers to a three-dimensional expression of an infrared temperature measurement image of a certain power device.
And 105, carrying out image fusion on the three-dimensional infrared image and the three-dimensional texture image of the power equipment based on the edge information and the fusion weight value to obtain the three-dimensional infrared texture image.
The edge information is beneficial to the boundary fusion of the two three-dimensional images, the fusion weight can clearly define a specific fusion mode, the obtained three-dimensional infrared texture image can reflect the infrared temperature measurement distribution condition of the power equipment and the texture information of the equipment, and the three-dimensional infrared texture image is more visual and has stronger expression capability.
And 106, carrying out scene three-dimensional model mapping processing on the three-dimensional infrared texture image to realize visual display.
The three-dimensional model of the actual scene may include the construction of the whole scene and the display of various different devices, and each device acquires a three-dimensional infrared texture image through the method and then is attached to the corresponding three-dimensional model; the power equipment in the whole scene can realize comprehensive visual display, is more suitable for actual development requirements, and provides abundant visual information for operators.
According to the three-dimensional visualization method for the power equipment fusing the infrared temperature measurement images, the infrared equipment extraction is carried out on the infrared temperature measurement images based on the three-dimensional images of the equipment, and the images of the target power equipment can be roughly separated; and through the key point matching between the three-dimensional texture image and the two-dimensional infrared image, a plurality of different surfaces of the equipment can be cut from the two-dimensional infrared key point image, the three-dimensional infrared image can be obtained by carrying out three-dimensional processing on the cut different surfaces, and finally the three-dimensional infrared image and the three-dimensional texture image are subjected to image fusion, so that the obtained three-dimensional infrared texture image can not only keep the temperature distribution condition of the infrared temperature measurement image, but also realize the three-dimensional texture expression of the equipment, and can provide richer electric equipment information for operators. Therefore, the technical problems that the visualization of the existing two-dimensional infrared temperature measurement image display or independent three-dimensional modeling display technology is too single, the intuition is poor, and more abundant power equipment information cannot be provided can be solved.
For convenience of understanding, please refer to fig. 2, the present application provides a second embodiment of a three-dimensional visualization method for power equipment with fused infrared temperature measurement images, including:
The infrared temperature measurement image can be filtered before being specifically segmented, noise interference is effectively removed, and under the general condition, more Gaussian noise exists easily in the image, so that a Gaussian filter can be adopted to perform Gaussian filtering on the infrared temperature measurement image, and a specific two-dimensional Gaussian filter function is expressed as follows:
F(x,y)＝f(x,y)·G(x,y)
wherein e is a rotational symmetry coefficient of the image, F (x, y) is the infrared temperature measurement image before filtering, G (x, y) is a Gaussian function, and F (x, y) is the infrared temperature measurement image after Gaussian filtering. The infrared temperature measurement image after the Gaussian filtering treatment has higher signal-to-noise ratio, and meanwhile, the edge details of the infrared temperature measurement image can be restored, so that the blurred edge image is clearer; moreover, the pixel array edges of the infrared image are more visible.
And after positioning all pixel arrays in the infrared temperature measurement image, acquiring corresponding pixel data, and constructing a regular rectangular pixel array according to the acquired pixel data to serve as a candidate area of a segmentation task.
Because the overall gray scale of the image is almost the same, the pixel screening operation needs to be performed on the candidate region, the length, width and area of the candidate region are used as analysis objects, the analysis objects are compared with the preset screening range of the array, the pixel array which accords with the preset screening range is screened out, and the specific screening can be expressed as:
wherein R isiFor the screened pixel point region of the primary infrared device, H is long, W is wide, t1、t2Is a preset screening range.
And 203, performing edge background segmentation on the preliminary infrared equipment image by taking a preset tangent plane of the three-dimensional texture image of the electric power equipment as a reference standard to obtain the infrared electric power equipment image.
The preset tangent plane of the three-dimensional texture image of the power equipment can be understood as a two-dimensional power equipment image, the two-dimensional equipment images in the same direction are compared, the preset tangent plane image serves as a reference standard, the preliminary infrared equipment image can be accurately segmented, redundant background pixels are removed, and therefore the accurate infrared power equipment image is obtained.
And 204, respectively carrying out fuzzy processing on the three-dimensional texture image of the power equipment and the image of the infrared power equipment by adopting different preset fuzzy parameters to obtain an infrared fuzzy image and a three-dimensional texture fuzzy image.
Selecting a corresponding scale space, simulating the imaging process of a human on a retina when the human is far away from an object to be near by using the blurring degree of the image, wherein the image is blurred when the human is far away from the object, and blurred images with different degrees can be obtained by using different preset blurring parameters. Both two-dimensional infrared thermometry images and three-dimensional texture images can be processed in this way.
And step 205, extracting key points from the infrared blurred image and the three-dimensional texture blurred image respectively by adopting an SIFT algorithm to obtain an infrared key point image and a three-dimensional texture key point image.
The method comprises the steps that key points and images of the three-dimensional texture image of the power equipment and the image of the infrared power equipment are extracted in the same mode; in order to avoid details of the specific process, here, taking an infrared power device image as an example, taking a local extreme point in an over-differential gaussian space as a key point in this embodiment, and extracting the key point by comparing point cloud data of two adjacent layers of differential gaussians in the same group:
g (x, y, z, sigma) is a difference Gaussian function, I (x, y, z) is coordinates of image pixel points of the infrared power equipment, L (x, y, z, sigma) is a Gaussian function with a variable scale, k is a Gaussian fuzzy scale with different sizes, 8 adjacent points of the cover point in the scale and 9 multiplied by 2(18) points corresponding to the upper and lower adjacent scales are compared with the detection points to obtain 26 points, and if the points are greater than or less than the 26 field points, the monitoring points are characteristic points of the infrared temperature measurement data, namely key points.
And step 206, determining the position information and the scale information of the infrared key point image and the three-dimensional texture key point image in a preset quadratic function fitting mode.
For more accurate description of the keypoints and for data preparation for subsequent calculations, some necessary information for determining the keypoints is required, such as position information and scale information. In addition, the position determination and the scale description of the key points can also delete unstable edge points and feature points with low contrast. And performing curve fitting on the difference operator of the scale space, and accurately positioning the key points in the scale space by using the Taylor expansion of the difference operator.
And step 207, respectively calculating the direction information and the gradient information of each key point in the infrared key point image and the three-dimensional texture key point image.
The direction determination mode of each key point is as follows:
θ(x,y,z)＝arctan(Ly/Lx)
where θ (x, y, z) represents the point direction information, v (x, y, z) represents the point gradient information, and Lx、Ly、LzThe pixel point coordinate differences after the scale change are respectively, and can be expressed as:
Lx＝L(x+1,y,z)-L(x-1,y,z)
Ly＝L(x,y+1,z)-L(x,y-1,z)
Lz＝L(x,y,z+1)-L(x,y,z-1)
some necessary information of key points can be obtained by adopting the method: position information, scale information, direction information, and gradient information.
And 208, carrying out local picture matching according to the calculated Euclidean distance between the infrared key point image and the corresponding key points of the three-dimensional texture key point image to obtain a plurality of infrared local pictures of the power equipment.
The matching process is as follows: firstly, determining a target key point p1Then, a BBF (BestBinFirst) -based k-d tree search algorithm is adopted to search a target key point p in the reference three-dimensional texture key point image1Nearest neighbor q of1And a next nearest neighbor point q2(ii) a Then calculating the target key point p1Respectively with nearest neighbors q1And a next nearest neighbor point q2The Euclidean distances of (1) are respectively denoted as D11 and D12, EuropeThe calculation process of the distance is as follows:
wherein p is1、p2Are respectively two key points, p1i、p2iRespectively, the ith pair of adjacent keypoints.
If the distance ratio D11/D12 is smaller than the preset ratio TH, judging that the current matching point is a qualified matching point of the target key point, otherwise, judging that the target key point has no matching point; and traversing all the key points, and judging whether each key point has a matching point.
And 209, converting the world coordinate system into a camera coordinate system through the first preset conversion parameter, and converting the camera coordinate system into a pixel coordinate system through the second preset conversion parameter to obtain a coordinate conversion relation between the pixel coordinate system and the world coordinate system.
The infrared picture is subjected to three-dimension, so that better fusion of the picture and display of three-dimensional temperature measurement data can be realized, and three space coordinate systems and mutual conversion among the three space coordinate systems are required for the three-dimension of the infrared picture, namely a world coordinate system (UVW), a camera coordinate system (XYZ) and a pixel coordinate system (xy).
Referring to fig. 4, the conversion process from the world coordinate system to the camera coordinate system is:
the conversion process from the camera coordinate system to the pixel coordinate system is as follows:
adopting DLT (direct Linear transform) algorithm to combine with least square method to carry out iterative solution to obtain the coordinate conversion relation between the pixel coordinate system and the world coordinate system as follows:
wherein R is a spatial attitude relationship matrix of the object relative to the camera, T is a spatial position relationship matrix of the object relative to the camera, fx、fyRespectively the x-and y-coordinates of the pixel coordinate system, cx、cyRespectively the x-coordinate and the y-coordinate of the camera coordinate system.
And step 210, calculating a preset rotation and translation matrix according to the world coordinate, the pixel coordinate and the camera parameter related to the pixel based on the coordinate conversion relation.
According to the obtained coordinate conversion relation, the preset rotation and translation matrix calculation can be carried out according to the acquired world coordinates, pixel coordinate positions and camera parameters related to the pixel points:
wherein r is00～r22For presetting the elements of the rotation and translation matrix, phi, psi and gamma are rotation angles in three directions of x, y and z in the rotation matrix respectively.
And step 211, performing three-dimensional processing on the infrared local image of the power equipment according to a preset rotation and translation matrix to obtain a three-dimensional infrared image.
And performing three-dimensional conversion processing on the pixels of the infrared local images of the same power equipment by using the obtained preset rotation translation matrix to obtain a three-dimensional infrared image, namely displaying the three-dimensional equipment image of the infrared temperature measurement of the power equipment.
And 212, extracting the edge information of the three-dimensional infrared image and the three-dimensional texture image of the power equipment respectively by adopting a Gaussian filter to obtain the three-dimensional infrared edge information and the three-dimensional texture edge information.
By adopting a Gaussian filter and combining with a guide filter, the edge information of the three-dimensional infrared image and the three-dimensional texture image of the power equipment can be extracted, and the specific filtering formula is as follows:
wherein, I is a filter channel, p and q are respectively the sampling number of the filter and the number of selected points of the filter channel I,
for corresponding transformed Gaussian variance σsAs standard deviation of corresponding Gaussian function, KPTo normalize the coefficients, one can express:
referring to fig. 5, after the edge information is obtained, the texture detail information d (i) of small scale, the edge information e (i) of large scale, and the underlying policy scale image information a (i) may be obtained, where a (i) is g (i). The principle is that the average value of the infinite multi-linear function at a certain position is solved, and then the value of the complex function at the corresponding position is replaced by taking the average value as a result.
And 213, respectively resolving the sub-feature information from the three-dimensional infrared image and the three-dimensional texture image of the power equipment to obtain three-dimensional infrared sub-feature information and three-dimensional texture sub-feature information.
The process of decomposing the sub-feature information is a process of extracting different characteristic features of the image, the fusion weight is determined based on the sub-feature information, and the values of the pixel point positions corresponding to the sub-feature information can increase the fusion weight, texture details and edge information of the point.
And 214, calculating a fusion weight value between the three-dimensional infrared sub-feature information and the three-dimensional texture sub-feature information by a preset weight calculation method.
The fusion weight calculation process is as follows:
wherein t is a three-dimensional texture subtextSign information, upsilon is a fused pixel point, ciFor infrared sub-feature i, it can be expressed as:
wherein u isi,jMatching weight of three-dimensional texture sub-features corresponding to the infrared sub-features i, and K is the number of the three-dimensional texture sub-features
The infrared thermal imaging temperature measurement image can effectively reflect two-dimensional temperature information of the substation equipment, and the color texture map can effectively reflect texture, map and other information of the substation equipment. The two images are fused, so that the three-dimensional infrared texture image can provide richer power equipment information for operators, and the operators can conveniently and visually analyze the images.
And step 216, carrying out scene three-dimensional model mapping processing on the three-dimensional infrared texture image to realize visual display.
The visualized display process is a three-dimensional display process for adding scene attributes to the power equipment, and the displayed scene can comprise specific infrared temperature measurement power equipment information, three-dimensional model information for expressing textures and some environment three-dimensional modeling information, so that the displayed scene can better meet the actual scene display requirements.
According to the three-dimensional visualization method for the power equipment fusing the infrared temperature measurement images, the infrared equipment extraction is carried out on the infrared temperature measurement images based on the three-dimensional images of the equipment, and the images of the target power equipment can be roughly separated; and through the key point matching between the three-dimensional texture image and the two-dimensional infrared image, a plurality of different surfaces of the equipment can be cut from the two-dimensional infrared key point image, the three-dimensional infrared image can be obtained by carrying out three-dimensional processing on the cut different surfaces, and finally the three-dimensional infrared image and the three-dimensional texture image are subjected to image fusion, so that the obtained three-dimensional infrared texture image can not only keep the temperature distribution condition of the infrared temperature measurement image, but also realize the three-dimensional texture expression of the equipment, and can provide richer electric equipment information for operators. Therefore, the technical problems that the visualization of the existing two-dimensional infrared temperature measurement image display or independent three-dimensional modeling display technology is too single, the intuition is poor, and more abundant power equipment information cannot be provided can be solved.
For easy understanding, please refer to fig. 3, the present application further provides an embodiment of a three-dimensional visualization apparatus for power equipment fusing an infrared temperature measurement image, including:
the image segmentation module 301 is configured to segment a corresponding infrared power device image in the infrared temperature measurement image based on a preset section of the power device three-dimensional texture image;
the key point extraction module 302 is configured to extract key points from the power device three-dimensional texture image and the infrared power device image respectively by using an SIFT algorithm to obtain an infrared key point image and a three-dimensional texture key point image;
the image matching module 303 is configured to perform local image matching according to the calculated euclidean distance between the infrared key point image and the corresponding key points of the three-dimensional texture key point image, so as to obtain a plurality of power device infrared local images;
the three-dimensional conversion module 304 is configured to perform three-dimensional processing on the infrared local image of the power device according to a preset rotation and translation matrix to obtain a three-dimensional infrared image, and the preset rotation and translation matrix is determined according to world coordinates, pixel coordinates and camera parameters;
the image fusion module 305 is configured to perform image fusion on the three-dimensional infrared image and the three-dimensional texture image of the power device based on the edge information and the fusion weight to obtain a three-dimensional infrared texture image;
and the three-dimensional display module 306 is used for performing scene three-dimensional model mapping processing on the three-dimensional infrared texture image to realize visual display.
Further, the image segmentation module 301 includes:
the image preprocessing submodule 3011 is configured to obtain pixel data of the infrared temperature measurement image, and determine a candidate region according to a rectangular pixel array formed by the pixel data;
the pixel point screening submodule 3012 is configured to screen pixel points in the candidate region by using a preset screening range, so as to obtain a preliminary infrared device image;
and the background segmentation submodule 3013 is configured to perform edge background segmentation on the preliminary infrared device image by using a preset section of the three-dimensional texture image of the power device as a reference standard, so as to obtain an infrared power device image.
Further, still include:
the first characteristic information module 307 is configured to determine position information and scale information of the infrared key point image and the three-dimensional texture key point image in a preset quadratic function fitting manner;
and the second characteristic information module 308 is configured to calculate direction information and gradient information of each key point in the infrared key point image and the three-dimensional texture key point image, respectively.
Further, the image fusion module 305 includes:
the edge information extraction submodule 3051 is configured to extract edge information of the three-dimensional infrared image and the three-dimensional texture image of the power device by using a gaussian filter, so as to obtain three-dimensional infrared edge information and three-dimensional texture edge information;
the characteristic information extraction sub-module 3052 is configured to decompose sub-characteristic information from the three-dimensional infrared image and the three-dimensional texture image of the power device, respectively, to obtain three-dimensional infrared sub-characteristic information and three-dimensional texture sub-characteristic information;
the fusion weight calculation sub-module 3053 is configured to calculate a fusion weight between the three-dimensional infrared sub-feature information and the three-dimensional texture sub-feature information by using a preset weight calculation method;
and the three-dimensional image fusion sub-module 3054 is configured to perform image fusion on the three-dimensional infrared image and the three-dimensional texture image of the power device based on the three-dimensional infrared edge information, the three-dimensional texture edge information, and the fusion weight to obtain a three-dimensional infrared texture image.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for executing all or part of the steps of the method described in the embodiments of the present application through a computer device (which may be a personal computer, a server, or a network device). And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (10)
1. A three-dimensional visualization method for power equipment fused with infrared temperature measurement images is characterized by comprising the following steps:
dividing the corresponding infrared power equipment image in the infrared temperature measurement image based on a preset section of the power equipment three-dimensional texture image;
respectively extracting key points of the three-dimensional texture image of the power equipment and the image of the infrared power equipment by adopting an SIFT algorithm to obtain an infrared key point image and a three-dimensional texture key point image;
performing local picture matching according to the calculated Euclidean distance between the infrared key point image and the corresponding key points of the three-dimensional texture key point image to obtain a plurality of power equipment infrared local images;
performing three-dimensional processing on the infrared local image of the power equipment according to a preset rotation and translation matrix to obtain a three-dimensional infrared image, wherein the preset rotation and translation matrix is determined according to world coordinates, pixel coordinates and camera parameters;
performing image fusion on the three-dimensional infrared image and the three-dimensional texture image of the power equipment based on the edge information and the fusion weight to obtain a three-dimensional infrared texture image;
and carrying out scene three-dimensional model mapping processing on the three-dimensional infrared texture image to realize visual display.
2. The three-dimensional visualization method for the power equipment fused with the infrared temperature measurement image according to claim 1, wherein the step of segmenting the corresponding infrared power equipment image in the infrared temperature measurement image based on the preset section of the three-dimensional texture image of the power equipment comprises the following steps:
acquiring pixel data of an infrared temperature measurement image, and determining a candidate area according to a rectangular pixel array formed by the pixel data;
screening the pixel points of the candidate area by adopting a preset screening range to obtain a preliminary infrared equipment image;
and performing edge background segmentation on the preliminary infrared equipment image by taking a preset tangent plane of the three-dimensional texture image of the power equipment as a reference standard to obtain the infrared power equipment image.
3. The electric power equipment three-dimensional visualization method fused with the infrared temperature measurement image according to claim 1, wherein the extracting key points from the electric power equipment three-dimensional texture image and the infrared electric power equipment image by using a SIFT algorithm to obtain an infrared key point image and a three-dimensional texture key point image comprises:
respectively carrying out fuzzy processing on the three-dimensional texture image of the power equipment and the image of the infrared power equipment by adopting different preset fuzzy parameters to obtain an infrared fuzzy image and a three-dimensional texture fuzzy image;
and respectively extracting key points from the infrared blurred image and the three-dimensional texture blurred image by adopting an SIFT algorithm to obtain an infrared key point image and a three-dimensional texture key point image.
4. The three-dimensional visualization method for the power equipment fusing the infrared temperature measurement image according to claim 3, wherein the method for extracting the key points from the infrared blurred image and the three-dimensional texture blurred image by using the SIFT algorithm to obtain the infrared key point image and the three-dimensional texture key point image further comprises the following steps:
determining the position information and the scale information of the infrared key point image and the three-dimensional texture key point image in a preset quadratic function fitting mode;
and respectively calculating the direction information and the gradient information of each key point in the infrared key point image and the three-dimensional texture key point image.
5. The three-dimensional visualization method for the power equipment fusing the infrared temperature measurement image according to claim 1, wherein the power equipment infrared local image is subjected to three-dimensional processing according to a preset rotation and translation matrix to obtain a three-dimensional infrared image, and the method further comprises the following steps:
converting a world coordinate system into a camera coordinate system through a first preset conversion parameter, and converting the camera coordinate system into a pixel coordinate system through a second preset conversion parameter to obtain a coordinate conversion relation between the pixel coordinate system and the world coordinate system;
and calculating a preset rotation and translation matrix according to the world coordinate related to the pixel, the pixel coordinate and the camera parameter based on the coordinate conversion relation.
6. The three-dimensional visualization method for the power equipment fused with the infrared temperature measurement image according to claim 1, wherein the image fusion of the three-dimensional infrared image and the three-dimensional texture image of the power equipment based on the edge information and the fusion weight value to obtain the three-dimensional infrared texture image comprises:
adopting a Gaussian filter to respectively extract the edge information of the three-dimensional infrared image and the three-dimensional texture image of the power equipment to obtain three-dimensional infrared edge information and three-dimensional texture edge information;
sub-feature information is respectively decomposed from the three-dimensional infrared image and the three-dimensional texture image of the power equipment, so that three-dimensional infrared sub-feature information and three-dimensional texture sub-feature information are obtained;
calculating a fusion weight between the three-dimensional infrared sub-feature information and the three-dimensional texture sub-feature information by a preset weight calculation method;
and carrying out image fusion on the three-dimensional infrared image and the three-dimensional texture image of the power equipment based on the three-dimensional infrared edge information, the three-dimensional texture edge information and the fusion weight value to obtain a three-dimensional infrared texture image.
7. The utility model provides a three-dimensional visualization device of power equipment who fuses infrared temperature measurement image which characterized in that includes:
the image segmentation module is used for segmenting the corresponding infrared power equipment image in the infrared temperature measurement image based on a preset section of the power equipment three-dimensional texture image;
the key point extraction module is used for respectively extracting key points from the three-dimensional texture image of the power equipment and the infrared power equipment image by adopting an SIFT algorithm to obtain an infrared key point image and a three-dimensional texture key point image;
the image matching module is used for carrying out local image matching according to the Euclidean distance between the infrared key point image obtained through calculation and the corresponding key points of the three-dimensional texture key point image to obtain a plurality of power equipment infrared local images;
the three-dimensional conversion module is used for performing three-dimensional processing on the infrared local image of the power equipment according to a preset rotation and translation matrix to obtain a three-dimensional infrared image, and the preset rotation and translation matrix is determined according to world coordinates, pixel coordinates and camera parameters;
the image fusion module is used for carrying out image fusion on the three-dimensional infrared image and the three-dimensional texture image of the power equipment based on the edge information and the fusion weight value to obtain a three-dimensional infrared texture image;
and the three-dimensional display module is used for carrying out scene three-dimensional model mapping processing on the three-dimensional infrared texture image so as to realize visual display.
8. The three-dimensional visualization device for the power equipment fused with the infrared thermometry image according to claim 7, wherein the image segmentation module comprises:
the image preprocessing submodule is used for acquiring pixel data of the infrared temperature measurement image and determining a candidate area according to a rectangular pixel array formed by the pixel data;
the pixel point screening submodule is used for screening the pixel points of the candidate area by adopting a preset screening range to obtain a primary infrared equipment image;
and the background segmentation submodule is used for carrying out edge background segmentation on the preliminary infrared equipment image by taking a preset tangent plane of the three-dimensional texture image of the electric power equipment as a reference standard to obtain the infrared electric power equipment image.
9. The three-dimensional visualization device for electric power equipment fused with infrared thermometry images according to claim 7, further comprising:
the first characteristic information module is used for determining the position information and the scale information of the infrared key point image and the three-dimensional texture key point image in a preset quadratic function fitting mode;
and the second characteristic information module is used for respectively calculating the direction information and the gradient information of each key point in the infrared key point image and the three-dimensional texture key point image.
10. The three-dimensional visualization device for the power equipment fusing the infrared temperature measurement image according to claim 7, wherein the image fusing module comprises:
the edge information extraction submodule is used for respectively extracting the edge information of the three-dimensional infrared image and the three-dimensional texture image of the power equipment by adopting a Gaussian filter to obtain three-dimensional infrared edge information and three-dimensional texture edge information;
the characteristic information extraction submodule is used for respectively resolving sub-characteristic information from the three-dimensional infrared image and the three-dimensional texture image of the power equipment to obtain three-dimensional infrared sub-characteristic information and three-dimensional texture sub-characteristic information;
the fusion weight calculation submodule is used for calculating a fusion weight between the three-dimensional infrared sub-feature information and the three-dimensional texture sub-feature information through a preset weight calculation method;
and the three-dimensional image fusion submodule is used for carrying out image fusion on the three-dimensional infrared image and the three-dimensional texture image of the power equipment based on the three-dimensional infrared edge information, the three-dimensional texture edge information and the fusion weight value to obtain a three-dimensional infrared texture image.
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