CN114255319A - Three-dimensional reconstruction method and system for stereo cameras with different frame rates and application of three-dimensional reconstruction method and system - Google Patents

Three-dimensional reconstruction method and system for stereo cameras with different frame rates and application of three-dimensional reconstruction method and system Download PDF

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CN114255319A
CN114255319A CN202111503145.XA CN202111503145A CN114255319A CN 114255319 A CN114255319 A CN 114255319A CN 202111503145 A CN202111503145 A CN 202111503145A CN 114255319 A CN114255319 A CN 114255319A
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CN114255319B (en
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马壮
沈珏
黄宇
黄栋
冯岩
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Suzhou University
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    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
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    • G06T2207/30241—Trajectory
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Abstract

The invention relates to a three-dimensional reconstruction method, a three-dimensional reconstruction system and application of three-dimensional cameras with different frame rates, wherein the frame rates of a first camera and a second camera are different, and the three-dimensional reconstruction method comprises the following steps: acquiring the positions of the center of the first camera, the center of the second camera, the image plane of the first camera and the image plane of the second camera in a laboratory coordinate system; acquiring the position of an object point on the position of an image plane of a first camera, and acquiring position coordinates under a laboratory coordinate system by combining the position of the image plane of the first camera under the laboratory coordinate; constructing a plane according to the center of the first camera, the center of the second camera and the position coordinate under a laboratory coordinate system, wherein the intersection line of the plane and the image plane of the second camera is a epipolar line; and acquiring a trajectory diagram of the target object through a second camera, and performing three-dimensional reconstruction on the target object according to the intersection point of the trajectory and the epipolar line in the trajectory diagram. The method eliminates the limitation that the binocular stereo camera in the tokamak must shoot at the same frequency, reduces the cost and has wide application range.

Description

Three-dimensional reconstruction method and system for stereo cameras with different frame rates and application of three-dimensional reconstruction method and system
Technical Field
The invention relates to the technical field of visual imaging, in particular to a three-dimensional reconstruction method and a three-dimensional reconstruction system for stereo cameras with different frame rates and application thereof.
Background
Tokamak is considered the most likely controllable nuclear fusion device to be used commercially. Its main structure is a closed ring-shaped vacuum chamber, and outside the vacuum chamber an electric coil is winded. When the device is operated, nuclear fusion raw materials introduced into the vacuum chamber are heated to hundreds of millions of degrees and are in a plasma state, and the spiral configuration magnetic field generated by the external coil can bind the nuclear fusion raw materials, so that controllable nuclear fusion is realized. The internationally largest tokamak is an ITER device located in france, a project collaborated by china, the european union, the united states, russia, japan, korea and india seven parties, currently under construction. China is at the leading level in the world in the field, the fully superconducting Tokamak EAST is designed and built at present, and a series of achievement attracting attention in the world, such as 1 hundred million-degree core plasma electron temperature and long pulse discharge exceeding 400 seconds, is achieved. Researchers have found that, as discharge parameters increase, tokamak devices generate a large amount of dust during operation. These dust can have serious effects, for example, causing the tokamak discharge to terminate, damaging other diagnostic equipment, and even causing the device to explode. On the other hand, due to the extremely high temperature and complicated electromagnetic environment inside the tokamak, the general diagnosis mode is difficult to realize the in-situ diagnosis on the core part of the tokamak, so that researchers propose to use active injection of some dust (the material is lithium, carbon and the like) to deduce local plasma parameters by researching the dynamic behavior of the dust. Therefore, the research on the physical mechanisms of fusion dust generation, transportation, ablation and the like is of great significance. The most direct means for observing the dust in the polytocamak is to use a high-speed camera to shoot and view, and then analyze the change process. Furthermore, the three-dimensional reconstruction of the shot object can be realized by synchronously shooting by two high-speed cameras with different visual angles, namely the binocular stereo camera. At present, binocular stereo camera systems consisting of two synchronous high-speed cameras are installed inside tokamaks such as TEXTOR, NSTX, MAST, ASDEX-U and the like abroad so as to observe and research dust in the running process of the tokamaks.
At present, two high-speed cameras in the binocular stereo camera must guarantee synchronous shooting. That is to say, in tokamak, two cameras must be triggered simultaneously to shoot and view at the same frequency, and then the shot pictures are taken at the same time through two different visual angles, so that the shot object is reconstructed in three dimensions. This makes the shooting frequency of the stereo camera completely limited to the one of the two cameras with the poor performance. If two high-speed cameras with consistent performance are purchased when the stereo camera is built, the purchasing cost is greatly increased, because in the Tokamak, the shooting frequency is generally 20kHz due to the fact that dust moves very fast, and the current price of the high-speed camera with the performance is more than 60 ten thousand RMB. Even if two high-speed cameras having their own performance characteristics are used, their performance characteristics cannot be made uniform due to experimental factors such as illumination and luminous flux.
Disclosure of Invention
Therefore, the technical problem to be solved by the invention is to overcome the technical defect that in the prior art, two high-speed cameras in a binocular stereo camera must ensure synchronous shooting, and the shooting frequency of the stereo camera is completely limited by one of the two cameras with poor performance.
In order to solve the above technical problem, the present invention provides a three-dimensional reconstruction method for stereo cameras with different frame rates, where the stereo cameras include a first camera and a second camera, and the frame rates of the first camera and the second camera are different, and the three-dimensional reconstruction method includes the following steps:
s1, acquiring the center O of the first camera1Center of the second camera O2The position of the image plane of the first camera and the position of the image plane of the second camera in a laboratory coordinate system;
s2, acquiring the position M of the object point M on the image plane of the first camera1In combination with the position of the first camera image plane in laboratory coordinates in S1, to obtain m1X-y-z position coordinates in a laboratory coordinate system;
s3 center O of the first camera1Center of the second camera O2And m in S21Building a plane O in x-y-z position coordinates under a laboratory coordinate system1O2m1Plane O of1O2m1The intersection line of the image plane of the second camera and the image plane of the second camera is a epipolar line;
and S4, acquiring a trajectory diagram of the target object through the second camera, and performing three-dimensional reconstruction on the target object according to the intersection point of the trajectory and the epipolar line in the trajectory diagram.
Preferably, in S4, the three-dimensional reconstruction of the target object according to the intersection point of the trajectory and the epipolar line in the trajectory diagram specifically includes:
s41, acquiring an image M of the object point M in the image plane of the second camera according to the intersection point of the track and the epipolar line in the track map2The relative coordinates u '-v' of the position of (a);
s42, according to the image m2In combination with the position of the image plane of the second camera in the experimental coordinate system in S1, m is obtained2X-y-z coordinates in a laboratory coordinate system;
s43, connecting O under a laboratory coordinate system1m1And O2m2To find two straight lines O1m1And O2m2To determine the position of the object point M in the experimental coordinate system x-y-z.
Preferably, in S41, when the intersection point of the trajectory and the epipolar line in the trajectory graph includes a plurality of pixel points, the image M of the object point M in the image plane of the second camera is determined according to the brightness of the pixel points through which the epipolar line passes on the captured trajectory2Relative coordinates u '-v' of the position of (a).
Preferably, the image M of the object point M in the image plane of the second camera is determined according to the brightness of the pixel point where the epipolar line passes on the photographed track2The relative coordinates u '-v' of the position of (a) specifically include:
obtaining the brightness center of the pixel point at the intersection of the epipolar line and the track through a moment method, and taking the brightness center as the position M of the object point M on the image plane of the second camera2。
Preferably, the first camera and the second camera are both high-speed cameras.
The invention discloses application of a three-dimensional reconstruction method of a stereo camera with different frame rates, which is applied to tokamak.
The invention discloses application of three-dimensional reconstruction methods of three-dimensional cameras with different frame rates, which are applied to the shooting of fusion dust motion trajectories.
The invention discloses a three-dimensional reconstruction system of stereo cameras with different frame rates, which comprises:
a epipolar line acquisition module for acquiring a center O of the first camera1Center of the second camera O2Acquiring the position M of the object point M on the image plane of the first camera according to the positions of the image plane of the first camera and the image plane of the second camera in a laboratory coordinate system1In combination with the position of the first camera image plane in laboratory coordinates in S1, to obtain m1X-y-z position coordinates in a laboratory coordinate system, based on the center O of the first camera1Center of the second camera O2And m in S21Building a plane O in x-y-z position coordinates under a laboratory coordinate system1O2m1Plane O of1O2m1The intersection line of the image plane of the second camera and the image plane of the second camera is a epipolar line;
and the three-dimensional reconstruction module acquires a trajectory diagram of the target object through the second camera, and performs three-dimensional reconstruction on the target object according to the intersection point of the trajectory and the epipolar line in the trajectory diagram.
The invention discloses application of a three-dimensional reconstruction system of a stereo camera with different frame rates, which is applied to the shooting of fusion dust motion trajectories.
The invention discloses application of a three-dimensional reconstruction system of a stereo camera with different frame rates, which is applied to Tokamak.
Compared with the prior art, the technical scheme of the invention has the following advantages:
1. the invention eliminates the limitation that binocular stereo cameras in the tokamak must shoot at the same frequency, does not need to purchase two high-parameter and high-performance high-speed cameras, can properly reduce the configuration requirement of one camera according to the experimental requirement and reduce the purchase cost.
2. In the experimental stage, the frequencies of the two cameras can be adjusted according to specific luminous fluxes, but the frequency is not completely dependent on one of the two cameras with poor performance, so that the performance of the other high-speed camera is wasted.
Drawings
FIG. 1 is a flow chart of a three-dimensional reconstruction method of a stereo camera according to the present invention;
fig. 2 (a) is a schematic diagram of a binocular stereo camera three-dimensional reconstruction, fig. 2 (b) is a picture taken by the camera 1, and fig. 2 (c) is a picture taken by the camera 2;
FIG. 3 is a schematic diagram of the intersection of the epipolar line and the trajectory showing a plurality of pixels.
Detailed Description
The present invention is further described below in conjunction with the following figures and specific examples so that those skilled in the art may better understand the present invention and practice it, but the examples are not intended to limit the present invention.
Referring to fig. 1, the present invention discloses a three-dimensional reconstruction method for stereo cameras with different frame rates, wherein the stereo cameras include a first camera and a second camera, and the first camera and the second camera have different frame rates, and the three-dimensional reconstruction method includes the following steps:
s1, acquiring the center O of the first camera1Center of the second camera O2The position of the image plane of the first camera and the position of the image plane of the second camera in a laboratory coordinate system;
s2, acquiring the position M of the object point M on the image plane of the first camera1In combination with the position of the first camera image plane in laboratory coordinates in S1, to obtain m1X-y-z position coordinates in a laboratory coordinate system;
s3 center O of the first camera1Center of the second camera O2And m in S21In the laboratory coordinate systemThe x-y-z position coordinates below, construct plane O1O2m1Plane O of1O2m1The intersection line of the image plane of the second camera and the image plane of the second camera is a epipolar line;
and S4, acquiring a trajectory diagram of the target object through the second camera, and performing three-dimensional reconstruction on the target object according to the intersection point of the trajectory and the epipolar line in the trajectory diagram.
In S4, performing three-dimensional reconstruction on the target object according to the intersection point of the trajectory and the epipolar line in the trajectory diagram, specifically including:
s41, acquiring an image M of the object point M in the image plane of the second camera according to the intersection point of the track and the epipolar line in the track map2The relative coordinates u '-v' of the position of (a); when the intersection point of the track and the epipolar line in the track graph comprises a plurality of pixel points, determining the image M of the object point M in the image plane of the second camera according to the brightness of the pixel points which are passed by the epipolar line on the shot track2Relative coordinates u '-v' of the position of (a).
Determining an image M of the object point M in the image plane of the second camera according to the brightness of the pixel point where the epipolar line passes on the shot track2The relative coordinates u '-v' of the position of (a) specifically include:
and obtaining the brightness center of the pixel point at the intersection of the epipolar line and the track through a moment method, and taking the brightness center as the position M of the object point M on the image plane of the second camera.
S42, according to the image m2In combination with the position of the image plane of the second camera in the experimental coordinate system in S1, m is obtained2X-y-z coordinates in a laboratory coordinate system;
s43, connecting O under a laboratory coordinate system1m1And O2m2To find two straight lines O1m1And O2m2To determine the position of the object point M in the experimental coordinate system x-y-z.
In the present invention, the first camera and the second camera are both high-speed cameras.
The three-dimensional reconstruction method of the stereo camera with different frame rates is applied to Tokamak, and particularly can be applied to shooting of fusion dust motion trajectories.
The invention discloses a three-dimensional reconstruction system of stereo cameras with different frame rates, which comprises a epipolar line acquisition module and a three-dimensional reconstruction module. The epipolar line acquisition module is used for acquiring the center O of the first camera1Center of the second camera O2Acquiring the position M of the object point M on the image plane of the first camera according to the positions of the image plane of the first camera and the image plane of the second camera in a laboratory coordinate system1In combination with the position of the first camera image plane in laboratory coordinates in S1, to obtain m1X-y-z position coordinates in a laboratory coordinate system, based on the center O of the first camera1Center of the second camera O2And m in S21Building a plane O in x-y-z position coordinates under a laboratory coordinate system1O2m1Plane O of1O2m1The intersection line with the image plane of the second camera is the epipolar line. And acquiring a trajectory diagram of the target object through a second camera, and performing three-dimensional reconstruction on the target object by the three-dimensional reconstruction module according to the intersection point of the trajectory and the epipolar line in the trajectory diagram.
The three-dimensional reconstruction system of the stereo camera with different frame rates is applied to the shooting of the motion trail of fusion dust. The three-dimensional reconstruction system of the stereo camera with different frame rates is applied to the tokamak.
The technical solution of the present invention is further explained and explained with reference to the specific embodiments.
1. Principle of nuclear lines
Referring to fig. 2 (a), in the schematic diagram of the binocular stereo camera three-dimensional reconstruction, a point M in space at a certain time is simultaneously captured by two cameras, and the images are M1And m2If we have determined m1Position of (1), then m2Can only be located on a certain straight line, which is called epipolar line. The analysis is as follows, now the centers O of the camera 1 and the camera 2 are known1And O2And their position of the image plane, and additionally knowing m taken by the camera 11The position of (a). It should be noted that M, O1、O2Three points define a plane, since m1In a straight line MO1Upper, m2In a straight line MO2Upper, therefore m1And m2Also in the plane MO1O2Inner, and m2Again in the image plane of the camera 2, so m2Are bound to lie in a plane MO1O2On the intersection with the image plane of the camera 2. Then now only this intersection needs to be determined by the known points. Connection O1O2Respectively intersect two image planes as P1、P2Is connected to m1O2The image plane of the camera 2 is at point Q, then P2Q is the desired intersection of two planes, also called epipolar line, m2Necessarily on this line.
2. Applications of
As shown in fig. 2 (b) and (c), it is assumed that the camera 1 takes a high-frequency image, the camera 2 takes a low-frequency image, the exposure time is the reciprocal of the frequency, and the two cameras take images simultaneously. Because the exposure time of the camera 2 is long and the movement speed of dust in the tokamak is fast, a section of track graph is shot in the picture of the camera 2. At a certain moment, the position M of M is shot by the camera 11However, when the camera 2 takes the picture, m corresponding to this moment cannot be directly determined2At a particular location on the trajectory. Therefore, at this time, the epipolar line can be calculated, and the intersection point of the epipolar line and the track, that is, the time m2At a position in the image plane of the camera 2. According to the position, the original three-dimensional reconstruction method can be used again.
In addition, as shown in fig. 3, in the solution of the present invention, the trajectory captured by the camera 2 has a certain width, and the intersection of the epipolar line and the trajectory may be a plurality of pixel points, in order to determine m2The precise position should be calculated based on the characteristics of the object being photographed in the particular experiment. For example, if it is assumed that dust is shot, the brightness centers of pixels passing through the brightness of the pixels on the shot trajectory according to the epipolar line are found as m by, for example, the moment method2At a precise location on the image plane.
The invention eliminates the limitation that the binocular stereo camera in the tokamak must shoot at the same frequency by optimizing the three-dimensional reconstruction method, and has the following beneficial effects:
1. when the scheme of the stereo camera is designed, two high-parameter and high-performance high-speed cameras do not need to be purchased, the configuration requirement of one camera can be properly reduced according to the experimental requirement, and the purchasing cost is reduced.
2. In the experimental stage, the frequencies of the two cameras can be adjusted according to specific luminous fluxes, but the frequency is not completely dependent on one of the two cameras with poor performance, so that the performance of the other high-speed camera is wasted.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.

Claims (10)

1. A three-dimensional reconstruction method for stereo cameras with different frame rates, the stereo cameras comprising a first camera and a second camera, the first camera and the second camera having different frame rates, the three-dimensional reconstruction method comprising the steps of:
s1, acquiring the center O of the first camera1Center of the second camera O2The position of the image plane of the first camera and the position of the image plane of the second camera in a laboratory coordinate system;
s2, acquiring the position M of the object point M on the image plane of the first camera1In combination with the position of the first camera image plane in laboratory coordinates in S1, to obtain m1X-y-z position coordinates in a laboratory coordinate system;
s3 center O of the first camera1Center of the second camera O2And m in S21Building a plane O in x-y-z position coordinates under a laboratory coordinate system1O2m1Plane O of1O2m1The intersection line of the image plane of the second camera and the image plane of the second camera is a epipolar line;
and S4, acquiring a trajectory diagram of the target object through the second camera, and performing three-dimensional reconstruction on the target object according to the intersection point of the trajectory and the epipolar line in the trajectory diagram.
2. The method as claimed in claim 1, wherein in step S4, the three-dimensional reconstruction of the object according to the intersection point of the trajectory and the epipolar line in the trajectory graph includes:
s41, acquiring an image M of the object point M in the image plane of the second camera according to the intersection point of the track and the epipolar line in the track map2The relative coordinates u '-v' of the position of (a);
s42, according to the image m2In combination with the position of the image plane of the second camera in the experimental coordinate system in S1, m is obtained2X-y-z coordinates in a laboratory coordinate system;
s43, connecting O under a laboratory coordinate system1m1And O2m2To find two straight lines O1m1And O2m2To determine the position of the object point M in the experimental coordinate system x-y-z.
3. The method as claimed in claim 2, wherein in the S41, when the intersection point of the trajectory and the epipolar line in the trajectory graph includes a plurality of pixel points, the image M of the object point M in the image plane of the second camera is determined according to the brightness of the pixel points passed by the epipolar line on the captured trajectory2Relative coordinates u '-v' of the position of (a).
4. The method as claimed in claim 3, wherein the determining the image M of the object point M in the image plane of the second camera according to the brightness of the pixel point where the epipolar line passes on the captured trajectory2The relative coordinates u '-v' of the position of (a) specifically include:
obtaining the brightness center of the pixel point at the intersection of the epipolar line and the track through a moment method, and taking the brightness center as the position M of the object point M on the image plane of the second camera2。
5. The method as claimed in claim 1, wherein the first camera and the second camera are high-speed cameras.
6. An application of the three-dimensional reconstruction method of the stereo camera with different frame rates is characterized in that the three-dimensional reconstruction method of the stereo camera with different frame rates as claimed in any one of claims 1 to 5 is applied to tokamak.
7. The application of the three-dimensional reconstruction method of the stereo cameras with different frame rates is characterized in that the three-dimensional reconstruction method of the stereo cameras with different frame rates as claimed in any one of claims 1 to 5 is applied to the shooting of the motion trail of fusion dust.
8. A three-dimensional reconstruction system of stereo cameras with different frame rates is characterized by comprising:
a epipolar line acquisition module for acquiring a center O of the first camera1Center of the second camera O2Acquiring the position M of the object point M on the image plane of the first camera according to the positions of the image plane of the first camera and the image plane of the second camera in a laboratory coordinate system1In combination with the position of the first camera image plane in laboratory coordinates in S1, to obtain m1X-y-z position coordinates in a laboratory coordinate system, based on the center O of the first camera1Center of the second camera O2And m in S21Building a plane O in x-y-z position coordinates under a laboratory coordinate system1O2m1Plane O of1O2m1The intersection line of the image plane of the second camera and the image plane of the second camera is a epipolar line;
and the three-dimensional reconstruction module acquires a trajectory diagram of the target object through the second camera, and performs three-dimensional reconstruction on the target object according to the intersection point of the trajectory and the epipolar line in the trajectory diagram.
9. The application of the three-dimensional reconstruction system of the stereo cameras with different frame rates is characterized in that the three-dimensional reconstruction system of the stereo cameras with different frame rates in claim 8 is applied to the shooting of the motion trail of fusion dust.
10. Use of the three-dimensional reconstruction system of stereo cameras with different frame rates according to claim 8 in tokamak.
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