CN114295076B - Measuring method for solving shadow measuring problem of tiny object based on structured light - Google Patents
Measuring method for solving shadow measuring problem of tiny object based on structured light Download PDFInfo
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Abstract
The invention discloses a measuring method for solving the problem of shadow measurement of a tiny object based on structured light, which comprises the steps of firstly, using two standard projectors with telecentric lenses to respectively project blue monochromatic stripes and red monochromatic stripes onto the object to be measured from left and right directions at the same time; then capturing superimposed red and blue stripes with measured object information by using a color camera, and carrying out three-way separation on the acquired picture to obtain information of a red channel and a blue channel; and then, obtaining three-dimensional point cloud data of the separated red and blue channel information through a phase shift method and a multi-frequency heterodyne method, generating information required by mask screening, and finally fusing the obtained two point clouds of the red and blue channels so as to solve the problem of inherent shadow in the measurement of the tiny object. The method for simultaneously measuring the three-dimensional micro object by utilizing the red and blue channels can solve the problem of shadow which is difficult to avoid during the measurement of the three-dimensional micro object, and has great value in the field of high-precision and high-dynamic three-dimensional micro object measurement.
Description
Technical Field
The invention relates to a shadow solving method of an optical three-dimensional measurement system, belongs to the technical field of photoelectric detection, and particularly relates to a measuring method for solving the problem of shadow measurement of a tiny object based on structured light.
Background
The three-dimensional reconstruction method based on the structured light system is mature, and is simpler, faster and more reliable compared with the traditional photogrammetry or multi-view geometry method based on images, and is widely applied to high-technology industries (such as microelectronic chip industry, consumer electronics connector industry, photoelectric semiconductor industry, industry circuit board industry, small medical equipment, jewelry cutting industry and the like), urban building modeling and small cultural relic reconstruction. Aiming at the problems of precise measurement of a tiny object, measurement shadow of complex morphology and measurement dead angle in the structured light projection measurement technology, the invention expands the imaging range by adding an auxiliary light source on the basis of the traditional monocular vision measurement system, establishes a novel double-projection structured light system and solves the shadow problem faced by the traditional structured light measurement system. Based on the existing single projector and single camera, a projector is added to solve the shadow problem, one projector projects a single color blue stripe, and the other projector projects a single color red stripe. Two projectors simultaneously project stripes onto an object, three channels are separated to perform point cloud fusion after pictures are collected, and the problems of shielding and shadow of the optical structure of the system based on a triangulation method are solved.
Disclosure of Invention
The invention aims to provide a measuring method for solving the problem of shadow measurement of a tiny object based on structured light, and the method for simultaneously measuring by utilizing two red and blue channels can solve the problem of shadow which is difficult to avoid when measuring a three-dimensional tiny object, and compared with a traditional double projector system, the method has higher measuring efficiency and measuring speed and has great value in the field of measuring the high-precision and high-dynamic three-dimensional tiny object;
in order to achieve the above purpose, the present invention adopts the following technical scheme: a measurement method for solving a shadow problem of a structured light-based measurement of a tiny object, the method comprising the steps of:
step one, building a system: the system comprises a computer, two DLP projectors with telecentric lenses, CCD color cameras with telecentric lenses, a reference plane and a bracket, wherein the DLP projectors and the CCD color phases are respectively connected with the computer through data lines, an object to be measured is placed on the reference plane, the computer comprises an image acquisition card, projection software and measurement software, the CCD color cameras with telecentric lenses are fixed on the bracket capable of vertically moving up and down, the two DLP projectors with telecentric lenses are placed on two sides of the object to be measured, and then the whole system is calibrated;
step two, collecting pictures and separation information: two DLP projectors project red horizontal stripes and blue horizontal stripes to an object to be measured at the same time, and then a CCD color camera is used for collecting pictures; separating the acquired pictures in red, green and blue ways to obtain object information of three channels, reserving information of the red channel and the blue channel and discarding information of the green channel;
step three, acquiring point clouds: obtaining three-dimensional point cloud data of the red channel information and the blue channel information obtained in the second step through a phase shift method and a multi-frequency heterodyne method;
step four, point cloud fusion: and D, fusing the red and blue channel three-dimensional point clouds obtained in the step three, marking pixels with gray values larger than or equal to 255 as 0 through retrieving the gray values of the separated red channel pictures, setting other areas as 1, generating a mask, processing the obtained red and blue channel three-dimensional point clouds by using the mask, reserving an intact area without shadow, fusing the two point clouds, and obtaining a three-dimensional object point cloud contour without shadow, thereby obtaining the complete three-dimensional appearance of the measured object.
A measuring method for solving the problem of shadow measurement of a tiny object based on structured light comprises the following steps:
step one, building a system: the system comprises a computer, two DLP projectors with telecentric lenses, CCD color cameras with telecentric lenses, a reference plane and a bracket, wherein the DLP projectors and the CCD color phases are respectively connected with the computer through data lines, an object to be measured is placed on the reference plane, the computer comprises an image acquisition card, projection software and measurement software, the CCD color cameras with telecentric lenses are fixed on the bracket capable of vertically moving up and down, the two DLP projectors with telecentric lenses are placed on two sides of the object to be measured, and then the whole system is calibrated;
step two, collecting pictures and separation information: two DLP projectors project red horizontal stripes and blue horizontal stripes to an object to be measured at the same time, and then a CCD color camera is used for collecting pictures; separating the acquired pictures in red, green and blue ways to obtain object information of three channels, reserving information of the red channel and the blue channel and discarding information of the green channel;
step three, acquiring point clouds: obtaining three-dimensional point cloud data of the red channel information and the blue channel information obtained in the second step through a phase shift method and a multi-frequency heterodyne method;
step four, point cloud fusion: and D, fusing the red and blue channel three-dimensional point clouds obtained in the step three, marking pixels with gray values larger than or equal to 255 as 0 through retrieving the gray values of the separated red channel pictures, setting other areas as 1, generating a mask, processing the obtained red and blue channel three-dimensional point clouds by using the mask, reserving an intact area without shadow, fusing the two point clouds, and obtaining a three-dimensional object point cloud contour without shadow, thereby obtaining the complete three-dimensional appearance of the measured object.
The beneficial effects of the invention are as follows:
compared with the traditional double projector measuring system, the invention can reduce half of the number of pictures and improve the measuring efficiency and measuring speed; the problem of difficult grating separation of the traditional double projector system is solved; the problem of inherent shadows in structured light based measurements of tiny objects is solved.
Drawings
FIG. 1 is a schematic diagram of a measurement system of the present invention;
FIG. 2 is a photograph taken by a system color CCD camera of the present invention;
fig. 3 is a mask map generated from a captured picture in accordance with the present invention.
Detailed Description
It is easy to understand that various embodiments of the present invention can be envisioned by those of ordinary skill in the art without altering the true spirit of the present invention in light of the present teachings. Accordingly, the following detailed description and drawings are merely illustrative of the invention and are not intended to be exhaustive or to limit or restrict the invention. Examples of the present invention will be described in further detail below with reference to the accompanying drawings, but the examples are not intended to limit the invention, and all the similar structures and similar variations using the present invention should be included in the scope of the present invention.
The invention relates to a measuring method for solving the problem of shadow measurement of a tiny object based on structured light, which comprises the following steps:
1. building a system: as shown in fig. 1, the system comprises a computer 1, a DLP projector 2 with a telecentric lens, a DLP projector 4 with a telecentric lens, a CCD color camera 3 with a telecentric lens, a reference plane 6 and a bracket, wherein the DLP projector 2, the DLP projector 4 and the CCD color camera 3 are respectively connected with the computer 1 through data wires, an object 5 to be measured is placed on the reference plane 6, an image acquisition card, projection software and measurement software are contained in the computer 1, the CCD color camera 3 with the telecentric lens is fixed on a bracket capable of vertically moving up and down, two DPL projectors with the telecentric lens are placed on two sides of the object 5 to be measured, and then the whole system is calibrated;
2. collecting pictures and separation information: two DLP projectors project red horizontal stripes and blue horizontal stripes to an object to be measured at the same time, and then a CCD color camera is used for collecting pictures; separating the acquired pictures in red, green and blue ways to obtain object information of three channels, reserving information of the red channel and the blue channel and discarding information of the green channel; let the picture captured by the color camera be I (x, y), I r (x, y) red channel information for capturing pictures for a camera, I g (x, y) red channel information for capturing pictures for a camera, I b (x, y) blue channel information for a camera capturing pictures, and the relationship between them can be expressed by the formula (1):
I(x,y)＝I r (x,y)+I g (x,y)+I b (x,y) (1)
3. acquiring a three-dimensional point cloud: obtaining three-dimensional point clouds of the obtained red and blue channel information through a phase shift method and a multi-frequency heterodyne method;
4. three-dimensional point cloud fusion: and fusing the obtained three-dimensional point clouds of the red and blue channels. And (3) searching the gray value of the separated red channel picture, marking pixels with the gray value larger than or equal to 255 to set 0, and setting other areas to 1 to generate a mask. In the method, two monochromatic images I of red and blue are judged r (x, y) and I b The gray values of (x, y) mark the shadow area of each channel. The masks corresponding to the saturated regions of the B-channel and the R-channel are obtained by the formulas (2) and (3):
as shown in fig. 2, a camera captures a picture with an object under test. Fig. 3 is a mask generated according to the gray value screening of fig. 2. And processing the obtained three-dimensional point clouds of the red and blue channels by using the generated mask, reserving an intact area without shadow, and fusing the two point clouds to obtain a three-dimensional object point cloud contour without shadow, thereby obtaining the complete three-dimensional appearance of the measured object.
Without being limited thereto, any changes or substitutions that are not contemplated by the inventors are intended to be included within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope defined by the claims.
Claims (1)
1. A measurement method for solving the problem of shadow measurement of a tiny object based on structured light, comprising the steps of:
step one, building a system: the system comprises a computer, two DLP projectors with telecentric lenses, CCD color cameras with telecentric lenses, a reference plane and a bracket, wherein the DLP projectors and the CCD color phases are respectively connected with the computer through data lines, an object to be measured is placed on the reference plane, the computer comprises an image acquisition card, projection software and measurement software, the CCD color cameras with telecentric lenses are fixed on the bracket capable of vertically moving up and down, the two DLP projectors with telecentric lenses are placed on two sides of the object to be measured, and then the whole system is calibrated;
step two, collecting pictures and separation information: two DLP projectors project red horizontal stripes and blue horizontal stripes to an object to be measured at the same time, and then a CCD color camera is used for collecting pictures; separating the acquired pictures in red, green and blue ways to obtain object information of three channels, reserving information of the red channel and the blue channel and discarding information of the green channel;
step three, acquiring point clouds: obtaining three-dimensional point cloud data of the red channel information and the blue channel information obtained in the second step through a phase shift method and a multi-frequency heterodyne method;
step four, point cloud fusion: fusing the three-dimensional point clouds of the red channel and the blue channel obtained in the third step, marking pixels with gray values larger than or equal to 255 as 0 and other areas as 1 by searching the gray values of the separated red channel pictures, generating a mask, and judging two monochromatic images I of red and blue r (x, y) and I b (x, y) marking the shadow area of each channel with gray values; the masks corresponding to the saturated regions of the B-channel and the R-channel are obtained by the formulas (1) and (2):
and processing the obtained three-dimensional point clouds of the red and blue channels by using the mask, reserving an intact area without shadow, and fusing the two point clouds to obtain a three-dimensional object point cloud contour without shadow, thereby obtaining the complete three-dimensional appearance of the measured object.
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| CN118096990B (en) * | 2024-04-28 | 2024-07-09 | 武汉工程大学 | Double-projection structured light three-dimensional reconstruction method and system capable of compensating shadow shielding |
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