CN103236076A - Three-dimensional object model reconstruction system and method based on laser images - Google Patents
Three-dimensional object model reconstruction system and method based on laser images Download PDFInfo
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Abstract
Disclosed is a three-dimensional object model reconstruction system and method based on laser images. The system comprises a computer, a single chip microcomputer, a stepping motor, a rotary cradle head, a laser device, a camera, a chessboard calibration plate and a three-legged support. The reconstruction process includes: according to a classical Zhang Zhengyou chessboard calibration method, acquiring calibrated images and generating camera parameters through a hardware system; and controlling the single chip microcomputer by the aid of software so as to control the stepping motor in real time, enabling the surface of a target object to be scanned by laser rays by 360 degrees, performing real-time shooting by the camera to obtain a target image, importing the target image into the computer to be used for selective acquisition of point cloud, obtaining a spatial three-dimensional coordinate of the point cloud by the aid of a laser triangulation measurement method, and reconstructing a three-dimensional model of the target object.
Description
Technical field
The invention belongs to three-dimensional outdoor scene reproduction technology field, specifically is a kind of system and method for rebuilding the object dimensional model with laser scanning that obtains by image.
Background technology
The three-dimensional laser scanning technique outdoor scene reproduction technology that is otherwise known as is another surveying and mapping technology new breakthrough after the GPS space positioning system.It obtains to the large tracts of land high resolving power three-dimensional coordinate data on measurand surface fast by the method for high-rate laser scanning survey.Collection spatial point position information that can be quick, a large amount of is for the 3-dimensional image model of setting up object fast provides a kind of brand-new technology means.But there are many deficiencies in the three-dimensional laser image scanning technique at present, is summarized as follows: the instrument costliness, and cost cost height, market orientation is high end equipment; The scan-data aftertreatment time is long, and scanning is easily handled difficulty; Supporting process software imperfection lacks practicality and the relatively cheap software of price.These deficiencies have brought difficulty for popularizing with carrying out of related work of three-dimensional laser image scanning technique just.
Summary of the invention
In order to overcome existing three-dimensional laser image scanning technique cost height, data are handled difficult, and the incomplete shortcoming of software kit the invention provides a kind of brand-new three-dimensional object model reconstruction technique.
Technical scheme of the present invention is a kind of object dimensional Model Reconstruction system based on laser image, comprises computing machine, single-chip microcomputer, stepper motor, rotary head, laser instrument, camera, chessboard scaling board and three-legged support,
Camera is connected with computing machine, and computing machine connects single-chip microcomputer, and single-chip microcomputer connects stepper motor; Stepper motor, camera, laser instrument are installed in respectively on the A-frame, and rotary head is installed on the screw rod of stepper motor; Camera and rotary head are in equal height, and camera comprises rotary head within sweep of the eye; The word laser rays that laser instrument produces and the grid coincident of chessboard scaling board, and pass the center of rotary head.
And, circular bubble is installed on the rotary head.
The present invention also provides a kind of corresponding object dimensional Model Reconstruction method, may further comprise the steps,
Step 1 is carried out obtaining of uncalibrated image and camera parameter according to the chessboard scaling method and is generated, and a dimension coordinate of the impact point of the demarcation fixed laser scanning by lasing area is rotated platform and demarcates;
Step 2, obtain the object space image, comprise by the computer control single-chip microcomputer, through the real-time control step motor of single-chip microcomputer rotary head is rotated with default stride, make 360 ° on target object surface or the partly scanning of process laser rays that laser instrument is exported, camera is taken in real time simultaneously, obtains the object space image of several target objects and imports computing machine;
Step 3, laser rays detects and puts the generation of cloud pseudo space three-dimensional coordinate, comprises by computing machine the object space image that step 2 obtains is converted into the HSV space by rgb space, obtains by the laser detection function and takes the impact point two-dimensional coordinate that obtains; Obtain a cloud pseudo space three-dimensional coordinate by the laser triangulation method, and make the some cloud of every width of cloth object space image recover position originally through the rotation centered by rotating shaft, obtain real 3 d space coordinate;
Describedly obtain a cloud pseudo space three-dimensional coordinate by the laser triangulation method, be by laser scanning impact point one dimension coordinate with take the impact point two-dimensional coordinate that obtains and unite calculation and obtain a cloud pseudo space three-dimensional coordinate;
Step 4, three-dimensional reconstruction comprises according to the real 3 d space coordinate of step 5 gained, utilizes the three-dimensional model of OpenGL function library reconstructed object object.
Native system has proposed the new complete scheme of a cover and has realized three-dimensional laser image scanning, and its advantage mainly contains following 3 points:
(1) small-sized convenient, simple in structure, cheap, accurate efficient, the safety and stability, workable of entire equipment can be set up detailed 3 D stereoscopic image accurately to institute's interesting areas in a few minutes, and accurate quantitative analysis is provided.Can be widely used in all trades and professions, as: complicated city model, ancient building measurement and historical relic's protection etc. set up fast.
(2) the software kit system of realization correlation method is simple and practical, can compatible several data form, processing speed is fast, and adopt camera calibration new departure, according to the chessboard scaling method of Zhang Zhengyou classics, by the processing function among the Matlab, can draw the camera intrinsic parameter rapidly, also can obtain simultaneously the error analysis of each parameter, thus the reliability of check calibrating parameters, the data processing precision height.
(3) real-time control single chip computer and motor satisfy the different demands of user, and follow-up exploitability is stronger.The document of a large amount of electronic information fields after deliberation, the upper and lower computer program of single-chip microcomputer has been developed and has been finished, and the follow-up packing of product all can realize on this basis, according to the production requirement of the different industrial circles of using, develops various pointed products.
Embodiment
Followingly describe technical solution of the present invention in detail according to embodiment.
Object dimensional Model Reconstruction system based on laser image provided by the invention, comprise computing machine, single-chip microcomputer, stepper motor, rotary head, laser instrument, camera, chessboard scaling board and three-legged support, camera is connected with computing machine, and computing machine connects single-chip microcomputer, and single-chip microcomputer connects stepper motor; Stepper motor, camera, laser instrument are installed in respectively on the A-frame, and rotary head is installed on the screw rod of stepper motor; Camera and rotary head are in equal height, and camera comprises rotary head within sweep of the eye.Embodiment adopts 51 microcomputer development plates, stepper motor, employing 12cm rotating disk as rotation platform, 5mw 650nm one word laser instrument, camera, chess chessboard scaling board and miniature three-legged support cheaply.Utilize native system to take and mainly comprise three processes: camera calibration, the object space Image Acquisition, three-dimensional coordinate generates and three-dimensional reconstruction.Can adopt computer software technology in computing machine, to dispose the corresponding software system by those skilled in the art during concrete enforcement, software systems can adopt modular mode to realize each process step, and for example camera calibration column, object space laser image obtain column, three-dimensional object space measurement of coordinates column and reconstructing three-dimensional model column.Automatically realize calibrated laser line scanning target surface based on running software, the surface point pixel coordinate that obtains in conjunction with single-sheet photo generates object coordinates, panoramic scanning is calculated recovery impact point three-dimensional coordinate by the accurately controlled The Cloud Terrace anglec of rotation, and is carried out three-dimensional reconstruction.
Adopt the object dimensional Model Reconstruction system operating mode of the embodiment of the invention as follows:
1. connection hardware system, configuration parameter.Stepper motor links to each other with five lines with single-chip microcomputer, and wherein four lines are signal transmssion line, and another is supply lines.Single-chip microcomputer links to each other with computing machine with the interface mode of blue customization data line with USB, and power supply is born by computing machine.Positive circular platform is installed on the stepper motor screw rod, and rough surface, the round leveling bubble of on the platform diameter 2cm being installed are as circular bubble, and the leveling The Cloud Terrace makes its level.Be connected with computing machine with the camera of motor The Cloud Terrace equal height, comprise the motor The Cloud Terrace within sweep of the eye.Laser instrument produces a word laser rays, with the grid coincident of scaling board, and passes motor The Cloud Terrace center.Stepper motor, camera, laser instrument are installed on the A-frame, assurance device stability.Last experimental subjects (for example mouse) lies against the The Cloud Terrace middle part.Stepper motor screw rod tangent plane is connected by nut with the parallel relation of The Cloud Terrace and builds in the hardware system, and the horizontal adjustment of The Cloud Terrace is by the circular bubble calibration.
Uncalibrated image obtain and camera parameter generates: before the chessboard scaling board is placed on camera lens, start software, start camera, begin to take after having proofreaied and correct the chessboard position, take the uncalibrated image that 15 to 20 argument degree change by hardware system, after finishing, shooting carries out preview, with the situation of check image shooting.Utilize Matlab, according to the chessboard scaling method of Zhang Zhengyou classics, through the iteration of limited number of times, draw the intrinsic parameters such as focal length, principal point displacement, radial distortion, tangential distortion of camera both direction rapidly, and parameter is passed to computing machine.
3. the demarcation of lasing area: native system adopts 5mw 650nm one word laser instrument, penetrates highlighted red laser line.Adjust the aperture of laser instrument, laser rays and second vertical curve on the chessboard scaling board of taking last piece image coincided, and regulate laser brightness, up to measuring laser rays on the object the thinnest the clearest till.The lasing area of this moment is just demarcated and has been finished the position of the vertical curve on the scaling board that the position of lasing area is exactly with it overlaps.For example tessellated size is 38mm*38mm, and lasing area overlaps with the second vertical curve, laterally is Y-axis so the position of lasing area is exactly Y=38mm(chessboard scaling board, vertically is X-axis).The realization laser rays is demarcated in advance like this, and a dimension coordinate of the impact point of laser scanning is fixed.
4. rotation platform is demarcated: mainly comprise two parts of definite peaceful platform leveling of rotation center position, purpose is to recover the object space space of points coordinate that misplaces because of rotation.In order to determine the rotation center position, the mobile tripod that supports rotation platform makes the laser rays of demarcating pass rotation center, and stays laser rays clearly at platform.Camera is taken a complete rotation platform image, utilizes the pixel of image process method detection laser line and mid point thereof, calculates the three dimensional space coordinate of mid point according to the collinearity equation of camera calibration parameter and central projection, is the coordinate of rotation center.The implementation method of platform leveling is comparatively simple, and circular bubble is put down gently on platform, adjusts the support bar adjusting angle of tripod, till the bubble of circular bubble is placed in the middle.
5. obtain the object space image: slogan, baud rate, data bit, check bit, five parameters of position of rest are gone here and there in computer installation well, and with control single chip computer, thereby the control step motor rotates rotary head with each step stride of 1.40625 ° in real time.The rotational angle that arranges according to the user like this makes 360 ° on target object surface or partly passes through the scanning of laser rays, and camera is taken in real time simultaneously, obtains the object space image of 256 width of cloth experimental subjects mouses, and imports computing machine, and the selectivity that is used for the some cloud is obtained.Target object is around the rotation of The Cloud Terrace center during shooting, and laser rays passes the The Cloud Terrace center, can recover impact point object space true three-dimension coordinate thus.In this process, The Cloud Terrace start and stop rotation was finished with accurate the cooperation by the signal transmission of computing machine and single-chip microcomputer that camera is taken in the hardware system.
6. laser rays detects and put the generation of cloud three-dimensional coordinate: computing machine is converted into the HSV space with the object space image that obtains by rgb space, and the laser detection function obtains laser spots pixel coordinate (namely taking the impact point two-dimensional coordinate that obtains).Obtain a cloud pseudo space three-dimensional coordinate by the laser triangulation method, and make the some cloud of every width of cloth image recover position originally through the rotation centered by rotating shaft, obtain real 3 d space coordinate.When embodiment obtains a some cloud pseudo space three-dimensional coordinate by the laser triangulation method, impact point one dimension coordinate of determining by laser scanning with take the impact point two-dimensional coordinate that obtains and unite calculation, can obtain a cloud pseudo space three-dimensional coordinate.Uniting the calculation specific implementation is prior art, and the present invention will not give unnecessary details.
7. three-dimensional reconstruction: the some cloud position (being real 3 d space coordinate) of reading acquisition, utilize the three-dimensional model of OpenGL function library reconstructed object object, and around the 360 ° of rotations in center, more realistically three-dimensional model is represented to the user, make the user more clearly observe the shape information of mouse.
Specific embodiment described herein only is that the present invention's spirit is illustrated.Those skilled in the art can make various modifications or replenish or adopt similar mode to substitute described specific embodiment, but can't depart from spirit of the present invention or surmount the defined scope of appended claims.
Claims (3)
1. object dimensional Model Reconstruction system based on laser image is characterized in that: comprise computing machine, single-chip microcomputer, stepper motor, rotary head, laser instrument, camera, chessboard scaling board and three-legged support,
Camera is connected with computing machine, and computing machine connects single-chip microcomputer, and single-chip microcomputer connects stepper motor; Stepper motor, camera, laser instrument are installed in respectively on the A-frame, and rotary head is installed on the screw rod of stepper motor; Camera and rotary head are in equal height, and camera comprises rotary head within sweep of the eye; The word laser rays that laser instrument produces and the grid coincident of chessboard scaling board, and pass the center of rotary head.
2. according to the described object dimensional Model Reconstruction system based on laser image of claim 1, it is characterized in that: circular bubble is installed on the rotary head.
3. one kind is adopted claim 1 or the 2 described object dimensional Model Reconstruction methods that realize based on the object dimensional Model Reconstruction system of laser image, it is characterized in that: may further comprise the steps,
Step 1 is carried out obtaining of uncalibrated image and camera parameter according to the chessboard scaling method and is generated, and a dimension coordinate of the impact point of the demarcation fixed laser scanning by lasing area is rotated platform and demarcates;
Step 2, obtain the object space image, comprise by the computer control single-chip microcomputer, through the real-time control step motor of single-chip microcomputer rotary head is rotated with default stride, make 360 ° on target object surface or the partly scanning of process laser rays that laser instrument is exported, camera is taken in real time simultaneously, obtains the object space image of several target objects and imports computing machine;
Step 3, laser rays detects and puts the generation of cloud pseudo space three-dimensional coordinate, comprises by computing machine the object space image that step 2 obtains is converted into the HSV space by rgb space, obtains by the laser detection function and takes the impact point two-dimensional coordinate that obtains; Obtain a cloud pseudo space three-dimensional coordinate by the laser triangulation method, and make the some cloud of every width of cloth object space image recover position originally through the rotation centered by rotating shaft, obtain real 3 d space coordinate;
Describedly obtain a cloud pseudo space three-dimensional coordinate by the laser triangulation method, be by laser scanning impact point one dimension coordinate with take the impact point two-dimensional coordinate that obtains and unite calculation and obtain a cloud pseudo space three-dimensional coordinate;
Step 4, three-dimensional reconstruction comprises according to the real 3 d space coordinate of step 5 gained, utilizes the three-dimensional model of OpenGL function library reconstructed object object.
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