CN108844489A - Using the method and camera calibration method of line laser structured light contour of object - Google Patents
Using the method and camera calibration method of line laser structured light contour of object Download PDFInfo
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- CN108844489A CN108844489A CN201810659648.8A CN201810659648A CN108844489A CN 108844489 A CN108844489 A CN 108844489A CN 201810659648 A CN201810659648 A CN 201810659648A CN 108844489 A CN108844489 A CN 108844489A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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Abstract
A kind of method and scaling method using line laser structured light contour of object provided by the invention, scan method of the three-dimensional line laser to object is introduced into the technical solution of camera calibration, enables the coordinate for fast and accurately obtaining the physical points on calibration object by computer is read and is converted data information.The three-dimensional scaling ruler to special construction is carried out 3-D scanning by three-dimensional line laser in this application, and the size of three-dimensional scaling ruler is that known vertex and valley point in the same physical coordinates system via protrusion is sequentially connected the interior physical points of constituted quadrangle and can be labeled out.The prominent advantage of the present invention is that three-dimensional scaling ruler applied in the quick and accurate and camera calibration method of the data information of the acquisition calibration object of three-dimensional line scanning has the promotion of special construction and bring calibration efficiency.
Description
Technical field
It is right between the space physics coordinate of object and image pixel coordinates the present invention relates to being established using 3-D scanning technology
The technology that should be related to, and in particular to three-dimensional scaling ruler is scanned to using 3-D scanning technology and obtained its physical coordinates and pixel is sat
Target corresponding relationship, be re-introduced into calibration object in it is above-mentioned by the scene of the calibrated 3-D scanning of three-dimensional scaling ruler with quick obtaining
Demarcate the scaling method of the space physics coordinate of object.
Background technique
Three-dimensional laser scanning technique is otherwise known as outdoor scene reproduction technology, it breaches traditional single-point measurement method, has
High efficiency, high-precision unique advantage densely can largely obtain the data point of target object.Above-mentioned data point can manage
Solution is to be converted to after physical coordinates point of the scanned object in space environment is scanned by the data information of computer " readable ".
After we obtain a large amount of " readable " data an of reference substance, it is intended that by these data applications to camera calibration
In technical field, the space physics coordinate of other objects is fast and accurately obtained using the method for machine vision.
One physical points can obtain the pixel on an image after being photographed.The physical points are in space physics coordinate system
Possessed physical coordinates can be corresponding with the pixel coordinate fastened in image coordinate, constitutes corresponding relationship between the two.
Camera calibration technology exactly sets up the pass of the physical coordinates on an object and the image coordinate of shooting using machine vision technique
System is quickly converted with realizing and is applied in industry.
Traditional camera standardization is needed using demarcating object known to size, by establish on calibration object point known to coordinate with
Correspondence between its picture point obtains the inside and outside parameter of camera model using certain algorithm.Under the guidance of above method, I
Wish to introduce into the calibration object of special construction a kind of first, based on can be quasi- in the range of reference plane acquired in the calibration object
The true corresponding relationship for conversing scanned picture point and space physics point；Secondly it is proposed that a kind of side of camera calibration
Method combines the calibration object of 3-D scanning technology and above-mentioned special construction to realize being quickly converted for a large amount of " readable " data,
And then promote the efficiency and accuracy of camera calibration.
Summary of the invention
In order to solve the above technical problems, the present invention provides a kind of methods and mark using line laser structured light contour of object
Determine method, technical problems to be solved are：
One, introduces a kind of three-dimensional scaling ruler with special construction, which has determining size and protrusion
Structure, so that it is with uniformity within the scope of the reference plane constituted with point acquired after camera shooting through scanning, therefore can
For as reference plane to be demarcated to other objects；
Two, application 3-D scanning technologies are scanned three-dimensional scaling ruler, simultaneously with acquisition " readable " data of rapid, high volume
Applied in camera calibration technology, due to the large number of accuracy and effect for improving camera calibration of the sample point of acquisition
Rate.
Specifically,
A method of using line laser structured light contour of object, use three-dimensional scaling ruler as the calibrator unit of line laser,
Wherein, the three-dimensional scaling ruler includes,
Pedestal,
The pedestal is extended with the protrusion that several sections are isosceles triangle from one end to the other end；
Spacing between several described protrusion section vertex is fixed；
The pedestal both ends are provided with cut through, and the section apex height of the cut through is lower than the vertex of protrusion
Highly；
The scanning to contour of object is realized by following steps：
Step 1, building scan components includes three-dimensional scaling ruler, the line laser light source being set to above three-dimensional scaling ruler, if
It is placed in the imaging device of line laser light source side；
Step 2, line laser structured light calibration, starting line laser are scanned three-dimensional scaling ruler, adjust the light beam of line laser
Until showing continuous scan line on the protrusion of three-dimensional scaling ruler and cut through；
Step 3, imaging device imaging adjust the relative position between imaging device and line laser light source to step 2
Three-dimensional scaling ruler, which is imaging shooting, obtains image until obtained picture material is the scan line in step 2；
Step 4, the positional relationship between fixing line laser light source and imaging device；
Step 5 introduces scanned object, and starting line laser, which scans object and passes through imaging device, shoots image.
The special construction of the three-dimensional scaling ruler is with two parts of protrusion and cut through, the ruler of three-dimensional scaling ruler
Very little is known to be sequentially connected constituted quadrangle via the vertex of protrusion and valley point in the same physical coordinates system
Interior physical points can be labeled out.It should be noted that protrusion is isosceles triangle, which has spy in a scan
Different design idea, scan line trend must could set up to have in shooting image with broken line form by high and low
The image coordinate system of horizontal and vertical both direction.If the described calibration object is the rectangular block of standard, scan line if is one
Straight line is also in the picture straight line, then can not carry out the differentiation of picture point and the calibration of pixel coordinate.Secondly, imaging
It being separated between the needs and light source of device certainty and the shooting that forms an angle, image formed in this way will not be just straight line,
It would therefore be desirable to make the surface area in scanned face will acquisition sample point that greatly could be more as far as possible as far as possible；Again, isosceles
The fixed size that standard can be established with the distance between valley point fixation of the distance between vertex of a triangle.Using above three
The data information that the method for scanning is capable of the quick obtaining space physics of largely demarcating object provides data for subsequent camera calibration
Prepare.
Preferably, the bottom surface of the pedestal is plane, and the vertex in the section of the protrusion is constituted
Plane is parallel with the plane of base bottom surface.
A method of using line laser structured light contour of object, use three-dimensional scaling ruler as the calibrator unit of line laser,
Wherein, the three-dimensional scaling ruler includes,
Pedestal,
The pedestal is extended with the protrusion that several sections are isosceles triangle from one end to the other end；
Spacing between several described protrusion section vertex is fixed；
Truncation surface, the truncation surface is by being located at the protrusion inclined-plane at the pedestal both ends and the outer vertical of pedestal
The inclined surface constituted；
The scanning to contour of object is realized by following steps：
Step 1, building scan components includes three-dimensional scaling ruler, the line laser light source being set to above three-dimensional scaling ruler, if
It is placed in the imaging device of line laser light source side；
Step 2, line laser structured light calibration, starting line laser are scanned three-dimensional scaling ruler, adjust the light beam of line laser
Until showing continuous scan line on the protrusion of three-dimensional scaling ruler and inclined surface；
Step 3, imaging device imaging adjust the relative position between imaging device and line laser light source to step 2
Three-dimensional scaling ruler, which is imaging shooting, obtains image until obtained picture material is the scan line in step 2；
Step 4, the positional relationship between fixing line laser light source and imaging device；
Step 5 introduces scanned object, and starting line laser, which scans object and passes through imaging device, shoots image.
The structure of another three calibration scales provided above, particularity are to be arranged truncation surface to determine both ends protrusion
Position, and then limit by the determined range in the vertex of protrusion and valley point.
Preferably, the bottom surface of the pedestal is plane, and the vertex in the section of the protrusion is constituted
Plane is parallel with the plane of base bottom surface.
A kind of method of camera calibration,
Including three-dimensional scaling ruler,
The three-dimensional scaling ruler includes,
Pedestal,
The pedestal is extended with the protrusion that several sections are isosceles triangle from one end to the other end；If described
Spacing between dry protrusion section vertex is fixed；
The pedestal both ends are provided with cut through, and the section apex height of the cut through is lower than the vertex of protrusion
Highly；
It is realized by following steps and camera calibration is carried out to calibration object：
Step H1, building scan components includes three-dimensional scaling ruler, the line laser light source being set to above three-dimensional scaling ruler, if
It is placed in the imaging device of line laser light source side；
Step H2, line laser structured light calibration, starting line laser are scanned three-dimensional scaling ruler, adjust the light beam of line laser
Until showing continuous scan line on the protrusion of three-dimensional scaling ruler and cut through；
Step H3, imaging device imaging adjust the relative position between imaging device and line laser light source to step H2's
The clear image until scan line in obtaining step H2 is imaging shooting in three-dimensional scaling ruler；
Step H4, the positional relationship between fixing line laser light source and imaging device；
Step H5 establishes calibration reference plane, by the vertex of all protrusions in the scanning yoke picture in step H3 and paddy
Point is marked and excludes both ends valley point exterior portion in scan line, the vertex be sequentially connected the line of composition, valley point according to
It is to demarcate reference plane that the line that the secondary line connected and composed and outer point and valley point connect and compose, which surrounds the face to be formed,；
Step H6, physical coordinates and the physical points for establishing the physical points on three-dimensional scaling ruler are right in calibration reference plane
One-to-one relationship between the pixel coordinate for the pixel answered；
Step H7 introduces scanning object and is demarcated according to calibration reference plane, scanning object is introduced and carried out after step H4
Line laser structured light, and the space of object is conversed by the pixel coordinate that imaging device shoots pixel on image post analysis image
Physical coordinates.
In the camera calibration method, after line laser is irradiated in the imaged device shooting of all luminous points on three-dimensional scaling ruler
A clearly broken line can be showed.A picture point on the broken line both corresponds to some object on three-dimensional scaling ruler inclined-plane
Reason point.It is vertex on protrusion that can be known, which is the vertex correspondence on broken line, and the valley point of broken line is then on protrusion
Valley point.We will be set up using the method for mathematics and are sequentially connected the line constituted by protrusion vertex, valley point is sequentially connected
The line that the line and outer point of composition and valley point connect and compose surround the face to be formed be demarcate reference plane on picture point with
Coordinate transformation relationship between corresponding physical points.It is to be noted that due to the oblique irradiation relationship of imaging device and three-dimensional scaling ruler
And lead to the particularity of the quadrangle of reference plane and the particularity of reduction formula.
Further, the light source is located at the top of the three-dimensional scaling ruler, and the light source and the three-dimensional mark
The angle α that plane where line and pedestal between the valley point of any protrusion of scale is constituted is greater than the protrusion
The base angle β in section.
Purpose defined above is the point that light source is irradiated on all inclined-planes of protrusion.
A kind of camera calibration method,
Including three-dimensional scaling ruler,
The three-dimensional scaling ruler includes,
Pedestal,
The pedestal is extended with the protrusion that several sections are isosceles triangle from one end to the other end；If described
Spacing between dry protrusion section vertex is fixed；
Truncation surface, the truncation surface is by being located at the protrusion inclined-plane at the pedestal both ends and the outer vertical of pedestal
The inclined surface constituted；
The scanning to contour of object is realized by following steps：
It is realized by following steps and camera calibration is carried out to calibration object：
Step N1, building scan components includes three-dimensional scaling ruler, the line laser light source being set to above three-dimensional scaling ruler, if
It is placed in the imaging device of line laser light source side；
Step N2, line laser structured light calibration, starting line laser are scanned three-dimensional scaling ruler, adjust the light beam of line laser
Until showing continuous scan line on the protrusion and truncation surface of three-dimensional scaling ruler；
Step N3, imaging device imaging adjust the relative position between imaging device and line laser light source to step N2's
The clear image until scan line in obtaining step N2 is imaging shooting in three-dimensional scaling ruler；
Step N4, the positional relationship between fixing line laser light source and imaging device；
Step N5 establishes calibration reference plane, by the vertex of all protrusions in the scanning yoke picture in step N3 and paddy
Point is marked and excludes two endvertex exterior portions in scan line, the vertex be sequentially connected the line of composition, valley point according to
It is to demarcate reference plane that the line that the secondary line connected and composed and outer point and valley point connect and compose, which surrounds the face to be formed,；
Step N6, physical coordinates and the physical points for establishing the physical points on three-dimensional scaling ruler are right in calibration reference plane
One-to-one relationship between the pixel coordinate for the pixel answered；
Step N7 introduces scanning object and is demarcated according to calibration reference plane, scanning object is introduced and carried out after step N4
Line laser structured light, and the space of object is conversed by the pixel coordinate that imaging device shoots pixel on image post analysis image
Physical coordinates.
Preferably, the light source is located at the top of the three-dimensional scaling ruler, and the light source and the three-dimensional scaling
The angle α that plane where line and pedestal between the valley point of any protrusion of ruler is constituted is greater than the protrusion and cuts
The base angle β in face.
Preferably, the imaging device is camera.
A kind of method and scaling method using line laser structured light contour of object provided by the invention, its advantages exist
In：Scan method of the three-dimensional line laser to object is introduced into the technical solution of camera calibration, so that fast and accurately obtaining mark
The coordinate of physical points on earnest can be by computer is read and is converted data information.Three-dimensional line laser will in this application
3-D scanning is carried out to the three-dimensional scaling ruler of special construction, the size of three-dimensional scaling ruler is known in the same physical coordinates system
The interior physical points that interior vertex and valley point via protrusion is sequentially connected constituted quadrangle can be labeled out.It needs
It is noted that protrusion is isosceles triangle, which has special design idea in a scan, and scan line trend must be
With broken line form by high and low the image coordinate with horizontal and vertical both direction could be set up in shooting image
System.The image of three-dimensional scaling ruler acquired in camera calibration can set up the one-to-one of pixel coordinate and physical coordinates
Relationship, so can obtain protrusion vertex be sequentially connected the line of composition, valley point be sequentially connected composition line and outer point and
It is the seat demarcated between picture point and corresponding physical points in reference plane that the line that valley point connects and composes, which surrounds the face to be formed,
Subscript conversion relationship.This conversion relation is once it is determined that later, any light source determined in above-mentioned camera calibration and line laser position
Under the premise of constant, image determined by the scanning to any other scanning object in size in three-dimensional scaling ruler size range
Pixel coordinate and the conversion relation of space physics coordinate be certain.We can quickly read scanned institute at
Any one image pixel coordinates is on image to obtain space physics coordinate scanned corresponding to pixel, and obtains reason and sit
Mark can feed back computer control other under same physical coordinates system hardware and it is scanned between relative displacement close
It is and is achieved extensive industrial application.The prominent advantage of the present invention is that the method for three-dimensional line scanning object obtains calibration object
Data information quick and accurate and camera calibration method applied in three-dimensional scaling ruler there is special construction and bring
Calibration efficiency promotion.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described.
Attached drawing 1 is a kind of structural schematic diagram of three-dimensional scaling ruler with cut through；
Attached drawing 2 is a kind of structural schematic diagram of three-dimensional scaling ruler with truncation surface；
Attached drawing 3 is a kind of structural schematic diagram that calibration component is scanned three-dimensional scaling ruler；
Attached drawing 4 is showing for acquired line laser scan line acquired in three-dimensional scaling ruler after imaging device is shot
It is intended to；
Attached drawing 5 is the schematic diagram that reference plane is demarcated acquired in Fig. 4；
Attached drawing 6 is the schematic diagram for demarcating six quadrangles that reference plane obtains after treatment；
Attached drawing 7 is the scanned image obtained after scanning under same calibration component.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description.
A kind of structure of three-dimensional scaling ruler is as shown in Figure 1 comprising pedestal 1, the pedestal 1 prolong from one end to the other end
It is the protrusion 2 of isosceles triangle that stretching, which has several sections,；Spacing between several described 2 section vertex of protrusion is solid
It is fixed；1 both ends of pedestal are provided with cut through 3, and the section apex height of the cut through 3 is lower than the vertex of protrusion 2
Highly.The bottom surface of the pedestal 1 is plane, and the plane and base that the vertex in the section of the protrusion 2 is constituted
The plane of 1 bottom surface of seat is parallel.In the present embodiment, the longitudinal cross-section of the cut through 3 is a right angled triangle.Described
Three-dimensional scaling ruler has the size of standard as the calibration object of line laser structured light and camera calibration, will in space physics coordinate system
Have determining space physics coordinate.3 part of cut through is the outside of the valley point of adjacent protrusion, in camera calibration process
The image of middle corresponding portion will be discharged (as detailed below).
The structure of another three-dimensional scaling ruler is as shown in Fig. 2, a kind of three-dimensional scaling ruler comprising pedestal 1, the pedestal
1 is extended with the protrusion 2 that several sections are isosceles triangle from one end to the other end；Several described 2 sections of protrusion
Spacing between vertex is fixed；Truncation surface 3`, the truncation surface 3` are by 2 inclined-plane of protrusion positioned at 1 both ends of pedestal
The inclined surface constituted with the outer vertical of pedestal 1.The inclined surface is in the vertical of 1 both ends of pedestal in the present embodiment
Point on the line constituted between face is below the apex height in 2 section of protrusion.The three-dimensional scaling ruler swashs as line
The calibration object of optical scanning and camera calibration has the size of standard, and determining space physics will be had in space physics coordinate system
Coordinate.The part truncation surface 3` is the outside on the vertex of adjacent protrusion, and the image of corresponding portion will during camera calibration
It can be discharged.
A kind of camera calibration component, a kind of calibration component as shown in Figure 3, including three-dimensional scaling ruler；It is set to three-dimensional scaling
Light source 4 above ruler；And camera 5；The range of exposures of the light source 4 can cover the point on the inclined-plane of all protrusions,
And the point on the inclined-plane of cut through.Such as line laser of light source 4 for being set to 6 top of three-dimensional scaling ruler will scan calibration scale, position
Camera 5 in 6 side of three-dimensional scaling ruler will shoot the image of scanning.
Using following methods to scanned camera calibration.Line laser is adjusted, so that the final captured image of camera 5 is
One continuous broken line is as shown in figure 4, wherein A point indicates the vertex of protrusion, and B point indicates the valley point of protrusion, and C point indicates to cut
The vertex in disconnected portion.Pedestal 1 where three-dimensional scaling ruler is a plane, and protrusion is isosceles triangle, so representated by A point
The vertex of protrusion all has same longitudinal height value in image, and the valley point of protrusion is all having in image representated by B point
Same longitudinal height value, and protrusion vertex and valley point are in the same plane, and camera shoots scan line institute in Fig. 4
At image broken line vertex height it is different this is because camera 5 is that have tilt angle with three-dimensional scaling ruler and cause
's.Will Fig. 4 middle polyline both ends (corresponding is cut through) exclude after obtain, by the vertex be sequentially connected the line constituted,
It is to demarcate reference plane that the line that valley point is sequentially connected the line of composition and outer point and valley point connect and compose, which surrounds the face to be formed,
As shown in Figure 5.All pixels point in the reference plane all has a pixel coordinate, and a pixel coordinate both corresponds to three
A respective physical point in calibration scale, the physical points are with one based on the physical coordinates depending on the coordinate system of three, space.Base
The physics consistency of three calibration scales of range having is corresponded in calibration reference plane, it can be considered that object in the range
The space physics coordinate of reason point meets certain mathematics changing rule and can set up pixel coordinate system and space physics coordinate
Mathematical relationship between system, and according to the mathematical relationship passes through the image of subject and reads the conversion of the pixel coordinate in image
Corresponding space physics coordinate out.On the basis of the calibration reference plane of Fig. 5, vertex and corresponding adjacent valley point line are connected
Midpoint and obtain several connecting lines and connect valley point and corresponding adjacent vertex connection midpoint and obtain several connections
Line.The line of these adjacent connecting lines, the line of adjacent vertex and adjacent valley point constitutes several quadrangles, is based on these
Quadrangle sets up the mathematical relationship between pixel coordinate and space physics coordinate.
6 quadrangles will be marked off in the calibration reference plane of Fig. 6, calibration reference plane is corresponded to by taking image quadrilateral S1 as an example
On four apex coordinates be followed successively by P11(X11,Y11),P12(X12,Y12),P13(X13,Y13), P14(X14,Y14).With image
Quadrangle S1 is corresponding there is quadrangle S`1 made of section after corresponding line laser structured light on three-dimensional scaling ruler thereon
Corresponding four apex coordinates are P`11(X11,Y11),P`12 (X12,Y12),P`13(X13,Y13),P`14(X14,Y14).In order to
By the coordinate P1 in the image world1(X11, Y11),P12(X12,Y12),P13(X13,Y13),P14(X14,Y14) and physical world
In coordinate P`11 (X11,Y11),P`12(X12,Y12),P`13(X13,Y13),P`14(X14,Y14) setting parameter A is connected,
A1,B,B1,C,C1,D,E.
Simultaneous following equation
Solve A, A1,B,B1,C,C1,D,E.
It solves,
After the above mathematical conversion, it is established that calibration reference plane cuts relation of plane with corresponding line laser structured light, i.e.,
Establish the conversion relation between the pixel coordinate of image and the space coordinate of physics.Under the same relationship, it is scanned
It is sat by the pixel coordinate of contour images acquired after the calibration component scans of same position relationship and scanned profile physics
Target relationship.
If Fig. 7 is the scanned image obtained after above-mentioned same calibration component 3-D scanning.Shown in image by
The profile of object is scanned, and the upper and lower position of the profile is the formed calibration ginseng between the vertex and valley point of above-mentioned three-dimensional scaling ruler
It shows up in range.In application, computer will read the pixel coordinate of pixel on Fig. 7 Internal periphery, and via above-mentioned mathematics
Reduction formula calculates corresponding space physics coordinate.To obtain other corresponding hardware and scanned part in industrial application
Between the relative positional relationship under the same coordinate system, to control mobile walking such as manipulator.
It should be noted that spacing and protrusion between the vertex of the protrusion in the present embodiment in three-dimensional scaling ruler
Number is not fixed.In the application of specific scene, the dimensional parameters such as length in view of measured object is needed to join
Several and height parameter etc. adjusts the structure of three-dimensional scaling ruler.It can be predicted that when the more big corresponding realization of measured object size is sat
The image area for marking the calibration reference plane of conversion also will be bigger, and determine the three-dimensional scaling ruler of the image area of calibration reference plane
Vertex number, valley point number also will be more, and determine the number of the protrusion of the three-dimensional scaling ruler of vertex number and valley point number
It also will be more.Otherwise the number of three-dimensional scaling ruler protrusion will be reduced.It can be deduced by the expression of above-mentioned prediction logic out, specific
In application scenarios, those skilled in the art, which have to be made according to structure of the actual scene operation to three-dimensional scaling ruler, to be suitable for using
Structure improve and be only dependent only on intrinsic knowhow without paying any creative labor and can make, above-mentioned improvement is not
It is detached from the logical relation of the technical solution of above-mentioned prediction scene.
The above description of disclosed embodiment of this invention makes professional and technical personnel in the field can be realized or use this hair
It is bright.Various modifications to these embodiments will be readily apparent to those skilled in the art, and determine herein
The General Principle of justice can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, originally
Invention is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein
Consistent widest scope.
Claims (10)
1. a kind of method using line laser structured light contour of object, which is characterized in that use three-dimensional scaling ruler as line laser
Calibrator unit, wherein the three-dimensional scaling ruler includes,
Pedestal,
The pedestal is extended with the protrusion that several sections are isosceles triangle from one end to the other end；
Spacing between several described protrusion section vertex is fixed；
The pedestal both ends are provided with cut through, and the section apex height of the cut through is high lower than the vertex of protrusion
Degree；
The scanning to contour of object is realized by following steps：
Step 1, building scan components includes three-dimensional scaling ruler, and the line laser light source being set to above three-dimensional scaling ruler is set to
The imaging device of line laser light source side；
Step 2, line laser structured light calibration, starting line laser three-dimensional scaling ruler is scanned, adjust line laser light beam until
Continuous scan line is showed on the protrusion of three-dimensional scaling ruler and cut through；
Step 3, imaging device imaging, adjusts the relative position between imaging device and line laser light source, to the three-dimensional of step 2
Calibration scale is imaging shooting until obtained picture material is a clearly continuous line；
Step 4, the positional relationship between fixing line laser light source and imaging device；
Step 5 introduces scanned object, and starting line laser, which scans object and passes through imaging device, shoots image.
2. a kind of method using line laser structured light contour of object according to claim 1, which is characterized in that the base
The bottom surface of seat is plane, and the plane for the plane and base bottom surface that the vertex in the section of the protrusion is constituted is flat
Row.
3. a kind of method using line laser structured light contour of object, which is characterized in that use three-dimensional scaling ruler as line laser
Calibrator unit, wherein the three-dimensional scaling ruler includes,
Pedestal,
The pedestal is extended with the protrusion that several sections are isosceles triangle from one end to the other end；
Spacing between several described protrusion section vertex is fixed；
Truncation surface, the truncation surface are intersected by the protrusion inclined-plane for being located at the pedestal both ends with the outer vertical of pedestal
The inclined surface constituted；
The scanning to contour of object is realized by following steps：
Step 1, building scan components includes three-dimensional scaling ruler, and the line laser light source being set to above three-dimensional scaling ruler is set to
The imaging device of line laser light source side；
Step 2, line laser structured light calibration, starting line laser three-dimensional scaling ruler is scanned, adjust line laser light beam until
Continuous scan line is showed on the protrusion of three-dimensional scaling ruler and inclined surface；
Step 3, imaging device imaging adjust the relative position between imaging device and line laser light source to the three-dimensional of step 2
Calibration scale is imaging shooting until obtained picture material is a clearly continuous line；
Step 4, the positional relationship between fixing line laser light source and imaging device；
Step 5 introduces scanned object, and starting line laser, which scans object and passes through imaging device, shoots image.
4. a kind of method using line laser structured light contour of object according to claim 3, which is characterized in that the base
The bottom surface of seat is plane, and the plane for the plane and base bottom surface that the vertex in the section of the protrusion is constituted is flat
Row.
5. a kind of method of camera calibration, which is characterized in that
Including three-dimensional scaling ruler,
The three-dimensional scaling ruler includes,
Pedestal,
The pedestal is extended with the protrusion that several sections are isosceles triangle from one end to the other end；
Spacing between several described protrusion section vertex is fixed；
The pedestal both ends are provided with cut through, and the section apex height of the cut through is high lower than the vertex of protrusion
Degree；
It is realized by following steps and camera calibration is carried out to calibration object：
Step H1, building scan components includes three-dimensional scaling ruler, and the line laser light source being set to above three-dimensional scaling ruler is set to
The imaging device of line laser light source side；
Step H2, line laser structured light calibration, starting line laser three-dimensional scaling ruler is scanned, adjust line laser light beam until
Continuous scan line is showed on the protrusion of three-dimensional scaling ruler and cut through；
Step H3, imaging device imaging adjust the relative position between imaging device and line laser light source to the three-dimensional of step H2
The clear image until scan line in obtaining step H2 is imaging shooting in calibration scale；
Step H4, the positional relationship between fixing line laser light source and imaging device；
Step H5 establishes calibration reference plane, and the vertex of all protrusions in the scanning yoke picture in step H3 and valley point is equal
It is marked and excludes both ends valley point exterior portion in scan line, the vertex is sequentially connected the line of composition, valley point successively connects
It is to demarcate reference plane that the line that the line and outer point and valley point for connecing composition connect and compose, which surrounds the face to be formed,；
Step H6, the physical coordinates for establishing the physical points on three-dimensional scaling ruler are corresponding in calibration reference plane with the physical points
One-to-one relationship between the pixel coordinate of pixel；
Step H7, introducing scanning object are demarcated according to calibration reference plane, and scanning object is introduced line of going forward side by side after step H4 and is swashed
Optical scanning, and the space physics of object are conversed by the pixel coordinate that imaging device shoots pixel on image post analysis image
Coordinate.
6. a kind of camera calibration method according to claim 5, which is characterized in that the light source is located at the three-dimensional scaling
The top of ruler, and where the line between the valley point of the light source and any protrusion of three-dimensional scaling ruler and pedestal
The angle α that plane is constituted is greater than the base angle β in the protrusion section.
7. a kind of camera calibration method, which is characterized in that
Including three-dimensional scaling ruler,
The three-dimensional scaling ruler includes,
Pedestal,
The pedestal is extended with the protrusion that several sections are isosceles triangle from one end to the other end；
Spacing between several described protrusion section vertex is fixed；
Truncation surface, the truncation surface are intersected by the protrusion inclined-plane for being located at the pedestal both ends with the outer vertical of pedestal
The inclined surface constituted；
It is realized by following steps and camera calibration is carried out to calibration object：
Step N1, building scan components includes three-dimensional scaling ruler, and the line laser light source being set to above three-dimensional scaling ruler is set to
The imaging device of line laser light source side；
Step N2, line laser structured light calibration, starting line laser three-dimensional scaling ruler is scanned, adjust line laser light beam until
Continuous scan line is showed on the protrusion and truncation surface of three-dimensional scaling ruler；
Step N3, imaging device imaging adjust the relative position between imaging device and line laser light source to the three-dimensional of step N2
The clear image until scan line in obtaining step N2 is imaging shooting in calibration scale；
Step N4, the positional relationship between fixing line laser light source and imaging device；
Step N5 establishes calibration reference plane, and the vertex of all protrusions in the scanning yoke picture in step N3 and valley point is equal
It is marked and excludes two endvertex exterior portion in scan line, the vertex is sequentially connected the line of composition, valley point successively connects
It is to demarcate reference plane that the line that the line and outer point and valley point for connecing composition connect and compose, which surrounds the face to be formed,；
Step N6, the physical coordinates for establishing the physical points on three-dimensional scaling ruler are corresponding in calibration reference plane with the physical points
One-to-one relationship between the pixel coordinate of pixel；
Step N7, introducing scanning object are demarcated according to calibration reference plane, and scanning object is introduced line of going forward side by side after step N4 and is swashed
Optical scanning, and the space physics of object are conversed by the pixel coordinate that imaging device shoots pixel on image post analysis image
Coordinate.
8. a kind of camera calibration method according to claim 7, which is characterized in that the light source is located at the three-dimensional scaling
The top of ruler, and where the line between the valley point of the light source and any protrusion of three-dimensional scaling ruler and pedestal
The angle α that plane is constituted is greater than the base angle β in the protrusion section.
9. any method using line laser structured light contour of object described in -4 according to claim 1, which is characterized in that institute
The imaging device stated is camera.
10. any camera calibration method according to claim 5-8, which is characterized in that the imaging device is
Camera.
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