CN110487213A - Full view line laser structured light three-dimensional image forming apparatus and method based on spatial offset - Google Patents
Full view line laser structured light three-dimensional image forming apparatus and method based on spatial offset Download PDFInfo
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- CN110487213A CN110487213A CN201910762273.2A CN201910762273A CN110487213A CN 110487213 A CN110487213 A CN 110487213A CN 201910762273 A CN201910762273 A CN 201910762273A CN 110487213 A CN110487213 A CN 110487213A
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- 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
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/2513—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object with several lines being projected in more than one direction, e.g. grids, patterns
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Abstract
The invention discloses based on spatial offset full view line laser structured light three-dimensional image forming apparatus and method include one-dimensional movement component, stereo target, laser emitter and camera, stereo target is mounted on above one-dimensional movement component, stereo target is the regular prism of multi-panel, and several faces of stereo target are circumferentially mutually enclosed；The quantity of laser emitter and camera is corresponding with the quantity in face of stereo target, is arranged at the rib of several laser emitter lateral alignment stereo targets；One camera lens is respectively installed, camera lens is used to that the face of stereo target to be imaged on each camera.By the present invention in that being demarcated simultaneously to multiple cameras with High Precision Stereo target, it is converted according to coordinate, under the world coordinate system unification to the unique coordinate system of one of camera that each camera is determined, synchronous triggering device control camera acquires the three-dimensional information of object different sides to be scanned respectively, the complete information of body surface is obtained, solves the disadvantage that single line laser structured light device is unable to get body surface complete information.
Description
Technical field
The present invention relates to three-dimensional laser field of measuring technique more particularly to a kind of full view line lasers based on spatial offset
Scan three-dimensional image forming apparatus and method.
Background technique
Line laser structured light three-dimensional imaging is a kind of non-contact object surface profile imaging technique based on optic triangle method,
Testee surface is projected to using line laser, camera acquires the deformation striped by body surface high modulation, by calculating
Obtain surface profile three-dimensional data.The technology is in the multiple fields such as mapping measurement, the reverse-engineering of product, mold design
Become very common, and in conservation of historic landmarks and sites, building, planning, civil engineering, factory's transformation, indoor design, military analysis
There has also been many trials, application and explorations in equal fields.It is limited to viewing field of camera, the line laser structured light three-dimensional imaging of single-view is only
The surface profile information at one visual angle of object can be obtained.If Liu Si far utilizes the diameter of line laser projection measurement axial workpiece, lead to
It crosses and diameter is obtained to the Fitting Calculation of single-view point cloud data, can not really reflect the actual profile information of axial workpiece.For this purpose,
The line laser structured light 3 dimension imaging technology of multi-angle of view utilizes multiple line laser structured light three-dimensional imaging mould groups, passes through the spelling at multiple visual angles
Connect the acquisition of information realized to 360 degree of surfaces of object.The existing dimensional measurement for the static ring-shaped work pieces placed proposes multi-thread
The scheme of Structural visual sensor measuring system obtains the full view three-dimensional result in single section；Utilize multiple groups line laser structured light
Three-dimensional imaging mould group realizes the full view imaging of human body surface profile.Need to guarantee that multiple line lasers are coplanar in experimentation,
It is higher to the installation requirement of device, limit the live flexible Application of this method.
Summary of the invention
The purpose of the present invention is in view of the drawbacks of the prior art, to solve visual field in the three-dimensional imaging of single-view line laser structured light
Limitation and multi-angle of view line laser structured light three-dimensional imaging in the difficult problem of laser plane adjustment, the present invention provides one
Full view line laser structured light three-dimensional image forming apparatus and method of the kind based on spatial offset.
In order to achieve the goal above, the invention adopts the following technical scheme:
Full view line laser structured light three-dimensional image forming apparatus based on spatial offset: including one-dimensional movement component, stereo target,
Laser emitter and camera, the stereo target are mounted on above one-dimensional movement component, and the stereo target, which is one, at least to be had
There are three the regular prisms in face, and several faces of stereo target are circumferentially mutually enclosed；The quantity and Stereo target of laser emitter and camera
The quantity in target face is corresponding, is arranged at the rib of several laser emitter lateral alignment stereo targets；It is respectively installed on each camera
One camera lens, camera lens are used to that the face of stereo target to be imaged.
Further, the stereo target is square prism, and laser emitter, camera and camera lens are respectively provided with four.
Further, the stereo target is regular triangular prism, and laser emitter, camera and camera lens are respectively provided with three.
Further, to form non-colinear straight line at the laser plane side opposite direction stereo target rib, each laser plane is empty
Between be staggered.
Further, the cross drone of regular distribution is carved in each face of stereo target.
Further, the full view line laser structured light three-D imaging method of described device,
Step 1, the full view line laser structured light three-dimensional imaging caliberating device is built, four single line laser structured lights are used
Four faces of the opposite stereo target of three-dimensional imaging combination difference；
Step 2, it keeps stereo target position constant, makes several cameras while acquiring the image in the stereo target face of face,
Tsai standardization is used by the world coordinates under the world coordinate system corresponding with the camera of cross drone pixel coordinate in image
The outer participation internal reference for calculating camera, successively finds out the parameter of each camera；
Step 3, laser emitter is opened, the folding formed at stereo target rib with camera acquisition laser emitter optical plane
Linea angulata imaging, extracts the point on the broken line, seeks line laser plane equation with this, determines that line laser plane is sat relative to camera
The positional relationship of mark system and world coordinate system；
Step 4, make to be moved one-dimensionally component drive stereo target movement, take two images respectively in the movement direction, acquire
It is moved one-dimensionally the direction of motion and distance of component；
Step 5, after the completion of calibration, measuring targets carry out the three-dimensional imaging of full view line laser structured light；
Step 6, multiple cameras are made to complete global mark by mutually converting between the corresponding conventional coordinates of stereo target
It is fixed, that is, it demarcates each face imaging and is stitched together, complete the three-dimensional imaging of full view line laser structured light.
Further, step 1 specifically,
It is designed using structure above-mentioned, i.e. a laser, a camera and a camera lens constitute a single line laser
Scan three-dimensional imaging sub-assembly, by four single line laser structured light three-dimensional imaging sub-assembly (along the circumferential direction) annulars be laid in
It scans around object, at each single line laser structured light three-dimensional imaging sub-assembly slightly lateral alignment stereo target rib, to acquire
The non-colinear light generated at the rib of two sides to laser plane.Stereo target is installed on one-dimensional movement component, solid can be driven
Target motion, the direction of motion are parallel to stereo target calibration plane.
Step 2 is specifically, the fixed one of face of stereo target is standard world coordinate system (XW1,YW1,ZW1), phase therewith
Coordinate system on an adjacent face is temporary coordinate system (Xw2,Yw2,Zw2), the coordinate system in face on the other side is temporal coordinate
It is (Xw3,Yw3,Zw3), the coordinate system in another face adjacent thereto is temporary coordinate system (Xw4,Yw4,Zw4)；Keep three-dimensional
Target position is constant, makes four cameras while acquiring the image in a corresponding calibration face, calculates camera coordinates and attitude data,
Standard world coordinate system of the coordinate system corresponding to calibration face as corresponding camera.When acquisition, it is necessary to assure keep stereo target
Position is constant.
Step 3 is not overlapped straight specifically, opening laser emitter with several in camera acquisition laser emitter optical plane
Line imaging, if acquiring the world coordinates under unique world coordinate system done on laser rays by Cross ration invariability, i.e.,
Can fit line laser plane equation, determine positional relationship of the line laser plane relative to unique world coordinate system.
Step 4 drives stereo target mobile specifically, making to be moved one-dimensionally component, takes two width figures respectively in the movement direction
Picture identifies same position in two images respectively, acquires the direction of motion and distance of one-dimensional movement component, is moved one-dimensionally component band
When dynamic stereo target is mobile, when the certain pulse of every movement, the image in face is demarcated in the corresponding acquisition of camera one, is known to calibration face
It does not analyze, it can be deduced that the distance that object to be scanned moves every time, by the identical moving distance of the image of multiple groups laser rays
Obtain the three-dimensional data of body surface to be scanned.
Step 5 installs object under test on one-dimensional movement component, adjusts object to be scanned specifically, remove stereo target
Position makes laser line projection on object to be scanned, drives object to be scanned to do along the direction of calibration using one-dimensional movement component
Motion in one dimension acquires image to object to be scanned simultaneously using camera, the image transmitting of acquisition is returned computer, is carried out to image
Processing obtains the coordinate data of scanning object different sides.
Step 6 specifically, the resulting picture of line laser structured light three-dimensional imaging coordinate data, due to have passed through global calibration,
Connection is established using the spatial relationship in four calibration faces of stereo target, by conversion so that the data in each face are established same
Under the world coordinate system that one plane determines, i.e., the coordinate data in each face that three-dimensional imaging obtains will be established automatically in the unified world
Under coordinate system, automatic fusion is realized.
Stereo target is by customizing special object in high precision, due to the particularity of its spatial form, it is easy to be realized single
Visual angle calibration, the calibration of multi-angle of view global calibration, laser plane, translation stage calibration, i.e., realize all marks using single object
Determine process.
Further, when laser plane is demarcated, each laser is spatially staggered, using optical plane at stereo target rib
The two non-colinear straight lines formed complete the calibration of single optical plane, close also with space of each calibration face on stereo target
System establishes the conversion of each optic plane equations under determining unique world coordinate system.
Further, further include step 7, the picture of different sides formed by multiple cameras is stitched together, specific steps are such as
Under:
When being moved one-dimensionally component drive object to be scanned movement, when moving a certain distance object to be scanned, camera is adopted
The image for collecting a body surface laser rays to be scanned selects at respectively suitable region since each laser plane is staggered
Reason, computed altitude information and according to mobile direction and distance, but since optical plane and each camera perspective are established unique
Under world coordinate system to get to three-dimensional data overlapping region be body surface to be scanned three-dimensional data.Pass through four
Camera respectively obtains four groups of three-dimensional datas, and coordinate is determined according to step 2 acceptance of the bid conventional coordinates and temporary coordinate system；Assuming that wherein
Point coordinate of two faces in its corresponding standard world coordinate system bePoint in interim world coordinate system
Coordinate is
The coordinate of the resulting picture of line laser structured light three-dimensional imaging is the relative position in two calibration faces under world coordinate system
It is known that making the picture of the different sides of object to be scanned formed by two cameras by mutually converting between two worlds coordinate system
It is overlapped；
Because these corresponding world coordinate system transforming relationships in calibration face are certain, the world corresponding to the face of each stereo target
Transformational relation between coordinate system is indicated with orthogonal spin matrix R with translation vector T；Wherein a calibration face is standard world seat
Mark system (XW1,YW1,ZW1), calibration areal coordinate system adjacent thereto is temporary coordinate system (Xw2,Yw2, Zw2), then two coordinates it
Between transformation relation be expressed as follows:
Wherein, the orthogonal spin matrix that R is 3 × 3；T is D translation vector, 0=(0,0,0)；M is 4 × 4 outer parameter squares
Battle array, illustrates the transformation relation between standard world coordinate system and interim world coordinate system；
In the two sides of stereo target, obtainTaking square side length is d, thenBy interim generation
Point coordinate in boundary's coordinate system isThe point being converted into standard world coordinate system, formula are as follows:
Two coordinates show that then two different faces of object to be scanned just can be stitched together in the same coordinate system.
Technical solution of the present invention is used, the invention has the benefit that compared with prior art, the present invention is based on space mistakes
Position full view line laser structured light three-dimensional image forming apparatus and method, by using High Precision Stereo target simultaneously to multiple cameras into
Rower is fixed, is converted according to coordinate, under the world coordinate system unification to the unique coordinate system of one of camera that each camera is determined,
Then synchronous triggering device control camera acquires the three-dimensional information of object different sides to be scanned respectively, then obtains body surface
Complete information, to solve the disadvantage that single line laser structured light device is unable to get body surface complete information.
Detailed description of the invention
Fig. 1 is that a kind of full view line laser structured light three-dimensional image forming apparatus based on spatial offset provided by the invention is just tetragonous
Column solid target；
Fig. 2 is a kind of full view line laser structured light three-dimensional image forming apparatus structure based on spatial offset provided by the invention
Figure；
Fig. 3 is a kind of full view line laser structured light three-dimensional image forming apparatus and method based on spatial offset provided by the invention
Scanning result figure one；
Fig. 4 is a kind of full view line laser structured light three-dimensional image forming apparatus and method based on spatial offset provided by the invention
Scanning result figure two；
Fig. 5 is a kind of full view line laser structured light three-dimensional image forming apparatus and method based on spatial offset provided by the invention
Scanning result figure three.
Wherein, 1, laser emitter, 2, camera, 3, camera lens, 4, one-dimensional movement component, 5, stereo target.
Specific embodiment
Concrete scheme specific embodiment of the present invention is further elaborated in conjunction with attached drawing.
As shown in Figure 1, 2, the full view line laser structured light three-dimensional image forming apparatus based on spatial offset: including one-dimensional movement portion
Part, stereo target, laser emitter and camera, the stereo target are mounted on above one-dimensional movement component, the stereo target
It is the regular prism at least having there are three face, several faces of stereo target are circumferentially mutually enclosed；Laser emitter and camera
Quantity is corresponding with the quantity in the face of stereo target, is arranged at the rib of several laser emitter lateral alignment stereo targets；Each
One camera lens is respectively installed, camera lens is used to that the face of stereo target to be imaged on camera.
The stereo target is square prism, and laser emitter, camera and camera lens are respectively provided with four.
The stereo target is regular triangular prism, and laser emitter, camera and camera lens are respectively provided with three.
To form non-colinear straight line at the laser plane side opposite direction stereo target rib, each laser plane space is staggered.
It is carved with the cross drone of regular distribution in each face of stereo target.
The present embodiment is specific as follows by taking stereo target is square prism as an example:
Device includes four laser emitters, four cameras, four camera lenses, one-dimensional movement component, is installed on each camera
One camera lens, camera lens are mounted laterally, and the face of stereo target is imaged.Object to be scanned is installed on one-dimensional movement component.Camera is excellent
Select industrial camera.
Along being circular layout around object to be scanned, four laser emitters are dislocatedly distributed four laser emitters, and one
Dimension moving parts can drive scanning object body perpendicular to plane motion composed by laser.
Four cameras for respectively coming with camera lens are directed at object to be scanned, and each laser emitter swashs to object to be scanned projection
After light, imaging is acquired by one of camera and camera lens, thus by a laser, a camera and a camera lens
Constitute a single line laser structured light three-dimensional imaging sub-assembly.
The present embodiment full view line laser structured light three-dimensional imaging caliberating device is including further including square prism stereo target, such as
Shown in Fig. 1, have a characteristic that
1) the every one side of stereo target by the cross drone of regular distribution as feature point for calibration, it is specified that the original of world coordinate system
Point is located at the cross drone of first, the lower left corner, and Z axis is perpendicular to target plane.
2) the cross drone distribution in each face of stereo target is identical.
When being demarcated by stereo target to camera, referring to fig. 2, stereo target is installed on object to be scanned in Fig. 2
Position.
After the completion of calibration, stereo target is removed, and object to be scanned is installed on same position.It is moved one-dimensionally component
The plane motion for driving object to be scanned to be surrounded perpendicular to four lasers is imaged it using camera and camera lens.
The present embodiment is illustrated by taking four combinations as an example, for example, three, five or more combination are also fallen into
Within protection scope of the present invention, wherein known dimensioning can also be used similar to the square prism of production stereo target
Very little other regular prisms.
To realize the three-dimensional imaging of full view line laser structured light, it is demarcated as committed step.Stereo target is to later period coordinate transformation
It plays an important role.
The full view line laser structured light three-D imaging method of described device,
Step 1, the full view line laser structured light three-dimensional imaging caliberating device is built, four single line laser structured lights are used
Four faces of the opposite stereo target of three-dimensional imaging combination difference；
For step 1 specifically, being designed using structure above-mentioned, i.e. a laser, a camera and a camera lens constitute one
A single line laser structured light three-dimensional imaging sub-assembly, by four single line laser structured light three-dimensional imaging sub-assemblies (along the circumferential direction)
Annular is laid in around object to be scanned, each single line laser structured light three-dimensional imaging sub-assembly slightly lateral alignment stereo target rib
Place, to collect the non-colinear light that laser plane generates at the rib of two sides.Stereo target is installed on one-dimensional movement component,
Stereo target can be driven to move, the direction of motion is parallel to stereo target calibration plane.
Step 2, it keeps stereo target position constant, makes several cameras while acquiring the image in the stereo target face of face,
Tsai standardization is used by the world coordinates under the world coordinate system corresponding with the camera of cross drone pixel coordinate in image
The outer participation internal reference for calculating camera, successively finds out the parameter of each camera；
Step 2 is specifically, the fixed one of face of stereo target is standard world coordinate system (XW1, YW1,ZW1), phase therewith
Coordinate system on an adjacent face is temporary coordinate system (Xw2,Yw2,Zw2), the coordinate system in face on the other side is temporal coordinate
It is (Xw3,Yw3, Zw3), the coordinate system in another face adjacent thereto is temporary coordinate system (Xw4,Yw4,Zw4)；Keep three-dimensional
Target position is constant, makes four cameras while acquiring the image in a corresponding calibration face, calculates camera coordinates and attitude data,
Standard world coordinate system of the coordinate system corresponding to calibration face as corresponding camera.When acquisition, it is necessary to assure keep stereo target
Position is constant.As a result such as table 1- table 4:
1: the first camera calibration result of table
2: the second camera calibration results of table
Table 3: third camera calibration result
4: the four camera calibration results of table
Step 3, laser emitter is opened, the folding formed at stereo target rib with camera acquisition laser emitter optical plane
Linea angulata imaging, extracts the point on the broken line, seeks line laser plane equation with this, determines that line laser plane is sat relative to camera
The positional relationship of mark system and world coordinate system；
Step 3 is not overlapped straight specifically, opening laser emitter with several in camera acquisition laser emitter optical plane
Line imaging, if acquiring the world coordinates under unique world coordinate system done on laser rays by Cross ration invariability, i.e.,
Can fit line laser plane equation, positional relationship of the line laser plane relative to unique world coordinate system is determined, as a result such as table 5-
Shown in table 8:
| a | b | c | d |
| -230.897 | 1932 | -236.8862 | -108613.562 |
5: the first laser plane calibration results of table
| a | b | c | d |
| 42.397 | -1932 | -201.531 | 7622.3792 |
6: the second laser plane calibration results of table
| a | b | c | d |
| 20.3856 | 168 | -6.3828 | -8195.76956 |
Table 7: third laser plane calibration result
| a | b | c | d |
| 60.3676 | -180 | -6.4536 | 5658.5202 |
8: the four laser plane calibration results of table
Step 4, make to be moved one-dimensionally component drive stereo target movement, take two images respectively in the movement direction, acquire
It is moved one-dimensionally the direction of motion and distance of component；
Step 4 drives stereo target mobile specifically, making to be moved one-dimensionally component, takes two width figures respectively in the movement direction
Picture identifies same position in two images respectively, acquires the direction of motion and distance of one-dimensional movement component, is moved one-dimensionally component band
When dynamic stereo target is mobile, when the certain pulse of every movement, the image in face is demarcated in the corresponding acquisition of camera one, is known to calibration face
It does not analyze, it can be deduced that the distance that object to be scanned moves every time, by the identical moving distance of the image of multiple groups laser rays
Obtain the three-dimensional data of body surface to be scanned.The calibration result of translational motion platform such as table 9:
Table 9
Step 5, after the completion of calibration, measuring targets carry out the three-dimensional imaging of full view line laser structured light；Step 5 specifically,
Remove stereo target, object under test be installed on one-dimensional movement component, adjusts scanning object body position, make laser line projection to
It scans on object, drives object to be scanned to do motion in one dimension along the direction of calibration using one-dimensional movement component, simultaneously using camera
Image is acquired to object to be scanned, the image transmitting of acquisition is returned into computer, image is handled, it is different to obtain scanning object
The coordinate data in face.
Step 6, multiple cameras are made to complete global mark by mutually converting between the corresponding conventional coordinates of stereo target
It is fixed, that is, it demarcates each face imaging and is stitched together, complete the three-dimensional imaging of full view line laser structured light.
Step 6 specifically, the resulting picture of line laser structured light three-dimensional imaging coordinate data, due to have passed through global calibration,
Connection is established using the spatial relationship in four calibration faces of stereo target, by conversion so that the data in each face are established same
Under the world coordinate system that one plane determines, i.e., the coordinate data in each face that three-dimensional imaging obtains will be established automatically in the unified world
Under coordinate system, automatic fusion is realized.
Stereo target is by customizing special object in high precision, due to the particularity of its spatial form, it is easy to be realized single
Visual angle calibration, the calibration of multi-angle of view global calibration, laser plane, translation stage calibration, i.e., realize all marks using single object
Determine process.
When laser plane is demarcated, each laser is spatially staggered, two formed at stereo target rib using optical plane
The calibration that non-colinear straight line completes single optical plane will be each also with spatial relationship of each calibration face on stereo target
Optic plane equations conversion is established under determining unique world coordinate system.
Step 7, the picture of different sides formed by multiple cameras is stitched together, the specific steps are as follows:
When being moved one-dimensionally component drive object to be scanned movement, when moving a certain distance object to be scanned, camera is adopted
The image for collecting a body surface laser rays to be scanned selects at respectively suitable region since each laser plane is staggered
Reason, computed altitude information and according to mobile direction and distance, but since optical plane and each camera perspective are established unique
Under world coordinate system to get to three-dimensional data overlapping region be body surface to be scanned three-dimensional data.Pass through four
Camera respectively obtains four groups of three-dimensional datas, and coordinate is determined according to step 2 acceptance of the bid conventional coordinates and temporary coordinate system；Assuming that wherein
Point coordinate of two faces in its corresponding standard world coordinate system bePoint in interim world coordinate system
Coordinate is
The coordinate of the resulting picture of line laser structured light three-dimensional imaging is the relative position in two calibration faces under world coordinate system
It is known that making the picture of the different sides of object to be scanned formed by two cameras by mutually converting between two worlds coordinate system
It is overlapped；
Because these corresponding world coordinate system transforming relationships in calibration face are certain, the world corresponding to the face of each stereo target
Transformational relation between coordinate system is indicated with orthogonal spin matrix R with translation vector T；Wherein a calibration face is standard world seat
Mark system (XW1,YW1,ZW1), calibration areal coordinate system adjacent thereto is temporary coordinate system (Xw2,Yw2,Zw2), then two coordinates it
Between transformation relation be expressed as follows:
Wherein, the orthogonal spin matrix that R is 3 × 3；T is D translation vector, 0=(0,0,0)；M is 4 × 4 outer parameter squares
Battle array, illustrates the transformation relation between standard world coordinate system and interim world coordinate system；
In the two sides of stereo target, obtainTaking square side length is d, thenBy interim generation
Point coordinate in boundary's coordinate system isThe point being converted into standard world coordinate system, formula are as follows:
Two coordinates show that then two different faces of object to be scanned just can be stitched together in the same coordinate system.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (9)
1. the full view line laser structured light three-dimensional image forming apparatus based on spatial offset, it is characterized in that: including one-dimensional movement component, vertical
Body target, laser emitter and camera, the stereo target are mounted on above one-dimensional movement component, and the stereo target is one
At least has the regular prism there are three face, several faces of stereo target are circumferentially mutually enclosed；The quantity of laser emitter and camera with
The quantity in the face of stereo target is corresponding, is arranged at the rib of several laser emitter lateral alignment stereo targets；On each camera
Respectively one camera lens of installation, camera lens are used to that the face of stereo target to be imaged.
2. the full view line laser structured light three-dimensional image forming apparatus based on spatial offset as described in claim 1, it is characterized in that: institute
The stereo target stated is square prism, and laser emitter, camera and camera lens are respectively provided with four.
3. the full view line laser structured light three-dimensional image forming apparatus based on spatial offset as described in claim 1, it is characterized in that: institute
The stereo target stated is regular triangular prism, and laser emitter, camera and camera lens are respectively provided with three.
4. the full view line laser structured light three-dimensional image forming apparatus based on spatial offset as described in claim 1, it is characterized in that: institute
It states to form non-colinear straight line at the opposite direction stereo target rib of laser plane side, each laser plane space is staggered.
5. the full view line laser structured light three-dimensional image forming apparatus as described in any one of claims 1-3 based on spatial offset,
It is characterized in: is carved with the cross drone of regular distribution in each face of stereo target.
6. the full view line laser structured light three-D imaging method based on claim 1 described device, carries out as follows:
Step 1, the full view line laser structured light three-dimensional imaging caliberating device is built, it is three-dimensional using four single line laser structured lights
Four faces of the opposite stereo target of imaging suite difference；
Step 2, it keeps stereo target position constant, makes several cameras while acquiring the image in the stereo target face of face, pass through
World coordinates in image under cross drone pixel coordinate world coordinate system corresponding with the camera is resolved using Tsai standardization
The outer participation internal reference of camera out, successively finds out the parameter of each camera；
Step 3, laser emitter is opened, the chine formed at stereo target rib with camera acquisition laser emitter optical plane
Imaging, extracts the point on the broken line, seeks line laser plane equation with this, determines line laser plane relative to camera coordinates system
With the positional relationship of world coordinate system；
Step 4, make to be moved one-dimensionally component drive stereo target movement, take two images respectively in the movement direction, acquire one-dimensional
The direction of motion and distance of moving parts；
Step 5, after the completion of calibration, measuring targets carry out the three-dimensional imaging of full view line laser structured light；
Step 6, multiple cameras are made to complete global calibration by mutually converting between the corresponding conventional coordinates of stereo target, i.e.,
It demarcates each face imaging to be stitched together, completes the three-dimensional imaging of full view line laser structured light.
7. full view line laser structured light three-dimensional imaging scaling method as claimed in claim 6, it is characterized in that: step 2 specifically,
The fixed one of face of stereo target is standard world coordinate system (XW1, YW1, ZW1), the coordinate on a face adjacent thereto
System is temporary coordinate system (Xw2,Yw2,Zw2), the coordinate system in face on the other side is temporary coordinate system (Xw3,Yw3,Zw3), another
The coordinate system in a face adjacent thereto is temporary coordinate system (Xw4,Yw4,Zw4)；
Step 3 is specifically, open laser emitter, with several straight line institutes not being overlapped in camera acquisition laser emitter optical plane
At picture can intend if acquiring the world coordinates under unique world coordinate system done on laser rays by Cross ration invariability
Zygonema laser plane equation determines positional relationship of the line laser plane relative to unique world coordinate system；
Step 4 drives stereo target mobile specifically, making to be moved one-dimensionally component, takes two images respectively in the movement direction, point
Not Shi Bie same position in two images, acquire the direction of motion and distance of one-dimensional movement component, one-dimensional movement component drives vertical
When body target is mobile, when the certain pulse of every movement, the image in one calibration face of the corresponding acquisition of camera carries out identification to calibration face and divides
Analysis, it can be deduced that the distance that object to be scanned moves every time, you can get it by the identical moving distance of the image of multiple groups laser rays
The three-dimensional data of body surface to be scanned；
Step 5 installs object under test on one-dimensional movement component, adjusts scanning object body position specifically, remove stereo target,
Make laser line projection on object to be scanned, drives object to be scanned to do a maintenance and operation along the direction of calibration using one-dimensional movement component
It is dynamic, image is acquired to object to be scanned simultaneously using camera, the image transmitting of acquisition is returned into computer, image is handled,
Obtain the coordinate data of scanning object different sides；
Step 6 specifically, the resulting picture of line laser structured light three-dimensional imaging coordinate data, it is due to have passed through global calibration, i.e., sharp
Connection is established with the spatial relationship in four calibration faces of stereo target, by conversion so that the data in each face are established same flat
Under the world coordinate system that face determines, i.e., the coordinate data in each face that three-dimensional imaging obtains will be established automatically in unified world coordinates
Under system, automatic fusion is realized.
8. full view spatial offset line laser structured light three-dimensional imaging scaling method as claimed in claim 6, it is characterized in that: laser
When plane reference, each laser is spatially staggered, the two non-colinear straight lines formed at stereo target rib using optical plane
The calibration for completing single optical plane turns each optic plane equations also with spatial relationship of each calibration face on stereo target
Foundation is changed under determining unique world coordinate system.
9. full view space line scanning three-dimensional imaging laser scaling method as claimed in claim 7, it is characterized in that: further including step
Rapid 7, the picture of different sides formed by multiple cameras is stitched together, the specific steps are as follows:
When being moved one-dimensionally component drive object to be scanned movement, when moving a certain distance object to be scanned, camera acquisition one
The image for opening body surface laser rays to be scanned, respectively obtains four groups of three-dimensional datas by four cameras, coordinate is according to step 2
Acceptance of the bid conventional coordinates and temporary coordinate system determine；Assuming that point coordinate of the two of them face in its corresponding standard world coordinate system
ForTemporarily the point coordinate in world coordinate system is
The coordinate of the resulting picture of line laser structured light three-dimensional imaging is under world coordinate system, and the relative position in two calibration faces is
Know, i.e., makes the picture weight of the different sides of object to be scanned formed by two cameras by mutually converting between two worlds coordinate system
It closes；
Wherein a calibration face is standard world coordinate system (XW1,YW1, ZW1), calibration areal coordinate system adjacent thereto is temporal coordinate
It is (Xw2,Yw2,Zw2), then the transformation relation between two coordinates is expressed as follows:
Wherein, the orthogonal spin matrix that R is 3 × 3；T is D translation vector, 0=(0,0,0)；M is 4 × 4 outer parameter matrixs,
Illustrate the transformation relation between standard world coordinate system and interim world coordinate system；
In the two sides of stereo target, obtainTaking square side length is d, thenThe interim world is sat
Marking the point coordinate in being isThe point being converted into standard world coordinate system, formula are as follows:
Two coordinates show that then two different faces of object to be scanned just can be stitched together in the same coordinate system.
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