CN112489140B - Attitude measurement method - Google Patents
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Abstract
The application relates to an attitude measurement method, and relates to the field of measurement. The attitude measurement method comprises the following steps: placing a binocular camera outside an observation window, wherein the observation window is arranged on the side wall of the wind tunnel test section, and the binocular camera comprises a left camera and a right camera; the target is arranged outside the observation window, and the target is utilized to calibrate the internal parameters and the external parameters of the binocular camera, so that a first parameter is obtained; the target is placed in the wind tunnel test section, and the target is utilized to calibrate the internal parameters and the external parameters of the binocular camera, so that a second parameter is obtained; obtaining a mapping relation between the first parameter and the second parameter; acquiring a first posture of a tested model by adopting a binocular camera according to a second parameter, wherein the tested model is arranged in the wind tunnel test section; and obtaining the target gesture of the tested model according to the mapping relation and the first gesture. The utility model provides a be used for solving the light refraction that arouses because of observation window glass, cause the inaccurate problem of gesture measurement.
Description
Technical Field
The application relates to the field of measurement, in particular to a posture measurement method.
Background
Wind tunnel test refers to an aerodynamic experimental method for arranging an aircraft or other object model in a wind tunnel, and researching the air flow and the interaction of the air flow and the model so as to know the aerodynamic characteristics of the actual aircraft or other object. Wind tunnel tests are carried out on the aircraft, the wind tunnel tests play an important role in the design process of modern aircraft, and a plurality of important parameters in the design process of the aircraft, such as load distribution, model surface aerodynamic force and the like, are all obtained by the wind tunnel tests. Thus, the accuracy of the wind tunnel test data directly affects the reliability of the aircraft design. Along with the continuous development of modern technology and the continuous improvement of aircraft design technology, higher and higher requirements are put forward on the refinement of wind tunnel tests.
The refinement requirement of the wind tunnel test is realized by optimizing the generation links of each error in the wind tunnel test process, improving the test means and reducing the measurement error. In the current domestic wind tunnel test process, people often focus on improvement on aspects of improving model processing precision, improving acquisition system and sensor precision, improving air flow uniformity and stability and the like. However, a large error is introduced in the attitude measurement due to refraction of light caused by the observation window glass.
Disclosure of Invention
The application provides a posture measurement method which is used for solving the problem of inaccurate posture measurement caused by light refraction caused by observation window glass.
In a first aspect, an embodiment of the present application provides a gesture measurement method, including:
placing a binocular camera outside an observation window, wherein the observation window is arranged on the side wall of the wind tunnel test section, and the binocular camera comprises a left camera and a right camera;
the target is arranged outside the observation window, and the internal parameters and the external parameters of the binocular camera are calibrated by the target to obtain a first parameter;
the target is placed in the wind tunnel test section, and the target is utilized to calibrate the internal parameters and the external parameters of the binocular camera, so that a second parameter is obtained;
Acquiring a mapping relation between the first parameter and the second parameter;
acquiring a first posture of a tested model according to the second parameter by adopting the binocular camera, wherein the tested model is arranged in the wind tunnel test section;
and obtaining the target gesture of the tested model according to the mapping relation and the first gesture.
Optionally, the acquiring, by using the binocular camera, the first pose of the measured model according to the second parameter includes:
setting a reference point at a stable position which is inside the wind tunnel test section and is not influenced by environmental vibration;
when the binocular camera does not vibrate before a test is started, acquiring a first coordinate value of the reference point in a first left image shot by the left camera and a second coordinate value of the reference point in a first right image shot by the right camera;
obtaining a first spatial position coordinate value of the reference point according to the first coordinate value, the second coordinate value and the second parameter;
when the binocular camera vibrates in the test process, acquiring a third coordinate value of the reference point in a second left image shot by the left camera and a fourth coordinate value of the reference point in a second right image shot by the right camera;
Obtaining a second spatial position coordinate value of the reference point according to the third coordinate value, the fourth coordinate value and the second parameter;
acquiring a conversion relation between the first spatial position coordinate value and the second spatial position coordinate value;
when the binocular camera vibrates in the test process, acquiring a second posture of the tested model;
and obtaining the first gesture of the tested model according to the conversion relation and the second gesture.
Optionally, the internal parameters include focal length, principal point coordinates, and lens distortion;
the external parameter refers to a positional relationship between the left camera and the right camera.
Optionally, calibrating the internal parameter and the external parameter of the binocular camera with the target includes:
acquiring first corner information and first sub-pixel corner information of the target in a third left image shot by the left camera;
calibrating internal parameters of the left camera according to the first corner information and the first sub-pixel corner information;
acquiring second corner information and second sub-pixel corner information of the target in a third right image shot by the right camera;
Calibrating the internal parameters of the right camera according to the second corner information and the second sub-pixel corner information;
acquiring a common point of the target in the third left image and the third right image, and a fifth coordinate value of the common point in the third left image and a sixth coordinate value of the common point in the third right image;
and calibrating external parameters of the binocular camera according to the fifth coordinate value and the sixth coordinate value.
Optionally, the acquiring, by using the binocular camera, the first pose of the measured model according to the second parameter includes:
setting a mark point on the tested model;
shooting a fourth left image of the tested model by adopting the left camera;
shooting a fourth right image of the tested model by adopting the right camera;
acquiring a seventh coordinate value of the mark point in the fourth left image and an eighth coordinate value of the mark point in the fourth right image;
and obtaining the first gesture of the measured model according to the seventh coordinate value, the eighth coordinate value and the second parameter.
Optionally, the acquiring the seventh coordinate value of the marker point in the fourth left image and the eighth coordinate value of the marker point in the fourth right image includes:
Acquiring first image information of the mark point in the fourth left image;
obtaining the seventh coordinate value according to the first image information;
acquiring second image information of the mark point in the fourth right image;
and obtaining the eighth coordinate value according to the second image information.
Optionally, the acquiring the first image information of the marker point in the fourth left image includes:
preprocessing the fourth left image to obtain a preprocessed fifth left image, wherein the preprocessing comprises filtering;
performing edge detection on the fifth left image to obtain an edge binary image;
carrying out contour tracking on the edge binary image to obtain a contour set;
removing the outline of the interference point from the outline set, and screening the outline of the mark point;
and acquiring the first image information of the mark point according to the outline of the mark point.
Optionally, the removing the outline of the interference point from the outline set, and screening the outline of the mark point includes:
carrying out ellipse fitting on each contour in the contour set to obtain a fitted ellipse;
and removing the outline of the interference point according to the fitted ellipse, and screening the outline of the mark point.
Optionally, the removing the outline of the interference point according to the fitted ellipse, and screening the outline of the mark point includes:
comparing the length of the major axis of the fitted ellipse with a preset length value of the major axis;
if the length of the major axis of the fitted ellipse is smaller than the preset length value of the major axis, the fitted ellipse is an ellipse fitted according to the outline of the interference point;
and if the length of the major axis of the fitted ellipse is not smaller than the preset length value of the major axis, the fitted ellipse is an ellipse fitted according to the outline of the mark point.
Optionally, the binocular camera adopts a synchronous triggering mode.
In a second aspect, an embodiment of the present application provides an attitude measurement apparatus, including:
the placement module is used for placing the binocular camera outside the observation window, wherein the observation window is arranged on the side wall of the wind tunnel test section, and the binocular camera comprises a left camera and a right camera;
the first calibration module is used for placing a target outside the observation window, and calibrating the internal parameters and the external parameters of the binocular camera by using the target to obtain a first parameter;
the second calibration module is used for placing the target in the wind tunnel test section, and calibrating the internal parameters and the external parameters of the binocular camera by using the target to obtain second parameters;
The first acquisition module is used for acquiring the mapping relation between the first parameter and the second parameter;
the second acquisition module is used for acquiring a first gesture of the tested model by adopting the binocular camera according to the second parameter, wherein the tested model is arranged in the wind tunnel test section;
and the processing module is used for obtaining the target gesture of the tested model according to the mapping relation and the first gesture.
In a third aspect, an embodiment of the present application provides an electronic device, including: the device comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory are communicated with each other through the communication bus;
the memory is used for storing a computer program;
the processor is configured to execute a program stored in the memory, to implement the attitude measurement method according to the first aspect.
In a fourth aspect, embodiments of the present application provide a computer readable storage medium storing a computer program, where the computer program when executed by a processor implements the attitude measurement method according to the first aspect.
Compared with the prior art, the technical scheme provided by the embodiment of the application has the following advantages: according to the method provided by the embodiment of the application, the binocular camera and the target are arranged outside the observation window, the target is used for calibrating the internal parameters and the external parameters of the binocular camera to obtain the first parameters, and at the moment, the observation window is not arranged between the binocular camera and the target; the binocular camera is arranged outside the observation window, the target is arranged inside the wind tunnel test section, the target is used for calibrating the internal parameters and the external parameters of the binocular camera to obtain a second parameter, the observation window is arranged between the binocular camera and the target, and the binocular camera can cause light refraction due to the observation window glass during shooting; obtaining a mapping relation between a first parameter and a second parameter, wherein the mapping relation is a parameter mapping relation between a glass-free window and a glass-equipped window; the measured model is arranged in the wind tunnel test section, and a binocular camera is adopted to acquire a first posture of the measured model according to a second parameter acquired when an observation window exists; according to the mapping relation and the first gesture, the target gesture of the measured model is obtained, the influence of the observation window glass can be eliminated, gesture measurement is more accurate, and the problem of inaccurate gesture measurement caused by light refraction caused by the observation window glass is solved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, and it will be obvious to a person skilled in the art that other drawings can be obtained from these drawings without inventive effort.
FIG. 1 is a schematic flow chart of a method for measuring an attitude in an embodiment of the present application;
FIG. 2 is a schematic illustration of a target in one embodiment of the present application;
FIG. 3 is a flow chart of a method for calibrating internal and external parameters of a binocular camera using targets in one embodiment of the present application;
FIG. 4 is a flow chart of a method for eliminating the vibration influence of a binocular camera when the binocular camera is used to obtain a first pose of a model to be measured according to a second parameter in an embodiment of the present application;
FIG. 5 is a flowchart of a method for acquiring a first pose of a model to be measured according to a second parameter using a binocular camera according to an embodiment of the present application;
FIG. 6 is a schematic structural diagram of an attitude measurement apparatus according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of an electronic device in an embodiment of the present application.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present application based on the embodiments herein.
The embodiment of the application provides a gesture measurement method, which can be applied to a server, and of course, can also be applied to other electronic devices, such as terminals (mobile phones, tablet computers and the like). In the embodiment of the present application, an example of applying the method to a server will be described.
As shown in fig. 1, the method flow of gesture measurement mainly includes:
and 101, placing a binocular camera outside the observation window, wherein the observation window is arranged on the side wall of the wind tunnel test section, and the binocular camera comprises a left camera and a right camera.
In a specific embodiment, the binocular camera is arranged outside the observation window, the left camera and the right camera are symmetrically arranged, the optical axes of the left camera and the right camera form a certain included angle, the public view field area is the whole body of the tested model, the optical heart rate of the camera is higher than the position of the tested model, parameters such as the base line distance, the included angle and the like are designed in a refined mode according to the on-site observation window of the wind tunnel, the position of the tested model, the parameters of the camera, the illumination condition and the like, and then experimental verification is carried out to optimize the design.
In a specific embodiment, the binocular camera adopts an AOSS-PRI high-speed camera, the maximum resolution of the camera is 1280×1024@500fps, a hardware external trigger is adopted, a global shutter mode is adopted, and the long frame rate of the working process of the camera is 500 frames per second, so that the requirements can be met. The method is characterized in that the angle of view of a lens of a general industrial camera is calculated by 46 degrees, the position of a measured model is nearest 3 meters and farthest 5 meters, the field of view of the camera at the position of 3 meters can reach 2X 3 xsin (46 degrees/2) approximately equal to 2.5 meters, the position of 5 meters can reach 2X 5 xsin (46 degrees/2) approximately equal to 24 meters, the length of the measured model is 1 meter, the measured model can be completely imaged, 1024 pixels with smaller longitudinal resolution are taken, the length of a single pixel is about 0.004 meter for the position of 5 meters, when the position of a mark point is extracted, sub-pixel point positioning is adopted, the precision can be improved to about 1/5 pixel, namely about 0.0008 meter, and an AOSS-PRI high-speed camera is matched with a 24-85mm f/2.8-4D IF lens.
In one embodiment, the binocular camera employs a synchronous triggering scheme. The binocular camera adopts a mode of hardware external triggering or software synchronous triggering to avoid possible software delay, and ensures the synchronization of the images shot by the left camera and the right camera in the retention time, so that the gesture measurement is more accurate.
Step 102, placing the target outside the observation window, and calibrating the internal parameters and the external parameters of the binocular camera by using the target to obtain a first parameter.
In a specific embodiment, as shown in fig. 2, a checkerboard target is adopted, the target is a 7×10 checkerboard, the cell size is 7mm×7mm, three-dimensional coordinates of points on the target for calibration are not required to be known in advance, each corner point has various constraints such as coplanarity, equidistant and the like, and the calibration accuracy is not excessively dependent on the manufacturing accuracy of the target by combining with maximum likelihood estimation, and has higher flexibility.
In one embodiment, the internal parameters include focal length, principal point coordinates, and lens distortion, and the external parameters refer to the positional relationship between the left and right cameras.
It should be noted that the parameters included in the internal parameters listed here are only examples, and do not limit the scope of protection of the present application, and other parameters may be included in the internal parameters as needed.
In a specific embodiment, as shown in fig. 3, the method for calibrating the internal parameters and the external parameters of the binocular camera by using the target mainly includes:
step 301, obtaining first corner information and first sub-pixel corner information of a target in a third left image shot by a left camera.
And step 302, calibrating the internal parameters of the left camera according to the first corner information and the first sub-pixel corner information.
Step 303, obtaining second corner information and second sub-pixel corner information of a target in a third right image shot by a right camera.
And step 304, calibrating the internal parameters of the right camera according to the second corner information and the second sub-pixel corner information.
Step 305, obtaining a common point of the target in the third left image and the third right image, and a fifth coordinate value of the common point in the third left image and a sixth coordinate value of the common point in the third right image.
Step 306, calibrating the external parameters of the binocular camera according to the fifth coordinate value and the sixth coordinate value.
The calibration essence is that the internal parameters and the external parameters of the binocular camera are reversely solved through a plurality of known three-dimensional point coordinates and corresponding two-dimensional image point coordinates, and the solving precision directly determines the measuring precision of the binocular camera.
In a specific embodiment, when the internal parameters are calibrated, according to the information of the points used for calibration on the targets, establishing a corresponding relation of views under each gesture, calculating three-dimensional coordinates of the points used for calibration, establishing an objective function with minimum reverse projection errors under multiple gestures, optimizing by adopting a nonlinear least square method, and acquiring accurate internal parameters of the camera and two-dimensional coordinates of the points used for calibration; then, an objective function based on minimum reverse projection error of the binocular camera is established, and the external parameters of the binocular camera are optimized.
In a specific embodiment, after the internal parameters of the left camera and the internal parameters of the right camera are obtained through calibration, the calibration precision of each image of the shooting target is calculated, the image with larger error is removed and then is calibrated again, and the calibration precision is calculated again until the calibration precision meets the requirement, so that the internal parameters of the left camera and the internal parameters of the right camera at the moment are obtained.
Because the field environment is complex, all the images of the shot targets need to be preprocessed, interference such as ambient light is removed, and key information such as target positions is highlighted. The target adopts a reflective material, after an original image is converted into a gray image, a darker background in a histogram of the original image forms a Gaussian function with two approximate normal distributions with the part reflecting the illumination light and the target; accordingly, the intersection point of the two Gaussian functions can be set as an adaptive threshold, or the histogram is subjected to smoothing treatment, and the valley point in the two peaks is approximately set as the adaptive threshold; after the self-adaptive threshold segmentation is adopted, only the target and the highlight reflecting part are reserved, and invalid information such as background is removed.
And step 103, placing the target in the wind tunnel test section, and calibrating the internal parameters and the external parameters of the binocular camera by using the target to obtain a second parameter.
Step 104, obtaining a mapping relation between the first parameter and the second parameter.
And 105, acquiring a first posture of the tested model by adopting a binocular camera according to the second parameter, wherein the tested model is arranged in the wind tunnel test section.
In a specific embodiment, as shown in fig. 4, when the binocular camera is used to obtain the first pose of the measured model according to the second parameter, the method flow for eliminating the vibration influence of the binocular camera mainly includes:
step 401, setting a reference point at a stable position which is not influenced by environmental vibration and is inside the wind tunnel test section.
The stable position inside the wind tunnel test section and not influenced by environmental vibration refers to a position where space coordinates are not changed basically when the environmental ground vibrates in the aerodynamic test process, such as a wall inside the wind tunnel test section. The reference point is arranged at the stable position, so that the actual space coordinate of the reference point is not changed basically when the environmental ground vibrates in the aerodynamic test process.
Step 402, when the binocular camera does not vibrate before the test is started, acquiring a first coordinate value of a reference point in a first left image shot by the left camera and a second coordinate value of the reference point in a first right image shot by the right camera.
Step 403, obtaining the first spatial position coordinate value of the reference point according to the first coordinate value, the second coordinate value and the second parameter.
And step 404, when the binocular camera vibrates in the test process, acquiring a third coordinate value of the reference point in a second left image shot by the left camera and a fourth coordinate value of the reference point in a second right image shot by the right camera.
Step 405, obtaining a second spatial position coordinate value of the reference point according to the third coordinate value, the fourth coordinate value and the second parameter.
Step 406, obtaining a conversion relationship between the first spatial position coordinate value and the second spatial position coordinate value.
Step 407, when the binocular camera vibrates in the test process, acquiring a second posture of the tested model.
And step 408, obtaining a first gesture of the tested model according to the conversion relation and the second gesture.
When the environment ground vibrates in the aerodynamic test process, the binocular camera also vibrates, and the position of the binocular camera is changed accordingly, so that a certain error exists in the measured gesture of the measured model.
According to the method, the reference point is arranged at a stable position which is inside the wind tunnel test section and is not influenced by environmental vibration, so that the actual space coordinate of the reference point is basically not changed; when the binocular camera vibrates in the test process, the position of the reference point in the binocular camera coordinate system is changed, the first spatial position coordinate value and the second spatial position coordinate value are the coordinates of the reference point in the binocular camera coordinate system, the first spatial position coordinate value is obtained when the binocular camera does not vibrate before the test is started, the second spatial position coordinate value is obtained when the binocular camera vibrates in the test process, and the conversion relation between the first spatial position coordinate value and the second spatial position coordinate value is the conversion relation between the binocular camera coordinate system when the binocular camera does not vibrate and the binocular camera coordinate system when the binocular camera vibrates; when the binocular camera vibrates in the test process, a second gesture of the tested model is obtained, and the obtained second gesture has errors influenced by the vibration of the binocular camera; according to the conversion relation and the second gesture, the first gesture of the tested model is obtained, the influence of the vibration of the binocular camera can be eliminated, and gesture measurement is more accurate.
In a specific embodiment, as shown in fig. 5, a method for acquiring a first pose of a measured model according to a second parameter by using a binocular camera mainly includes:
in step 501, a marker point is set on the model under test.
Wherein, the marking points are made of reflective materials, and the spatial position relation of the marking points is known.
In one embodiment, the marker points may be circular, semi-circular, annular, etc.
In one embodiment, the characteristics of the marker point include: (1) The sign points are different from the coding sign points after image deformation such as translation, scaling and the like; (2) The designed mark point scheme can provide a sufficient number of mark points; (3) the characteristic of the mark point is simple and easy to identify; (4) marking point size is proper. When the mark points are too small, the identification of the mark points is not facilitated; when the mark points are too large, on one hand, the mark points are difficult to be stuck on a narrow plane or a curved surface with large curvature, and on the other hand, the distribution of the mark points is easy to influence the measurement result.
Step 502, a fourth left image of the model under test is captured using a left camera.
Step 503, shooting a fourth right image of the tested model by using a right camera.
Step 504, a seventh coordinate value of the marker point in the fourth left image and an eighth coordinate value of the marker point in the fourth right image are acquired.
In one embodiment, the method for obtaining the seventh coordinate value of the mark point in the fourth left image and the eighth coordinate value of the mark point in the fourth right image mainly includes: and acquiring first image information of the mark point in the fourth left image, acquiring a seventh coordinate value according to the first image information, acquiring second image information of the mark point in the fourth right image, and acquiring an eighth coordinate value according to the second image information.
The first image information of the mark point in the fourth left image refers to the circle center information of the mark point in the fourth left image, and the second image information of the mark point in the fourth right image refers to the circle center information of the mark point in the fourth right image.
In a specific embodiment, the method for acquiring the first image information of the mark point in the fourth left image mainly includes: preprocessing the fourth left image to obtain a preprocessed fifth left image, wherein the preprocessing comprises filtering, performing edge detection on the fifth left image to obtain an edge binary image, performing contour tracking on the edge binary image to obtain a contour set, removing contours of interference points from the contour set, screening contours of marking points, and obtaining first image information of the marking points according to the contours of the marking points.
The contour set contains boundary point, area, perimeter and other information of the contour, and the first image information of the mark point is the center information of the mark point.
In a specific embodiment, obtaining the first image information of the marker point according to the outline of the marker point includes: substituting all pixel points on the annular neighborhood into an objective function model of a dual quadratic curve based on tangent fitting by using a sub-pixel positioning method, calculating parameters of an ellipse fitted according to the outline of the mark point through a weighted least square algorithm, and obtaining circle center information of the mark point.
In a specific embodiment, the method for removing the outline of the interference point from the outline set and screening the outline of the mark point mainly comprises the following steps: and carrying out ellipse fitting on each contour in the contour set to obtain a fitted ellipse, removing the contour of the interference point according to the fitted ellipse, and screening the contour of the mark point.
The interference points are generally elliptical or elliptical-like patterns, and the patterns can be mistakenly recognized as the mark points to be recognized when the circle centers of the mark points are extracted. The interference points are generally small particles, slender elliptic patterns, polygons and the like in the measurement scene, and are close to the shape of an ellipse, and the interference points have the following characteristics no matter the imaging angle is: when the interference points are fine particles in the scene, the fitted ellipse major axis is smaller than that of the mark points; when the interference points are in an elongated elliptical pattern, the ratio of the long axis to the short axis of the fitted ellipse is larger than that of the ellipse fitted by the mark points; when the interference points are polygons, the fitted elliptical roundness is larger than that of the mark points.
In a specific embodiment, the outline of the interference point is removed according to the fitted ellipse, and various manners of screening the outline of the mark point are available, including but not limited to the following several manners:
mode one
Comparing the length of the major axis of the fitted ellipse with a preset length value of the major axis;
if the length of the major axis of the fitted ellipse is smaller than the preset length value of the major axis, the fitted ellipse is an ellipse fitted according to the outline of the interference point;
if the length of the major axis of the fitted ellipse is not smaller than the preset length value of the major axis, the fitted ellipse is the ellipse fitted according to the outline of the mark point.
Mode two
Comparing the ratio of the long axis to the short axis of the fitted ellipse with the ratio of the preset long axis to the short axis;
if the ratio of the long axis to the short axis of the fitted ellipse is larger than the ratio of the preset long axis to the short axis, the fitted ellipse is the ellipse fitted according to the outline of the interference point;
if the ratio of the long axis to the short axis of the fitted ellipse is not greater than the ratio of the preset long axis to the short axis, the fitted ellipse is the ellipse fitted according to the outline of the mark point.
Mode three
Comparing the roundness of the fitted ellipse with a preset roundness;
if the roundness of the fitted ellipse is larger than the preset roundness, the fitted ellipse is an ellipse fitted according to the outline of the interference point;
If the roundness of the fitted ellipse is not greater than the preset roundness, the fitted ellipse is the ellipse fitted according to the outline of the mark point.
Mode four
And gray level constraint, wherein a part of the inner wall of the wind tunnel is provided with diversion holes, the size of which is similar to that of the mark points, and gray level removal can be referred.
The above-listed methods for removing the outline of the interference point and screening the outline of the marker point according to the fitted ellipse may be used alone in any one of the methods or may be used in combination of two or more of the methods.
In a specific embodiment, the seventh coordinate value of the marker point in the fourth left image and the eighth coordinate value of the marker point in the fourth right image are acquired, and the first image information of the same marker point in the fourth left image and the second image information in the fourth right image need to be paired.
The two circle centers determined by the two image information, namely the first image information of the same marker point in the fourth left image and the second image information in the fourth right image, need to satisfy the following constraint relation: (1) Polar constraint, two circle centers determined by the paired two image information are necessarily on the same polar line; (2) And (3) sequentially constraining, wherein the sequence of two circle centers determined by the two image information paired by the same mark point on the same polar line is kept unchanged.
In a specific embodiment, before the binocular camera shoots an image, each marker is encoded, and when the first image information in the fourth left image and the second image information in the fourth right image of the same marker are paired, each marker is decoded.
For example: and coding the mark point according to the gray level change of the mark point, and when decoding, taking any detected mark point as a starting point, searching the neighborhood of the mark point clockwise to obtain an 8-bit binary code string, converting the binary code string into a decimal number, wherein the obtained minimum value is the number of the code point.
Encoding and decoding each marker point can ensure that the set marker points are paired with the first image information in the fourth left image and the second image information in the fourth right image.
And step 505, obtaining the first gesture of the measured model according to the seventh coordinate value, the eighth coordinate value and the second parameter.
In one embodiment, the intersection of the plane formed by the marker point, the optical center of the left camera and the optical center of the right camera with the two imaging planes is called the epipolar line of the marker point in the two imaging planes. After the internal parameters and the external parameters of the binocular camera are obtained, the relation between the corresponding points can be established through the constraint relation of the polar lines on the two imaging planes, and the world coordinates of the mark point can be obtained through a least square method by simultaneous equations. And obtaining the first gesture of the tested model according to the world coordinates of each mark point.
And 106, obtaining the target gesture of the tested model according to the mapping relation and the first gesture.
In summary, according to the method provided by the embodiment of the application, the binocular camera and the target are arranged outside the observation window, the target is utilized to calibrate the internal parameters and the external parameters of the binocular camera, so that the first parameters are obtained, and at the moment, the observation window is not arranged between the binocular camera and the target; the binocular camera is arranged outside the observation window, the target is arranged inside the wind tunnel test section, the target is used for calibrating the internal parameters and the external parameters of the binocular camera to obtain a second parameter, the observation window is arranged between the binocular camera and the target, and the binocular camera can cause light refraction due to the observation window glass during shooting; obtaining a mapping relation between a first parameter and a second parameter, wherein the mapping relation is a parameter mapping relation between a glass-free window and a glass-equipped window; the measured model is arranged in the wind tunnel test section, and a binocular camera is adopted to acquire a first posture of the measured model according to a second parameter acquired when an observation window exists; according to the mapping relation and the first gesture, the target gesture of the measured model is obtained, the influence of the observation window glass can be eliminated, gesture measurement is more accurate, and the problem of inaccurate gesture measurement caused by light refraction caused by the observation window glass is solved.
Based on the same concept, the embodiment of the present application provides an attitude measurement apparatus, and the specific implementation of the apparatus may be referred to the description of the embodiment of the method, and the repetition is omitted, as shown in fig. 6, where the apparatus mainly includes:
the placement module 601 is configured to place a binocular camera outside an observation window, where the observation window is installed on a sidewall of a wind tunnel test section, and the binocular camera includes a left camera and a right camera;
the first calibration module 602 is configured to place a target outside the observation window, and calibrate an internal parameter and an external parameter of the binocular camera by using the target to obtain a first parameter;
the second calibration module 603 is configured to place the target inside the wind tunnel test section, and calibrate an internal parameter and an external parameter of the binocular camera by using the target to obtain a second parameter;
a first obtaining module 604, configured to obtain a mapping relationship between the first parameter and the second parameter;
a second obtaining module 605, configured to obtain a first pose of a model to be tested according to the second parameter by using the binocular camera, where the model to be tested is placed in the wind tunnel test section;
And a processing module 606, configured to obtain a target pose of the measured model according to the mapping relationship and the first pose.
Based on the same concept, the embodiment of the application also provides an electronic device, as shown in fig. 7, where the electronic device mainly includes: the processor 701, the communication interface 702, the memory 703 and the communication bus 704, wherein the processor 701, the communication interface 702 and the memory 703 complete communication with each other through the communication bus 704. The memory 703 stores a program executable by the processor 701, and the processor 701 executes the program stored in the memory 703 to implement the following steps: placing a binocular camera outside an observation window, wherein the observation window is arranged on the side wall of the wind tunnel test section, and the binocular camera comprises a left camera and a right camera; the target is arranged outside the observation window, and the target is utilized to calibrate the internal parameters and the external parameters of the binocular camera, so that a first parameter is obtained; the target is placed in the wind tunnel test section, and the target is utilized to calibrate the internal parameters and the external parameters of the binocular camera, so that a second parameter is obtained; obtaining a mapping relation between the first parameter and the second parameter; acquiring a first posture of a tested model by adopting a binocular camera according to a second parameter, wherein the tested model is arranged in the wind tunnel test section; and obtaining the target gesture of the tested model according to the mapping relation and the first gesture.
The communication bus 704 mentioned in the above electronic device may be a peripheral component interconnect standard (Peripheral Component Interconnect, abbreviated to PCI) bus or an extended industry standard architecture (Extended Industry Standard Architecture, abbreviated to EISA) bus, or the like. The communication bus 704 may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown in fig. 7, but not only one bus or one type of bus.
The communication interface 702 is used for communication between the electronic device and other devices described above.
The memory 703 may include random access memory (Random Access Memory, RAM) or may include non-volatile memory (non-volatile memory), such as at least one disk memory. Optionally, the memory may also be at least one memory device located remotely from the aforementioned processor 701.
The processor 701 may be a general-purpose processor including a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), a digital signal processor (Digital Signal Processing, DSP), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), a Field programmable gate array (Field-Programmable Gate Array, FPGA), or other programmable logic device, discrete gate or transistor logic device, or discrete hardware components.
In yet another embodiment of the present application, there is also provided a computer-readable storage medium having stored therein a computer program which, when run on a computer, causes the computer to perform the attitude measurement method described in the above embodiment.
In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, the processes or functions described in accordance with the embodiments of the present application are produced in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, by a wired (e.g., coaxial cable, optical fiber, digital Subscriber Line (DSL)), or wireless (e.g., infrared, microwave, etc.) means from one website, computer, server, or data center to another. The computer readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains an integration of one or more available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape, etc.), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid state disk), etc.
It should be noted that in this document, relational terms such as "first" and "second" and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The foregoing is only a specific embodiment of the invention to enable those skilled in the art to understand or practice the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A posture measurement method, characterized by comprising:
placing a binocular camera outside an observation window, wherein the observation window is arranged on the side wall of the wind tunnel test section, and the binocular camera comprises a left camera and a right camera;
the target is arranged outside the observation window, and the internal parameters and the external parameters of the binocular camera are calibrated by the target to obtain a first parameter;
the target is placed in the wind tunnel test section, and the target is utilized to calibrate the internal parameters and the external parameters of the binocular camera, so that a second parameter is obtained;
acquiring a mapping relation between the first parameter and the second parameter;
acquiring a first posture of a tested model according to the second parameter by adopting the binocular camera, wherein the tested model is arranged in the wind tunnel test section;
and obtaining the target gesture of the tested model according to the mapping relation and the first gesture.
2. The method according to claim 1, wherein the acquiring, with the binocular camera, the first pose of the model under test according to the second parameter includes:
setting a reference point at a stable position which is inside the wind tunnel test section and is not influenced by environmental vibration;
When the binocular camera does not vibrate before a test is started, acquiring a first coordinate value of the reference point in a first left image shot by the left camera and a second coordinate value of the reference point in a first right image shot by the right camera;
obtaining a first spatial position coordinate value of the reference point according to the first coordinate value, the second coordinate value and the second parameter;
when the binocular camera vibrates in the test process, acquiring a third coordinate value of the reference point in a second left image shot by the left camera and a fourth coordinate value of the reference point in a second right image shot by the right camera;
obtaining a second spatial position coordinate value of the reference point according to the third coordinate value, the fourth coordinate value and the second parameter;
acquiring a conversion relation between the first spatial position coordinate value and the second spatial position coordinate value;
when the binocular camera vibrates in the test process, acquiring a second posture of the tested model;
and obtaining the first gesture of the tested model according to the conversion relation and the second gesture.
3. The attitude measurement method according to claim 1, wherein the internal parameters include a focal length, principal point coordinates, and lens distortion;
The external parameter refers to a positional relationship between the left camera and the right camera.
4. A method of pose measurement according to claim 3, wherein calibrating internal and external parameters of the binocular camera with the target comprises:
acquiring first corner information and first sub-pixel corner information of the target in a third left image shot by the left camera;
calibrating internal parameters of the left camera according to the first corner information and the first sub-pixel corner information;
acquiring second corner information and second sub-pixel corner information of the target in a third right image shot by the right camera;
calibrating the internal parameters of the right camera according to the second corner information and the second sub-pixel corner information;
acquiring a common point of the target in the third left image and the third right image, and a fifth coordinate value of the common point in the third left image and a sixth coordinate value of the common point in the third right image;
and calibrating external parameters of the binocular camera according to the fifth coordinate value and the sixth coordinate value.
5. The method according to claim 1, wherein the acquiring, with the binocular camera, the first pose of the model under test according to the second parameter includes:
Setting a mark point on the tested model;
shooting a fourth left image of the tested model by adopting the left camera;
shooting a fourth right image of the tested model by adopting the right camera;
acquiring a seventh coordinate value of the mark point in the fourth left image and an eighth coordinate value of the mark point in the fourth right image;
and obtaining the first gesture of the measured model according to the seventh coordinate value, the eighth coordinate value and the second parameter.
6. The attitude measurement method according to claim 5, wherein the acquiring the seventh coordinate value of the marker point in the fourth left image and the eighth coordinate value of the marker point in the fourth right image includes:
acquiring first image information of the mark point in the fourth left image;
obtaining the seventh coordinate value according to the first image information;
acquiring second image information of the mark point in the fourth right image;
and obtaining the eighth coordinate value according to the second image information.
7. The attitude measurement method according to claim 6, wherein the acquiring first image information of the marker point in the fourth left image includes:
Preprocessing the fourth left image to obtain a preprocessed fifth left image, wherein the preprocessing comprises filtering;
performing edge detection on the fifth left image to obtain an edge binary image;
carrying out contour tracking on the edge binary image to obtain a contour set;
removing the outline of the interference point from the outline set, and screening the outline of the mark point;
and acquiring the first image information of the mark point according to the outline of the mark point.
8. The attitude measurement method according to claim 7, wherein the removing the outline of the interference point from the outline set, and the screening the outline of the marker point, includes:
carrying out ellipse fitting on each contour in the contour set to obtain a fitted ellipse;
and removing the outline of the interference point according to the fitted ellipse, and screening the outline of the mark point.
9. The method for measuring the gesture of claim 8, wherein the removing the outline of the interference point according to the fitted ellipse, and screening the outline of the mark point, comprises:
comparing the length of the major axis of the fitted ellipse with a preset length value of the major axis;
If the length of the major axis of the fitted ellipse is smaller than the preset length value of the major axis, the fitted ellipse is an ellipse fitted according to the outline of the interference point;
and if the length of the major axis of the fitted ellipse is not smaller than the preset length value of the major axis, the fitted ellipse is an ellipse fitted according to the outline of the mark point.
10. The attitude measurement method according to any one of claims 1 to 9, wherein the binocular camera adopts a synchronous triggering mode.
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| CN114509071B (en) * | 2022-04-20 | 2022-07-08 | 中国空气动力研究与发展中心低速空气动力研究所 | Attitude measurement method for wind tunnel test model |
| CN114782553B (en) * | 2022-05-11 | 2023-07-28 | 江南大学 | Iterative camera calibration method and device based on elliptic dual conic |
| CN114910241B (en) * | 2022-07-18 | 2022-09-30 | 中国航空工业集团公司沈阳空气动力研究所 | Wind tunnel coordinate system conversion method for wind tunnel model attitude measurement |
| CN117272593B (en) * | 2023-08-24 | 2024-04-05 | 无锡北微传感科技有限公司 | Wind tunnel test data analysis processing method |
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