CN114295076A - Measuring method for solving shadow measuring problem of tiny object based on structured light - Google Patents
Measuring method for solving shadow measuring problem of tiny object based on structured light Download PDFInfo
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Abstract
The invention discloses a measuring method for solving the shadow measuring problem of a tiny object based on structured light, which comprises the steps of firstly using two well-calibrated projectors provided with telecentric lenses to respectively project blue monochromatic stripes and red monochromatic stripes onto a measured object from the left direction and the right direction; then, capturing the superposed red and blue stripes with the information of the measured object by using a color camera, and carrying out three-channel separation on the acquired picture to obtain the information of a red channel and a blue channel; then, three-dimensional point cloud data of the separated red channel information and the separated blue channel information are obtained through a phase shift method and a multi-frequency heterodyne method, information required by mask screening is generated, and finally the obtained red channel point cloud and the obtained blue channel point cloud are fused, so that the inherent shadow problem in measurement of the tiny object is solved. The method for simultaneously measuring the red channel and the blue channel can solve the problem of difficult-to-avoid shadow in the measurement of the three-dimensional micro object, and has great value in the field of high-precision and high-dynamic three-dimensional micro object measurement.
Description
Technical Field
The invention relates to a shadow solving method of an optical three-dimensional measuring system, belongs to the technical field of photoelectric detection, and particularly relates to a measuring method for solving the shadow measuring problem of a tiny object based on structured light.
Background
The three-dimensional reconstruction method based on the structured light system is mature day by day, and compared with the traditional photogrammetry or multi-view geometry method based on images, the method is simpler, quicker and higher in reliability, and is widely applied to high and new technology industries (such as microelectronic chip industry, consumer electronics connector industry, photoelectric semiconductor industry, industrial circuit board industry, small medical equipment, jewelry cutting industry and the like), urban building modeling and small cultural relic reconstruction. Aiming at the problems of precision measurement of tiny objects, shadow measurement of complex shapes and measurement dead angles in the structured light projection measurement technology, the invention expands the imaging range by adding an auxiliary light source on the basis of the traditional monocular vision measurement system, establishes a novel double-projection structured light system and solves the shadow problem of the traditional structured light measurement system. Based on the existing single projector and single camera, one additional projector is added to solve the shadow problem, one projector projects monochromatic blue stripes, and the other projector projects monochromatic red stripes. The two projectors simultaneously project stripes to an object, three channels are separated after the images are collected for point cloud fusion, and the problems of shielding and shadow of the optical structure of the system based on the triangulation method are solved.
Disclosure of Invention
The invention aims to provide a measuring method for solving the problem of shadow measurement of a tiny object based on structured light, the method for simultaneously measuring two red and blue channels can solve the problem of the shadow which is difficult to avoid when the three-dimensional tiny object is measured, and compared with the traditional double-projector system, the method has higher measuring efficiency and measuring speed and has great value in the field of high-precision and high-dynamic three-dimensional tiny object measurement;
in order to achieve the purpose, the invention adopts the following technical scheme: a measurement method for solving the shadow measurement problem of a tiny object based on structured light comprises the following steps:
step one, building a system: the system comprises a computer, two DLP projectors with telecentric lenses, a CCD color camera with telecentric lenses, a reference plane and a support, wherein the DLP projectors and the CCD color camera are respectively connected with the computer through data lines, an object to be measured is placed on the reference plane, the computer comprises an image acquisition card, projection software and measurement software, the CCD color camera with telecentric lenses is fixed on the support which can vertically move up and down, the two DLP projectors with telecentric lenses are placed on two sides of the object to be measured, and then the whole system is calibrated;
step two, collecting pictures and separating information: the two DLP projectors simultaneously and respectively project red horizontal stripes and blue horizontal stripes to an object to be measured, and then a CCD color camera is used for collecting pictures; separating red, green and blue channels of the collected picture to obtain object information of three channels, retaining information of the red channel and the blue channel, and discarding information of the green channel;
step three, point cloud acquisition: obtaining three-dimensional point cloud data of the red channel information and the blue channel information obtained in the step two by a phase shift method and a multi-frequency heterodyne method;
step four, point cloud fusion: fusing the red and blue channel three-dimensional point clouds obtained in the step three, marking pixels with the gray values larger than or equal to 255 as 0 by retrieving the gray values of the separated red channel pictures, setting the pixels with the gray values as 1 in other areas, generating a mask, processing the obtained red and blue channel three-dimensional point clouds by using the mask, reserving a shadow-free intact area, fusing the two point clouds to obtain a shadow-free three-dimensional object point cloud outline, and thus obtaining the complete three-dimensional shape of the measured object.
A measuring method for solving the shadow measuring problem of a tiny object based on structured light comprises the following steps:
step one, building a system: the system comprises a computer, two DLP projectors with telecentric lenses, a CCD color camera with telecentric lenses, a reference plane and a support, wherein the DLP projectors and the CCD color camera are respectively connected with the computer through data lines, an object to be measured is placed on the reference plane, the computer comprises an image acquisition card, projection software and measurement software, the CCD color camera with telecentric lenses is fixed on the support which can vertically move up and down, the two DLP projectors with telecentric lenses are placed on two sides of the object to be measured, and then the whole system is calibrated;
step two, collecting pictures and separating information: the two DLP projectors simultaneously and respectively project red horizontal stripes and blue horizontal stripes to an object to be measured, and then a CCD color camera is used for collecting pictures; separating red, green and blue channels of the collected picture to obtain object information of three channels, retaining information of the red channel and the blue channel, and discarding information of the green channel;
step three, point cloud acquisition: obtaining three-dimensional point cloud data of the red channel information and the blue channel information obtained in the step two by a phase shift method and a multi-frequency heterodyne method;
step four, point cloud fusion: fusing the red and blue channel three-dimensional point clouds obtained in the step three, marking pixels with the gray values larger than or equal to 255 as 0 by retrieving the gray values of the separated red channel pictures, setting the pixels with the gray values as 1 in other areas, generating a mask, processing the obtained red and blue channel three-dimensional point clouds by using the mask, reserving a shadow-free intact area, fusing the two point clouds to obtain a shadow-free three-dimensional object point cloud outline, and thus obtaining the complete three-dimensional shape of the measured object.
The invention has the beneficial effects that:
compared with the traditional double-projector measuring system, the double-projector measuring system can reduce half of the number of pictures and improve the measuring efficiency and the measuring speed; the problem that the grating separation of the traditional double-projector system is difficult is solved; the problem of inherent shadows in structured light-based measurement of tiny objects is solved.
Drawings
FIG. 1 is a schematic view of a measurement system of the present invention;
FIG. 2 is a picture taken by a color CCD camera of the system of the present invention;
FIG. 3 is a mask generated from a captured image according to the present invention.
Detailed Description
It is easily understood that various embodiments of the present invention can be conceived by those skilled in the art according to the technical solution of the present invention without changing the essential spirit of the present invention. Therefore, the following detailed description and the accompanying drawings are merely illustrative of the technical aspects of the present invention, and should not be construed as all of the present invention or as limitations or limitations on the technical aspects of the present invention. The present invention will be described in further detail with reference to the following description of the drawings, which are not intended to limit the present invention, and all similar structures and similar variations using the present invention shall fall within the scope of the present invention.
The invention relates to a measuring method for solving the shadow measuring problem of a tiny object based on structured light, which comprises the following steps:
1. building a system: as shown in fig. 1, the system comprises a computer 1, a DLP projector 2 with a telecentric lens, a DLP projector 4 with a telecentric lens, a CCD color camera 3 with a telecentric lens, a reference plane 6 and a bracket, wherein the DLP projector 2, the DLP projector 4 and the CCD color camera 3 are respectively connected with the computer 1 through data lines, an object to be measured 5 is placed on the reference plane 6, the computer 1 comprises an image acquisition card, projection software and measurement software, the CCD color camera 3 with a telecentric lens is fixed on the bracket which can vertically move up and down, and two DPL projectors with telecentric lenses are placed at two sides of the object to be measured 5, and then the whole system is calibrated;
2. collecting pictures and separating information: the two DLP projectors simultaneously and respectively project red horizontal stripes and blue horizontal stripes to an object to be measured, and then a CCD color camera is used for collecting pictures; separating red, green and blue channels of the collected picture to obtain object information of three channels, retaining information of the red channel and the blue channel, and discarding information of the green channel; let the picture captured by the color camera be I (x, y), Ir(x, y) Red channel information for pictures captured by the camera, Ig(x, y) Red channel information for pictures captured by the camera, Ib(x, y) blue channel information for a picture captured by a camera, and the relationship between them can be expressed by equation (1):
I(x,y)＝Ir(x,y)+Ig(x,y)+Ib(x,y) (1)
3. acquiring a three-dimensional point cloud: obtaining three-dimensional point clouds of the obtained red channel information and the obtained blue channel information by a phase shift method and a multi-frequency heterodyne method;
4. three-dimensional point cloud fusion: and fusing the obtained red and blue channel three-dimensional point clouds. The mask is generated by retrieving the gray value of the separated red channel picture, marking the pixels with gray values greater than or equal to 255 and setting them to 0, and setting the other regions to 1. In the method, two red and blue monochromatic images I are judgedr(x, y) and IbThe grey scale value of (x, y) marks the shaded area of each channel. The masks corresponding to the B channel and R channel saturation regions are obtained by equations (2) and (3):
as shown in fig. 2, the camera captures a picture with the object to be measured. FIG. 3 is a mask generated from the gray scale screening of FIG. 2. And processing the obtained red and blue channel three-dimensional point clouds by using the generated mask, reserving a shadow-free intact area, fusing the two point clouds to obtain a shadow-free three-dimensional object point cloud outline, and thus obtaining the complete three-dimensional shape of the measured object.
Without being limited thereto, any changes or substitutions that are not thought of through the inventive work should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope defined by the claims.
Claims (1)
1. A measurement method for solving the shadow measurement problem of a tiny object based on structured light is characterized by comprising the following steps:
step one, building a system: the system comprises a computer, two DLP projectors with telecentric lenses, a CCD color camera with telecentric lenses, a reference plane and a support, wherein the DLP projectors and the CCD color camera are respectively connected with the computer through data lines, an object to be measured is placed on the reference plane, the computer comprises an image acquisition card, projection software and measurement software, the CCD color camera with telecentric lenses is fixed on the support which can vertically move up and down, the two DLP projectors with telecentric lenses are placed on two sides of the object to be measured, and then the whole system is calibrated;
step two, collecting pictures and separating information: the two DLP projectors simultaneously and respectively project red horizontal stripes and blue horizontal stripes to an object to be measured, and then a CCD color camera is used for collecting pictures; separating red, green and blue channels of the collected picture to obtain object information of three channels, retaining information of the red channel and the blue channel, and discarding information of the green channel;
step three, point cloud acquisition: obtaining three-dimensional point cloud data of the red channel information and the blue channel information obtained in the step two by a phase shift method and a multi-frequency heterodyne method;
step four, point cloud fusion: fusing the red and blue channel three-dimensional point clouds obtained in the step three, marking pixels with the gray values larger than or equal to 255 as 0 by retrieving the gray values of the separated red channel pictures, setting the pixels with the gray values as 1 in other areas, generating a mask, processing the obtained red and blue channel three-dimensional point clouds by using the mask, reserving a shadow-free intact area, fusing the two point clouds to obtain a shadow-free three-dimensional object point cloud outline, and thus obtaining the complete three-dimensional shape of the measured object.
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| CN118096990A (en) * | 2024-04-28 | 2024-05-28 | 武汉工程大学 | Double-projection structured light three-dimensional reconstruction method and system capable of compensating shadow shielding |
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