CN116277979A - Optical machine distortion correction method for DLP printer - Google Patents
Optical machine distortion correction method for DLP printer Download PDFInfo
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Abstract
The invention discloses a DLP printer optical machine distortion correction method, which belongs to the field of 3D printing, and comprises the steps of obtaining actual measurement coordinates of standard coordinates corresponding to a printing actual model, calibrating a series of parameters such as internal parameters, external parameters, distortion coefficients of an optical machine and the like of optical machine equipment, finally, forming a function formula through the parameters obtained by a second part, and bringing the standard corresponding to each pixel in an original image into the formula to obtain a processed original image, thereby solving the technical problem of optical machine distortion of a 3D printer.
Description
Technical Field
The invention belongs to the field of 3d printing, and particularly relates to a method for correcting optical machine distortion of a DLP printer.
Background
The DLP 3D printing technology is characterized in that an image signal is subjected to digital processing and then is projected out, and layer-by-layer projection and layer-by-layer solidification molding are carried out on the surface of liquid photosensitive resin in a surface light mode. The lens with optical properties is used, distortion and distortion inevitably occur on a projection plane, the projected image is different from the actual projected image, pincushion distortion or barrel distortion and the like occur on the original image corresponding to the projected image, and the problems that a model printed by a DLP technology is not matched with the original shape, a printed dental film is not matched with a bracket and the like are solved.
In the prior art, the homography matrix can only process errors caused by the spatial position relation between the projector and the projection plane, nonlinear distortion of the optical machine cannot be eliminated through the homography matrix, and the projection precision of the optical machine is difficult to guarantee.
Disclosure of Invention
The invention aims to provide a DLP printer optical machine distortion correction method, which solves the technical problem of optical machine distortion of a 3D printer.
In order to achieve the above purpose, the invention adopts the following technical scheme:
a DLP printer optical machine distortion correction method specifically comprises the following steps:
step 1: the method comprises the steps that a model generation server obtains an original model file from a client server through the Internet, an original model is generated through the original model file, the model generation server sets resolution parameters and printing breadth size parameters of slicing software, slicing is conducted on the original model through the slicing software, and slicing patterns of the original model are generated;
the model generation server designs a printing dot matrix according to the slice pattern, and simultaneously sets a relative coordinate system of the printing dot matrix to generate coordinates, namely relative coordinates, of each point in the printing dot matrix in the relative coordinate system;
the model generation server sends the slice pattern, the printing dot matrix, the resolution parameter and the printing breadth size parameter to the DLP printing equipment through the Internet;
step 2: the DLP printing equipment adjusts the printing format setting of the DLP printing equipment according to the printing format size parameters, and simultaneously corrects the definition of projection according to the resolution parameters, and prints the slice pattern after correction to obtain a solid slice pattern;
step 3: the mapping server builds a world coordinate system, and simultaneously identifies the physical slice pattern and the corresponding relative coordinate system through a high-precision imager, and the origin of the relative coordinate system coincides with the origin of the world coordinate system;
identifying the actual measurement coordinates of each point on the printing dot matrix in the solid slice pattern by a high-precision imager, and drawing the actual measurement coordinates in a world coordinate system;
step 4: the correction server invokes the relative coordinates and actual measurement coordinates of all points in the printed dot matrix from the model generation server and the mapping server through the Internet;
and calculating to obtain the distortion coefficient of the optical engine in the DLP printing equipment according to the following correction formula group:
wherein, the method comprises the following steps ofX c ，Y c ，Z c ) Representing the coordinates of the midpoint of the camera coordinate systemX，Y，Z) Representing the coordinates of the midpoint of the world coordinate systemu，v) The coordinates of the pixels are represented and,
is an internal reference of the optical machine,k 1 、k 2 、k 3 、k 4 、k 5 andk 6 all of which represent the radial distortion parameters,p 1 andp 2 representing the tangential distortion parameter(s),s 1 、s 2 、s 3 ands 4 the thin prism distortion parameters are expressed, wherein (x ' and y ' are undistorted pixel coordinates, namely relative coordinates, and (x ' and y) are measured coordinates, namely ƒ x And ƒ y Representing the offset in the x-direction and y-direction of the pixel respectively,C x andC y pixel positions, which respectively represent intersections of the optical axis and the image, ƒ represents focal lengths,Rrepresenting a rotation matrix, t representing a translation matrix; the distortion coefficient comprises tangential distortion parameters, thin prism distortion parameters and radial distortion parameters;
in the calculation, the value of (x '-y' -is #)u，v）；
Step 5: calibrating the calculation result in the step 4 according to the error value between the relative coordinate and the actually measured coordinate, and recording the distortion coefficient after the calculation result reaches a preset calibration value, namely successful calibration;
step 6: selecting any one of the slice patterns as a calibration picture, and obtaining a distortion coefficient of the calibration picture as a correction distortion coefficient by the methods from the step 1 to the step 5;
step 7: and (3) recalculating and printing the original model by using the correction formula group according to the correction distortion coefficient obtained in the step (6) to obtain a corrected model.
Preferably, all dots in the printed dot matrix are circular.
Preferably, when the step 4 is executed to calculate (x '-y'), the calculation result is a floating point number, and the calculation result is filled into four adjacent pixel grids in a sub-pixel mode, that is, the image information of the input optical machine corresponding to the slice pattern is obtained.
Preferably, the model generation server, the mapping server, the client server, the DLP printing device and the correction server are all communicated with each other through the Internet.
Preferably, when step 2 is executed, the DLP printing apparatus performs calibration under the condition that black stripes among white dense stripes in an image can be seen as standard conditions when performing definition calibration.
The invention relates to a DLP printer optical machine distortion correction method, which solves the technical problem of optical machine distortion of a 3D printer, the optical machine is regarded as a camera inverse process, the image is distorted by adopting the result of camera calibration, the image is subjected to the principle of inverse distortion projection of the optical machine, in the final processing original image, the floating point number result is respectively filled with four adjacent pixels by adopting the thought of sub-pixels, the occurrence of partial pixel distortion caused by floating point integer is avoided, the number of layers of a printing model is not too much, the printing duration is lower, the coordinate information of the printing model can be obtained, the time consumption of the correction optical machine is reduced, the printed model is processed as soon as possible, the origin coordinate error caused by resin shrinkage can be effectively avoided, the number of the printing model is increased, the result accuracy is higher, and the number of the printing model is increased without influencing the measurement of the circle center.
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FIG. 1 is a flow chart of the present invention;
FIG. 2 is a schematic diagram of a signal design print accuracy model of the present invention;
FIG. 3 is a schematic diagram of the error before signal correction according to the present invention;
FIG. 4 is a schematic diagram of the corrected error of the present invention.
Detailed Description
The method for correcting the distortion of the DLP printer optical machine shown in the figures 1-4 specifically comprises the following steps:
step 1: the method comprises the steps that a model generation server obtains an original model file from a client server through the Internet, an original model is generated through the original model file, the model generation server sets resolution parameters and printing breadth size parameters of slicing software, slicing is conducted on the original model through the slicing software, and slicing patterns of the original model are generated.
The model generation server designs a printing dot matrix according to the slice pattern, sets a relative coordinate system of the printing dot matrix, and generates coordinates, namely relative coordinates, of each dot in the printing dot matrix in the relative coordinate system.
All the dots in the printed dot matrix are round.
In this example, the printing dot matrix is designed according to the user's requirement, for example: 33 x 14 dot matrix, each dot is a circle, the relative coordinates of each dot in the dot matrix are designed, the dot matrix should be spread over the whole projection breadth of the optical machine, multiple sampling is not needed, and the model needs to be printed by using a printer, so that the model needs to be designed by considering the molding of the model.
And the model generation server transmits the slice pattern, the printing dot matrix, the resolution parameter and the printing breadth size parameter to the DLP printing equipment through the Internet.
Step 2: the DLP printing equipment adjusts the printing format setting of the DLP printing equipment according to the printing format size parameters, and simultaneously corrects the definition of projection according to the resolution parameters, and prints the slice pattern after correction to obtain a solid slice pattern;
when the DLP printing equipment performs definition calibration, the calibration is performed by taking black stripes among white dense stripes in the visible image as standard conditions.
In this embodiment, when the DLP device is debugged, for example, 4k images are printed, the slicing software sets the resolution to 3840×2160, the size is set to 249.6mm×140.4mm, the printing format of the DLP device is also adjusted to 249.6mm×140.4mm, the definition detection image is projected, the projection definition of the optical machine is adjusted, and the black stripes among the white dense stripes in the image, that is, the definition reaches the standard, can be seen.
And printing out the model by using a DLP 3D printer, cleaning the printed model as soon as possible, and identifying the dots by using an imager without curing.
Step 3: the mapping server builds a world coordinate system, and simultaneously identifies the physical slice pattern and the corresponding relative coordinate system through a high-precision imager, and the origin of the relative coordinate system coincides with the origin of the world coordinate system;
identifying the actual measurement coordinates of each point on the printing dot matrix in the solid slice pattern by a high-precision imager, and drawing the actual measurement coordinates in a world coordinate system;
and identifying each origin in the model by using a high-precision imager, then establishing a coordinate system corresponding to the standard coordinates, and outputting the measured physical coordinates of each origin. Because the method adopts multipoint fitting, when the circles are identified, each circle cannot be identified as biased.
Step 4: the correction server invokes the relative coordinates and actual measurement coordinates of all points in the printed dot matrix from the model generation server and the mapping server through the Internet;
and calculating to obtain the distortion coefficient of the optical engine in the DLP printing equipment according to the following correction formula group:
wherein, the method comprises the following steps ofX c ，Y c ，Z c ) Representing the coordinates of the midpoint of the camera coordinate systemX，Y，Z) Representing the coordinates of the midpoint of the world coordinate systemu，v) The coordinates of the pixels are represented and,
is light ofAn internal parameter of the optical machine, namely, an internal parameter of the optical machine, is specified by an optical machine factory manufacturer,k 1 、k 2 、k 3 、k 4 、k 5 andk 6 all of which represent the radial distortion parameters,p 1 andp 2 representing the tangential distortion parameter(s),s 1 、 s 2 、s 3 ands 4 the thin prism distortion parameters are expressed, wherein (x 'and y' are undistorted pixel coordinates, namely relative coordinates, and (x 'and y') are measured coordinates, namely ƒ x And ƒ y Representing the offset in the x-direction and y-direction of the pixel respectively,C x andC y pixel positions, which respectively represent intersections of the optical axis and the image, ƒ represents focal lengths,Rrepresenting a rotation matrix, t representing a translation matrix; the distortion coefficient comprises tangential distortion parameters, thin prism distortion parameters and radial distortion parameters;
when the step 4 is executed to calculate the (x '-and y' -), the calculation result is a floating point number, and the calculation result is filled into four adjacent pixel grids in a sub-pixel mode, namely, the image information of the input optical machine corresponding to the slice pattern is obtained.
In the calculation, the value of (x '-y' -is #)u，v）；
In this embodiment, the following steps are takenu，v) The calculation formula of (2) is derived from the following formula:
wherein, the derivation formula 1 is used for converting each pixel point in the slice pattern into a corresponding relative coordinate; the derivation formula 2 is used for converting the relative coordinates into pixel coordinates which are convenient for image processing, namely @ isu，v) During actual calculation, the method is characterized in thatu，v) Equal to (x ', y').
In the derivation formula 1, T is a translation matrix, which is the same as the translation matrix T in the correction formula group.
When in calculation, one point can establish two multi-element equations, and the known 462 points obtain an equation set of 924 multi-element equations.
Step 5: calibrating the calculation result in the step 4 according to the error value between the relative coordinate and the actually measured coordinate, and recording the distortion coefficient after the calculation result reaches a preset calibration value, namely successful calibration;
step 6: selecting any one of the slice patterns as a calibration picture, and obtaining a distortion coefficient of the calibration picture as a correction distortion coefficient by the methods from the step 1 to the step 5;
step 7: and (3) recalculating and printing the original model by using the correction formula group according to the correction distortion coefficient obtained in the step (6) to obtain a corrected model.
The model generation server, the mapping server, the client server, the DLP printing device and the correction server are all communicated with each other through the Internet.
In this embodiment, the measured value may be obtained by all methods, and the higher the obtained value accuracy is, the better the obtained value accuracy error cannot be higher than the accuracy error between the final corrected value and the standard value. The dots in the print model can be increased, with higher correction accuracy as dots are increased. After the precision dot model is printed, considering the shrinkage property of the resin material, the measured value needs to be captured clearly as soon as possible and then by using equipment.
And printing the processed model image data by using a printer, measuring an actual measurement value by using an imager, and comparing the actual measurement value with a standard to observe the accuracy error. The error is lower than 0.05mm, and the calibration is successful.
The pixel coordinate error between the pixel coordinate on the picture which can return to the corresponding actual measurement coordinate input by the invention and the pixel coordinate corresponding to the original picture is very small and is within 0.1 pixel on average. The invention inputs standard coordinate entering function, and the output value is a nonstandard image, namely an image after inverse distortion, and the projection of standard coordinate can be obtained after camera lens distortion.
The invention relates to a DLP printer optical machine distortion correction method, which solves the technical problem of optical machine distortion of a 3D printer, the optical machine is regarded as a camera inverse process, the image is distorted by adopting the result of camera calibration, the image is subjected to the principle of inverse distortion projection of the optical machine, in the final processing original image, the floating point number result is respectively filled with four adjacent pixels by adopting the thought of sub-pixels, the occurrence of partial pixel distortion caused by floating point integer is avoided, the number of layers of a printing model is not too much, the printing duration is lower, the coordinate information of the printing model can be obtained, the time consumption of the correction optical machine is reduced, the printed model is processed as soon as possible, the origin coordinate error caused by resin shrinkage can be effectively avoided, the number of the printing model is increased, the result accuracy is higher, and the number of the printing model is increased without influencing the measurement of the circle center.
Claims (5)
1. A DLP printer optical machine distortion correction method is characterized in that: the method specifically comprises the following steps:
step 1: the method comprises the steps that a model generation server obtains an original model file from a client server through the Internet, an original model is generated through the original model file, the model generation server sets resolution parameters and printing breadth size parameters of slicing software, slicing is conducted on the original model through the slicing software, and slicing patterns of the original model are generated;
the model generation server designs a printing dot matrix according to the slice pattern, and simultaneously sets a relative coordinate system of the printing dot matrix to generate coordinates, namely relative coordinates, of each point in the printing dot matrix in the relative coordinate system;
the model generation server sends the slice pattern, the printing dot matrix, the resolution parameter and the printing breadth size parameter to the DLP printing equipment through the Internet;
step 2: the DLP printing equipment adjusts the printing format setting of the DLP printing equipment according to the printing format size parameters, and simultaneously corrects the definition of projection according to the resolution parameters, and prints the slice pattern after correction to obtain a solid slice pattern;
step 3: the mapping server builds a world coordinate system, and simultaneously identifies the physical slice pattern and the corresponding relative coordinate system through a high-precision imager, and the origin of the relative coordinate system coincides with the origin of the world coordinate system;
identifying the actual measurement coordinates of each point on the printing dot matrix in the solid slice pattern by a high-precision imager, and drawing the actual measurement coordinates in a world coordinate system;
step 4: the correction server invokes the relative coordinates and actual measurement coordinates of all points in the printed dot matrix from the model generation server and the mapping server through the Internet;
and calculating to obtain the distortion coefficient of the optical engine in the DLP printing equipment according to the following correction formula group:
wherein, the method comprises the following steps ofX c ，Y c ，Z c ) Representing the coordinates of the midpoint of the camera coordinate systemX，Y，Z) Representing the coordinates of the midpoint of the world coordinate systemu，v) The coordinates of the pixels are represented and,
is an internal reference of the optical machine,k 1 、k 2 、k 3 、k 4 、k 5 andk 6 all of which represent the radial distortion parameters,p 1 andp 2 representing the tangential distortion parameter(s),s 1 、s 2 、s 3 ands 4 the thin prism distortion parameters are expressed, wherein (x ' and y ' are undistorted pixel coordinates, namely relative coordinates, and (x ' and y) are measured coordinates, namely ƒ x And ƒ y Representing the offset in the x-direction and y-direction of the pixel respectively,C x andC y pixel positions, which respectively represent intersections of the optical axis and the image, ƒ represents focal lengths,Rrepresenting a rotation matrix, t representing a translation matrix; the distortion coefficient includesTangential distortion parameters, thin prism distortion parameters, and radial distortion parameters;
in the calculation, the value of (x '-y' -is #)u，v）；
Step 5: calibrating the calculation result in the step 4 according to the error value between the relative coordinate and the actually measured coordinate, and recording the distortion coefficient after the calculation result reaches a preset calibration value, namely successful calibration;
step 6: selecting any one of the slice patterns as a calibration picture, and obtaining a distortion coefficient of the calibration picture as a correction distortion coefficient by the methods from the step 1 to the step 5;
step 7: and (3) recalculating and printing the original model by using the correction formula group according to the correction distortion coefficient obtained in the step (6) to obtain a corrected model.
2. The method for correcting the distortion of the optical machine of the DLP printer according to claim 1, wherein the method comprises the following steps: all the dots in the printed dot matrix are round.
3. The method for correcting the distortion of the optical machine of the DLP printer according to claim 1, wherein the method comprises the following steps: when the step 4 is executed to calculate the (x '-and y' -), the calculation result is a floating point number, and the calculation result is filled into four adjacent pixel grids in a sub-pixel mode, namely, the image information of the input optical machine corresponding to the slice pattern is obtained.
4. The method for correcting the distortion of the optical machine of the DLP printer according to claim 1, wherein the method comprises the following steps: the model generation server, the mapping server, the client server, the DLP printing device and the correction server are all communicated with each other through the Internet.
5. The method for correcting the distortion of the optical machine of the DLP printer according to claim 1, wherein the method comprises the following steps: when executing step 2, the DLP printing device performs calibration with the standard condition of black stripes among the white dense stripes in the visible image when performing definition calibration.
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