CN106251282B - A kind of generation method and device of mechanical arm sampling environment analogous diagram - Google Patents
A kind of generation method and device of mechanical arm sampling environment analogous diagram Download PDFInfo
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Abstract
The invention discloses the generation methods and device of a kind of mechanical arm sampling environment analogous diagram, wherein this method comprises: determining position and attitude of the mechanical arm camera in sampling process；According to the relative position and attitude relationship between mechanical arm camera and three-dimensional scenic topographic map, three-dimensional location coordinates of each three-dimensional point coordinate of three-dimensional scenic topographic map under camera coordinates system are determined；Determine that each three-dimensional location coordinates are projected to the two-dimensional coordinate of imaging point on two-dimensional surface according to perspective projection relationship；Effective imaging point is determined according to the hiding relation of imaging point, and effective imaging point is saved to grid matrix storage queue；It determines each effectively color value of imaging point and stores to grid matrix storage queue, and analogous diagram is generated according to grid matrix storage queue.This method can quickly determine effective imaging point according to hiding relation, while in such a way that grid matrix storage queue is stored, can quick computer sim- ulation image picture point, speed is faster.
Description
Technical field
The present invention relates to simulation imaging technical field, in particular to a kind of generation method of mechanical arm sampling environment analogous diagram
And device.
Background technique
Simulation imaging is to be emulated according to three-dimensional scenic using computer graphic image technology and generate two dimensional image, to mould
Camera imaging under the conditions of quasi- different points of view pose, camera lens parameter etc., in information visualization, the celestial body of space flight detection engineering
The technical fields such as the analogue simulation of sampling process play an important role.Existing simulation imaging technology is mainly by being based on OpenGL
The methods of the simulation imagings of equal softwares, simulation imaging based on ray tracing.
For the simulation imaging method based on OpenGL: being based on extraterrestrial target threedimensional model and three-dimensional terrain model, utilize
Three-dimensional scenic is mapped as two dimensional image, this method passes through to the mapping method of analogue camera by the three-dimensional scenic that OpenGL is provided
Model foundation, perspective projection, the viewport transform and etc. realize simulation imaging, it is wider in multiple industrial applications.This method uses mark
Quasi- perspective projection model is only capable of the Common Parameters values such as adjustment focal length, imaged viewing angle, it is difficult to mould in the setting of simulation parameter
The particular demands in the professional applications fields such as quasi- image deformation.
For the ray tracing simulation imaging method based on direct solution: the base of the ray trace method based on direct solution
Present principles are, according to light in imaging process from camera optical center, then pass through the grids of pixels on imaging plane, find
Nearest object in light and scene, and intersection position is calculated, it is set according to the scene content of the position and obtains imaging plane pair
The color value that should be put, completes the generation of entire emulating image.Ray tracing method is pixel by pixel scanned scene, without
It is pel processing one by one, this makes Ray Tracing Algorithm speed slower, is suitable for the not high application of the requirement of real-time to rendering
Condition.
In realizing process of the present invention, at least there are the following problems in the prior art for inventor's discovery:
The imaging of the real cameras such as image deformation, heterogeneity illumination cannot be simulated based on the simulation imaging of OpenGL.Light
The method of line tracking is based on space light extraterrestrial target point corresponding with three-dimensional scenic, model intersection calculation image, calculating process
Panorama search and the judgement of front and back scenery, computing resource consumption are big
The information disclosed in the background technology section is intended only to increase the understanding to general background of the invention, without answering
When being considered as recognizing or imply that the information constitutes the prior art already known to those of ordinary skill in the art in any form.
Summary of the invention
The purpose of the present invention is to provide a kind of generation methods of mechanical arm sampling environment analogous diagram, to overcome existing imitative
The computationally intensive disadvantage of true imaging method.
To achieve the above object, the embodiment of the invention provides a kind of mechanical arm sampling environment analogous diagram generation method,
Include:
Determine that position and attitude of the mechanical arm camera in sampling process, position and attitude include mechanical arm camera and three-dimensional scenic
Relative position and attitude relationship and camera coordinates system between topographic map；
According to the relative position and attitude relationship between mechanical arm camera and three-dimensional scenic topographic map, three-dimensional scenic landform is determined
Scheme three-dimensional location coordinates of each three-dimensional point coordinate under camera coordinates system；
Under camera coordinates system, according to perspective projection relationship determine each three-dimensional location coordinates project on two-dimensional surface at
The two-dimensional coordinate of picture point；
Effective imaging point is determined according to the hiding relation of imaging point, and effective imaging point is saved to grid matrix storage team
Column；
It determines each effectively color value of imaging point and stores to grid matrix storage queue, and stored according to grid matrix
Queue generates the analogous diagram being made of grid pixel point.
In one possible implementation, determine that position and attitude of the mechanical arm camera in sampling process includes:
World coordinate system and the detector coordinates system of three-dimensional scenic topographic map are determined according to the position and attitude parameter of detector
Between transformational relation；
Detector coordinates are determined according to the kinematic parameter of mechanical arm installation parameter in detector body and each joint of mechanical arm
Transformational relation between system and the holder coordinate system of mechanical arm tail end；
Determine that the conversion between holder coordinate system and camera coordinates system is closed in the installation parameter of holder according to mechanical arm camera
System.
In one possible implementation, perspective projection relationship are as follows:
Wherein, u and v is respectively the abscissa and ordinate of imaging point；xw, yw, zwFor indicating three-dimensional location coordinates；λ is
Projection Depth；fuAnd fvThe respectively lateral focal length of mechanical arm camera and longitudinal focal length, (u0,v0) it is principal point coordinate；R is rotation
Matrix, t are translation vector, and R and t are used to indicate the relationship between camera coordinates system and world coordinate system；
Effective imaging point is determined according to the hiding relation of imaging point, comprising:
All imaging points are determined in the minimax extreme value in abscissa direction and ordinate direction, and according to minimax pole
Value determines the value range in abscissa direction and ordinate direction respectively, and true according to the spatial resolution that emulating image is set
The pixel wide of fixed corresponding image cross, longitudinal direction, the i.e. pixel resolution of image；
According to pixel resolution, corresponding grid matrix storage queue is set；
Determine that imaging point is corresponding in grid matrix storage queue according to the two-dimensional coordinate of imaging point on two-dimensional surface
Location of pixels；
Successively using the smallest imaging point of space length value in the corresponding imaging point of each location of pixels as effective imaging point,
Space length value is the distance between three-dimensional location coordinates corresponding with imaging point and mechanical arm camera.
In one possible implementation, it is made of according to grid matrix storage queue generation grid pixel point
Analogous diagram, comprising:
Digital orthophoto map corresponding with three-dimensional scenic topographic map is obtained, and according to effective imaging point and three-dimensional position
Relationship between coordinate successively determines the priming color value of each grid pixel point；
Determine the grid positions (i, j) of each grid pixel point effective imaging point and adjacent grid locations (i+1,
J), effective imaging point of (i, j+1), (i-1, j) and (i, j-1) storage；Wherein, i, j are respectively the cross where effective imaging point
Ordinate location of pixels；
Plane fitting and interpolation processing are carried out according to effective imaging point that grid positions and its adjacent position are stored, is determined
The color value of the grid pixel point, and analogous diagram is formed according to the grid pixel point.Specifically, according to grid pixel to be asked
The effective imaging point in position and its adjacent position carries out three-dimensional planar fitting, and fit procedure is using the image point position of effective picture point as certainly
Variable is fitted, according to the result function of fitting with (i, j) using its corresponding digital orthophoto map color value as function
Position is as independent variable, color value of the functional value being calculated as grid pixel point to be asked.
In one possible implementation, it before generating final analogous diagram according to grid matrix storage queue, also wraps
It includes:
According to the model parameter of distortion parameter and emulation camera lens, determine that each point is in abscissa direction on two-dimensional surface
Amount of distortion in upper and ordinate direction, and the amount of distortion on abscissa direction and in ordinate direction is stored respectively in two
In floating-point values type matrix；
Corresponding amount of distortion in floating-point values type matrix is inquired according to the location of pixels of grid pixel point, and according to inquiry
The amount of distortion arrived carries out distortion compensation.
Based on same inventive concept, the embodiment of the present invention also provides a kind of generation dress of mechanical arm sampling environment analogous diagram
It sets, comprising:
Pose determining module, for determining that position and attitude of the mechanical arm camera in sampling process, position and attitude include machine
Relative position and attitude relationship and camera coordinates system between tool arm camera and three-dimensional scenic topographic map；
Three-dimensional coordinate determining module, for according to the relative position and attitude between mechanical arm camera and three-dimensional scenic topographic map
Relationship determines three-dimensional location coordinates of each three-dimensional point coordinate of three-dimensional scenic topographic map under camera coordinates system；
Projection module, for determining that each three-dimensional location coordinates project according to perspective projection relationship under camera coordinates system
The two-dimensional coordinate of imaging point on to two-dimensional surface；
Imaging point determining module determines effective imaging point for the hiding relation according to imaging point, and by effective imaging point
It saves to grid matrix storage queue；
Processing module, for determining each effectively color value of imaging point and storing to grid matrix storage queue, and root
The analogous diagram being made of grid pixel point is generated according to grid matrix storage queue.
In one possible implementation, pose determining module includes:
First converting unit determines the world coordinates of three-dimensional scenic topographic map for the position and attitude parameter according to detector
Transformational relation between system and detector coordinates system；
Second converting unit, for being joined according to the movement in mechanical arm installation parameter in detector body and each joint of mechanical arm
Number determines the transformational relation between detector coordinates system and the holder coordinate system of mechanical arm tail end；
Third converting unit, for determining that holder coordinate system and camera are sat in the installation parameter of holder according to mechanical arm camera
Transformational relation between mark system.
In one possible implementation, perspective projection relationship are as follows:
Wherein, u and v is respectively the abscissa and ordinate of imaging point；xw, yw, zwFor indicating three-dimensional location coordinates；λ is
Projection Depth；fuAnd fvThe respectively lateral focal length of mechanical arm camera and longitudinal focal length, (u0,v0) it is principal point coordinate；R is rotation
Matrix, t are translation vector, and R and t are used to indicate the relationship between camera coordinates system and world coordinate system；
Imaging point determining module includes:
Resolution ratio determination unit, determine all imaging points in the minimax extreme value in abscissa direction and ordinate direction,
And determine value range in abscissa direction and ordinate direction respectively according to minimax extreme value, and it is set according to emulating image
Fixed spatial resolution determines the pixel wide of corresponding image cross, longitudinal direction, the i.e. pixel resolution of image；
Storage unit, for corresponding grid matrix storage queue to be arranged according to pixel resolution；
Pixel value determining unit, for determining that imaging point is deposited in grid matrix according to the two-dimensional coordinate of imaging point on two-dimensional surface
Store up corresponding location of pixels in queue；
Selection unit, for successively making the smallest imaging point of space length value in the corresponding imaging point of each location of pixels
For effective imaging point, space length value is the distance between three-dimensional location coordinates corresponding with imaging point and mechanical arm camera.
In one possible implementation, processing module includes:
Acquiring unit, for obtaining corresponding with three-dimensional scenic topographic map digital orthophoto map, and according to effectively at
Relationship between picture point and three-dimensional location coordinates successively determines the priming color value of each grid pixel point；
Take dot element, for determine each grid pixel point grid positions (i, j) and its adjacent position (i+1, j), (i,
J+1), effective imaging point of (i-1, j) and (i, j-1) storage；Wherein, i, j are respectively the transverse and longitudinal coordinate where grid pixel point
Location of pixels；
Plane fitting and interpolating unit, effective imaging point for being stored according to grid positions and its adjacent position carry out
Plane fitting and interpolation processing determine the color value of the grid pixel point, and form analogous diagram according to the grid pixel point.
In one possible implementation, further includes: distortion setup module and distortion compensation module；
Before processing module generates analogous diagram according to grid matrix storage queue, distortion setup module is used for according to distortion
The model parameter of parameter and emulation camera lens determines that each point is on abscissa direction and in ordinate direction on two-dimensional surface
Amount of distortion, and will on abscissa direction and ordinate direction on amount of distortion be stored respectively in two floating-point values type matrixes
In；
Distortion compensation module is used to be inquired according to the location of pixels of grid pixel point corresponding in floating-point values type matrix
Amount of distortion, and distortion compensation is carried out according to the amount of distortion inquired.
The generation method and device of mechanical arm sampling environment analogous diagram provided in an embodiment of the present invention, it is first determined mechanical arm
Relative position and attitude relationship between camera and three-dimensional scenic topographic map carries out image data under the same coordinate system with facilitating
Processing improves processing speed and accuracy.Effective imaging point can be quickly determined according to hiding relation, while using grid matrix
The mode that storage queue is stored, can quick computer sim- ulation image picture point, more relative to light searching method speed
Fastly.Plane fitting and interpolation processing are carried out according to effective imaging point in effective imaging point and adjacent cells pixel, determining should
The final color value of grid pixel point, effective less cross-color.Method is determined based on the amount of distortion of querying method, by calculation amount
Big part work calculated in advance finishes, and real-time simulation imaging is only to realize distortion compensation by inquiry, it is ensured that real-time simulation
The rapidity that image generates.Meanwhile the method relative to the projection based on model, it can be removed with the various distortion of real simulation camera
Geometry deformation distortion is outer, and for truths such as inhomogeneous illuminations, by increasing relevant parameter distortion process, simulation is more
Add true complete.
Other features and advantages of the present invention will be illustrated in the following description, also, partly becomes from specification
It obtains it is clear that understand through the implementation of the invention.The objectives and other advantages of the invention can be by written explanation
Specifically noted structure is achieved and obtained in book, claims and attached drawing.
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
Detailed description of the invention
Attached drawing is used to provide further understanding of the present invention, and constitutes part of specification, with reality of the invention
It applies example to be used to explain the present invention together, not be construed as limiting the invention.In the accompanying drawings:
The flow chart of the generation method of mechanical arm sampling environment analogous diagram in Fig. 1 embodiment of the present invention；
The schematic diagram that equatorial projection is imaged in Fig. 2 embodiment of the present invention；
The first structure figure of the generating means of mechanical arm sampling environment analogous diagram in Fig. 3 embodiment of the present invention；
The structure chart of pose determining module in Fig. 4 embodiment of the present invention；
The structure chart of imaging point determining module in Fig. 5 embodiment of the present invention；
The structure chart of processing module in Fig. 6 embodiment of the present invention；
Second structure chart of the generating means of mechanical arm sampling environment analogous diagram in Fig. 7 embodiment of the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.Attached drawing
In identical appended drawing reference indicate element functionally identical or similar.Although the various aspects of embodiment are shown in the attached drawings,
But unless otherwise indicated, it is not necessary to attached drawing drawn to scale.
Dedicated word " exemplary " means " being used as example, embodiment or illustrative " herein.Here as " exemplary "
Illustrated any embodiment should not necessarily be construed as preferred or advantageous over other embodiments.
A kind of generation method of mechanical arm sampling environment analogous diagram provided in an embodiment of the present invention, shown in Figure 1, the party
Method includes step 101-105:
Step 101: determine position and attitude of the mechanical arm camera in sampling process, position and attitude include mechanical arm camera with
Relative position and attitude relationship and camera coordinates system between three-dimensional scenic topographic map.
A kind of generation method of mechanical arm sampling environment analogous diagram provided in an embodiment of the present invention, is applied to mechanical arm and samples
Scene.Specifically, detector body is equipped with the mechanical arm, the end of the mechanical arm is equipped with mechanical arm camera；Wherein, mechanical
Arm is equipped with each joint, and each joint is equipped with corresponding kinematic parameter (such as articulation mechanism coordinate system)；The end of mechanical arm
Equipped with holder, mechanical arm camera is installed on the holder, which can sample ambient enviroment.
Wherein, it is closed in above-mentioned steps 101 according to the relative position and attitude between mechanical arm camera and three-dimensional scenic topographic map
System specifically includes step A1-A3:
Step A1: the world coordinate system and detector of three-dimensional scenic topographic map are determined according to the position and attitude parameter of detector
Transformational relation between coordinate system.
Step A2: detection is determined according to mechanical arm installation parameter in detector body and the kinematic parameter in each joint of mechanical arm
Transformational relation between device coordinate system and the holder coordinate system of mechanical arm tail end.
Step A3: it is determined between holder coordinate system and camera coordinates system according to mechanical arm camera in the installation parameter of holder
Transformational relation.
In the embodiment of the present invention, especially by DEM (Digital Elevation Model, digital elevation model) data
Obtain three-dimensional scenic topographic map, the camera coordinates of the world coordinate system as used in three-dimensional scenic topographic map and mechanical arm camera
Coordinate system of the system for two different benchmark, therefore it needs to be determined that relative position appearance between mechanical arm camera and three-dimensional scenic topographic map
State relationship (relationship i.e. between world coordinate system and camera coordinates system), so it is convenient after under the same coordinate system to picture number
According to being handled.
According to step A1, it can by the world coordinate system O of three-dimensional scenic topographic mapw-XwYwZwIt is transferred to spacecraft detection
The detector coordinates system of device；The three-dimensional data under detector coordinates system can be transformed into mechanical arm tail end by step A2
Holder coordinate system；The three-dimensional point coordinate of holder coordinate system can be transformed into camera coordinates system O by step A3c-XcYcZc。
After the conversion of above-mentioned three steps coordinate system, it can determine world coordinate system Ow-XwYwZwWith camera coordinates system Oc-XcYcZcIt
Between relationship, so that it is determined that the relative position and attitude relationship between mechanical arm camera and three-dimensional scenic topographic map.
Step 102: according to the relative position and attitude relationship between mechanical arm camera and three-dimensional scenic topographic map, determining three-dimensional
Three-dimensional location coordinates of each three-dimensional point coordinate of scene topographic map under camera coordinates system.
In the embodiment of the present invention, world coordinate system O is being determinedw-XwYwZwWith camera coordinates system Oc-XcYcZcBetween relationship
Afterwards, it needs the three-dimensional point coordinate for each point that will first sample the three-dimensional scenic topographic map in scene to carry out coordinate conversion, determines it
Three-dimensional location coordinates under camera coordinates system, so that unified calculation be facilitated to handle.
Step 103: under camera coordinates system, determining that each three-dimensional location coordinates are projected to two dimension according to perspective projection relationship
The two-dimensional coordinate of imaging point in plane.
In the embodiment of the present invention, each three-dimensional point coordinate of three-dimensional scenic topographic map is being converted to three under camera coordinates system
After tieing up position coordinates, it can carry out data processing under the camera coordinates system always.Specifically, according to three-dimensional scenic topographic map
Three-dimensional location coordinates to the projection of mechanical arm camera, determine that three-dimensional location coordinates are projected to imaging point on a two-dimensional surface
Two-dimensional coordinate.Shown in Figure 2, Fig. 2 shows the target point P in a three-dimensional scenic topographic map to project to mechanical arm camera C
When, the imaging point for being projected to two-dimensional surface is M；The coordinate of imaging point M can be determined according to perspective projection relationship.
Specifically, the perspective projection relationship specifically:
Wherein, u and v is respectively the abscissa and ordinate of imaging point；xw, yw, zwFor indicating three-dimensional location coordinates；λ is
Projection Depth, geometric meaning are the Z components of target point P coordinate in camera coordinates system Oc-XcYcZc；fuAnd fvRespectively machine
The lateral focal length of tool arm camera and longitudinal focal length, fu=f/dx, fv=f/dy, f are the focal length for emulating camera, and dx and dy are respectively
The transverse and longitudinal size of pixel, (u0,v0) it is principal point coordinate；R is spin matrix, and t is translation vector, R and t for indicating camera coordinates
Relationship between system and world coordinate system, R, t are collectively referred to as external parameter.
Step 104: effective imaging point being determined according to the hiding relation of imaging point, and effective imaging point is saved to grid square
Battle array storage queue.
In the embodiment of the present invention, since, there are a large amount of three-dimensional location coordinates, there are two in three-dimensional scenic topographic map
A or more three-dimensional location coordinates are conllinear with mechanical arm camera, i.e., two or more three-dimensional location coordinates project flat to two dimension
The imaging point in face is the same imaging point, but with mechanical arm camera from the perspective of, can only sample nearest apart from mechanical arm
Three-dimensional location coordinates, other three-dimensional location coordinates are sheltered from by nearest three-dimensional location coordinates are changed；Therefore it can by hiding relation
To determine which three-dimensional location coordinates projects the imaging point to two-dimensional surface as effective imaging point.
Specifically, the hiding relation in step 104 according to imaging point determines effective imaging point, step B1-B4 is specifically included:
Step B1: all imaging points are determined in the minimax extreme value in abscissa direction and ordinate direction, and according to most
Big minimum extreme value determines the number of pixels in abscissa direction and ordinate direction respectively, and determines corresponding pixel resolution.
Specifically, minimax extreme value of the determining all imaging points in abscissa direction and ordinate direction, and according to most
Big minimum extreme value determines the value range in abscissa direction and ordinate direction, and the space set according to emulating image respectively
Resolution ratio determines the pixel wide of corresponding image cross, longitudinal direction, the i.e. pixel resolution of image.
Step B2: corresponding grid matrix storage queue is arranged according to pixel resolution.
Step B3: the corresponding location of pixels of imaging point is determined according to the two-dimensional coordinate of imaging point on two-dimensional surface.
Step B4: successively using the smallest imaging point of space length value in the corresponding imaging point of each location of pixels as effectively
Imaging point, space length value are the distance between three-dimensional location coordinates corresponding with imaging point and mechanical arm camera.
Wherein, two-dimensional surface also is provided in abscissa direction X and ordinate direction Y, according to the maximum of both direction and
Minimum can determine final simulation imaging in the number of pixels M and N of X, Y both direction, i.e. the pixel of emulating image is differentiated
Rate M × N according to the resolution ratio and then can set corresponding image storage queue, which is specially grid square
Battle array storage queue.It can determine that the imaging point is corresponding with which pixel according to the coordinate of imaging point later, it can really
Determine the corresponding location of pixels of imaging point (i.e. the pixel value in transverse and longitudinal direction).
Specifically, due to being the same imaging there may be the imaging point that multiple three-dimensional location coordinates are projected to two-dimensional surface
The case where point, at this time therefore can determine which three-dimensional location coordinates is projected to the imaging point of two-dimensional surface by hiding relation is
Effective imaging point is referring specifically to above-mentioned steps B4, i.e., using the smallest imaging point of space length value as effective imaging point.Grid square
Each corresponding pixel of storage subqueue of battle array storage queue, i.e. each storage subqueue can store one effectively
The data of imaging point.During storing effective pixel points, it is first determined the corresponding location of pixels of effective imaging point, and then really
Fixed corresponding storage subqueue；If the subqueue is sky, the pixel is directly saved in corresponding subqueue；Such as
Fruit stores subqueue non-empty, then compares the space length value Z of the imaging point corresponding three-dimensional points, if the Z of the point is smaller value,
The imaging point that the imaging point is replaced with to former preservation, otherwise abandons the imaging point.
Step 105: determining each effectively color value of imaging point and store to grid matrix storage queue, and according to grid
Matrix storage queue generates the analogous diagram being made of grid pixel point.
In the embodiment of the present invention, effective imaging point is to be stored in grid matrix storage queue.Due to effective imaging point
Location of pixels not necessarily integer, such as location of pixels of a certain effective imaging point may be (2.1,3.2)；But grid is whole
Number format, a grid is interior, and there may be multiple effective imaging points, and each grid corresponds to a grid pixel point.According to grid
When lattice matrix storage queue generates the analogous diagram being made of grid pixel point, need first according in grid matrix storage queue
The color value of effective imaging point determines the color value of grid pixel point.
Specifically, the analogous diagram being made of grid pixel point is generated in above-mentioned steps 105 according to grid matrix storage queue,
Specifically include step C1-C3:
Step C1: obtaining corresponding with three-dimensional scenic topographic map digital orthophoto map, and according to effective imaging point and
Relationship between three-dimensional location coordinates successively determines the priming color value of each grid pixel point.
Step C2: the grid pixel point (i, j) and its adjacent position (i+1, j), (i, j+ of each grid pixel point are determined
1), effective imaging point of (i-1, j) and (i, j-1) storage；Wherein, i, j are respectively the transverse and longitudinal coordinate picture where grid pixel point
Plain position.
Step C3: it is carried out at plane fitting and interpolation according to effective imaging point that grid positions and its adjacent position are stored
Reason, determines the color value of grid pixel.
After step c 3, it can analogous diagram is formed according to the grid pixel point.
In the embodiment of the present invention, by introducing corresponding DOM (Digital Orthophoto Map, digital orthoimage
Figure) determine the color value of each effective imaging point.Specifically, having in three-dimensional scenic topographic map (such as DEM) in DOM striograph
The color value of each point can determine the priming color value of effective imaging point according to DOM.Since effective imaging point is according to screening
The imaging point that relationship determines is covered, therefore directly there may be distortions according to DOM determining priming color value.In the embodiment of the present invention,
Final color value is determined by combining adjacent effective imaging point to carry out interpolation processing, and then whole image data can be generated.
Specifically, determining adjacent cells pixel (i+1, j), (i, j+1), (i-1, the j) of each grid pixel point (i, j)
(i, j-1)；Wherein, i, j are respectively the transverse and longitudinal coordinate location of pixels where grid pixel point；When i or j is 1, due to i-1
=0 or j-1=0, so when (i-1, j) or (i, j-1) be set as null value.Determining that all of grid pixel vertex neighborhood have
After imitating imaging point, carried out at plane fitting and interpolation according to effective imaging point in effective imaging point and adjacent cells pixel
Reason, determines the final color value of the grid pixel point, effective less cross-color.
The generation method of mechanical arm provided in an embodiment of the present invention sampling environment analogous diagram, it is first determined mechanical arm camera with
Relative position and attitude relationship between three-dimensional scenic topographic map is handled image data under the same coordinate system with facilitating, and is mentioned
High processing rate and accuracy.Effective imaging point can be quickly determined according to hiding relation, while using grid matrix storage team
Arrange the mode that is stored, can quick computer sim- ulation image picture point, faster relative to light searching method speed.According to
Effective imaging point in effective imaging point and adjacent cells pixel carries out plane fitting and interpolation processing, determines the grid pixel
The final color value of point, effective less cross-color.
Preferably, before " generating analogous diagram according to grid matrix storage queue " in step 105, this method further includes
Step C1-C2:
Step C1: according to distortion parameter and model parameter, determine that each point is on abscissa direction and vertical on two-dimensional surface
Amount of distortion on coordinate direction, and the amount of distortion on abscissa direction and in ordinate direction is stored respectively in two floating numbers
In value type matrix.
Step C2: inquiring corresponding amount of distortion in floating-point values type matrix according to the location of pixels of effective imaging point, and
Distortion compensation is carried out according to the amount of distortion inquired.
In embodiments of the present invention, it is distorted using query method analog imaging, according to the lens distortion of institute's simulation imaging camera
Parameter carries out distortion simulation to the picture point of standard perspective imaging.Distortion process is set according to the practical distortion parameter of the camera simulated
It is fixed.
Specifically, using the distorted modulation of query method in the embodiment of the present invention to improve the calculating speed of distortion emulation
Method calculates amount of distortion for effective pixel points each in two dimensional image image planes first according to distortion parameter and model parameter, point
Not Huo get allocation of distortion in X, Y both direction, and be respectively stored into the floating-point values type matrix of M × N.Utilize the two floating-points
Numeric type matrix, the distortion situation being arbitrarily imaged on emulating image can be inquired directly from table, and then carry out distortion benefit
It repays.Method is determined based on the amount of distortion of querying method, computationally intensive part work calculated in advance is finished, real-time simulation imaging
It is that distortion compensation is only realized by inquiry, it is ensured that the rapidity that real-time simulation image generates.Meanwhile relative to based on model
The method of projection, can be with the various distortion of real simulation camera, other than geometry deformation distortion, feelings true for inhomogeneous illumination etc.
Condition, by increasing relevant parameter distortion process, simulation is more true complete.
A kind of generation method of mechanical arm sampling environment analogous diagram is described in detail above, and this method can also be by corresponding
Device realize, the structure and function of the device is described in detail below.
A kind of generating means of mechanical arm sampling environment analogous diagram provided in an embodiment of the present invention, shown in Figure 3, packet
It includes:
Pose determining module 31, for determining that position and attitude of the mechanical arm camera in sampling process, position and attitude include
Relative position and attitude relationship and camera coordinates system between mechanical arm camera and three-dimensional scenic topographic map；
Three-dimensional coordinate determining module 32, for according to the relative position appearance between mechanical arm camera and three-dimensional scenic topographic map
State relationship determines three-dimensional location coordinates of each three-dimensional point coordinate of three-dimensional scenic topographic map under camera coordinates system；
Projection module 33, for determining that each three-dimensional location coordinates are thrown according to perspective projection relationship under camera coordinates system
The two-dimensional coordinate of imaging point on shadow to two-dimensional surface；
Imaging point determining module 34 determines effective imaging point for the hiding relation according to imaging point, and will effectively be imaged
Point is saved to grid matrix storage queue；
Processing module 35, for determining each effectively color value of imaging point and storing to grid matrix storage queue, and
The analogous diagram being made of grid pixel point is generated according to grid matrix storage queue.
In one possible implementation, shown in Figure 4, pose determining module 31 includes:
First converting unit 311, the world of three-dimensional scenic topographic map is determined for the position and attitude parameter according to detector
Transformational relation between coordinate system and detector coordinates system；
Second converting unit 312, for the fortune according to mechanical arm installation parameter in detector body and each joint of mechanical arm
Dynamic parameter determines the transformational relation between detector coordinates system and the holder coordinate system of mechanical arm tail end；
Third converting unit 313, for determining holder coordinate system and phase in the installation parameter of holder according to mechanical arm camera
Transformational relation between machine coordinate system.
In one possible implementation, perspective projection relationship are as follows:
Wherein, u and v is respectively the abscissa and ordinate of imaging point；xw, yw, zwFor indicating three-dimensional location coordinates；λ is
Projection Depth；fuAnd fvThe respectively lateral focal length of mechanical arm camera and longitudinal focal length, (u0,v0) it is principal point coordinate；R is rotation
Matrix, t are translation vector, and R and t are used to indicate the relationship between camera coordinates system and world coordinate system；
Shown in Figure 5, imaging point determining module 34 includes:
Resolution ratio determination unit 341 determines all imaging points in the minimax pole in abscissa direction and ordinate direction
It is worth, and determines the value range in abscissa direction and ordinate direction respectively according to minimax extreme value, and according to analogous diagram
As the spatial resolution of setting determines the pixel wide of corresponding image cross, longitudinal direction, the i.e. pixel resolution of image；
Storage unit 342, for corresponding grid matrix storage queue to be arranged according to pixel resolution；
Pixel value determining unit 343, for determining that imaging point is corresponding according to the two-dimensional coordinate of imaging point on two-dimensional surface
Location of pixels；
Selection unit 344, for successively by the smallest imaging of space length value in the corresponding imaging point of each location of pixels
Point be used as effective imaging point, space length value between three-dimensional location coordinates corresponding with imaging point and mechanical arm camera away from
From.
In one possible implementation, shown in Figure 6, processing module 35 includes:
Acquiring unit 351, for obtaining digital orthophoto map corresponding with three-dimensional scenic topographic map, and according to effective
Relationship between imaging point and three-dimensional location coordinates successively determines the priming color value of each effectively imaging point；
Take dot element 352, for determine each grid pixel point (i, j) and its adjacent position (i+1, j), (i, j+1),
Effective imaging point of (i-1, j) and (i, j-1) storage；Wherein, i, j are respectively the transverse and longitudinal coordinate pixel position where grid pixel point
It sets；
Plane fitting and interpolating unit 353, effective imaging point for being stored according to grid positions and its adjacent position
Plane fitting and interpolation processing are carried out, determines the color value of the grid pixel point, and form and imitate according to the grid pixel point
True figure.
In one possible implementation, shown in Figure 7, the device further include: distortion setup module 36 and distortion
Compensating module 37；
Before processing module 35 generates analogous diagram according to grid matrix storage queue, distortion setup module 36 is used for basis
The model parameter of distortion parameter and emulation camera lens determines on two-dimensional surface each point on abscissa direction and ordinate side
Upward amount of distortion, and the amount of distortion on abscissa direction and in ordinate direction is stored respectively in two floating-point values type squares
In battle array；
Distortion compensation module 37 is used to be inquired according to the location of pixels of grid pixel point corresponding in floating-point values type matrix
Amount of distortion, and distortion compensation is carried out according to the amount of distortion that inquires.
The generation method and device of mechanical arm sampling environment analogous diagram provided in an embodiment of the present invention, it is first determined mechanical arm
Relative position and attitude relationship between camera and three-dimensional scenic topographic map carries out image data under the same coordinate system with facilitating
Processing improves processing speed and accuracy.Effective imaging point can be quickly determined according to hiding relation, while using grid matrix
The mode that storage queue is stored, can quick computer sim- ulation image picture point, more relative to light searching method speed
Fastly.Interpolation processing is carried out according to effective imaging point and adjacent effective imaging point, determines the final color value of effective imaging point, effectively
Less cross-color.Method is determined based on the amount of distortion of querying method, and computationally intensive part work calculated in advance is finished, it is real
When simulation imaging be only by inquiry realize distortion compensation, it is ensured that real-time simulation image generate rapidity.Meanwhile relative to
The method of projection based on model, can be with the various distortion of real simulation camera, other than geometry deformation distortion, for non-homogeneous light
According to etc. truths, by increasing relevant parameter distortion process, simulation is more true complete.
It should be understood by those skilled in the art that, the embodiment of the present invention can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the present invention
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the present invention, which can be used in one or more,
The shape for the computer program product implemented in usable storage medium (including but not limited to magnetic disk storage and optical memory etc.)
Formula.
The present invention be referring to according to the method for the embodiment of the present invention, the process of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
The aforementioned description to specific exemplary embodiment of the invention is in order to illustrate and illustration purpose.These descriptions
It is not wishing to limit the invention to disclosed precise forms, and it will be apparent that according to the above instruction, can much be changed
And variation.The purpose of selecting and describing the exemplary embodiment is that explaining specific principle of the invention and its actually answering
With so that those skilled in the art can be realized and utilize a variety of different exemplary implementation schemes of the invention and
Various chooses and changes.The scope of the present invention is intended to be limited by claims and its equivalents.
The apparatus embodiments described above are merely exemplary, wherein described, unit can as illustrated by the separation member
It is physically separated with being or may not be, component shown as a unit may or may not be physics list
Member, it can it is in one place, or may be distributed over multiple network units.It can be selected according to the actual needs
In some or all of the modules achieve the purpose of the solution of this embodiment.Those of ordinary skill in the art are not paying creativeness
Labour in the case where, it can understand and implement.
Claims (8)
1. a kind of generation method of mechanical arm sampling environment analogous diagram characterized by comprising
Determine that position and attitude of the mechanical arm camera in sampling process, the position and attitude include mechanical arm camera and three-dimensional scenic
Relative position and attitude relationship and camera coordinates system between topographic map；
According to the relative position and attitude relationship between the mechanical arm camera and three-dimensional scenic topographic map, three-dimensional scenic landform is determined
Scheme three-dimensional location coordinates of each three-dimensional point coordinate under the camera coordinates system；
Under camera coordinates system, according to perspective projection relationship determine each three-dimensional location coordinates project on two-dimensional surface at
The two-dimensional coordinate of picture point；
Effective imaging point is determined according to the hiding relation of imaging point, and effective imaging point is saved to grid matrix storage team
Column；And
It determines each effectively color value of imaging point and stores to grid matrix storage queue, and stored according to the grid matrix
Queue generates the analogous diagram being made of grid pixel point,
Wherein, the perspective projection relationship are as follows:
Wherein, u and v is respectively the abscissa and ordinate of imaging point；xw, yw, zwFor indicating three-dimensional location coordinates；λ is projection
Depth；fuAnd fvThe respectively lateral focal length of mechanical arm camera and longitudinal focal length, (u0,v0) it is principal point coordinate；R is spin matrix,
T is translation vector, and R and t are used to indicate the relationship between the camera coordinates system and world coordinate system；
The hiding relation according to imaging point determines effective imaging point, comprising:
Determine that all imaging points divide in the minimax extreme value in abscissa direction and ordinate direction, and according to minimax extreme value
Phase Que Ding not be determined in the value range in abscissa direction and ordinate direction, and according to the spatial resolution that emulating image is set
The pixel wide of the image cross, longitudinal direction answered, the i.e. pixel resolution of image；
According to the pixel resolution, corresponding grid matrix storage queue is set；
Determine that imaging point is corresponding in grid matrix storage queue according to the two-dimensional coordinate of imaging point on the two-dimensional surface
Location of pixels；And
It is successively that the smallest imaging point of space length value in the corresponding imaging point of each location of pixels is described as effective imaging point
Space length value is the distance between three-dimensional location coordinates corresponding with the imaging point and mechanical arm camera.
2. the method according to claim 1, wherein position of the determining mechanical arm camera in sampling process
Posture includes:
It is determined between the world coordinate system of three-dimensional scenic topographic map and detector coordinates system according to the position and attitude parameter of detector
Transformational relation；
The detector coordinates are determined according to the kinematic parameter of mechanical arm installation parameter in detector body and each joint of mechanical arm
Transformational relation between system and the holder coordinate system of mechanical arm tail end；
It is determined according to the mechanical arm camera in the installation parameter of holder and is turned between the holder coordinate system and camera coordinates system
Change relationship.
3. the method according to claim 1, wherein described generate according to the grid matrix storage queue by grid
The analogous diagram of lattice pixel composition, comprising:
Digital orthophoto map corresponding with the three-dimensional scenic topographic map is obtained, and according to effective imaging point and three-dimensional position
Relationship between coordinate successively determines the priming color value of each grid pixel point；
Determine each grid pixel point grid positions (i, j) and its adjacent position (i+1, j), (i, j+1), (i-1, j) and (i,
J-1 the effective imaging point) stored；Wherein, i, j are respectively the transverse and longitudinal coordinate location of pixels where the grid pixel point；
The effective imaging point stored according to grid positions and its adjacent position carries out plane fitting and interpolation processing, determine described in
The color value of grid pixel point, and analogous diagram is formed according to the grid pixel point.
4. method according to claim 1 to 3, which is characterized in that described according to the grid matrix storage queue
Before generation analogous diagram, further includes:
According to the model parameter of distortion parameter and emulation camera lens, determine that each point is in abscissa direction on the two-dimensional surface
Amount of distortion in upper and ordinate direction, and the amount of distortion on abscissa direction and in ordinate direction is stored respectively in two
In floating-point values type matrix；
According to corresponding amount of distortion in the location of pixels of the grid pixel point inquiry floating-point values type matrix, and according to
The amount of distortion inquired carries out distortion compensation.
5. a kind of generating means of mechanical arm sampling environment analogous diagram characterized by comprising
Pose determining module, for determining that position and attitude of the mechanical arm camera in sampling process, the position and attitude include machine
Relative position and attitude relationship and camera coordinates system between tool arm camera and three-dimensional scenic topographic map；
Three-dimensional coordinate determining module, for according to the relative position and attitude between the mechanical arm camera and three-dimensional scenic topographic map
Relationship determines three-dimensional location coordinates of each three-dimensional point coordinate of three-dimensional scenic topographic map under the camera coordinates system；
Projection module, for determining that each three-dimensional location coordinates project according to perspective projection relationship under camera coordinates system
The two-dimensional coordinate of imaging point on to two-dimensional surface；
Imaging point determining module determines effective imaging point for the hiding relation according to imaging point, and by effective imaging point
It saves to grid matrix storage queue；
Processing module, for determining each effectively color value of imaging point and storing to grid matrix storage queue, and according to institute
It states grid matrix storage queue and generates the analogous diagram being made of grid pixel point,
Wherein, the perspective projection relationship are as follows:
Wherein, u and v is respectively the abscissa and ordinate of imaging point；xw, yw, zwFor indicating three-dimensional location coordinates；λ is projection
Depth；fuAnd fvThe respectively lateral focal length of mechanical arm camera and longitudinal focal length, (u0,v0) it is principal point coordinate；R is spin matrix,
T is translation vector, and R and t are used to indicate the relationship between the camera coordinates system and world coordinate system；
The imaging point determining module includes:
Resolution ratio determination unit, determine all imaging points in the minimax extreme value in abscissa direction and ordinate direction, and root
Determine the value range in abscissa direction and ordinate direction respectively according to minimax extreme value, and according to emulating image setting
Spatial resolution determines the pixel wide of corresponding image cross, longitudinal direction, the i.e. pixel resolution of image；
Storage unit, for corresponding grid matrix storage queue to be arranged according to the pixel resolution；
Pixel value determining unit, for determining that imaging point is deposited in grid matrix according to the two-dimensional coordinate of imaging point on the two-dimensional surface
Store up corresponding location of pixels in queue；
Selection unit, for successively using the smallest imaging point of space length value in the corresponding imaging point of each location of pixels as having
Imitate imaging point, the space length value between three-dimensional location coordinates corresponding with the imaging point and mechanical arm camera away from
From.
6. device according to claim 5, which is characterized in that the pose determining module includes:
First converting unit, for the position and attitude parameter according to detector determine the world coordinate system of three-dimensional scenic topographic map with
Transformational relation between detector coordinates system；
Second converting unit, it is true for the kinematic parameter according to mechanical arm installation parameter in detector body and each joint of mechanical arm
Transformational relation between the fixed detector coordinates system and the holder coordinate system of mechanical arm tail end；
Third converting unit, for determining the holder coordinate system and phase in the installation parameter of holder according to the mechanical arm camera
Transformational relation between machine coordinate system.
7. device according to claim 5, which is characterized in that the processing module includes:
Acquiring unit, for obtaining corresponding with three-dimensional scenic topographic map digital orthophoto map, and according to effectively at
Relationship between picture point and three-dimensional location coordinates successively determines the priming color value of each grid pixel point；
Dot element is taken, for determining the grid positions (i, j) and its adjacent position (i+1, j), (i, j+ of each grid pixel point
1), effective imaging point of (i-1, j) and (i, j-1) storage；Wherein, i, j are respectively the transverse and longitudinal seat where the grid pixel point
Mark location of pixels；
Plane fitting and interpolating unit, effective imaging point for being stored according to grid positions and its adjacent position carry out plane
Fitting and interpolation processing determine the color value of the grid pixel point, and form analogous diagram according to the grid pixel point.
8. according to any device of claim 5-7, which is characterized in that further include: distortion setup module and distortion compensation
Module；
Before the processing module generates analogous diagram according to the grid matrix storage queue, the distortion setup module is used for
According to the model parameter of distortion parameter and emulation camera lens, determine on the two-dimensional surface each point on abscissa direction and
Amount of distortion in ordinate direction, and the amount of distortion on abscissa direction and in ordinate direction is stored respectively in two floating-points
In numeric type matrix；
The distortion compensation module is used to be inquired in the floating-point values type matrix according to the location of pixels of the grid pixel point
Corresponding amount of distortion, and distortion compensation is carried out according to the amount of distortion inquired.
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| CN107030699B (en) * | 2017-05-18 | 2020-03-10 | 广州视源电子科技股份有限公司 | Pose error correction method and device, robot and storage medium |
| CN107292930B (en) * | 2017-07-19 | 2020-07-14 | 云南电网有限责任公司电力科学研究院 | Mechanical arm guiding method and device |
| CN107564089B (en) * | 2017-08-10 | 2022-03-01 | 腾讯科技（深圳）有限公司 | Three-dimensional image processing method, device, storage medium and computer equipment |
| CN113112412B (en) * | 2020-01-13 | 2024-03-19 | 株式会社理光 | Method and device for generating vertical correction matrix and computer readable storage medium |
| CN116503522A (en) * | 2022-06-07 | 2023-07-28 | 腾讯科技（深圳）有限公司 | Interactive picture rendering method, device, equipment, storage medium and program product |
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