CN106871815B - A kind of class mirror surface three dimension profile measurement method of Kinect in conjunction with streak reflex method - Google Patents
A kind of class mirror surface three dimension profile measurement method of Kinect in conjunction with streak reflex method Download PDFInfo
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- CN106871815B CN106871815B CN201710048699.2A CN201710048699A CN106871815B CN 106871815 B CN106871815 B CN 106871815B CN 201710048699 A CN201710048699 A CN 201710048699A CN 106871815 B CN106871815 B CN 106871815B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
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Abstract
A kind of class mirror surface three dimension profile measurement method that the invention discloses Kinect in conjunction with streak reflex method is obtained by the three dimensional point cloud based on Kinect, the big key component of streak reflex three-dimensional measurement two forms.The invention has the advantages that (1) is compared with traditional streak reflex method for three-dimensional measurement: traditional streak reflex three-dimensional measurement can only measure some simple index plane shapes, and class mirror surface three dimension profile measurement method of the Kinect in conjunction with streak reflex method is not limited then by tested surface shape, can measure the object of arbitrary face shape；(2) the class mirror surface three dimension profile measurement method based on Kinect in conjunction with streak reflex method, processing is acquired by Kinect measuring targets three-dimensional surface shape point cloud data, acquire the preliminary three-D profile information of body surface, using preliminary three-D profile information as the iteration datum level of wave-front reconstruction in traditional streak reflex three-dimensional measurement, it is greatly reduced the number of iterations, 3 d shape is improved and rebuilds speed.
Description
Technical field
A kind of class mirror surface three dimension profile measurement method that the present invention relates to Kinect in conjunction with streak reflex method, more particularly to
Three dimensional point cloud based on Kinect obtains principle and streak reflex method for three-dimensional measurement.
Background technique
With the proposition and implementation of industry 4.0, manufacturing industry is intelligent, automates the trend of the times for having become industrial development,
It is extremely urgent to class mirror surface object surface appearance high speed, the acquisition of high accuracy three-dimensional data.Method for three-dimensional measurement is support
Intelligence production, realizes human-computer interaction, and one of key technology of 3D technology is to integrate light, mechanical, electrical and computer technology height
New technology, it provides required three-dimensional data for intelligence production.
A series of grind above has been done in theoretical and application for the high speed three-dimensional measurement of class mirror surface object surface appearance both at home and abroad
Study carefully, the method for three-dimensional measurement of usual class mirror article can be divided into interferometry and streak reflex method.
Interferometry usually requires complicated and expensive optical device, generally can only the lesser class mirror of measurement range
Body, and can not achieve the three-dimensional measurement of dynamic mirror article.In engineering, especially in modern manufacturing industry, there are a large amount of classes
Mirror article needs to measure.For example, bodywork surface, polishing die surface after spraying in auto industry, Building Ceramics Industry
In ceramic tile surface etc. all have class mirror surface reflectivity properties, before class mirror surface object three-dimensional profile measuring technology has important application
Scape.
Streak reflex method when measuring class mirror article due to non-contact, measurement of full field, measuring speed is fast and is easy to information
It is the advantages that processing, significant in three-dimensional measurement.Three-dimensional measurement experimental provision as shown in Figure 1, include flat-panel monitor,
CCD camera, computer, work station, reference planes and object under test；Flat-panel monitor projects the striped with characteristic information
Reference planes surface acquires stripe information by CCD camera, obtains fixed phase after work station is handled.Then by determinand
Body is placed on same position, obtains corresponding deformed grating picture by work station, calculates fixed phase, removes fixed phase to obtain the final product
To the phase change as caused by determinand area distortion.Again by the mark of phase information and CCD optical center, incident ray, reflection light etc.
Fixed number can be obtained final class mirror surface 3 d shape to be measured according to comprehensive analysis processing.
Microsoft takes the lead in being proposed Kinect within 2009, has been put forward for the first time the theory of human-computer interaction.HuaShuo Co., Ltd is also tight
With thereafter, being proposed Xtion series somatosensory device.Compared to other professional depth cameras, it is at low cost, easy that Kinect has
The advantages that configuration, shows considerable application prospect in three-dimensional reconstruction field.
Most of class mirror articles often have its particularity and complexity, using single-measurement method, however it is often difficult to reach
To the requirement of measurement.As traditional streak reflex method for three-dimensional measurement is not only difficult to carry out three-dimensional to complex class mirror article surface
Topography measurement and to the measurement of colored class mirror surface be even more be difficult to realize；Although and the 3 D measuring method based on Kinect
Can quick obtaining class mirror article surface point cloud data and colouring information, but its measurement accuracy is relatively low.Therefore, by the two
It is effectively combined, using 3 D measuring method quick obtaining face graphic data and face shape colouring information based on Kinect, and
Iteration benchmark of the object under test surface topography point cloud data that will acquire as wave-front reconstruction in streak reflex method for three-dimensional measurement
3 d shape and object color are restored in face.
This method effectively expands streak reflex method for three-dimensional measurement application range, and streak reflex three-dimensional measurement incorporates
So that the mentioned method of this patent specified data precision, density, processing the time on have more flexibility and high efficiency, this for industry
Eka-ytterbium method for reconstructing three-dimensional model such as production and reverse-engineering of looking unfamiliar propose new approaches.
Summary of the invention
Present invention aims at propose a kind of three dimension profile measurement method of Kinect in conjunction with streak reflex method, this method
Compared to the method for three-dimensional measurement of traditional sine stripe projection, the face shape limitation of class mirror surface to be measured is greatly breached, simultaneously
Also the colouring information of object under test can preferably be restored.
The present invention is achieved like this, a kind of class mirror surface three dimension profile measurement side of Kinect in conjunction with streak reflex method
Method is characterized in comprising the steps of:
(1) it utilizes Kinect rough measure object under test surface tri-dimensional profile and acquires colouring information, what is measured herein is thick
Face shape is omited by the iteration primary face shape in measuring as second step, and as later period fringe order judgment condition；
(2) high accuracy three-dimensional face shape is obtained to object double measurement by streak reflex method；
(3) Kinect in the first step is obtained colouring information and is attached to what measurement in step 2 obtained by Data Fusion
High-precision three-dimensional face shape obtains the object under test 3 d shape with colouring information.
Step (1) of the present invention is specific as follows:
(1) calibration is carried out to the colour TV camera of Kinect and thermal camera and show that the two video cameras accurately rotate
Matrix and translation matrix；
(2) RGB video camera and thermal camera function for using Kinect sensor, connect in the frame based on Open NI
Mouthful lower RGB image and depth image for obtaining class mirror article to be measured, and according to camera calibration result before by the depth of acquisition
It spends information and RGB information is unified into unified coordinate system, denoising, background subtraction are filtered to mention to the point cloud data of acquisition
Take the depth information and colouring information in object under test region；
(3) more accurate point cloud data after output processing, to complete the rough of class mirror surface object surface appearance to be measured
Measurement, and the iteration primary face shape in measuring as second step is saved, and as later period fringe order judgment condition.
Step (2) of the present invention is specific as follows:
(1) sine streak of horizontal, vertical both direction is shown in streak reflex three-dimensional measurement on the flat display first, so
It is recorded respectively with CCD camera afterwards by the sine streak picture of tested surface and index plane reflection；
(2) corresponding phase distribution is obtained by phase shift, surface to be measured is obtained compared with index plane phase distribution
Phase change；
(3) required phase information is solved using the striped of horizontal, vertical both direction, can be obtained in conjunction with calibration bright on screen
The position of point, incident ray direction, camera photocentre position and reflecting mirror the corresponding reflection light direction in clear zone, and by step 1
The middle acquisition rough face shape result of body surface fits determinand body surface as the iteration datum level in wavefront reconstruction fitting algorithm
Face 3 d shape.
Wherein, three dimension profile measurement method of the Kinect in conjunction with streak reflex method, by the three-dimensional point cloud based on Kinect
Data acquisition, the big key component of streak reflex three-dimensional measurement two composition；
Wherein, the three dimensional point cloud based on Kinect obtains, first with the publication (US of PrimeSense company
2010/0118123 A1-Depth Mapping using Projected Patterns) depth camera is demarcated, so
It afterwards will be color then by spin matrix obtained by calibrating and translation matrix with the colouring information that color camera obtains body surface
Color information and depth information are integrated into the same coordinate system；And then the three of complete body surface is saved using PCL library function
Tie up information；
Wherein, streak reflex three-dimensional measurement principle is specifically shown the sine streak encoded in advance, CCD camera by LCD screen
The reflection image for then recording object under test surface can calculate phase distribution by digital image correlation, demarcate in advance
System in, information such as incident ray, reflection light and gradient needed for obtaining can be calculated by solving phase distribution by striped,
The establishment of final face shape is finally completed according to wave-front reconstruction algorithm.According to telecentric beam path model, deflection of light schematic diagram such as Fig. 2 institute
Show；
A bright spot A is shown on the black screen of LCD display, and this bright spot is irradiated into mirror surface to be measured, then this
A bright spot after mirror-reflection to be measured can optical center C Jing Guo CCD camera, and be imaged on one speck of formation in CCD image planes；By anti-
Law is penetrated it is found that the incidence angle of the incident ray from screen is equal to the angle of reflection for returning to the reflection light of camera, this two light
The tangent line of the angular bisector of line specular reflection point corresponding with speck in mirror image to be measured is vertical, therefore is determined by calibration screen
Position, camera photocentre position, the corresponding reflection light direction in clear zone of reflecting mirror and the correspondence incident ray direction of upper bright spot, by
This can determine unique mirror surface actual slope information, in conjunction with the Complete three-dimensional face shape of the Kinect lower accuracy obtained, by it
Wavefront reconstruction, which is carried out, as iteration datum level fits determinand dignity shape.
In patent (the 2010/0118123 A1-Depth Mapping using of US of Prime-Sense company
Projected Patterns) on be defined as this method: it is assumed that equipment front space 1-4m starts to take one every 0.1m
A plane of reference can take speckle pattern as 30 pairs in total.When we need to measure, a quantity space to be measured can be photographed
The speckle pattern of scene, and the 30 secondary carry out cross-correlation calculations with reference to figure sequentially saved before, may finally obtain 30 this
The correlation chart picture of sample.As long as there is object appearance in space, a peak value will be shown on correlation chart.As long as these peaks
As soon as value is sequentially laminated to piece, then the depth by obtaining entire scene after interpolation processing.
The invention has the advantages that (1) is compared with traditional streak reflex method for three-dimensional measurement: traditional streak reflex three-dimensional measurement
Some simple index plane shapes can only be measured, such as spherical, round, parabola face shape etc., and Kinect is in conjunction with streak reflex method
Class mirror surface three dimension profile measurement method do not limited by tested surface shape then, the object of arbitrary face shape can be measured；(2) it is based on
Class mirror surface three dimension profile measurement method of the Kinect in conjunction with streak reflex method, passes through Kinect measuring targets surface three dimension shape
Looks point cloud data is acquired processing, acquires the preliminary three-D profile information of body surface, and preliminary three-D profile information is made
For the iteration datum level of wave-front reconstruction in traditional streak reflex three-dimensional measurement, it is greatly reduced the number of iterations, simplifies calculating,
It improves 3 d shape and rebuilds speed；(3) the class mirror surface three dimension profile measurement method based on Kinect in conjunction with streak reflex method is led to
It crosses Kinect measuring targets three-dimensional surface shape point cloud data to be acquired, available colour object under test surface is complete
Colouring information.This deficiency of object color can not be restored by breaching in traditional streak reflex three-dimensional measurement；(4) based on Kinect with
The class mirror surface three dimension profile measurement method that streak reflex method combines, remains the excellent of traditional streak reflex method for three-dimensional measurement
Gesture compensates for the not high problem of three dimension profile measurement precision for being based purely on Kinect.
Detailed description of the invention
Fig. 1 is Experimental equipment of the invention.
Fig. 2 is deflection of light schematic diagram of the present invention.
Fig. 3 is measurement flow chart of the present invention.
Fig. 4 is Kinect space coordinate of the present invention and depth image coordinate relational graph.
Specific embodiment
The embodiment of the present invention is described in further detail below in conjunction with Detailed description of the invention.
The present invention is achieved like this, complex three-dimensional surface shape measurement method of the Kinect in conjunction with streak reflex method,
It is characterized in: is obtained by the three dimensional point cloud based on Kinect and formed with the big key component of streak reflex three-dimensional measurement two.
One is obtained based on kinect point cloud data；
It mainly includes two large divisions: Depth Information Acquistion, cloud data registration that point cloud data, which obtains,.Depth data is
The marrow of Kinect and soul.Transformation from two-dimensional depth image to three-dimensional space point cloud is between two kinds of coordinate systems
Conversion, while the Depth Information Acquistion principle of equipment and coordinate system are converted and also have this inseparable to contact.RGB-D information is to obtain
Three-dimensional point cloud is taken to provide information source, this section will be cut from RGB-D image, and analysis Kinect obtains three-dimensional point cloud from depth image
Working principle.
Kinect can obtain the other data flow of 3 types: color image data stream, user divide data, depth image data
Stream, wherein colored and depth data stream constitutes RGB-D information.RGB-D information refer to by Kinect obtain in real time colour and
Deep image information.
Have 2 coordinate systems in Fig. 4, be respectively using Kinect infrared camera as the space coordinates (X, Y, Z) of origin and
The two-dimensional coordinate system (u, v) of depth image, for Kinect by space X, Y-direction value is converted into the u of depth image, v value, depth distance
Z is converted into gray-scale pixel values.Utilize the depth of OpenNI depth image and the available object to be measured of color image generating function
And colour information, and it is original partially according to pixel in a pixel P (u, v) of two-dimensional depth image and the plane of most initial arrived
Shifting amount d, in conjunction with infrared camera internal reference coefficient, the depth distance value Z that is calculated.
Wherein, c0, c1 are Kinect depth camera internal references.
According to perspective projection rule, pixel P (u, v) projector space corresponding points P ' (X, Y, Z) meets perspective projection relationship, has
Body surface is shown as
Wherein, fx, fy are the focal length of infrared camera in the x, y direction, (cx, cy) be infrared camera projection centre at
As the coordinate in plane, A is camera calibration matrix, thus can be solved
In conjunction with above-mentioned formula, it can fathom Z by Kinect and depth image coordinate (u, v) obtains three dimensional space coordinate
(X, Y, Z) has got the rough 3 d shape of object under test.
Two, streak reflex three-dimensional measurement principle；
LCD display shows sinusoidal coding striped both horizontally and vertically respectively, and according to four-step phase-shifting technology and right
The phase unwrapping algorithm answered obtains the demodulation phase of both direction, in conjunction with CCD optical center obtained by calibrating early period, incident ray,
Actual slope information --- the gradient of class mirror article to be measured can be obtained in the data of reflection light etc., then passes through wavefront weight
Build the surface three dimension face shape that algorithm restores class mirror article to be measured.
Streak reflex art uses sine streak and digital image correlation, and system is shown by computer 3, work station 4, LED
Device 1, CCD camera 2, determinand 6 and reference substance 5 form as shown in Figure 1.The generation of striped and the acquisition of ccd image are by computer
Control.When object plane is standard flat mirror, the reference stripe figure of available standard obtains fixed phase in turn；When object plane exists
When fluctuating, the deforming stripe figure modulated by object plane gradient, expression formula are obtained are as follows:
I (x, y)=A (x, y)+B (x, y) cos [(2p/p) x+q (x, y)+f (x, y)] (5)
In formula (5): A and B be respectively with background light intensity and by object Shape ' reflectivity influenced distribution light field modulate intensity,
For unknown constant；Q (x, y) is additional phase error caused by system, and f (x, y) is phase-modulation caused by object plane, when object plane is mark
When quasi- face, this is 0.
Known by Fig. 2, for any point shape on object plane, when the normal vector of surface and index plane is there are when the α of drift angle, reflected light
2 α are turned over, CCD pixel point no longer corresponds to fixed phase at this time, but attached phase offset.For B point, object under test surface
Relative to standard deflecting facet angle [alpha], reflection light has then deflected 2 α, and α is normal direction of the object under test surface face shape function in B point
Measure the angle that the projection on plane XOZ deviates z-axis.That is the incident ray I that A point sets out on LCD, when this light be irradiated to
When surveying B point on object, reflection light R enters CCD point by C point；If B point is in standard flat, correspond in LCD screen
Pixel is then A1Point, then phase f (x, y) can be indicated are as follows:
Be calculated horizontal, vertical two put the phase in direction after, in conjunction with CCD optical center C obtained by calibrating early period, incident ray I,
Actual slope information --- the gradient of class mirror article to be measured can be obtained in the data of reflection light R etc., obtains in conjunction with Kinect
Lower accuracy Complete three-dimensional face shape, as iteration datum level carry out wavefront reconstruction fit high-precision object under test
Face shape.
Claims (1)
1. a kind of class mirror surface three dimension profile measurement method of Kinect in conjunction with streak reflex method, feature comprise the steps of:
(1) it utilizes Kinect rough measure object under test surface tri-dimensional profile and acquires colouring information, the rough face measured herein
Shape is by the iteration datum level in measuring as second step, specific as follows and as later period fringe order judgment condition:
A. calibration is carried out to the colour TV camera of Kinect and thermal camera and obtains the accurate spin matrix of the two video cameras
With translation matrix；
B. the colour TV camera and thermal camera for using Kinect sensor, obtain under the framework interface based on Open NI
The color image and depth image of class mirror article to be measured, and according to camera calibration result before by the depth information of acquisition and
RGB information is unified into unified coordinate system, is filtered denoising, background subtraction to the point cloud data of acquisition to extract determinand
The depth information and colouring information of body region；
C. more accurate point cloud data after output processing, so that the rough measure of class mirror surface object surface appearance to be measured is completed,
And the iteration datum level in measuring as second step is saved, and as later period fringe order judgment condition；
(2) high accuracy three-dimensional face shape is obtained to object double measurement by streak reflex method, specific as follows:
A. the sine streak for showing horizontal, vertical both direction in streak reflex three-dimensional measurement on the flat display first, is then used
CCD camera is recorded respectively by the sine streak picture of tested surface and index plane reflection；
B. corresponding phase distribution is obtained by phase shift, surface phase to be measured is obtained compared with index plane phase distribution and is become
Change；
C. required phase information is solved using the striped of horizontal, vertical both direction, bright spot on screen can be obtained in conjunction with calibration
Position, incident ray direction, camera photocentre position and reflecting mirror the corresponding reflection light direction in clear zone, and will be in step (1)
The rough face shape of body surface is obtained as the iteration datum level in wavefront reconstruction fitting algorithm, reconstructs object under test surface three dimension
Face shape；
(3) Kinect in step (1) is obtained colouring information and is attached to the height that measurement obtains in step (2) by Data Fusion
Precision 3 d shape obtains the object under test 3 d shape with colouring information.
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