System for acquiring correspondence between light rays of transparent object

Patent metadata

Field	Value
Publication number	US-10964107-B2
Application number	US-201916545505-A
Country	US
Kind code	B2
Filing date	Aug 20, 2019
Priority date	Jul 26, 2018
Publication date	Mar 30, 2021
Grant date	Mar 30, 2021

Abstract

The present disclosure relates to a system for acquiring a correspondence between light rays of a transparent object. The system includes a camera device, a display device, a turntable and a control device; the camera device, the display device and the turntable are electrically connected with the control device respectively; the turntable is configured to rotate a transparent object; the control device is configured to acquire images corresponding to display device in the first preset position, which are photographed by the camera device through the transparent object at different rotation angles, to obtain a primary image set; acquire images corresponding to the display device in the second preset position, which are photographed by the camera device through the transparent object at different rotation angles, to obtain a secondary image set; and obtain the correspondence between light rays of the transparent object from different viewing angles.

First claim

What is claimed is:

1. A system for acquiring a correspondence between light rays of a transparent object, comprising a camera device, a display device, a turntable, and a control device, wherein the camera device, the display device and the turntable are electrically connected with the control device respectively; the turntable is configured to rotate a transparent object to be measured;
the control device is configured to control the display device in a first preset position to display a preset image, and acquire images corresponding to the display device in the first preset position, which are photographed by the camera device through the transparent object at different rotation angles, to obtain a primary image set; control the display device in the first preset position to move to a second preset position, and acquire images corresponding to the display device in the second preset position, which are photographed by the camera device through the transparent object at different rotation angles, to obtain a secondary image set; and obtain the correspondence between light rays of the transparent object to be measured from different viewing angles according to the primary image set and the secondary image set; and
wherein the control device is further configured to acquire a transformation between a display device coordinate system and a turntable coordinate system, and obtain the correspondence between light rays of the transparent object to be measured from different viewing angles, according to the transformation between the display device coordinate system and the turntable coordinate system, the primary image set and the secondary image set.

2. The system according to claim 1 , wherein the control device is further configured to acquire a transformation between the display device coordinate system and a camera device coordinate system, and a transformation between the camera device coordinate system and a turntable coordinate system; and obtain a transformation between the display device coordinate system and the turntable coordinate system, according to the transformation between the camera device coordinate system and the turntable coordinate system, and the transformation between the display device coordinate system and the camera device coordinate system.

3. The system according to claim 2 , wherein the control device is further configured to control the display device located at the first preset position to display a preset chessboard pattern, and control the camera device to photograph the display device located at the first preset position, to obtain a first chessboard pattern image; control the display device moved to the second preset position to display the preset chessboard pattern, and control the camera device to photograph the display device located at the second preset position, to obtain a second chessboard pattern image; and obtain a transformation between the display device coordinate system and the camera device coordinate system according to the first chessboard pattern image and the second chessboard pattern image.

4. The system according to claim 2 , further comprising a calibration camera device connected with the control device, wherein a calibration board is arranged on the turntable; and the control device is further configured to control the calibration camera device to photograph the calibration board located at a first preset calibration position, to obtain a transformation between the calibration camera device coordinate system and the turntable coordinate system; control the camera device and the calibration camera device to photograph the calibration board located at a second preset calibration position respectively, to obtain a transformation between the camera device coordinate system and the calibration camera device coordinate system; and obtain a transformation between the camera device coordinate system and the turntable coordinate system, according to the transformation between the calibration camera device coordinate system and the turntable coordinate system, and the transformation between the camera device coordinate system and the calibration camera device coordinate system.

5. The system according to claim 4 , wherein the control device is further configured to control the camera device and the calibration camera device to photograph the calibration board at the second preset calibration position respectively, to obtain a first image and a second image; acquire a first extrinsic matrix of the calibration board based on the camera device coordinate system and a second extrinsic matrix of the calibration board based on the calibration camera device coordinate system; obtain a transformation between the camera device coordinate system and the calibration camera device coordinate system, according to the first image, the second image, the first extrinsic matrix and the second extrinsic matrix.

6. The system according to claim 5 , wherein the control device is further configured to obtain a projection relationship of the camera device coordinate system according to the first image and the first extrinsic matrix; obtain a projection relationship of the calibration camera device coordinate system according to the second image and the second extrinsic matrix; obtain a transformation between the camera device coordinate system and the calibration camera device coordinate system, according to the projection relationship of the camera device coordinate system and the projection relationship of the calibration camera device coordinate system.

7. The system according to claim 4 , wherein the control device is further configured to control the calibration camera device to photograph the calibration board located at the first preset calibration position, to obtain a calibration image; acquire an extrinsic matrix of the calibration board based on the calibration camera device coordinate system; and obtain a transformation between the calibration camera device coordinate system and the turntable coordinate system according to the calibration image and the extrinsic matrix.

8. The system according to claim 1 , wherein the control device is further configured to control the display device in the first preset position to display the preset image, and control the turntable to rotate for one cycle and rotate through a preset interval angle once; acquire the images corresponding to the display device located at the first preset position, which are photographed by the camera device through the transparent object at different rotation angles, to obtain the primary image set.

9. The system according to claim 1 , wherein the control device is further configured to control the display device in the first preset position to move to the second preset position, and control the turntable to rotate for one cycle and rotate through a preset interval angle; acquire images corresponding to the display device located at the second preset position, which are photographed by the camera device through the transparent object to be measured from different rotation angles, to obtain the secondary image set.

10. A system for acquiring a correspondence between light rays of a transparent object, comprising a camera device, a display device, a turntable, and a control device, wherein the camera device, the display device and the turntable are electrically connected with the control device respectively; the turntable is configured to rotate a transparent object to be measured;
the control device is configured to control the display device in a first preset position to display a preset image, and acquire images corresponding to the display device in the first preset position, which are photographed by the camera device through the transparent

Assignees

• Univ Shenzhen

Inventors

• Huang Hui
• Wu Bojian

Classifications

• G01B11/24

  for measuring contours or curvatures · CPC title

• G06T7/50 Primary

  Depth or shape recovery · CPC title

• G01B11/2504

  Calibration devices · CPC title

• G06T17/30 Primary

  Polynomial surface description · CPC title

• G01B11/26

  for measuring angles or tapers; for testing the alignment of axes · CPC title