Underwater 3D redrawing device and redrawing method based on controllable light plane

Abstract

The invention relates to a controlled light plane-based underwater three-dimensional redrawing device and a controlled light plane-based underwater three-dimensional redrawing method. The device comprises a computer control device with software, a light plane control device with a reflecting lens, a charge coupled device (CCD) camera, a light plane generator and a sealed shell of which the front is provided with a glass window and one side is provided with a waterproof interface. The redrawing method comprises the following steps of: establishing a global coordinate system and a camera coordinate system by using the light plane control device and the CCD camera; correcting a light plane equation before refraction, and resolving a light plane equation after refraction; resolving a refraction compensation parameter k, and compensating a pixel coordinate of each point to be detected; and resolving a coordinate of a point to be detected according to the corrected light plane equation and the pixel coordinate of the point to be detected and a geometrical relationship between a light plane and the CCD camera so as to realize the three-dimensional redrawing of an object to be detected. By the invention, the refraction influence is effectively avoided, the three-dimensional redrawing of an underwater object is realized, the structure is simple and the accuracy is high.

Description

technical field [0001] The invention relates to an underwater three-dimensional measuring device, in particular to an underwater three-dimensional redrawing device and a redrawing method based on a controllable light plane. Background technique [0002] Currently existing land-based 3D redrawing devices cannot directly measure and redraw underwater objects. Even if the existing land-based 3D redrawing device is sealed, when it is used for underwater measurement, the glass window of the sealed casing will make the measured object and the measuring device respectively in media with different refractive indices. When the light passes through the glass window At the same time, the phenomenon of refraction will occur, causing the light plane to deflect. At the same time, it will bring unfavorable factors such as focus error, viewing angle error, distortion and chromatic aberration to the underwater imaging of the CCD camera, which will reduce the imaging quality and eventually le...

AI Technical Summary

Problems solved by technology

[0002] The existing land-based 3D redrawing devices cannot directly measure and redraw underwater objects

Even if the existing land-based 3D redrawing device is sealed, when it is used for underwater measurement, the glass window of the sealed casing will make the measured object and the measuring device respectively in media with different refractive indices. When the light passes through the glass window At the same time, the phenomenon of refraction will occur, causing the light plane to deflect, and at the same time, it will bring unfavorable factors such as focus error, viewing angle error, distortion and chromatic aberration to the underwater imaging of the CCD camera, which will reduce the imaging quality and eventually lead to the failure of underwater 3D redrawing.

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