Method and device for generating mechanical arm sampling environment simulation diagram

Abstract

The invention discloses a method and a device for generating a mechanical arm sampling environment simulation diagram. The method comprises the steps of determining the position and the attitude of a mechanical arm camera in the sampling process; determining three-dimensional position coordinates of three-dimensional point coordinates of a three-dimensional scene topographic map in a camera coordinate system according to a relative position and attitude relation between the mechanical arm camera and the three-dimensional scene topographic map; determining two-dimensional coordinates of imaging points, which are projected to a two-dimensional plane, of the three-dimensional position coordinates according to a perspective projection relation; determining valid imaging points according to a shielding relation of the imaging points, and storing the valid imaging points into a grid matrix storage queue; and determining a color value of each valid imaging point, storing the color values into the grid matrix storage queue, and generating a simulation diagram according to the grid matrix storage queue. According to the method, the valid imaging points can be determined quickly according to the shielding relation, a mode of carrying out storage by adopting the grid matrix storage queue is adopted at the same time, image points of the simulation diagram can be calculated quickly, and the speed is higher.

Description

technical field [0001] The invention relates to the technical field of simulation imaging, in particular to a method and a device for generating a simulation map of a sampling environment of a manipulator. Background technique [0002] Simulation imaging is the use of computer graphics and image technology to generate two-dimensional images based on three-dimensional scene simulation, which are used to simulate camera imaging under different viewpoints, poses, camera lens parameters, etc. and other technical fields play an important role. Existing simulation imaging technologies mainly include methods such as simulation imaging based on software such as OpenGL, and simulation imaging based on ray tracing. [0003] For the simulation imaging method based on OpenGL: based on the 3D model of the space target and the 3D terrain model, the 3D scene is mapped to a 2D image by using the mapping method of the 3D scene provided by OpenGL to the simulation camera. The simulation ima...

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Problems solved by technology

[0008] The purpose of the present invention is to provide a method for generating a simulation map of the sampling environment o

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