Workpiece point cloud acquisition method, device, electronic device and storage medium
An acquisition method and workpiece technology, which are applied in the field of image processing, can solve the problem of high equipment cost, and achieve the effect of reducing equipment cost and cost.
Active Publication Date: 2022-03-08
JIHUA LAB
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Problems solved by technology
[0003] At present, when extracting point clouds from large-sized workpieces, laser radar scanning is generally used to obtain point cloud data, but laser radar and corresponding supporting equipment are required, and the cost of equipment is relatively high.
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[0058] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all of them. The components of the embodiments of the application generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations. Accordingly, the following detailed description of the embodiments of the application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative efforts belong to the scope of protection of the present application.
[0059] It should ...
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The application belongs to the technical field of image processing, and discloses a workpiece point cloud acquisition method, device, electronic equipment and storage medium, by acquiring the left camera image and right camera image of the workpiece collected by each binocular industrial camera; according to the left camera image and The right camera image acquires the first plane coordinate data of the first pixel of the workpiece in the camera coordinate system of the corresponding binocular industrial camera; according to the pixel coordinates and corresponding The focal length of the binocular industrial camera, calculate the first depth coordinate value of the first pixel point of the workpiece in the camera coordinate system of the corresponding binocular industrial camera; convert the first plane coordinate data and the first depth coordinate value to the preset Refer to the second coordinate data in the coordinate system to obtain the local point cloud data of the workpiece; splicing each local point cloud data to obtain the complete point cloud data of the workpiece; thus the cost of the required equipment is low, which is conducive to reducing the cost of equipment .
Description
technical field [0001] The present application relates to the technical field of image processing, and in particular, relates to a method, device, electronic device and storage medium for acquiring a point cloud of a workpiece. Background technique [0002] In the aviation industry and shipbuilding industry, it is often necessary to process some large-sized workpieces (such as aircraft wings, sheet metal parts at the bottom of ships, etc.) by spraying and welding. In order to realize the automation of spraying, welding and other processing processes, it is necessary to obtain point cloud data on the surface of the workpiece, so that robots can be used to plan the processing path based on the point cloud data. [0003] At present, when extracting point clouds from large-sized workpieces, laser radar scanning is generally used to obtain point cloud data, but laser radar and corresponding supporting equipment are required, and the equipment costs are relatively high. Contents...
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IPC IPC(8): G06T7/10G06T7/30G06T3/40
CPCG06T7/10G06T7/30G06T3/4038G06T2207/10028G06T2207/30164G06T2207/10141
Inventor 邱呈溶吴宇君邹雪丰刘速杰
Owner JIHUA LAB