Multi-view-angle line laser scanning device based on binocular stereoscopic vision and complex surface panoramic measurement method

Abstract

The invention discloses a multi-view-angle line laser scanning system based on binocular stereoscopic vision and a complex surface panorama measurement method, and the system comprises two cameras, a line laser, a rotating table, a controller, a computer which is connected with the controller and the cameras and is used for data processing, and two plane mirrors which are used for collecting multi-view-angle images. According to the invention, the installation is simple and convenient, the installation requirement is low, the problem of light crosstalk between plane mirrors is solved, and the influence of stray light of collected images on three-dimensional measurement does not need to be considered in the measurement process. Besides, the measuring efficiency is high, the device cost is low, the cost performance is high, a conventional panoramic three-dimensional measuring system is high in cost, complex in arrangement and tedious in calibration, and the multi-view-angle line laser scanning device provided by the invention realizes multi-view-angle imaging by using a plane mirror, and is low in device cost and high in cost performance.

Description

Technical Field

[0001] The present invention relates to the field of optical measurement, in particular to a multi-viewing angle line laser scanning device based on binocular stereo vision and a complex surface panoramic measurement method. Background Art

[0002] Optical 3D measurement technology has been widely used in medical diagnosis, cultural relic protection, reverse engineering, industrial manufacturing, intelligent security and other fields due to its high efficiency, non-destructiveness and high flexibility. With the development of smart cities and smart industries, only obtaining 3D information of part of the sample to be measured cannot fully meet people's different needs. It is often necessary to conduct complete measurement and analysis of the sample to be measured. Panoramic 3D measurement technology has achieved rapid development.

[0003] Conventional measuring devices cannot capture images containing all the surface contour information of the sample from a single perspective, so it is necessary to perform panoramic measurements of the sample to be measured from different perspectives. However, conventional panoramic surface three-dimensional measurement systems often require multiple sets of measuring devices or require multiple measurements, facing problems such as complex system settings, high costs, and high computational costs. Recently, another novel solution has emerged, which uses mirrors to create a virtual 3D reconstruction system, thereby achieving full surface reconstruction of the sample using a single 3D measurement system. Some scholars have combined a structured light projection system with a reflector to build a 360-degree real-time three-dimensional scanner to obtain complete surface information of the sample. Some scholars have introduced a line laser system into the reflector system, and moved the line laser through a translation stage to achieve three-dimensional scanning, thereby obtaining three-dimensional point cloud data of the sample.

[0004] However, the existing multi-view 3D measurement technology based on plane mirrors still faces some problems:

[0005] 1. Due to the inherent characteristics of DIC and FPP systems, the surface structured light projection system is easily affected by external lighting conditions and the material and texture of the sample surface.

[0006] 2. The laser plane emitted by the flat-scanning line laser is required to be perpendicular to the central axis of the plane mirror. The assembly requirements of the plane mirror and the laser are very high, and it is not suitable for three-dimensional measurement in complex scenes.

[0007] 3. Due to the introduction of the plane mirror, the sample to be tested is imaged in three different areas. The projection light source is imaged through the plane mirror, which will cause light crosstalk at different viewing angles. The fringe pattern collected by the camera contains not only the fringe information used for three-dimensional reconstruction, but also various stray fringes caused by the reflection of the plane mirror.

[0008] 4. Existing multi-view 3D measurement technology is generally only applicable to the 3D reconstruction of small-sized samples. For large-sized objects, it is difficult to achieve low-cost and high-efficiency 3D reconstruction. Summary of the invention

[0009] In view of the improvement of the prior art, the present invention provides a multi-viewing line laser scanning device based on binocular stereo vision and a complex surface panoramic measurement method. By introducing a plane mirror, the object can be imaged at three viewing angles, thereby realizing 360-degree panoramic three-dimensional measurement of the surface of the object to be measured. The swing-scanning laser measurement system based on a rotating table can simultaneously scan three different areas of the sample surface, thereby obtaining three-dimensional information of the sample panoramic surface in one scanning sequence.

[0010] To achieve the above objectives, the technical methods adopted by the present invention are specifically as follows:

[0011] The invention discloses a multi-viewing angle line laser scanning device based on binocular stereo vision, comprising two cameras, a line laser, a rotating platform, a controller, a computer for data processing connecting the controller and the cameras, and two plane mirrors for collecting multi-viewing angle images. The two cameras are at the same height and have a horizontal distance difference. The line laser is fixed on a rotating bracket on the rotating platform. There is a certain vertical distance difference between the line laser and the two cameras. The two plane mirrors for collecting multi-viewing angle images are placed behind the object to be measured and form an angle. The rotating platform is connected to the controller.

[0012] As a further improvement, the horizontal distance difference described in the present invention is greater than 10 cm.

[0013] As a further improvement, the vertical distance difference described in the present invention is between 10 cm and 20 cm.

[0014] As a further improvement, the angle between the two plane mirrors described in the present invention is between 90 degrees and 180 degrees.

[0015] As a further improvement, the angle described in the present invention is 120 degrees.

[0016] The present invention discloses a panoramic measurement method of a multi-viewing angle line laser scanning device based on binocular stereo vision, comprising:

[0017] Place the checkerboard calibration plate in N positions, and collect N calibration plate images simultaneously through the primary camera and the secondary camera;

[0018] Extract the coordinates of the corner points in the collected calibration image, and use Zhang's calibration method to calculate the internal and external parameters in the primary and secondary camera coordinate systems, and obtain the pose transformation matrix of the primary and secondary camera coordinate systems and the plane equation of the calibration plate in the primary camera coordinate system;

[0019] Turn on the laser and use the main camera to take N images of the laser stripes projected by the laser onto the calibration plate and the corresponding calibration plate images;

[0020] Use the Steger centerline extraction algorithm to extract the pixel coordinates on the laser stripe image collected by the main camera;

[0021] Use the internal and external parameters in the main camera coordinate system to obtain the plane equation of the calibration plate in the corresponding calibration plate image;

[0022] The three-dimensional coordinates of the laser line are obtained by combining the pixel coordinates of the laser line and the plane equation of the corresponding calibration plate. Finally, the three-dimensional coordinates of the laser line under N different postures are used to fit the laser plane equation in the main camera coordinate system.

[0023] Turn on the rotating table. Every time the rotating table rotates a certain angle around the rotation axis, turn on the laser, place the calibration plate in N positions, use the main camera to take N calibration plate images and the laser stripe pattern projected by the laser onto the corresponding calibration plate. After obtaining the laser plane equation at M angles, use the laser planes at different angles to fit the rotation axis of the rotating table in the main camera coordinate system, and obtain the plane equation of the laser plane at different angles in the main camera coordinate system.

[0024] Place the calibration plate in N positions, use the main camera to simultaneously capture the calibration plate and its virtual image in the mirror, extract the 3D feature point pairs of the calibration plate and the virtual calibration plate image in the mirror, and then use the Levenberg-Marquardt algorithm with bundle adjustment strategy to calculate the plane equation of the plane mirror, thereby obtaining the reflection matrix of the plane mirror in the main camera coordinate system;

[0025] Turn on the rotating stage and the laser, and use the primary and secondary cameras to simultaneously collect the laser stripe patterns of the sample in the left plane mirror imaging area, the front surface area, and the right plane mirror imaging area during scanning;

[0026] The laser stripe patterns captured by the primary and secondary cameras are divided into the left plane mirror area, the front surface area, and the right plane area, and the pixel coordinates of the laser line in each area are extracted;

[0027] Combined with the laser plane equations moving to different angles in the main camera coordinate system and the position transformation matrix of the primary and secondary cameras, the feature points corresponding to the main camera view in the secondary camera view are searched in each area, so as to find the laser stripes used for three-dimensional scanning of the sample in the left plane mirror area, the front surface area, and the right plane area in the image collected by the main camera, and exclude the stray laser stripes generated by the reflection of the plane mirror;

[0028] Using the obtained main camera internal parameters and the laser plane equations moving to different angles in the main camera coordinate system, the laser stripes in the left plane mirror area, the front surface area, and the right plane area in the laser stripe image captured by the main camera for three-dimensional scanning of the sample are converted into three-dimensional point cloud coordinates;

[0029] The three-dimensional line point cloud coordinates of the virtual surfaces of the left plane mirror area and the right plane mirror area are transformed into the real point cloud coordinates in the main camera coordinate system through the reflection matrix of the plane mirror in the main camera coordinate system;

[0030] The point cloud coordinates obtained in different areas under the main camera coordinate system are merged to obtain the panoramic three-dimensional contour information of the sample surface.

[0031] As a further improvement, the rotation axis of the rotating stage in the main camera coordinate system using laser planes of different angles to fit the main camera coordinate system is specifically:

[0032] Let the laser plane equation corresponding to the i-th angle in the main camera coordinate system be a i x+b i y+c i z+d i =0;

[0033] The distance from any point on the rotating table axis to the laser plane at different angles is equal. Let G1 = (x1, y1, z1), G2 = (x2, y2, z2), and construct the equation:

[0034]

[0035]

[0036] G1=argmin(g1(G1)+g2(G1)+·······+g N (G1)

[0037] G2=argmin(g1(G2)+g2(G2)+·······+g N (G2)

[0038] Then the direction vector of the rotating table axis is:

[0039]

[0040] The coordinates of any point on the rotating table axis are:

[0041] G1=(x1,y1,z1)

[0042] Minimizing the above formula G={G1G2} is a nonlinear minimization problem. The parameters of the rotating shaft can be calculated by iteratively solving the problem using the Levenberg-Marquardt algorithm.

[0043] As a further improvement, the plane equation of the laser plane moving to different angles in the main camera coordinate system of the present invention is specifically:

[0044] Let the plane equation of the laser plane at the initial position of the rotating stage be a0x+b0y+c0z+d0=0, and the plane equation of the laser plane rotating to the i-th position along the axis be a i x+b i y+c i z+d i =0;

[0045] Let any point on the initial light plane be P. 0 (x0, y0, z0), the coordinates of the i-th position rotated around the axis are P i (x i ,y i ,z i ), the relationship between the two points can be expressed as:

[0046]

[0047] Among them, T is the rotation transformation matrix between the two coordinate systems, expressed as:

[0048]

[0049] Then when the laser plane rotates to the i-th position, its plane equation parameters can be described as:

[0050] [a i b i c i d i ]=[a0b0c0d0]T(θ) -1

[0051] Among them, θ i is the angle that the laser plane rotates from the initial position to the i-th position.

[0052] As a further improvement, the present invention combines the laser plane equations moving to different angles in the main camera coordinate system and the pose transformation matrix of the primary and secondary cameras to search for feature points in the secondary camera view corresponding to the main camera view in each area as follows:

[0053] The rotation transformation matrix of the primary camera coordinate system (X0, Y0, Z0) and the secondary camera coordinate system (X1, Y1, Z1) can be expressed as:

[0054]

[0055] The laser plane equation corresponding to the i-th angle in the main camera coordinate system is Then the laser plane equation parameters corresponding to the i-th angle in the secondary camera coordinate system can be expressed as:

[0056]

[0057] Using the calibrated main camera internal parameters and the light plane equation in the main camera coordinate system, the laser line pixel coordinates extracted from the captured image under the main camera perspective are converted into three-dimensional coordinates in the main camera coordinate system.

[0058] The pixel coordinates of the laser lines extracted from the collected image are traversed under the secondary camera's perspective. First, the pixel coordinates of a certain pixel are converted to Convert to the 3D coordinates in the secondary camera coordinate system Secondly, the transformation matrix of the primary and secondary cameras is used to transform the three-dimensional point coordinates under the secondary camera's perspective Convert to the three-dimensional coordinates of the main camera coordinate system Finally, determine the pixel coordinates under the secondary camera's perspective Whether it matches the pixel coordinates under the main camera's perspective can be determined by:

[0059]

[0060] Among them, ε is the maximum distance that allows the feature points of the primary and secondary camera views to match.

[0061] Compared with the prior art, the present invention has the following beneficial effects:

[0062] 1. Simple and convenient installation: The multi-viewing angle line laser scanning device proposed in the present invention does not need to meet additional geometric relationships during installation. The light plane emitted by the line laser can be incident at any angle, and the installation requirements are relatively low.

[0063] 2. Simple measurement process: The multi-viewing angle line laser scanning measurement method based on binocular stereo vision proposed in the present invention utilizes the principle of binocular matching to solve the problem of light crosstalk between plane mirrors. During the measurement process, there is no need to consider the influence of stray light of the collected image on the three-dimensional measurement.

[0064] 3. High measurement efficiency: When the rotating table of the multi-view laser scanning device proposed by the present invention rotates, the camera can capture laser stripes under three viewing angles at the same time. Compared with the panoramic measurement based on the rotating table or the robotic arm, the measurement efficiency is greatly improved.

[0065] 4. The device has low cost and high cost performance. Conventional panoramic three-dimensional measurement often uses a multi-camera device to achieve multi-view measurement. The system is expensive, the setting is complex, and the calibration is cumbersome. The multi-view line laser scanning device proposed in the present invention uses a plane mirror to achieve multi-view imaging. The device has low cost and high cost performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] Figure 1 It is a structural schematic diagram of the device of the present invention;

[0067] Figure 2 is a data flow chart of the method of the present invention;

[0068] Figure 1 In the figure, 1 is a main camera, 2 is a secondary camera, 3 is a line laser, 4 is a high-precision rotating stage, 5 is two plane mirrors, 6 is an object to be measured, 7 is a virtual image of the object to be measured formed by the mirror surface, 8 is a controller, and 9 is a computer for processing data. DETAILED DESCRIPTION

[0069] The technical solution of the present invention is further described below by means of specific embodiments in conjunction with the accompanying drawings:

[0070] Figure 1 Schematic diagram of the device structure of the present invention; The present invention discloses a multi-view line laser scanning device based on binocular stereo vision, characterized in that it includes a main camera 1, a secondary camera 2, a line laser 3, a rotating platform 4, a controller 8, a computer 9 for data processing connecting the controller and the camera, and two plane mirrors 5 for collecting multi-view images. It is required that there is a horizontal distance difference between the camera 1 and the camera 2 to generate the parallax required for multi-line matching, the line laser 3 is fixed on the rotating bracket on the rotating platform 4, and the line laser 3 is required to have a vertical distance difference with the two cameras to generate the parallax required for three-dimensional reconstruction. The two mirrors 5 are placed behind the object to be measured and form an angle of about 120 degrees. The rotating platform 3 is connected to the controller 8 via a data cable, and the computer 9 is connected to the camera and the controller at the same time, so as to realize the synchronous control of the camera and the rotating platform.

[0071] The present invention also discloses a panoramic measurement method of a multi-viewing angle line laser scanning device based on binocular stereo vision. Figure 2 It is a data flow chart of the method of the present invention, comprising:

[0072] Place the checkerboard calibration plate in N positions, and collect N calibration plate images simultaneously through the primary camera 1 and the secondary camera 2;

[0073] Extract the coordinates of the corner points in the collected calibration images, and use Zhang's calibration method to calculate the internal and external parameters in the primary and secondary camera coordinate systems, and obtain the pose transformation matrix of the primary and secondary camera coordinate systems and the plane equation of the calibration plate in the primary camera coordinate system;

[0074] Turn on laser 3 and use the main camera to take N pictures of the laser stripe pattern projected by the laser onto the corresponding calibration plate;

[0075] Use the Steger centerline extraction algorithm to extract the pixel coordinates on the laser stripe image captured by the main camera;

[0076] Use the internal and external parameters in the main camera coordinate system to obtain the plane equation of the calibration plate in the corresponding calibration plate image;

[0077] The three-dimensional coordinates of the laser line are obtained by combining the pixel coordinates of the laser line and the plane equation of the corresponding calibration plate. Finally, the three-dimensional coordinates of the laser line under N different postures are used to fit the laser plane equation in the main camera coordinate system.

[0078] Turn on the rotating table 4. Each time the rotating table rotates a certain angle around the rotation axis, turn on the laser 3, place the calibration plate in N positions, use the main camera to take N calibration plate images and the laser stripe pattern projected by the laser onto the corresponding calibration plate. After obtaining the laser plane equation at M angles, use the laser planes at different angles to fit the rotation axis of the rotating table in the main camera coordinate system.

[0079] Let the plane equation of the laser plane at the initial position of the rotating stage be a0x+b0y+c0z+d0=0, and the plane equation of the laser plane rotating to the i-th position along the axis be a i x+b i y+c i z+d i =0;

[0080] Let the laser plane equation corresponding to the i-th position in the main camera coordinate system be a i x+b i y+c i z+d i =0; the distance from any point on the rotating table axis to the laser plane at different angles is equal, let G1 = (x1, y1, z1), G2 = (x2, y2, z2), and construct the equation:

[0081]

[0082]

[0083] G1=argmin(g1(G1)+g2(G1)+·······+g N (G1)

[0084] G2=argmin(g1(G2)+g2(G2)+·······+g N (G2)

[0085] Then the direction vector of the rotating table axis is:

[0086]

[0087] The coordinates of any point on the rotating table axis are:

[0088] G1=(x1,y1,z1)

[0089] Minimizing the above formula G={G1G2} is a nonlinear minimization problem. The parameters of the rotating shaft can be calculated by iteratively solving the problem using the Levenberg-Marquardt algorithm.

[0090] Use the main camera 1 to simultaneously capture at least 5 real images of the calibration plate in different positions and the virtual image in the mirror, and extract the 3D feature point pairs (real points, virtual points, and virtual points) of the calibration plate and the virtual image in the plane mirror 5 in the image. and virtual point Let G = {a m ,b m ,c m ,d}, we get:

[0091]

[0092] g1(G)=[1-2(a m ) 2 ]x v -2a m b m y v -2a m c m z v +2a m dx r

[0093] g2(G)=-2a m b m x v +[1-2(b m ) 2 ]y v -2b m c m z v +2b m dy r

[0094] g3(G)=-2a m c m x v -2b m c m y v +[1-2(c m ) 2 ]z v +2c m dz r

[0095] Where g1(G), g2(G), g3(G) are residual errors, N is the number of 3D point pairs; limited by the manufacturing quality of the plane mirror 4, the virtual point The accuracy cannot be guaranteed, and a systematic error is introduced into the final calibration result. A beam adjustment strategy is introduced, and the coordinates of the virtual points are optimized as variables, that is:

[0096]

[0097] Minimizing the above formula is a nonlinear minimization problem, which is solved by the Levenberg-Marquardt algorithm. By solving the above equation, the plane parameters of the plane mirror 5 can be obtained, and then the reflection matrix of the plane mirror 5 in the coordinate system of the main camera 1 can be obtained: (in

[0098] Turn on the rotating stage 4 and the laser 3, and use the primary and secondary cameras to simultaneously collect the laser stripe patterns of the sample in the left plane mirror imaging area, the front surface area, and the right plane mirror imaging area during scanning;

[0099] The laser stripe patterns captured by the main and auxiliary cameras are divided into the left plane mirror area, the front surface area, and the right plane area, and the pixel coordinates of the laser line in each area are extracted;

[0100] Combined with the laser plane equations moving to different angles in the main camera coordinate system and the pose transformation matrix of the primary and secondary cameras, search for feature points in the secondary camera view corresponding to the main camera view in each area;

[0101] The rotation transformation matrix of the primary camera coordinate system (X0, Y0, Z0) and the secondary camera coordinate system (X1, Y1, Z1) can be expressed as:

[0102]

[0103] The laser plane equation corresponding to the i-th angle in the main camera coordinate system is Then the laser plane equation parameters corresponding to the i-th angle in the secondary camera coordinate system can be expressed as:

[0104]

[0105] Using the calibrated main camera internal parameters and the light plane equation in the main camera coordinate system, the laser line pixel coordinates extracted from the captured image under the main camera perspective are converted into three-dimensional coordinates in the main camera coordinate system.

[0106] The pixel coordinates of the laser lines extracted from the collected image are traversed under the secondary camera's perspective. First, the pixel coordinates of a certain pixel are converted to Convert to the 3D coordinates in the secondary camera coordinate system Secondly, the transformation matrix of the primary and secondary cameras is used to transform the three-dimensional point coordinates under the secondary camera's perspective Convert to the three-dimensional coordinates of the main camera coordinate system Finally, determine the pixel coordinates under the secondary camera's perspective Whether it matches the pixel coordinates under the main camera's perspective can be determined by:

[0107]

[0108] Among them, ε is the maximum distance that allows the feature points of the primary and secondary camera views to match.

[0109] Through binocular matching, the laser stripes used for three-dimensional scanning of the sample in the left plane mirror area, the front surface area, and the right plane area in the image collected by the main camera are searched, and the stray laser stripes generated by the reflection of the plane mirror are excluded;

[0110] Using the obtained main camera internal parameters and the laser plane equations moving to different angles in the main camera coordinate system, the laser stripes in the left plane mirror area, the front surface area, and the right plane area in the laser stripe image captured by the main camera for three-dimensional scanning of the sample are converted into three-dimensional point cloud coordinates;

[0111] The three-dimensional line point cloud coordinates of the virtual surfaces of the left plane mirror area and the right plane mirror area are transformed into the real point cloud coordinates in the main camera coordinate system through the reflection matrix of the plane mirror in the main camera coordinate system;

[0112] The point cloud coordinates obtained in different areas under the main camera coordinate system are merged to obtain the panoramic three-dimensional contour information of the sample surface.

[0113] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the core technical features of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A multi-viewing line laser scanning device based on binocular stereo vision, characterized in that: The invention comprises two cameras, a line laser, a rotating platform, a controller, a computer for data processing connecting the controller and the cameras, and two plane mirrors for collecting multi-view images. The two cameras are at the same height and have a horizontal distance difference. The line laser is fixed on a rotating bracket on the rotating platform. There is a certain vertical distance difference between the line laser and the two cameras. The two plane mirrors for collecting multi-view images are placed behind the object to be measured and form an angle. The rotating platform is connected to the controller.

2. The multi-viewing line laser scanning device based on binocular stereo vision according to claim 1, characterized in that: The horizontal distance difference is greater than 10 cm.

3. The multi-viewing line laser scanning device based on binocular stereo vision according to claim 1, characterized in that: The vertical distance difference is between 10 cm and 20 cm.

4. The multi-viewing line laser scanning device based on binocular stereo vision according to claim 1, characterized in that: The angle between the two plane mirrors is between 90 degrees and 180 degrees.

5. The multi-viewing line laser scanning device based on binocular stereo vision according to claim 4, characterized in that: The angle is 120 degrees.

6. A panoramic measurement method based on a multi-viewing angle line laser scanning device of binocular stereo vision, characterized in that: include: Place the checkerboard calibration plate in N positions, and collect N calibration plate images simultaneously through the primary camera and the secondary camera; Extract the coordinates of the corner points in the collected calibration image, and use Zhang's calibration method to calculate the internal and external parameters in the primary and secondary camera coordinate systems, and obtain the pose transformation matrix of the primary and secondary camera coordinate systems and the plane equation of the calibration plate in the primary camera coordinate system; Turn on the laser and use the main camera to take N images of the laser stripes projected by the laser onto the calibration plate and the corresponding calibration plate images; Use the Steger centerline extraction algorithm to extract the pixel coordinates on the laser stripe image captured by the main camera; Use the internal and external parameters in the main camera coordinate system to obtain the plane equation of the calibration plate in the corresponding calibration plate image; The three-dimensional coordinates of the laser line are obtained by combining the pixel coordinates of the laser line and the plane equation of the corresponding calibration plate. Finally, the three-dimensional coordinates of the laser line under N different postures are used to fit the laser plane equation in the main camera coordinate system. Turn on the rotating table. Every time the rotating table rotates a certain angle around the rotation axis, turn on the laser, place the calibration plate in N positions, use the main camera to take N calibration plate images and the laser stripe pattern projected by the laser onto the corresponding calibration plate. After obtaining the laser plane equation at M angles, use the laser planes at different angles to fit the rotation axis of the rotating table in the main camera coordinate system, and obtain the plane equation of the laser plane at different angles in the main camera coordinate system. Place the calibration plate in N positions, use the main camera to simultaneously capture the calibration plate and its virtual image in the mirror, extract the 3D feature point pairs of the calibration plate and the virtual calibration plate image in the mirror, and then use the Levenberg-Marquardt algorithm with bundle adjustment strategy to calculate the plane equation of the plane mirror, thereby obtaining the reflection matrix of the plane mirror in the main camera coordinate system; Turn on the rotating stage and the laser, and use the primary and secondary cameras to simultaneously collect the laser stripe patterns of the sample in the left plane mirror imaging area, the front surface area, and the right plane mirror imaging area during scanning; The laser stripe patterns captured by the primary and secondary cameras are divided into the left plane mirror area, the front surface area, and the right plane area, and the pixel coordinates of the laser line in each area are extracted; Combined with the laser plane equations moving to different angles in the main camera coordinate system and the position transformation matrix of the primary and secondary cameras, the feature points corresponding to the main camera view in the secondary camera view are searched in each area, so as to find the laser stripes used for three-dimensional scanning of the sample in the left plane mirror area, the front surface area, and the right plane area in the image collected by the main camera, and exclude the stray laser stripes generated by the reflection of the plane mirror; Using the obtained main camera internal parameters and the laser plane equations moving to different angles in the main camera coordinate system, the laser stripes in the left plane mirror area, the front surface area, and the right plane area in the laser stripe image captured by the main camera for three-dimensional scanning of the sample are converted into three-dimensional point cloud coordinates; The three-dimensional line point cloud coordinates of the virtual surfaces of the left plane mirror area and the right plane mirror area are transformed into the real point cloud coordinates in the main camera coordinate system through the reflection matrix of the plane mirror in the main camera coordinate system; The point cloud coordinates obtained in different areas under the main camera coordinate system are merged to obtain the panoramic three-dimensional contour information of the sample surface.

7. The panoramic measurement method of the multi-viewing angle line laser scanning device based on binocular stereo vision according to claim 6 is characterized in that: The rotation axis of the rotating stage in the main camera coordinate system using laser planes at different angles is specifically: Let the laser plane equation corresponding to the i-th angle in the main camera coordinate system be a i x+b i y+c i z+d i =0; the distance from any point on the rotating table axis to the laser plane at different angles is equal, let G1 = (x1, y1, z1), G2 = (x2, y2, z2), and construct the equation: G1=argmin(g1(G1)+g2(G1)+······+g N (G1)) G2=argmin(g1(G2)+g2(G2)+······+g N (G2)) Then the direction vector of the rotating table axis is: The coordinates of any point on the rotating table axis are: G1=(x1,y1,z1) Minimizing the above formula G={G1 G2} is a nonlinear minimization problem. The parameters of the rotating shaft can be calculated by iteratively solving the Levenberg-Marquardt algorithm.

8. The panoramic measurement method of the multi-viewing angle line laser scanning device based on binocular stereo vision according to claim 6, characterized in that: The plane equation of the laser plane moving to different angles in the main camera coordinate system is specifically obtained as follows: Let the plane equation of the laser plane at the initial position of the rotating stage be a0x+b0y+c0z+d0=0, and the plane equation of the laser plane rotating to the i-th position along the axis be a i x+b i y+c i z+d i =0; Let any point on the initial light plane be P. 0 (x0, y0, z0), the coordinates of the i-th position rotated around the axis are P i (x i ,y i ,z i ), the relationship between the two points can be expressed as: Among them, T is the rotation transformation matrix between the two coordinate systems, expressed as: Then when the laser plane rotates to the i-th position, its plane equation parameters can be described as: [a i b i c i d i ]=[a0 b0 c0 d0]T(θ) -1 Among them, θ i is the angle that the laser plane rotates from the initial position to the i-th position.

9. The panoramic measurement method of the multi-viewing angle line laser scanning device based on binocular stereo vision according to claim 6, characterized in that: The above-mentioned combination of the laser plane equations moving to different angles in the main camera coordinate system and the posture transformation matrix of the primary and secondary cameras, searching for the feature points corresponding to the main camera view in the secondary camera view in each area is specifically: The rotation transformation matrix of the primary camera coordinate system (X0, Y0, Z0) and the secondary camera coordinate system (X1, Y1, Z1) can be expressed as: The laser plane equation corresponding to the i-th angle in the main camera coordinate system is Then the laser plane equation parameters corresponding to the i-th angle in the secondary camera coordinate system can be expressed as: Using the calibrated main camera intrinsic parameters and the light plane equation in the main camera coordinate system, the laser line pixel coordinates extracted from the captured image are converted into three-dimensional coordinates in the main camera coordinate system under the main camera perspective. The pixel coordinates of the laser line extracted from the collected image are traversed under the secondary camera's perspective. First, the extracted pixel coordinates of the laser line are converted into Convert to the 3D coordinates in the secondary camera coordinate system Secondly, the transformation matrix of the primary and secondary cameras is used to transform the three-dimensional point coordinates under the secondary camera's perspective Convert to the three-dimensional coordinates of the main camera coordinate system Finally, determine the pixel coordinates under the secondary camera's perspective Whether it matches the pixel coordinates under the main camera's perspective can be determined by: Among them, ε is the maximum distance that allows the feature points of the primary and secondary camera views to match.

Images