CN100417976C - Three-dimensional photographic technology - Google Patents
Three-dimensional photographic technology Download PDFInfo
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- CN100417976C CN100417976C CNB021347557A CN02134755A CN100417976C CN 100417976 C CN100417976 C CN 100417976C CN B021347557 A CNB021347557 A CN B021347557A CN 02134755 A CN02134755 A CN 02134755A CN 100417976 C CN100417976 C CN 100417976C
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Abstract
The present invention relates to a three-dimensional photographic technological method which shoots a three-dimensional high-quality image by minimum raster number. The three-dimensional photographic technological method comprises the following steps: A. a raster is formed by the colors of red, orange, green, blue, indigo and purple in an optical spectrum; B. in a photographic mode, a projector and a camera are combined to synchronously shoot, the generated raster is sequentially switched over in a computer connected with the projector, an image displaying screen is used for alternately displaying, the raster projects on a shot object at the speed of 10 to 30 amplitudes per second, and simultaneously, the projector synchronously shoots the object under the projection of the raster with a certain included angle; C. software is decoded, and obtained information is processed after a projection shooting process. The three-dimensional photographic technological method uses one color combination raster, the three-dimensional photographic technological method can obtain precise, fast and refined imaging effect, and the three-dimensional photographic technological method also has strong drying resistance.
Description
Technical field
The present invention relates to three-dimensional photographic technology, particularly utilize minimum raster count, take the method for three-dimensional high-quality image.
Background technology
Three-dimensional photographic technology has two kinds of methods the earliest, i.e. laser scanner technique and binocular parallax technology.Laser scanner technique is that laser is become a very thin point or a line; this point or line are got on certain plane with certain angle; form a kind of triangle relation; if the surface on plane is not flat fully; can find that then this track can become a curve, this curve is just represented the height of testee.For laser scanner technique, its advantage is that anti-interference is stronger, is widely used in every field.But it is of a specified duration also to have a sweep time, and easily loss, cost height need a pistolgraph follow sweep trace, and price is higher; And precision is vulnerable to influence, easily produces deficiencies such as erroneous point.This method also causes damage because laser is known from experience the people, adds that shooting process is longer, and moving a little all can make the shooting precision be affected, so be not suitable for use in body photography.
The binocular parallax technology: this technology is that anthropomorphic dummy's eyes watch the parallax that forms when some to draw the height of this point, is fit to be applied in indoor or simple buildings, possesses bright and clear lines or clearly on the object of corner angle, is not suitable for being used on the smooth curved surface.The benefit of this technology is to obtain information (taking simultaneously as several video cameras are arranged synchronously) than faster, but that shortcoming is an equipment requirements is higher, and the cost height does not have effect to smooth surface, needs a large amount of computing etc.
The prior art method for imaging also has: the grating interference method: principle is to utilize a plurality of gratings to produce between mutually to interfere, and is projected on the object, and 4 kinds of common methods are arranged:
A, synchronous resonant method: promptly by the phase-locking resonance of laser beam, be projected in body surface, form fine and smooth resonance striped, the Moore striped is exactly wherein a kind of resonance manner.Its advantage is that ratio of precision is higher, can reach nano-precision, is suitable for use in the accurate measurement.And shortcoming is the accuracy requirement height to laser and optical device, thereby the cost height.
B, phase-shift method: adopt a grating to move for several times, move 1/4 wavelength at every turn, move once and take once, generally move 4～7 times, the number of times that moves is many more, and precision is high more.The advantage of the method is that degree of accuracy is higher, and shortcoming is cost height (needing accurate Machinery Control System), (mobile grating 4～7 times) of long duration, and the object that requires in the shooting process to take can not move, and not too is fit to the shooting of human body.
C, raster scanning method: utilize 6 to 10 kinds of different grating successive projections on object,, draw height by analyzing.The advantage of this method is the precision height, and is strong with the adaptability of opening shape to the body surface color.Shortcoming is that the grating of taking is more, and speed is slow, generally just can finish at 2～16 seconds.
D, simple raster method: principle is to utilize a simple optical grating projection on object, analyzes the distortion of grating fringe, thereby derives object surface depth information.The advantage of this method is fast, simply; Shortcoming is a low precision.
E, chromatic grating method: our three-dimensional photographic technology (U.S. Patent number: 6 of having applied at present, 252,623) adopt one group of chromatic grating to take once, utilize the relation between the colored striped difference grating, can reciprocity grating phase-shift method, color is represented phase shift.It is similar with phase-shift method that its advantage is that precision can reach, and velocity ratio is very fast, only needs to clap a photo and can obtain three-dimensional model.Shortcoming is that anti-interference is not high, owing to only adopt a chromatic grating, only takes once, so color fringe is relatively more responsive to the reflective characteristic of body surface.
Technology contents
The present invention seeks to deficiency at above technology existence, design a kind of new grating encoding method for designing that adopts, utilize one group of chromatic grating combination, adopt minimum raster count to take, the imaging effect that can reach accurate, quick, precision is high, and strong interference immunity.
The object of the invention can be achieved through the following technical solutions:
A kind of three-dimensional photographic technology method is to utilize LCDs and a plurality of polychrome grating to switch fast to obtain three-dimensional information, said method comprising the steps of:
A, grating encoding design:
Utilize red, orange, red, green, blue or green, indigo, color purple in the spectrum to form one group of grating, its composing method is:
A, first grating only comprise a light of each color and form grating (1), and the position of grid stroke is equally spaced;
Three grid strokes on b, the grating (1) are divided into 4 zones with grating (1);
C, the generating mode of in each zone, press grating (1) again three grid strokes that distribute, formation grating (2) is so analogized, formation grating 3, grating 4 ..., form one group of chromatic grating at last;
B, camera style:
With a projector and a video camera combination, take synchronously, order is switched the grating that generates in the computer of projector's association, show in turn with display screen, and with p.s.s 10～30 width of cloth velocity projections by on the object of photograph, take object under the optical grating projection with a video camera synchronously with certain included angle simultaneously.
C, software decode:
After projection is taken and finished, adopt following steps that the information of obtaining is handled.
A, the raster pattern of output is converted into the digital document of the three-dimensional coordinate that possesses all characteristics, the order of processing is a grating 1,2,3 ... M-1, M.
The position of center line of b, calculating grid stroke.
By that analogy, handle grating M image, find out the position of each color grating fringe in each zone from step M-1, N
MPlant color illuminated object is divided into (N
1+ 1) (N
2+ 1) ... (N
M+ 1) individual zone.
In above-mentioned grating encoding design procedure, if the grid stroke on the previous grating is not following
On one amplitude grating, 2 on grating has (N
1+ 1) * N
2The bar grid stroke; The rest may be inferred, and grating M has: (... (N
1+ 1) * N
2+ 1) * N
3+ 1)+... + 1) * Nm bar grid stroke; If the grid stroke on the previous grating is on next amplitude grating, then the grid stroke number on next amplitude grating is (N
1+ 1) (N
2+ 1) ... (N
M+ 1) grid stroke-1; Setting M+1 grating is evenly optical illumination of white, is used to obtain body surface color texture figure.
In the three-dimensional photographic technology method, utilize the color in the spectrum to form one group of grating, its color combination is come dynamic combined by testee surface color and polish, reflective situation, and its concrete grammar is:
If A. color of object surface is a muted color, then available color combination such as red, blue, green, white forms one group of grating;
If B. color of object surface is red, then available red and white color combination forms one group of grating;
If C. the body surface reflection is very dark, then can use brighter color, be combined to form one group of grating as red, green and white colour;
If D. body surface has different color combination, then use corresponding color combination to form many group gratings.
For obtaining high-resolution 3-D view, when taking the object under the optical grating projection in the camera style, can switch raster pattern one by one; Also can adopt a film pick-up machine and a projector synchronized projection to take.
In the 3-D photography method, take for improving precision, take in the camera style and carry out in the following order: grating M+1 is taken in first projection, and M then takes grating M-1 after more according to this ... 1.
In the three-dimensional photographic technology method, take in the camera style and can carry out in the following order, from grating 1, according to 1,2,3 ... the sequential projection of M is taken.
The technology of the present invention progress is that preceding method utilizes one group of chromatic grating combination, adopts minimum raster count to take, and captured 3-dimensional image is quick, accurate, and the high imaging effect of precision is good, strong interference immunity.
Description of drawings
Fig. 1 is grating 1 synoptic diagram;
Fig. 2 is grating 2 synoptic diagram;
Fig. 3 is the projector and the video camera combination figure of 3-D photography system.
Specific implementation method
This method is to utilize LCDs and a plurality of polychrome grating to switch fast to obtain three-dimensional information. Improving one's methods of technology adopted new grating encoding method for designing. System).
One, grating encoding design:
Utilize the one group of grating that is combined to form of color in red, blue, green, white colour or other spectrum (red, orange, red, green, blue or green, indigo, purple).
First grating only comprises the single line of each color and forms grating 1, and the position of grid stroke can be to be equally spaced.For example, if with red, blue, green three kinds of color combination, grating 1 equidistantly distributes red, blue, green three grid strokes, divide altogether and generated 4 zones, in each zone, press three grid strokes of generating mode distribution of grating 1 again, thereby formed grating 2, form grating 3, grating 4 by that analogy ... finally be combined to form one group of chromatic grating (as Fig. 1, the grating design drawing).
If N is arranged
1Individual color then is divided into N to raster pattern
1+ 1 zone
Second grating comprises N in each zone
2Plant color and form grating 2
N wherein
1Be the number of color on first lenticular lenses, N
2Be second number of color on the lenticular lenses.Grating 1 has 3 kinds of colors as shown in Figure 1, and grating 2 shown in Figure 2 has 3 kinds of colors.
If the grid stroke on the previous grating is not on next amplitude grating, as on the right grating of Fig. 1 on 2 shown in the dotted line.
2 on grating has (N
1+ 1) * N
2The bar grid stroke
The rest may be inferred, grating M have (.。。(N
1+1)×N
2+1)×N
3+1)+。。。+ 1) * N
mThe bar grid stroke
If the grid stroke on the previous grating is on next amplitude grating, then the grid stroke number on next amplitude grating is (N
1+ 1) (N
2+ 1).。。(N
m+ 1)-1.
Setting M+1 grating is evenly optical illumination of white, is used to obtain body surface color texture figure.Because camera style adopts projector and video camera to finish synchronously, the size of M is by the resolution calibration of projector and video camera.
The size of M is determined by the resolution of projector and video camera.
Example:
All about 1000 * 1000 points (1,000,000 pixel), its width is 1000 pixels to the resolution of setting projector and video camera, the general width that needs 5 pixels at least of grating, and then the gratings strips number of the closeest grating M is supposed N in 200
1=4, N
2=2, N
3=2, N
4=1, the grating total number is (N
1+ 1) (N
2+ 1) (N
3+ 1) (N
4+ 1) (4+1) (2+1) (1+1)=150=(4+1), near and within 200 limit, so M=4.The N number is variable in the grating group, arrives 4 kinds of colors of grating 3 usefulness such as grating 1: red, blue, green, white, and a kind of color of grating 4 usefulness: white, then N
1=N
2=N
3=4, N
4=1, final gratings strips number is (4+1)
3* (1+1)=250
Color combination:
Combination should be by coming dynamic combined by testee surface color and polish, reflective situation.Color of object surface is a muted color, and then available color combination such as red, blue, green, white forms one group of grating; Color of object surface is red, and then available red and white color combination forms one group of grating; The body surface reflection is very dark, then can use brighter color, is combined to form one group of grating as red, green and white colour; Body surface has different color combination, then uses corresponding color combination to form many group gratings.Take an object photochrome earlier, (simple interface can directly be judged by human eye by the auto color analysis, if can having machine to survey, complicated interface gathers), find out main color, the color that generates a reflecting properties optimum then makes up as grating, and then carries out 3-D photography.
Two, camera style
As shown in Figure 3, what the novel three-dimensional camera chain adopted is a projector and a video camera combination, take synchronously, order is switched the grating that generates in the computer of projector's association, show in turn with LCDs (projector), and project to by (width of cloth p.s.s 10～30) on the object of photograph, take object under the optical grating projection with a video camera synchronously with certain included angle simultaneously.Can many ground switch the raster pattern mode of lantern slide (similar with), also can adopt a film pick-up machine and a projector synchronized projection to take, then can obtain very high-resolution 3-D view.
More than certain angle be meant: projector and video camera are essential.
Projection is taken and can be carried out in certain sequence.Such as: grating M+1 is taken in projection at first, and M takes grating M-1 at last successively then ..., 1 (also can be from grating 1, according to 1,2,3 ..., M sequential projection take).Grating M+1 is an evenly optical illumination of white, is used for obtaining body surface color texture figure.Grating M is the raster pattern of close grid stroke.Take and can in taking first, capture the most real feature according to this sequential projection, because the people must have some tiny expression shape change after repeatedly taking, such as, frown, nictation etc., be unfavorable for obtaining accurate data.High-resolution liquid crystal or other projection display screens are selected as far as possible by projector.The above resolution of SVGA preferably.Video camera is selected high-resolution camera as far as possible, preferably can take more than per second 10 frames
Three, software decode method
Projection need be handled the information of obtaining after taking and finishing, and takes following step to carry out software decode, the raster pattern of output is converted into the digital document of the three-dimensional coordinate that possesses all unique points.The order of handling is a grating 1,2,3 ... M-1, M.
Calculate the position of center line of grid stroke
Step 1: handle grating 1 image, therefrom find out the position of each color grating fringe.N
1Plant color illuminated object is divided into N
1+ 1 zone.
Step 2: handle grating 2 images, find out the position of each color grating fringe in each zone from step 1.N
2Plant color illuminated object is divided into (N
1+ 1) (N
2+ 1) individual zone.
Step M: handle grating M image, find out the position of each color grating fringe in each zone from step M-1.N
mPlant color illuminated object is divided into (N
1+ 1) (N
2+ 1).。。(N
m+ 1) individual zone.
Can be by the position of center line of each bar grid stroke of 3Dgraph algorithm computation.
Calibration (obtaining the data of compute depth informational needs)
One flat board is placed on the position of illuminated object, becomes an angle of 90 degrees vertical with the video camera axis.Repeat above step, obtain the position of center line of each bar grid stroke.
Compute depth
Change in depth Δ Z=Δ X*H/ (D-Δ X)
Wherein
Δ X is the displacement (offset distance of the grid stroke center of the position of center line of plane calibration and actual photographed record) of grid stroke
H is the vertical range that calibration plane arrives the camera lens focus
D is the distance of camera lens focus to the projector lens focus
H/D represents the angle of projector and video camera
Accessible performance
Picture rate estimates in 0.1 to 0.5 second, and with the projector and the video camera combination of common 1000000 pixels, to about the 1mm, if make up with high-resolution projector, precision can be higher at 0.5mm for precision.For example, the resolution of establishing projector and video camera promptly be to reach 1,000,000 pixels, and the closeest gratings strips number is 250 at the 1000*1000 point, then only need to take 4 times, and if can take 30 width of cloth p.s., then need 4/30=2/15 ≈ 0.13 (second). ,, can also be used for the 3-D photography of common objects because strong interference immunity not only can be used for the body photography; Original technology only need be taken a photo and be got final product, but for complex surfaces or coloury surface can go wrong.So new three-dimensional photographic technology can obtain information more accurately, and applicable scope is extensive.
Range of application
The present invention can be widely used in the human body three-dimensional photography, measures; Medical domain, as surgery, Lift face section, orthopaedics, dentistry, Department of B urn, Special shoe pad, tele-medicine, public security safety check etc. should With; The mobiles 3-D photography is measured; The art work and the moulding of archaeology historical relic three-dimensional reproduction are surveyed Amount; Industrial parts, the three-dimensional reproduction moulding such as mould are measured etc.
Claims (9)
1. a three-dimensional photographic technology method is to utilize LCDs and a plurality of polychrome grating to switch fast to obtain three-dimensional information, it is characterized in that: said method comprising the steps of:
A. grating encoding design:
Utilize the two or more colors in the spectrum to form one group of grating, its composing method is:
A. first grating only comprises a light composition grating 1 of each color, that N
1Individual color is formed N
1The bar grid stroke, the position of grid stroke can be equally spaced, and also can not be equally spaced;
B. N on the grating 1
1The bar grid stroke is divided into N with grating 1
1+ 1 zone;
C. in each zone, select N again
2Individual color forms N
2The bar grid stroke forms grating 2, so analogizes, form grating 3, grating 4 ..., form one group of chromatic grating at last;
B. camera style:
With a projector and a video camera combination, take synchronously, order is switched the generation grating in the computer of projector's association, show in turn with display screen, and with p.s.s 10～30 width of cloth velocity projections by on the object of photograph, take object under the optical grating projection with a video camera synchronously with certain included angle simultaneously;
C. software decode:
After projection is taken and finished, adopt following steps that the information of obtaining is handled:
A, the raster pattern of output is converted into the digital document of the three-dimensional coordinate that possesses all characteristics, the order of processing be grating 1,2,3 ..., M-1, M;
B. calculate the position of center line of grid stroke:
. by that analogy, handle grating M image, find out the position of each color grating fringe in each zone from step M-1, N
MColor is divided into (N with illuminated object
1+ 1) (N
2+ 1) ... (N
M+ 1) individual zone;
2. three-dimensional photographic technology method according to claim 1 is characterized in that; In above-mentioned grating encoding design procedure, if the grid stroke on the previous grating not on next amplitude grating, 2 on grating has (N
1+ 1) * N
2The bar grid stroke; The rest may be inferred, grating M have (... (N
1+ 1) * N
2+ 1) * N
3+ 1)+... + 1) * N
MThe bar grid stroke; If the grid stroke on the previous grating is on next amplitude grating, then the grid stroke number on next amplitude grating is (N
1+ 1) (N
2+ 1) ... (N
M+ 1) one 1 grid strokes; Setting M+1 grating is evenly optical illumination of white, is used to obtain body surface color texture figure.
3. three-dimensional photographic technology method according to claim 1 is characterized in that: utilize the color in the spectrum to form one group of grating, its color combination is come dynamic combined by testee surface color and polish, reflective situation, and its concrete grammar is:
If A. color of object surface is a muted color, then available color combination such as red, blue, green, white forms one group of grating;
If B. color of object surface is red, then available red and white color combination forms one group of grating;
If C. the body surface reflection is very dark, then can use brighter color, be combined to form one group of grating as red, green and white colour;
If D. body surface has different color combination, then use corresponding color combination to form many group gratings.
4. three-dimensional photographic technology method according to claim 1 is characterized in that: for obtaining high-resolution 3-D view, when taking the object under the optical grating projection in the camera style, can switch raster pattern one by one; Also can adopt a film pick-up machine and a projector synchronized projection to take.
5. according to claim 1 or 4 described three-dimensional photographic technology methods, it is characterized in that: take in the camera style and can carry out in the following order, from grating 1, according to 1,2,3 ... the sequential projection of M is taken.
6. three-dimensional photographic technology method according to claim 2 is characterized in that: for obtaining high-resolution 3-D view, when taking the object under the optical grating projection in the camera style, can switch raster pattern one by one; Also can adopt a film pick-up machine and a projector synchronized projection to take.
7. three-dimensional photographic technology method according to claim 2 is characterized in that: take precision for improving, take in the style of shooting and carry out in the following order:
Grating M+1 is taken in elder generation's projection, and M takes grating M-1 at last successively then ..., 1.
8. three-dimensional photographic technology method according to claim 6 is characterized in that: take precision for improving, take in the style of shooting and carry out in the following order:
Grating M+1 is taken in elder generation's projection, and M takes grating M-1 at last successively then ..., 1.
9. three-dimensional photographic technology method according to claim 1 is characterized in that: described method is further comprising the steps of:
D. color texture:
Setting M+1 grating is evenly optical illumination of white, is used to obtain body surface color texture figure.
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| CNB021347557A CN100417976C (en) | 2002-09-15 | 2002-09-15 | Three-dimensional photographic technology |
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|---|---|---|---|
| CNB021347557A CN100417976C (en) | 2002-09-15 | 2002-09-15 | Three-dimensional photographic technology |
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| CN100417976C true CN100417976C (en) | 2008-09-10 |
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Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100417231C (en) * | 2006-05-31 | 2008-09-03 | 北京航空航天大学 | Three-dimensional vision semi-matter simulating system and method |
| JP2009279041A (en) * | 2008-05-19 | 2009-12-03 | Sanyo Electric Co Ltd | Projection image-displaying apparatus |
| JP5633719B2 (en) * | 2009-09-18 | 2014-12-03 | 学校法人福岡工業大学 | 3D information measuring apparatus and 3D information measuring method |
| KR101248909B1 (en) | 2010-01-05 | 2013-03-28 | 삼성전자주식회사 | Apparatus for acquiring 3D information and method for driving light source thereof, and system for acquiring 3D information |
| CN102445165B (en) * | 2011-08-05 | 2013-10-16 | 南京航空航天大学 | Stereo vision measurement method based on single-frame color coding grating |
| CN103196393A (en) * | 2013-03-14 | 2013-07-10 | 南京楚通自动化科技有限公司 | Geometrical shape and surface color real time imaging device |
| CN103424088B (en) * | 2013-08-12 | 2016-01-13 | 韵升控股集团有限公司 | A kind of chamfering measuring instrument |
| CN105021138B (en) * | 2015-07-15 | 2017-11-07 | 沈阳派特模式识别技术有限公司 | 3-D scanning microscope and fringe projection 3-D scanning method |
| US10884127B2 (en) * | 2016-08-02 | 2021-01-05 | Samsung Electronics Co., Ltd. | System and method for stereo triangulation |
| CN106767526A (en) * | 2016-12-07 | 2017-05-31 | 西安知象光电科技有限公司 | A kind of colored multi-thread 3-d laser measurement method based on the projection of laser MEMS galvanometers |
| CN109521631B (en) * | 2017-09-19 | 2021-04-30 | 奥比中光科技集团股份有限公司 | Depth camera projecting uncorrelated patterns |
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| US4653104A (en) * | 1984-09-24 | 1987-03-24 | Westinghouse Electric Corp. | Optical three-dimensional digital data acquisition system |
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