CN102980526A - Three-dimensional scanister using black and white camera to obtain color image and scan method thereof - Google Patents
Three-dimensional scanister using black and white camera to obtain color image and scan method thereof Download PDFInfo
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- CN102980526A CN102980526A CN201210301797XA CN201210301797A CN102980526A CN 102980526 A CN102980526 A CN 102980526A CN 201210301797X A CN201210301797X A CN 201210301797XA CN 201210301797 A CN201210301797 A CN 201210301797A CN 102980526 A CN102980526 A CN 102980526A
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Abstract
The invention relates to a three-dimensional scanister which comprises a projector, at least one black and white camera and a control system. The projector respectively projects three monochromatic lights which are red light, green light and blue light to a to-be-scanned object. When the projector projects each monochromatic light to the to-be-scanned object, black and white cameras respectively shoot a plurality of pictures of the to-be-scanned object from a plurality of angles. The control system is capable of using grey level of a collected picture when the projector shoots red light as a value of a red channel, using the grey level of the collected picture when the projector shoots green light as a value of a green channel, and the grey level of the collected picture when the projector shoots blue light as a value of a blue channel, so that a whole color picture is obtained through combined three channel values, and color pictures of the to-be-scanned object from the plurality of angles are obtained. The three-dimensional scanister is capable of obtaining the color picture by using the black and white cameras, so that the cost of device is greatly reduced. In addition, the invention further provides a scan method of the three-dimensional scanister.
Description
Technical field
The present invention relates to a kind of color three dimension scanner, relate in particular to a kind of spatial digitizer and scan method thereof that only can obtain the color three dimension image with the black and white camera.
Background technology
3-D scanning be light harvesting, mechanical, electrical and computer technology in the new and high technology of one, be mainly used in scanned object spatial shape and structure and color are scanned, to obtain the volume coordinate of this body surface.Its significance is the steric information of actual object to be converted to calculates the digital signal that function is directly processed, for the object digitizing provides quite conveniently means.Utilize the spatial digitizer (3D Scanner) of 3-D scanning technology preparation as a kind of fast measurement in space equipment, fast because of its measuring speed, precision is high, noncontact, the advantage such as easy to use, and become important tool with the object dimensional modeling, obtain using more and more widely.For example, with spatial digitizer the scanned objects such as palm, sample, model are scanned, can obtain this object three-dimensional size data, these data energy direct and computer-aided design (CAD) (CAD:Computer Aided Design) or computer-aided manufacturing (CAM:Computer Aided Making) software interface, in CAD system, can adjust data, repair, deliver to machining center again or rapid forming equipment is made, can shorten the product manufacturing cycle greatly.
General spatial digitizer adopts the projection striped to body surface, uses black and white collected by camera image again, by the distortion of calculating striped at body surface, thus the object three-dimensional contour outline information that obtains.The object that requires in the reality to measure is colored mostly, such as some colored historical relics, not only requires the three-D profile information of energy Obtaining Accurate object, and wishes to keep real as far as possible surface color texture information.
The existing method of obtaining color texture has two kinds: a kind of is that the camera of general spatial digitizer is changed into color camera, can increase noise like this, so that quality of data variation.The another kind of way that obtains chromatic information is, by additionally increased a color camera on general scanner, such as slr camera.Like this assurance profile information and preferably color and vein effect.Yet, but increased many costs.
Summary of the invention
In view of this, be necessary to provide the enough black and white cameras of a kind of energy to obtain spatial digitizer and the scan method thereof of coloured image, to solve the existing higher problem of color three dimension scanner cost.
The present invention is achieved in that
A kind of spatial digitizer, it comprises a projector, this spatial digitizer also comprises at least one black and white camera and a control system.Described control system can be controlled described projector respectively to three kinds of monochromatic light of scanned object projection red, green, blue.When described projector throwed every kind of monochromatic light to scanned object, described at least one the black and white camera of described control system control was taken respectively many images of scanned object from a plurality of angles.Described control system can be thrown the gray-scale value of the image that red light collects as the value of red channel with projector, the gray-scale value of the image that the throwing green light collects is as the value of green channel, with the gray-scale value of throwing the image that blue light the collects value as blue channel, triple channel value by combination obtains complete coloured image, thereby obtains the coloured image of a plurality of angles of scanned object.
Further, described spatial digitizer only comprises a black and white camera, when described projector throws every kind of monochromatic light to scanned object, described control system is controlled described black and white camera behind the image of an angle shot scanned object, moves to the image of another or a plurality of angle shot scanned objects again.
Further, described spatial digitizer comprises a plurality of black and white cameras, and when described projector throwed every kind of monochromatic light to scanned object, described control system was controlled described a plurality of black and white camera is taken scanned object simultaneously from a plurality of angles image.
Further, described control system can reconstruct according to the coloured image of a plurality of angles of described scanned object the stereo colour model of scanned object by computing machine used for multi-vision visual image-forming principle.
Further, described control system can also be carried out to the coloured image of a plurality of angles of described scanned object the white balance processing.
A kind of scan method of spatial digitizer, it may further comprise the steps: a. adopts projector to throw red light to scanned object, and adopts at least one black and white camera to take respectively many images of scanned object from a plurality of angles; B. adopt projector to throw green light to scanned object, and adopt at least one black and white camera to take respectively many images of scanned object from a plurality of angles; C. adopt projector to throw blue light to scanned object, and adopt at least one black and white camera to take respectively many images of scanned object from a plurality of angles; D. throw the gray-scale value of the image that red light collects as the value of red channel with projector, the gray-scale value of the image that the throwing green light collects is as the value of green channel, with the gray-scale value of throwing the image that blue light the collects value as blue channel, triple channel value by combination obtains complete coloured image, thereby obtains the coloured image of a plurality of angles of scanned object.
Further, the order between described step a, b, the c can be exchanged.
Further, when described projector during to every kind of monochromatic light of scanned object projection, adopt a black and white camera behind the image of an angle shot scanned object, move to again the image of another or a plurality of angle shot scanned objects.
Further, when described projector throws every kind of monochromatic light to scanned object, adopt a plurality of black and white cameras to take simultaneously the image of scanned object from a plurality of angles.
Further, described scan method further comprises step: the coloured image to a plurality of angles of described scanned object carries out the white balance processing.
Further, described scan method further comprises step: the stereo colour model that reconstructs scanned object according to the coloured image of a plurality of angles of described scanned object by computing machine used for multi-vision visual image-forming principle.
Compared with prior art, in spatial digitizer of the present invention and the scan method thereof, image when being throwed by red, green, blue three coloured light by only adopting the black and white camera to obtain respectively scanned object can obtain the coloured image of scanned object, greatly reduces equipment cost.In addition, better by the color image quality that this spatial digitizer obtains, the colouring information true and accurate can obtain really and accurately stereo colour model in follow-up three-dimensional modeling.
Above-mentioned explanation only is the general introduction of technical solution of the present invention, for can clearer understanding technological means of the present invention, and can be implemented according to the content of instructions, and for above and other objects of the present invention, feature and advantage can be become apparent, below especially exemplified by embodiment, and the cooperation accompanying drawing, be described in detail as follows.
Description of drawings
Below in conjunction with accompanying drawing embodiments of the invention are described, wherein:
Fig. 1 is the synoptic diagram of a kind of spatial digitizer of providing of the embodiment of the invention; And
Fig. 2 is the process flow diagram of the scan method of a kind of spatial digitizer of providing of the embodiment of the invention.
Embodiment
Below based on accompanying drawing specific embodiments of the invention are further elaborated.Should be appreciated that specific embodiment described herein as just embodiment, the protection domain that is not intended to limit the present invention.
See also Fig. 1, the spatial digitizer 100 that the embodiment of the invention provides comprises a projector 10 and at least one black and white camera 20.
Described projector 10 can be to three kinds of monochromatic light of scanned object 200 projection red, green, blues.Be appreciated that described monochromatic light is structured light.Three kinds of monochromatic modes of described projector 10 projection red, green, blues are not limit, for example, can be by realizing throwing three kinds of monochromatic light of red, green, blue in described projector 10 built-in a plurality of monochromatic sources, also can optical filter is set realize throwing three kinds of monochromatic light of red, green, blue by staggering the time at described projector 10 built-in white light sources and at the white light source light direction.
Described black and white camera 20 comprises the black and white photo-sensitive cell, and described photo-sensitive cell can be beam coupling device (CCD), also can be complementary metal oxide semiconductor (CMOS) (COMS) photo-sensitive cell.Described at least one black and white camera 20 is used for taking respectively many images of scanned object 200 from a plurality of angles when described projector 10 throws every kind of monochromatic light to scanned object 200.When described at least one black and white camera 20 throws every kind of monochromatic light for described projector 10 to scanned object 200, take respectively many images of scanned object 200 from a plurality of angles, can throw the gray-scale value of the image that red light collect as the value of red channel with projector 10 by computer software etc., the gray-scale value of the image that the throwing green light collects is as the value of green channel, with the gray-scale value of throwing the image that blue light the collects value as blue channel, triple channel value by combination obtains complete coloured image, thereby obtains the coloured image of more than 200 angle of scanned object.Then, can reconstruct the stereo colour model of scanned object 200 by computing machine used for multi-vision visual image-forming principle according to the coloured image of a plurality of angles of described scanned object.The quantity of described at least one black and white camera 20 can be one, two, three etc., and its concrete quantity can be decided according to the actual requirements.In the present embodiment, described spatial digitizer 100 comprises two black and white cameras 20.
Described spatial digitizer 100 also can comprise a control system 30, and this control system 30 connects described scanner 10 and black and white camera 20.Described control system 30 can be controlled described projector 10 respectively to three kinds of monochromatic light of scanned object 200 projection red, green, blues, and controls described at least one black and white camera 20 is taken respectively scanned object 200 from a plurality of angles many images.Preferably, described control system 30 can also be thrown the gray-scale value of the image that red light collect as the value of red channel with projector 10, the gray-scale value of the image that the throwing green light collects is as the value of green channel, with the gray-scale value of throwing the image that blue light the collects value as blue channel, triple channel value by combination obtains complete coloured image, thereby obtains the coloured image of more than 200 angle of scanned object.Preferably, described control system 30 can reconstruct according to the coloured image of more than 200 angle of described scanned object the stereo colour model of scanned object 200 by computing machine used for multi-vision visual image-forming principle.In addition, because can there be error in gray-scale value and the theoretical value of the image that actual measurement obtains, so need to do blank level adjustment to image processes, preferably, described control system 30 can also be carried out to the coloured image of more than 200 angle of described scanned object the white balance processing, to obtain the coloured image of more real scanned object 200.
In addition, when described spatial digitizer 100 only comprises a black and white camera 20, when described projector 10 throws every kind of monochromatic light to scanned object 200, described control system 30 can be controlled described black and white camera 20 behind the image of an angle shot scanned object 200, moves to the image of another or a plurality of angle shot scanned objects 200 again.When described spatial digitizer 100 comprises a plurality of black and white cameras 20, when described projector 10 throwed every kind of monochromatic light to scanned object 200, described control system 30 can be controlled described a plurality of black and white camera 20 is taken scanned object 200 simultaneously from a plurality of angles image.
See also Fig. 2, the scan method of the spatial digitizer 100 that the embodiment of the invention provides may further comprise the steps: a. adopts projector 10 to scanned object 200 projection red light, and adopts at least one black and white camera 20 to take respectively many images of scanned object 200 from a plurality of angles; B. adopt projector 10 to scanned object 200 projection green light, and adopt at least one black and white camera 20 to take respectively many images of scanned object 200 from a plurality of angles; C. adopt projector 10 to scanned object 200 projection blue lights, and adopt at least one black and white camera 20 to take respectively many images of scanned object 200 from a plurality of angles; D. throw the gray-scale value of the image that red light collect as the value of red channel with projector 10, the gray-scale value of the image that the throwing green light collects is as the value of green channel, with the gray-scale value of throwing the image that blue light the collects value as blue channel, triple channel value by combination obtains complete coloured image, thereby obtains the coloured image of more than 200 angle of scanned object.
Need to prove that the order between described step a, b, the c can be exchanged, namely order can be a, b, c; A, c, b; B, a, c; B, c, a etc.
When described projector 10 during to every kind of monochromatic light of scanned object 200 projection, can adopt a black and white camera 20 behind the image of an angle shot scanned object 200, move to again the image of another or a plurality of angle shot scanned objects 200.When described projector throws every kind of monochromatic light to 10 scanned objects 200, also can adopt a plurality of black and white cameras 20 to take simultaneously the image of scanned object 200 from a plurality of angles.
Described scan method also can comprise step: the coloured image to more than 200 angle of described scanned object carries out the white balance processing; And the stereo colour model that reconstructs scanned object 200 according to the coloured image of more than 200 angle of described scanned object by computing machine used for multi-vision visual image-forming principle.
Compared with prior art, in spatial digitizer of the present invention and the scan method thereof, image when being throwed by red, green, blue three coloured light by only adopting the black and white camera to obtain respectively scanned object can obtain the coloured image of scanned object, greatly reduces equipment cost.In addition, better by the color image quality that this spatial digitizer obtains, the colouring information true and accurate can obtain really and accurately stereo colour model in follow-up three-dimensional modeling.
The above, only be embodiments of the invention, be not that the present invention is done any pro forma restriction, although the present invention discloses as above with embodiment, yet be not to limit the present invention, any those skilled in the art, within not breaking away from the technical solution of the present invention scope, when the technology contents that can utilize above-mentioned announcement is made a little change or is modified to the equivalent embodiment of equivalent variations, in every case be not break away from the technical solution of the present invention content, any simple modification that foundation technical spirit of the present invention is done above embodiment, equivalent variations and modification all still belong in the scope of technical solution of the present invention.
Claims (10)
1. spatial digitizer, it comprises a projector, it is characterized in that, this spatial digitizer also comprises at least one black and white camera and a control system, it is red to the scanned object projection respectively that described control system can be controlled described projector, green, blue three kinds of monochromatic light, when described projector throws every kind of monochromatic light to scanned object, described at least one the black and white camera of described control system control is taken respectively many images of scanned object from a plurality of angles, described control system can be thrown the gray-scale value of the image that red light collects as the value of red channel with projector, the gray-scale value of the image that the throwing green light collects is as the value of green channel, with the gray-scale value of throwing the image that blue light the collects value as blue channel, triple channel value by combination obtains complete coloured image, thereby obtains the coloured image of a plurality of angles of scanned object.
2. spatial digitizer as claimed in claim 1, it is characterized in that, described spatial digitizer only comprises a black and white camera, when described projector throws every kind of monochromatic light to scanned object, described control system is controlled described black and white camera behind the image of an angle shot scanned object, moves to the image of another or a plurality of angle shot scanned objects again.
3. spatial digitizer as claimed in claim 1, it is characterized in that, described spatial digitizer comprises a plurality of black and white cameras, when described projector throwed every kind of monochromatic light to scanned object, described control system was controlled described a plurality of black and white camera is taken scanned object simultaneously from a plurality of angles image.
4. spatial digitizer as claimed in claim 1 is characterized in that, described control system can reconstruct according to the coloured image of a plurality of angles of described scanned object the stereo colour model of scanned object by computing machine used for multi-vision visual image-forming principle.
5. spatial digitizer as claimed in claim 1 is characterized in that, described control system can also be carried out to the coloured image of a plurality of angles of described scanned object white balance and be processed.
6. the scan method of a spatial digitizer, it may further comprise the steps: a. adopts projector to throw red light to scanned object, and adopts at least one black and white camera to take respectively many images of scanned object from a plurality of angles; B. adopt projector to throw green light to scanned object, and adopt at least one black and white camera to take respectively many images of scanned object from a plurality of angles; C. adopt projector to throw blue light to scanned object, and adopt at least one black and white camera to take respectively many images of scanned object from a plurality of angles; D. throw the gray-scale value of the image that red light collects as the value of red channel with projector, the gray-scale value of the image that the throwing green light collects is as the value of green channel, with the gray-scale value of throwing the image that blue light the collects value as blue channel, triple channel value by combination obtains complete coloured image, thereby obtains the coloured image of a plurality of angles of scanned object.
7. the scan method of spatial digitizer as claimed in claim 6 is characterized in that, the order between described step a, b, the c can be exchanged.
8. the scan method of spatial digitizer as claimed in claim 6, it is characterized in that, when described projector throws every kind of monochromatic light to scanned object, adopt a black and white camera behind the image of an angle shot scanned object, move to again the image of another or a plurality of angle shot scanned objects.
9. the scan method of spatial digitizer as claimed in claim 6 is characterized in that, when described projector throws every kind of monochromatic light to scanned object, adopts a plurality of black and white cameras to take simultaneously the image of scanned object from a plurality of angles.
10. the scan method of spatial digitizer as claimed in claim 6, it is characterized in that described scan method further comprises step: the stereo colour model that reconstructs scanned object according to the coloured image of a plurality of angles of described scanned object by computing machine used for multi-vision visual image-forming principle.
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| CN106562833A (en) * | 2015-10-11 | 2017-04-19 | 东莞市叁的打印技术科技有限公司 | Color information scanning method for dental model |
| CN107170035A (en) * | 2017-07-12 | 2017-09-15 | 朱培恒 | A kind of high reflective object scan method and its system |
| CN107655421A (en) * | 2016-07-25 | 2018-02-02 | 科罗马森斯股份有限公司 | The technique and device being scanned using stereoscan camera to surface |
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| CN109840984A (en) * | 2017-11-28 | 2019-06-04 | 南京造币有限公司 | A kind of coin surface quality inspection system, method and apparatus |
| CN112595583A (en) * | 2021-01-05 | 2021-04-02 | 镇江市产品质量监督检验中心 | Device for detecting hardness of material |
| CN112712583A (en) * | 2019-10-24 | 2021-04-27 | 先临三维科技股份有限公司 | Three-dimensional scanner, three-dimensional scanning system and three-dimensional scanning method |
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| CN103234476B (en) * | 2013-04-01 | 2014-04-02 | 廖怀宝 | Method for identifying object two-dimensional outlines |
| CN103234476A (en) * | 2013-04-01 | 2013-08-07 | 廖怀宝 | Method for identifying object two-dimensional outlines |
| CN107690303A (en) * | 2015-06-04 | 2018-02-13 | 惠普发展公司， 有限责任合伙企业 | Generate threedimensional model |
| CN106562833A (en) * | 2015-10-11 | 2017-04-19 | 东莞市叁的打印技术科技有限公司 | Color information scanning method for dental model |
| CN107655421A (en) * | 2016-07-25 | 2018-02-02 | 科罗马森斯股份有限公司 | The technique and device being scanned using stereoscan camera to surface |
| CN107170035B (en) * | 2017-07-12 | 2023-08-25 | 朱培恒 | High-reflection object scanning method and system |
| CN107170035A (en) * | 2017-07-12 | 2017-09-15 | 朱培恒 | A kind of high reflective object scan method and its system |
| CN109840984A (en) * | 2017-11-28 | 2019-06-04 | 南京造币有限公司 | A kind of coin surface quality inspection system, method and apparatus |
| CN113474618A (en) * | 2019-02-01 | 2021-10-01 | 砺铸智能装备私人有限公司 | System and method for object inspection using multi-spectral 3D laser scanning |
| CN113474618B (en) * | 2019-02-01 | 2024-03-15 | 砺铸智能设备(天津)有限公司 | System and method for object inspection using multispectral 3D laser scanning |
| CN112712583A (en) * | 2019-10-24 | 2021-04-27 | 先临三维科技股份有限公司 | Three-dimensional scanner, three-dimensional scanning system and three-dimensional scanning method |
| CN112595583A (en) * | 2021-01-05 | 2021-04-02 | 镇江市产品质量监督检验中心 | Device for detecting hardness of material |
| CN112595583B (en) * | 2021-01-05 | 2022-09-23 | 镇江市产品质量监督检验中心 | Device for detecting hardness of material |
| CN112985307A (en) * | 2021-04-13 | 2021-06-18 | 先临三维科技股份有限公司 | Three-dimensional scanner, system and three-dimensional reconstruction method |
| CN112985307B (en) * | 2021-04-13 | 2023-03-21 | 先临三维科技股份有限公司 | Three-dimensional scanner, system and three-dimensional reconstruction method |
| CN115187543A (en) * | 2022-07-08 | 2022-10-14 | 东莞康视达自动化科技有限公司 | Method for realizing exposure effect of multiple light sources by color line array camera |
| CN115460386A (en) * | 2022-08-31 | 2022-12-09 | 武汉精立电子技术有限公司 | Method and system for acquiring color image by using black and white camera |
| CN115460386B (en) * | 2022-08-31 | 2024-05-17 | 武汉精立电子技术有限公司 | Method and system for acquiring color image by black-and-white camera |
| CN117459700A (en) * | 2023-12-26 | 2024-01-26 | 荣旗工业科技(苏州)股份有限公司 | Color luminosity three-dimensional imaging method, system, electronic equipment and medium |
| CN117459700B (en) * | 2023-12-26 | 2024-03-26 | 荣旗工业科技(苏州)股份有限公司 | Color luminosity three-dimensional imaging method, system, electronic equipment and medium |
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