CN102980526B - Spatial digitizer and the scan method thereof of coloured image is obtained with black and white camera - Google Patents
Spatial digitizer and the scan method thereof of coloured image is obtained with black and white camera Download PDFInfo
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- CN102980526B CN102980526B CN201210301797.XA CN201210301797A CN102980526B CN 102980526 B CN102980526 B CN 102980526B CN 201210301797 A CN201210301797 A CN 201210301797A CN 102980526 B CN102980526 B CN 102980526B
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Abstract
The present invention relates to a kind of spatial digitizer, it includes a projector, and this spatial digitizer also includes at least one black and white camera and a control system.Described projector projects three kinds of monochromatic light of red, green, blue to scanned object respectively.When described projector projects every kind of monochromatic light to scanned object, at least one black and white camera described shoots multiple images of scanned object respectively from multiple angles.Described control system can throw the gray value value as red channel of the image that red light collects using projector, throw the gray value value as green channel of the image that green light collects, to throw the gray value value as blue channel of the image that blue light collects, it is worth to complete coloured image by the triple channel combined, thus obtains the coloured image of the multiple angle of scanned object.The spatial digitizer of the present invention can obtain coloured image with black and white camera, greatly reduces equipment cost.It addition, present invention also offers the scan method of a kind of spatial digitizer.
Description
Technical field
The present invention relates to a kind of color three dimension scanner, particularly relate to one and only use black and white phase
Machine can obtain spatial digitizer and the scan method thereof of color three dimensional image.
Background technology
3-D scanning is to integrate light, mechanical, electrical and computer technology new and high technology,
It is mainly used in scanned object spatial shape and structure and color are scanned, to obtain
The space coordinates of this body surface.Its significance is can standing actual object
Body information is converted to calculate the digital signal that function directly processes, and provides for object digitalization
The most conveniently means.Utilize spatial digitizer prepared by 3-D scanning technology
(3D Scanner) as a kind of quickly measurement in space equipment, because its measuring speed is fast,
The advantages such as precision is high, noncontact, easy to use, and become the weight modeled by object dimensional
Want instrument, be increasingly widely applied.Such as, with spatial digitizer to palm,
The scanned object such as sample, model is scanned, and can obtain this object three-dimensional size number
According to, these data can direct and computer-aided design (CAD:Computer Aided
Or computer aided manufacturing (CAM:Computer Aided Making) is soft Design)
Data can be adjusted in CAD system, repair, be then sent through adding by part interface
Manufacture on work center or rapid forming equipment, the product manufacturing cycle can be shortened greatly.
General spatial digitizer employing projection striped is to body surface, then uses black and white camera
Gather image, by calculating the striped deformation at body surface, thus the object three obtained
Dimension profile information.Reality requiring, the object measured is colored mostly, as some are colored
Historical relic, do not require nothing more than the three-D profile information that can accurately obtain object, and wish to protect
Stay real as far as possible surface color texture information.
The method of existing acquisition color texture has two kinds: one is general 3-D scanning
The camera of instrument changes color camera into, so can increase noise so that data quality-degradation.
The way of another kind of acquisition colour information is, by additionally increasing on general scanner
One color camera, such as slr camera.So ensure profile information and preferable color
Grain effect.But, but add many costs.
Summary of the invention
In view of this, it is necessary to provide a kind of and can obtain coloured image with black and white camera
Spatial digitizer and scan method thereof, relatively costly to solve existing color three dimension scanner
Problem.
The present invention is achieved in that
A kind of spatial digitizer, it includes a projector, and this spatial digitizer also includes
At least one black and white camera and a control system.Described control system can control described
Projector projects three kinds of monochromatic light of red, green, blue to scanned object respectively.When described throwing
Shadow instrument is when scanned object projects every kind of monochromatic light, described in the control of described control system extremely
A few black and white camera shoots multiple images of scanned object respectively from multiple angles.Institute
State control system can using projector throw the gray value of image that red light collects as
The value of red channel, throws the gray value of the image that green light collects as green channel
Value, to throw the gray value value as blue channel of the image that blue light collects, by group
The triple channel closed is worth to complete coloured image, thus obtains the multiple angle of scanned object
The coloured image of degree.
Further, described spatial digitizer only includes a black and white camera, when described throwing
Shadow instrument is when scanned object projects every kind of monochromatic light, and described control system controls described black
Bai Xiangji after the image of an angle shot scanned object, move again to another or
The image of multiple angle shot scanned objects.
Further, described spatial digitizer includes multiple black and white camera, when described projection
Instrument is when scanned object projects every kind of monochromatic light, and described control system controls the plurality of
Black and white camera shoots the image of scanned object from multiple angles simultaneously.
Further, described control system can be according to the multiple angle of described scanned object
Coloured image reconstruct scanned object by computer multi-vision visual image-forming principle
Stereo colour model.
Further, described control system can also angles multiple to described scanned object
Coloured image carries out white balance process.
The scan method of a kind of spatial digitizer, it comprises the following steps: a. uses projection
Instrument projects red light to scanned object, and uses at least one black and white camera from multiple angles
Degree shoots multiple images of scanned object respectively；B. use projector to scanned object
Projection green light, and use at least one black and white camera to shoot respectively from multiple angles to be swept
Retouch multiple images of object；C. projector is used to project blue light to scanned object, and
At least one black and white camera is used to shoot multiple of scanned object respectively from multiple angles
Image；D. the gray value of the image that red light collects is thrown as red channel using projector
Value, throw the gray value of image that green light the collects value as green channel, to throw
The gray value of the image that blue light collects is as the value of blue channel, by the threeway combined
Road is worth to complete coloured image, thus obtains the colour of the multiple angle of scanned object
Image.
Further, described step a, order between b, c can be exchanged.
Further, when described projector projects every kind of monochromatic light to scanned object,
Use a black and white camera after the image of an angle shot scanned object, then move
To another or the image of multiple angle shot scanned object.
Further, when described projector projects every kind of monochromatic light to scanned object,
Use multiple black and white camera to shoot the image of scanned object from multiple angles simultaneously.
Further, described scan method farther includes step: to described scanned
The coloured image of the multiple angle of body carries out white balance process.
Further, described scan method farther includes step: according to described scanned
The coloured image of the multiple angle of object is reconstructed by computer multi-vision visual image-forming principle
The stereo colour model of scanned object.
Compared with prior art, in the spatial digitizer of the present invention and scan method thereof, logical
Cross and obtain scanned object respectively only with black and white camera and projected by red, green, blue three coloured light
Time image, i.e. can get the coloured image of scanned object, greatly reduce equipment become
This.It addition, the color image quality obtained by this spatial digitizer is preferable, color is believed
Breath true and accurate, it is possible to obtain stereo colour mould really and accurately in follow-up three-dimensional modeling
Type.
Described above is only the general introduction of technical solution of the present invention, in order to better understand
The technological means of the present invention, and can be practiced according to the content of description, and in order to
Above and other objects of the present invention, feature and advantage can be become apparent, below
Especially exemplified by embodiment, and coordinate accompanying drawing, describe in detail as follows.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, embodiments of the invention are described, wherein:
Fig. 1 is the schematic diagram of a kind of spatial digitizer that the embodiment of the present invention provides；And
Fig. 2 is the scan method of a kind of spatial digitizer that the embodiment of the present invention provides
Flow chart.
Detailed description of the invention
Below based on accompanying drawing, the specific embodiment of the present invention is further elaborated.
Should be appreciated that specific embodiment described herein, as just embodiment, is not used to
Limit protection scope of the present invention.
Referring to Fig. 1, the spatial digitizer 100 that the embodiment of the present invention provides includes one
Projector 10 and at least one black and white camera 20.
Described projector 10 can project red, green, blue three kinds to scanned object 200
Monochromatic light.It is appreciated that described monochromatic light is structure light.Described projector 10 is thrown
Penetrate three kinds of monochromatic modes of red, green, blue not limit, such as, can be by described projection
The built-in multiple monochromaters of instrument 10 realize projecting three kinds of monochromatic light of red, green, blue, also
Can be by the described built-in white light source of projector 10 and in white light source light direction mistake
Time arrange optical filter realize project three kinds of monochromatic light of red, green, blue.
Described black and white camera 20 includes black and white photo-sensitive cell, and described photo-sensitive cell can be electricity
Sub-coupled apparatus (CCD), it is possible to for complementary metal oxide semiconductors (CMOS) (COMS)
Photo-sensitive cell.Described at least one black and white camera 20 is for when described projector 10 is to quilt
When scanning object 200 projects every kind of monochromatic light, shoot scanned respectively from multiple angles
Multiple images of body 200.At least one black and white camera 20 described is for described projector
10, when scanned object 200 projects every kind of monochromatic light, shoot respectively from multiple angles
Multiple images of scanned object 200, can be with projector by computer software etc.
10 gray value values as red channel throwing the image that red light collects, throw green
The gray value of the image that light collection arrives as the value of green channel, collects throwing blue light
The gray value of image as the value of blue channel, the triple channel combined be worth to completely
Coloured image, thus obtain the coloured image of more than 200 angle of scanned object.So
After, how visual the coloured image according to the multiple angle of described scanned object is by computer
Feel that image-forming principle can reconstruct the stereo colour model of scanned object 200.Described extremely
The quantity of a few black and white camera 20 can be one, two, three etc., its tool
Body quantity can be decided according to the actual requirements.In the present embodiment, described spatial digitizer
100 include two black and white cameras 20.
Described spatial digitizer 100 may also include a control system 30, this control system
The system 30 described scanner 10 of connection and black and white camera 20.Described control system 30 can
Control described projector 10 and project red, green, blue three kinds to scanned object 200 respectively
Monochromatic light, and control at least one black and white camera 20 described and shoot respectively from multiple angles
Multiple images of scanned object 200.Preferably, described control system 30 can also
The gray value of the image that red light collects is thrown as red channel using projector 10
Value, throws the gray value value as green channel of the image that green light collects, to throw indigo plant
The gray value of the image that coloured light collects is as the value of blue channel, by the triple channel combined
It is worth to complete coloured image, thus obtains the coloured silk of more than 200 angle of scanned object
Color image.Preferably, described control system 30 can be according to described scanned object 200
The coloured image of multiple angles is reconstructed by computer multi-vision visual image-forming principle and is swept
Retouch the stereo colour model of object 200.Further, since the actual image that obtains measured
Error can be there is, so needing image is done at blank level adjustment in gray value and theoretical value
Reason, it is preferable that described control system 30 can also be to described scanned object more than 200
The coloured image of angle carries out white balance process, to obtain more real scanned object
The coloured image of 200.
It addition, when described spatial digitizer 100 only includes a black and white camera 20,
When described projector 10 projects every kind of monochromatic light to scanned object 200, described control
System 30 processed can control described black and white camera 20 from an angle shot scanned object
After the image of 200, move again to another or multiple angle shot scanned object 200
Image.When described spatial digitizer 100 includes multiple black and white camera 20, when described
Projector 10 when scanned object 200 projects every kind of monochromatic light, described control system
30 can control the plurality of black and white camera 20 shoots scanned from multiple angles simultaneously
The image of body 200.
Refer to Fig. 2, the scanning side of the spatial digitizer 100 that the embodiment of the present invention provides
Method comprises the following steps: a. uses projector 10 to project redness to scanned object 200
Light, and use at least one black and white camera 20 to shoot scanned respectively from multiple angles
Multiple images of body 200；B. projector 10 is used to project green to scanned object 200
Coloured light, and use at least one black and white camera 20 to shoot scanned respectively from multiple angles
Multiple images of object 200；C. projector 10 is used to project to scanned object 200
Blue light, and use at least one black and white camera 20 to shoot respectively from multiple angles to be swept
Retouch multiple images of object 200；D. throw, with projector 10, the image that red light collects
Gray value make as the value of red channel, the gray value throwing the image that green light collects
For the value of green channel, lead to as blueness throwing the gray value of the image that blue light collects
The value in road, is worth to complete coloured image by the triple channel combined, thus obtains being swept
Retouch the coloured image of more than 200 angle of object.
It should be noted that described step a, order between b, c can be exchanged, i.e.
Order can be a, b, c；a、c、b；b、a、c；B, c, a etc..
When described projector 10 projects every kind of monochromatic light to scanned object 200, can
To use a black and white camera 20 from the image of an angle shot scanned object 200
After, move again to another or the image of multiple angle shot scanned object 200.When
Described projector is when 10 scanned objects 200 project every kind of monochromatic light, it is also possible to adopt
Shoot the image of scanned object 200 from multiple angles with multiple black and white cameras 20 simultaneously.
Described scan method may further comprise the step of: more than 200 angle of described scanned object
The coloured image of degree carries out white balance process；And according to described scanned object more than 200
The coloured image of individual angle reconstructs scanned by computer multi-vision visual image-forming principle
The stereo colour model of object 200.
Compared with prior art, in the spatial digitizer of the present invention and scan method thereof, logical
Cross and obtain scanned object respectively only with black and white camera and projected by red, green, blue three coloured light
Time image, i.e. can get the coloured image of scanned object, greatly reduce equipment become
This.It addition, the color image quality obtained by this spatial digitizer is preferable, color is believed
Breath true and accurate, it is possible to obtain stereo colour mould really and accurately in follow-up three-dimensional modeling
Type.
The above, be only embodiments of the invention, not makees the present invention any
Pro forma restriction, although the present invention is disclosed above with embodiment, but and be not used to
Limiting the present invention, any those skilled in the art, without departing from the technology of the present invention
In aspects, when the technology contents of available the disclosure above makes a little change or modification
For the Equivalent embodiments of equivalent variations, as long as being without departing from technical solution of the present invention content,
Any simple modification of above example being made according to the technical spirit of the present invention, equivalent
Change and modification, all still fall within the range of technical solution of the present invention.
Claims (6)
1. a spatial digitizer, it includes a projector, it is characterised in that these are three years old
Dimension scanner also includes multiple black and white camera and a control system, described control system energy
Enough control described projector and project three kinds of monochromatic light of red, green, blue to scanned object respectively,
When described projector projects every kind of monochromatic light to scanned object, described control system control
Make the plurality of black and white camera and shoot multiple figures of scanned object from multiple angles simultaneously
Picture, described control system can throw the gray value of the image that red light collects with projector
As the value of red channel, the gray value throwing the image that green light collects leads to as green
The value in road, to throw the gray value value as blue channel of the image that blue light collects,
It is worth to complete coloured image by the triple channel combined, thus it is many to obtain scanned object
The coloured image of individual angle.
2. spatial digitizer as claimed in claim 1, it is characterised in that described control
System processed can pass through computer according to the coloured image of the multiple angle of described scanned object
Multi-vision visual image-forming principle reconstructs the stereo colour model of scanned object.
3. spatial digitizer as claimed in claim 1, it is characterised in that described control
System processed can also the coloured image of angles multiple to described scanned object be carried out at white balance
Reason.
4. a scan method for spatial digitizer, it comprises the following steps: a. uses
Projector projects red light to scanned object, and uses multiple black and white camera from multiple angles
Degree shoots multiple images of scanned object simultaneously；B. use projector to scanned object
Projection green light, and use multiple black and white camera to shoot scanned from multiple angles simultaneously
Multiple images of body；C. use projector to project blue light to scanned object, and use
Multiple black and white cameras shoot multiple images of scanned object from multiple angles simultaneously；D. with
The gray value of the image that projector throwing red light collects, as the value of red channel, is thrown green
The gray value of the image that coloured light collects is as the value of green channel, to throw blue light collection
The gray value of the image arrived, as the value of blue channel, has been worth to by the triple channel combined
Whole coloured image, thus obtain the coloured image of the multiple angle of scanned object.
5. the scan method of spatial digitizer as claimed in claim 4, its feature exists
Can exchange in, described step a, order between b, c.
6. the scan method of spatial digitizer as claimed in claim 4, it is characterised in that
Described scan method farther includes step: according to the multiple angle of described scanned object
Coloured image reconstructs the solid of scanned object by computer multi-vision visual image-forming principle
Color model.
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| CN103234476B (en) * | 2013-04-01 | 2014-04-02 | 廖怀宝 | Method for identifying object two-dimensional outlines |
| EP3257026B1 (en) * | 2015-06-04 | 2020-11-18 | Hewlett-Packard Development Company, L.P. | Generating three dimensional models |
| 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 |
| CN109840984B (en) * | 2017-11-28 | 2020-12-25 | 南京造币有限公司 | Coin surface quality inspection system, method and device |
| SG11202108161TA (en) * | 2019-02-01 | 2021-08-30 | Mit Semiconductor Pte Ltd | System and method of 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 |
| 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 |
| 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 |
| CN115187543B (en) * | 2022-07-08 | 2023-07-11 | 东莞康视达自动化科技有限公司 | Method for realizing exposure effect of various light sources by using color linear 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 |
| 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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Address after: 311258 No. 1398, Wenbin Road, Wenyan street, Xiaoshan District, Hangzhou, Zhejiang. Patentee after: First facing the three dimensional Polytron Technologies Inc Address before: 311215 Zhejiang Hangzhou Xiaoshan economic and Technological Development Zone Construction No. 66 Huarui Center 1 building 21 floor. Patentee before: Hangzhou Shining 3D Technology Co., Ltd. |
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