CN103513330B - Miniature three-dimensional imaging device and 3-D data collection method - Google Patents
Miniature three-dimensional imaging device and 3-D data collection method Download PDFInfo
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Abstract
The present invention relates to a kind of structured light generating means, miniature three-dimensional imaging device, 3-D data collection method.Structured light generating means comprises: multiple optical fiber, comprises incidence end and exit end; Light supply apparatus, for generation of the light that multi-beam spectrum wavelength is different; This light supply apparatus is positioned at the incidence end side of the plurality of optical fiber, accordingly the incidence end of light different for the multi-beam spectrum wavelength produced through the plurality of optical fiber is inputted and to be exported, to produce structured light through exit end.Miniature three-dimensional imaging device, comprises structured light generating means, also comprises: imageing sensor; Carrier, for bearing fiber and imageing sensor, the exit end of optical fiber and imageing sensor are all fixed on one end of this carrier.Structured light generating means small volume of the present invention.Miniature three-dimensional imaging device of the present invention and 3-D data collection method can make one end of three-dimensional image forming apparatus (end of probe of such as endoscope) have reduced size.
Description
Technical field
The present invention relates to three-dimensional surface imaging (three-dimensionalsurfaceimaging) field, particularly relate to a kind of structured light generating means, there is the miniature three-dimensional imaging device of this device and utilize this miniature three-dimensional imaging device to gather the 3-D data collection method of three-dimensional data.
Background technology
The traditional design of structured light generators is normally made up of projector, complex structure, and cost is high, and cannot accomplish miniaturization, microminiaturized.Especially for being similar to the such miniature imaging system of miniature three-dimensional imaging device, the volume of front-end probe is very little, cannot hold the structured light generators of traditionally structural design.
Fig. 1 and Fig. 2 is respectively the schematic diagram of two kinds of traditional structured light generation systems.Structured light generation systems in Fig. 1 utilizes light source and structured light wave filter to produce structured light projection, and this system comprises light source 1 and structured light filter plate 3, and the light produced by light source 1, through the modulation of structured light filter plate 3, target object forms projected image.
Structured light generation systems in Fig. 2 utilizes conventional images or the video projector 4 structured light projection image directly needed for generation.
Although be similar to the structured light generators shown in Fig. 1 and Fig. 2 can produce required structured light projection, but the volume of this structured light generators itself is larger, range of application is narrow, generally can not be directly used in the miniature three-dimensional such as endoscope, probe imaging device miniature three-dimensional imaging device.
Summary of the invention
Provide hereinafter about brief overview of the present invention, to provide about the basic comprehension in some of the present invention.Should be appreciated that this general introduction is not summarize about exhaustive of the present invention.It is not that intention determines key of the present invention or pith, and nor is it intended to limit the scope of the present invention.Its object is only provide some concept in simplified form, in this, as the preorder in greater detail discussed after a while.
A fundamental purpose of the present invention is the miniature three-dimensional imaging device of structured light generating means and this device of application providing a kind of volume little.
Another fundamental purpose of the present invention is to provide a kind of structured light disposal route that can reduce structured light generators volume.
For achieving the above object, the invention provides a kind of structured light generating means, comprising:
Multiple optical fiber, the plurality of optical fiber comprises incidence end and exit end;
Light supply apparatus, for generation of the light that multi-beam spectrum wavelength is different;
This light supply apparatus is positioned at the incidence end side of the plurality of optical fiber, with accordingly by the different light of multi-beam spectrum wavelength produced through the incidence end input of the plurality of optical fiber and the exit end through the plurality of optical fiber export, to produce structured light.
For achieving the above object, present invention also offers a kind of miniature three-dimensional imaging device, comprise said structure light generating apparatus, also comprise:
Imageing sensor, for gathering the image of target object under structured light that this structured light generating means produces;
Carrier, for the input end of the multiple optical fiber He this imageing sensor that carry this structured light generating means, wherein, the exit end of the plurality of optical fiber and the input end of this imageing sensor are all fixed on one end of this carrier.
For achieving the above object, present invention also offers a kind of 3-D data collection method, utilize above-mentioned miniature three-dimensional imaging device to gather the three dimensional surface data of target object, the method comprises:
The exit end of light different for multi-beam spectrum wavelength through the plurality of optical fiber of correspondence is projected on target object to form structured light on this target object;
The image of this target object is gathered by this imageing sensor;
Analyze the spectral wavelength corresponding to each pixel on the image of the target object gathered;
The optical fiber that spectral wavelength identification corresponding to each pixel on the image of this target object is corresponding, and determine the shooting angle of each fiber exit end at the position relationship of its exit end according to the plurality of optical fiber;
The distance of this target object surface each point apart from this imageing sensor optical centre is determined, to obtain the three dimensional surface data of this target object according to the distance of the optical centre of each shooting angle of fiber exit end, the optical centre of this imageing sensor and this structured light generating means, the shooting angle of this imageing sensor to each pixel on the image of this target object.
Structured light generating means of the present invention adopts the light of Optical Fiber Transmission light supply apparatus to produce structured light, greatly reduces the volume of structured light generating means.Miniature three-dimensional imaging device of the present invention adopts said structure light generating apparatus to adopt the structured light generating means of above-mentioned miniaturization, and that the size of one end (end of probe of such as endoscope) can be done is very little.And miniature three-dimensional imaging device of the present invention and 3-D data collection method only need gather piece image and just can analyze the three dimensional surface data obtaining target object.
Accompanying drawing explanation
Below with reference to the accompanying drawings illustrate embodiments of the invention, above and other objects, features and advantages of the present invention can be understood more easily.Parts in accompanying drawing are just in order to illustrate principle of the present invention.In the accompanying drawings, same or similar technical characteristic or parts will adopt same or similar Reference numeral to represent.
The schematic diagram of a kind of structured light generating means that Fig. 1 provides for prior art.
The schematic diagram of the another kind of structured light generating means that Fig. 2 provides for prior art.
Fig. 3 is the structural representation of a kind of embodiment of structured light generating means of the present invention, wherein multiple optical fiber ordered arrangement.
Fig. 4 is the structural representation of the another kind of embodiment of structured light generating means of the present invention, wherein multiple optical fiber No-L aw Order.
Fig. 5 is the schematic diagram utilizing prism to produce the space distribution light that spectral wavelength changes in particular range.
Fig. 6 is the schematic diagram utilizing diffraction grating to produce the space distribution light that spectral wavelength changes in particular range.
Fig. 7 is the schematic diagram utilizing iridescence wave filter to produce the space distribution light that spectral wavelength changes in particular range.
Fig. 8 is the schematic diagram that the structured light utilizing structured light generating means to produce carries out three dimensional surface data collection.
Fig. 9 is the structural representation of a kind of embodiment of miniature three-dimensional imaging device of the present invention.
Figure 10 is the process flow diagram of a kind of embodiment of 3-D data collection method of the present invention.
Embodiment
With reference to the accompanying drawings embodiments of the invention are described.The element described in an accompanying drawing of the present invention or a kind of embodiment and feature can combine with the element shown in one or more other accompanying drawing or embodiment and feature.It should be noted that for purposes of clarity, accompanying drawing and eliminate expression and the description of unrelated to the invention, parts known to persons of ordinary skill in the art and process in illustrating.
The invention discloses a kind of structured light generating means, its a kind of embodiment comprises:
Multiple optical fiber, the plurality of optical fiber comprises incidence end and exit end;
Light supply apparatus, for generation of the light that multi-beam spectrum wavelength is different;
This light supply apparatus is positioned at the incidence end side of the plurality of optical fiber, with accordingly by the different light of multi-beam spectrum wavelength produced through the incidence end input of the plurality of optical fiber and the exit end through the plurality of optical fiber export, to produce structured light.
Embodiment 1
With reference to figure 3 and Fig. 4, a kind of embodiment of structured light generating means of the present invention comprises multiple optical fiber 10, also comprises light supply apparatus 20.The plurality of optical fiber comprises incidence end 11 and exit end 12.Light supply apparatus 20 is for generation of different light, the light that this multi-beam spectrum wavelength is different and the plurality of optical fiber one_to_one corresponding of multi-beam spectrum wavelength.Light supply apparatus 20 is positioned at the side of the incidence end 11 of multiple optical fiber 10, to be inputted and exit end 12 through the plurality of optical fiber 10 exports through the incidence end 11 of the plurality of optical fiber 10 by the light of generation.Particularly, optical fiber 10 corresponding for each Shu Guangjing produced exports, to produce structured light by light supply apparatus 20.
Embodiment 2
On the basis of embodiment 1, if carry out ordered arrangement to the plurality of optical fiber 10 in advance, namely the position relationship of the plurality of optical fiber 10 at its incidence end 11 place is identical with at the position relationship at its exit end 12 place, the characteristic being coupled to the image of incidence end 11 remains unchanged through Optical Fiber Transmission, and the image that namely incidence end 11 receives can be transferred to exit end 12 unchangeably.The image of exit end 12 can directly or image projection structured light generating means produced through projection optics on target object.Such as, this structured light can be the image with given shape, as " 3D " graph image in Fig. 3.
Embodiment 3
Alternatively, on the basis of embodiment 1, in the plurality of optical fiber 10, the position relationship of each optical fiber 10 incidence end 11 part is different from the position relationship of each optical fiber 10 exit end 12 part.
Such as, if the plurality of optical fiber 10 is not through ordered arrangement, namely the position relationship of the plurality of optical fiber 10 at its exit end 12 place is different at the position relationship at incidence end 11 place from it, then the structured light that exports of structured light generating means and the figure that exports of light supply apparatus 20 different, as shown in Figure 4, light supply apparatus 20 can project the light that spectral wavelength from left to right changes, after multiple optical fiber 10 transmits, structured light is defined at the exit end of multiple optical fiber 10, spectral wavelength corresponding to this structured light is not change according to rule during incidence, but irregular.
Embodiment 4
Further, on the basis of embodiment 1 or 3, light supply apparatus is specially: for generation of the light supply apparatus of the space distribution light that spectral wavelength changes in specific scope.As shown in Figure 4, the space distribution light that changes in specific scope of spectral wavelength that light supply apparatus 20 produces as the different light of this multi-beam spectrum wavelength, such as, iridescence in Fig. 4.This space distribution light is transferred to the plurality of optical fiber 10 through the incidence end 11 of the plurality of optical fiber, and is exported by the exit end 12 of the plurality of optical fiber 10, and the space distribution light after output can directly or project on target object through projection optics.
Embodiment 5
On the basis of embodiment 1 or 3, light supply apparatus comprises white light source and light-dividing device; White light source is positioned at the side of light-dividing device, produces the different light of this multi-beam spectrum wavelength with the white light produced by white light source after light-dividing device light splitting.
As illustrated in figs. 5-7, light supply apparatus 20 produces this space distribution light by multiple method, light supply apparatus 20 can comprise white light source 21 and light-dividing device, white light source 21 is positioned at the side of light-dividing device, produces the different light of this multi-beam spectrum wavelength with the white light produced by white light source 21 after light-dividing device light splitting.
Alternatively, the iridescence wave filter 22c in grating 22b or Fig. 7 during light-dividing device 22 can be in Fig. 5 prism 22a, Fig. 6.
In Fig. 5, prism 22a, for decomposing the composition of the light of white light source 21 transmitting, makes light present the color of original spectrum.Because refractive index is relevant with the frequency of light, after the white light mixing various frequency enters prism, the light of different frequency receives deviation in various degree, create the space distribution light that spectral wavelength changes in specific scope, therefore the light being coupled to the incidence end 11 of multiple optical fiber 10 has different wavelength, and the wavelength of the light that multiple optical fiber 10 exit end 12 exports is also different.
In Fig. 6, grating 22b can be diffraction grating, and the white light that white light source 21 sends forms the space distribution light that this spectral wavelength changes in specific scope after the diffraction of diffraction grating.Grating 22b in Fig. 6 is based on the work of fraunhofer many seams diffraction effect.The formula describing relation between the incident angle of optical grating construction and light and angle of diffraction is called " grating equation ".Ripple is when propagating, and each point in wave front can be considered to an independent secondary wave source, and these time wave source sends sphere subwave again, then after, the wave front in a certain moment, is exactly the enveloping surface (Huygens' principle) of these sphere subwaves of this moment.Desirable diffraction grating can be thought and to be made up of one group of equally spaced, endless, infinitely narrow slit, and the spacing between slit is d, is called grating constant.When the plane wave that wavelength is λ is normally incident in grating, the point on every bar slit all plays the role of time wave source.The light sent from these wave source is propagated on (i.e. ball corrugated) along all directions, because slit is endless, can only consider and the situation in the plane of slit vertical, namely slit is reduced to the row's point in this plane.Then think dry being formed by stacking by the light from the outgoing of every bar slit along the light field of a certain specific direction on this plane.When interfering, because the light from the outgoing of every bar slit is all different in the phase place of interference point, can partly or entirely offset between them.But when the optical path difference arriving interference point from the light of adjacent two slit outgoing is the integral multiple of the wavelength of light, two-beam phase of line is identical, will interfere reinforcement phenomenon.Describe with the formula, when diffraction angle m meet relation dsin θ m/ λ=| interfere reinforcement phenomenon during m|, wherein d is slit separation, i.e. grating constant, m is an integer, value is 0, ± 1, ± 2 ... this interference hard point is called diffraction maximum, therefore, diffraction light will obtain greatly when angle of diffraction is θ m, that is:
dsinθm=mλ（1）
Above formula (1) is grating equation.When plane wave is with incidence angle θ
itime incident, grating equation is:
d（sinθm+sinθ
i）=mλ（2）
In Fig. 7, have employed iridescence wave filter as light-dividing device, iridescence wave filter 22c is a kind of special optical device, and it is different in the frequency of the light that each different horizontal level penetrates, and namely wavelength X is the function of horizontal level x: λ=F (x).The light that white light source 21 is launched is after iridescence wave filter 22c, and the wavelength of the light that each angles goes out is different, and namely wavelength X is shooting angle θ
ofunction: λ=H
1(θ
o).
Because each root optical fiber 10 is fixing at the position relationship of incidence end 11 and exit end, therefore when the exit end of multiple optical fiber 10 projects light onto on object, the shooting angle of each root optical fiber is fixing, again from description above, for each root optical fiber 10, the wavelength of the light that its exit end exports is different, therefore when the exit end of multiple optical fiber 10 projects light onto on object, for each root optical fiber, the shooting angle of exit end has unique mapping relations with the wavelength of the light exported, that is, the wavelength X of the light that each optical fiber 10 exit end exports is the function of the shooting angle (θ) of its exit end, i.e. λ=H (θ), wherein, the emergence angle of the projection ray of θ corresponding to each pixel.
The spectral wavelength of the light transmitted due to each optical fiber 10 is different, therefore the spectral wavelength corresponding to structured light each point formed is also different, when multiple optical fiber 10 is lack of alignment, can in advance by formed structured light with preset direction, such as vertical direction, be incident upon on Reference, this Reference can be, such as smooth blank sheet of paper.
By analyzing the wavelength of the structured light each point on Reference, can according to unique mapping relations of the shooting angle of the wavelength of light and fiber exit end, identify each optical fiber of each optical fiber 10(at exit end 12 place and there is intrinsic characteristic, the specific spectral wavelength of namely transmitted light), and then obtain the position relationship of each optical fiber 10 at exit end 12 place.
Therefore, the project structured light produced when the structured light generation device of the present embodiment is on target object, in order to obtain any three-dimensional location data of target object, the spectral wavelength that first can obtain the light be incident upon on this aspect of target object identifies corresponding optical fiber 10, and the position residing for the optical fiber 10 identified obtains the crevice projection angle of this point.
Embodiment 6
Alternatively, structured light generating means of the present invention also comprises stationary installation 50, and multiple optical fiber 10 is through this stationary installation 50.
By this stationary installation 50, can avoid product in application process due to the optical fiber displacement data acquisition errors that causes.
The application of structured light generating means
With reference to figure 8, structured light generating means of the present invention can project the light with certain space and/or Time Change: I (u, v), target object surface generates projected image.The change of projected image is relevant with the three-dimension curved surface shape of target object surface with degreeof tortuosity.Imageing sensor can be utilized to adopt image that 30 collection have the target object of structured light projection, processes the image gathered and analyzes, draw the three-dimensional data (xij, yij, zij) corresponding to each pixel (i, j), i=1,2 ... I, j=1,2 ... J.
As shown in Figure 8, utilization is incident upon structured light on target object, the wavelength of the light in the image that identifiable design goes out to gather corresponding to each pixel, the wavelength of the light corresponding to each pixel and unique mapping relations of each optical fiber 10 and each optical fiber 10 of obtaining in advance are at the position relationship of exit end, can identify the emergence angle (θ) of the projection ray in the image of collection corresponding to each pixel exactly, the emergence angle (α) of imageing sensor 30 to each pixel can be drawn by the calibrating parameters of imageing sensor 30.Therefore, the distance R of target object surface range image sensor 30 optical centre can be drawn by following formula:
Wherein, B is the distance " baseline " of the optical centre of imageing sensor and the optical centre of structured light generating means, the projection ray of θ corresponding to each pixel and the angle of baseline, α is that imageing sensor 30 is to the angle between the emerging ray of each pixel and baseline.In the present embodiment, the distance of the optical centre of structured light generating means can be, such as, and the center of multiple optical fiber 10 exit end.According to the relative space relation of imageing sensor 30 and structured light generating means, D coordinates value (the xij of target object surface each point (such as putting P) can be drawn by the distance R of target object surface range image sensor optical centre, yij, zij), i=1,2, I, j=1,2, J, thus produce view picture three dimensional surface data (3-D view).
Structured light generating means of the present invention compares traditional structured light generators, and volume can reduce greatly, therefore, it is possible to be applied in the miniature three-dimensional such as endoscope, probe imaging device.
With reference to figure 9, a kind of embodiment of miniature three-dimensional imaging device of the present invention comprises above-mentioned structured light generating means, also comprises imageing sensor 30 and carrier 40, and imageing sensor 30 is for the image of target object under the structured light that gathers structured light generating means and export.The fibre bundle 10 of carrier 40 for bearing structure light generating apparatus and the input end of this imageing sensor 30, wherein, the exit end of multiple optical fiber 10 and the input end of imageing sensor 30 are all fixed on one end of carrier 40.Miniature three-dimensional imaging device of the present invention can utilize the principle shown in Fig. 8 to obtain the three dimensional surface data of target object.
Alternatively, this miniature three-dimensional imaging device can be endoscope or probe, and carrier 40 can be the probe of endoscope.The exit end 12 of multiple optical fiber 10 and the input end of imageing sensor 30 can be arranged on the front end of the probe of endoscope, such as, need the one end going deep into carrying out in human body detecting.
Alternatively, the incidence end 11 of the plurality of optical fiber 10 is stretched out from the other end of carrier 40, for endoscope, the incidence end 11 of the plurality of optical fiber 10 can be stretched out from the rear end of endoscope probe, the larger light source of volume so also can be avoided to be arranged on endoscope probe front end and cause endoscope distal end volume excessive.The stationary installation 50 of structured light generating means can be arranged in carrier 40.
Alternatively, the plurality of optical fiber 10 reusable is the lighting device of miniature three-dimensional imaging device, such as, in endoscope, generally there is special illumination passage, after using structured light generating means of the present invention, can without the need to arranging extra illumination passage, but simultaneously using the plurality of optical fiber as structured light generation passage and illumination passage, further simplify the structure of endoscope.
With reference to Figure 10, present invention also offers a kind of 3-D data collection method, utilize above-mentioned miniature three-dimensional imaging device to gather the three dimensional surface data of target object, this 3-D data collection method comprises:
Step S10: the exit end of light different for multi-beam spectrum wavelength through multiple optical fiber 10 of correspondence is projected on target object to form structured light on target object;
Step S20: the image being gathered this target object by imageing sensor 30;
Step S30: the spectral wavelength on the image of the target object that analysis gathers corresponding to each pixel;
Step S40: the optical fiber 10 that the spectral wavelength identification corresponding to pixel each on the image of target object is corresponding, and the shooting angle determining each optical fiber 10 exit end according to each optical fiber 10 at the position relationship of its exit end;
Step S50: determine the distance of this target object surface each point range image sensor 30 optical centre, to obtain the three dimensional surface data of this target object according to the emergence angle of each pixel on the image of the distance of the optical centre of each shooting angle of optical fiber 10 exit end, the optical centre of this imageing sensor 30 and this structured light generating means, imageing sensor 30 pairs of target objects.
Alternatively, 3-D data collection method of the present invention determines the plurality of optical fiber 10 position relationship at its exit end by following steps:
First step: light different for this multi-beam spectrum wavelength is projected on Reference to form structured light on Reference through the exit end of multiple optical fiber 10 of this correspondence with the direction of presetting;
Second step: the image being gathered this Reference by imageing sensor 30;
Third step: the spectral wavelength on the image gathered in analysis second step corresponding to each pixel;
4th step: the optical fiber 10 that the spectral wavelength identification corresponding to pixel each on the image gathered in second step is corresponding, and obtain the position relationship of the plurality of optical fiber 10 at its exit end.
Structured light generating means of the present invention adopts the light of Optical Fiber Transmission light supply apparatus to produce structured light, greatly reduces the volume of structured light generating means.Miniature three-dimensional imaging device of the present invention adopts the structured light generating means of above-mentioned miniaturization, that the size of one end (end of probe of such as endoscope) can be done is very little, and miniature three-dimensional imaging device of the present invention and 3-D data collection method only need gather piece image and just can analyze the three dimensional surface data obtaining target object.
Imageing sensor can also carry out high-speed image sampling, to obtain dynamic three-dimension surface image data, i.e. 3 d video images.
In the system of the present invention, obviously, each parts or each step reconfigure after can decomposing, combine and/or decomposing.These decompose and/or reconfigure and should be considered as equivalents of the present invention.Simultaneously, above in the description of the specific embodiment of the invention, the feature described for a kind of embodiment and/or illustrate can use in one or more other embodiment in same or similar mode, combined with the feature in other embodiment, or substitute the feature in other embodiment.
Should emphasize, term " comprises/comprises " existence referring to feature, key element, step or assembly when using herein, but does not get rid of the existence or additional of one or more further feature, key element, step or assembly.
Although described the present invention and advantage thereof in detail, be to be understood that and can have carried out various change when not exceeding the spirit and scope of the present invention limited by appended claim, substituting and conversion.And scope of the present invention is not limited only to the specific embodiment of process, equipment, means, method and step described by instructions.One of ordinary skilled in the art will readily appreciate that from disclosure of the present invention, can use perform the function substantially identical with corresponding embodiment described herein or obtain and its substantially identical result, existing and that will be developed in the future process, equipment, means, method or step according to the present invention.Therefore, appended claim is intended to comprise such process, equipment, means, method or step in their scope.
Claims (9)
1. a miniature three-dimensional imaging device, is characterized in that, comprises structured light generating means, also comprises:
Imageing sensor, for gathering the image of target object under structured light that described structured light generating means produces;
Carrier, for the input end of the multiple optical fiber and described imageing sensor that carry described structured light generating means, wherein, the exit end of described multiple optical fiber and the input end of described imageing sensor are all fixed on one end of described carrier;
Described structured light generating means, comprising:
Multiple optical fiber, described multiple optical fiber comprises incidence end and exit end;
Light supply apparatus, for generation of the light that multi-beam spectrum wavelength is different; The light that this multi-beam spectrum wavelength is different and the plurality of optical fiber one_to_one corresponding;
Described light supply apparatus is positioned at the incidence end side of described multiple optical fiber, with accordingly by the different light of multi-beam spectrum wavelength produced through the incidence end input of described multiple optical fiber and the exit end through described multiple optical fiber export to produce structured light.
2. miniature three-dimensional imaging device according to claim 1, is characterized in that, in described multiple optical fiber, the position relationship of each optical fiber incidence end part is different from the position relationship of each fiber exit end portion.
3. miniature three-dimensional imaging device according to claim 1 and 2, is characterized in that, described light supply apparatus is specially: for generation of the light supply apparatus of the space distribution light that spectral wavelength changes in specific scope.
4. miniature three-dimensional imaging device according to claim 1 and 2, is characterized in that, described light supply apparatus comprises white light source and light-dividing device; Described white light source is positioned at the side of described light-dividing device, produces the different light of described multi-beam spectrum wavelength with the white light produced by described white light source after described light-dividing device light splitting.
5. miniature three-dimensional imaging device according to claim 4, is characterized in that, described light-dividing device is prism, grating or iridescence wave filter.
6. miniature three-dimensional imaging device according to claim 1 and 2, is characterized in that, also comprise stationary installation, and described multiple optical fiber is through described stationary installation.
7. miniature three-dimensional imaging device according to claim 6, is characterized in that, the incidence end of described multiple optical fiber is stretched out from the other end of described carrier, and the stationary installation of described structured light generating means is arranged in described carrier.
8. a 3-D data collection method, is characterized in that, utilize the miniature three-dimensional imaging device described in any one of claim 1-7 to gather the three dimensional surface data of target object, described 3-D data collection method comprises:
The exit end of light different for multi-beam spectrum wavelength through described multiple optical fiber of correspondence is projected on target object to form structured light on described target object;
The image of described target object is gathered by described imageing sensor;
Analyze the spectral wavelength corresponding to each pixel on the image of the target object gathered;
The optical fiber that spectral wavelength identification corresponding to each pixel on the image of described target object is corresponding, and determine the shooting angle of each fiber exit end at the position relationship of its exit end according to described multiple optical fiber;
According to the distance of the optical centre of the shooting angle of each fiber exit end, the optical centre of described imageing sensor and described structured light generating means, described imageing sensor to the shooting angle of each pixel on the image of described target object, determine the distance of described target object surface each point apart from described imageing sensor optical centre, to obtain the three dimensional surface data of described target object.
9. 3-D data collection method according to claim 8, is characterized in that, described multiple optical fiber is determined by following steps at the position relationship of its exit end:
Light different for described multi-beam spectrum wavelength is projected on Reference through the exit end of described multiple optical fiber of correspondence, to form structured light on Reference with the direction of presetting;
The image of described Reference is gathered by described imageing sensor;
Analyze the spectral wavelength corresponding to each pixel of the image of the Reference gathered;
The optical fiber that spectral wavelength identification corresponding to each pixel of the image of described Reference is corresponding, and obtain the position relationship of described multiple optical fiber at its exit end.
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