CN103916601A - Three-dimensional scanning device based on mobile device and three-dimensional reconstruction method of three-dimensional scanning device - Google Patents
Three-dimensional scanning device based on mobile device and three-dimensional reconstruction method of three-dimensional scanning device Download PDFInfo
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- CN103916601A CN103916601A CN201410143413.5A CN201410143413A CN103916601A CN 103916601 A CN103916601 A CN 103916601A CN 201410143413 A CN201410143413 A CN 201410143413A CN 103916601 A CN103916601 A CN 103916601A
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Abstract
The invention discloses a three-dimensional scanning device based on a mobile device. The three-dimensional scanning device comprises the mobile device and a lighting device, wherein the mobile device is provided with an image obtaining module facing toward an object to be shot, the lighting device comprises a plurality of light source modules facing toward the object to be shot, and data are transmitted between the lighting device and the mobile device. The mobile device controls the image obtaining module to obtain images, under illumination of all the light source modules, of the object to be shot. The invention further discloses a three-dimensional reconstruction method of the three-dimensional scanning device based on the mobile terminal. According to the three-dimensional scanning device based on the mobile device and the three-dimensional reconstruction method, high-precision three-dimensional scanning and remote three-dimensional scanning can be achieved, the structure is simple in structure, and cost is reduced.
Description
Technical field
The invention belongs to electronic technology field, specifically, relate to a kind of three-dimensional scanner and three-dimensional rebuilding method thereof based on mobile device.
Background technology
Along with the extensive use of Intelligent mobile equipment, camera and transducer that it is embedded are also more and more abundanter, and wherein, the camera of Intelligent mobile equipment is mainly used in taking and video calling.But along with the development of 3-D technology, the three-dimensional information that obtains destination object by vision technique also more and more receives publicity.
Intelligent mobile equipment can be counted as a miniature computer, and it has most of function that computer possesses, and at least one camera can be set conventionally.With respect to the most conventional structural light three-dimensional scanning means, if by a projecting apparatus of Intelligent mobile equipment configuration, just can form a three-dimensional scanner.But, because existing projecting apparatus volume is large, cost is higher, so cannot be applied on Intelligent mobile equipment.Therefore,, in order to realize 3-D scanning on Intelligent mobile equipment, existing unique method is the three-dimensional rebuilding method based on photometry.So-called photometry three-dimensional rebuilding method, refer to and utilize multiple light sources to irradiate from different perspectives destination object, utilize single camera to obtain the image of the destination object under each light source, by the variation of evaluating objects object surface shade, recover the normal direction information on destination object surface, and then realize three-dimensional reconstruction.
Chinese Patent Application No. CN201210224497.6 has proposed a kind of three-dimensional rebuilding method based on mobile device, specifically: the light source that the mobile phone screen with high brightness is transformed into multiple diverse locations, object, under dark environment, utilizes the camera of mobile phone to take the image obtaining under each light source.Then multiple image is carried out to analytical calculation by photometric stereo algorithm, obtain the depth value information of body surface.Finally according to these depth value information, by model creation corresponding object out.
But, the shortcoming of the three-dimensional rebuilding method based on mobile device that Chinese Patent Application No. CN201210224497.6 proposes comprises: one, a little less than the brightness of mobile phone screen itself, for the light that ensures to be irradiated on object has enough brightness, can only make mobile phone screen and object keep nearer distance, therefore cannot realize the three-dimensional reconstruction of longer-distance object; Two, existing photometry three-dimensional rebuilding method is normally set up based on source of parallel light or point-source of light irradiation model, and the approximate light source method that mobile phone screen is divided into some source regions is not met to the model of this routine, be therefore difficult to obtain good three-dimensional reconstruction effect.
Summary of the invention
The problem existing in order to solve above-mentioned prior art, the object of the present invention is to provide a kind of three-dimensional scanner based on mobile device and the three-dimensional rebuilding method thereof that can realize high accuracy, remote 3-D scanning.
According to an aspect of the present invention, provide a kind of three-dimensional scanner based on mobile device, having comprised: mobile device, has had the image collection module towards object to be taken; Lighting apparatus, comprises multiple light source modules towards object to be taken, and carries out transfer of data by the data-interface and the mobile device that connect mobile device; Wherein, described in described mobile device control, image collection module is obtained object to be taken and is in the each light source module image under irradiating.
Further, described lighting apparatus also comprises seat stand, and wherein, described multiple light source modules are separately positioned on the diverse location of seat stand.
Further, the bottom of described mobile device is provided with data-interface, and wherein, described lighting apparatus is by connecting described data-interface and described mobile device carries out transfer of data.
Further, described seat stand comprises pedestal and is separately positioned on the boss of pedestal two side ends, wherein, in described pedestal and described boss, at least one light source module is all set.
Further, be provided with the data pin corresponding with the data-interface of mobile device on described pedestal, wherein, described mobile device is by the light on and off state that is connected to control described light source module of data-interface and data pin.
Further, described light source module is LED lamp.
According to a further aspect in the invention, provide a kind of three-dimensional rebuilding method of above-mentioned three-dimensional scanner, wherein, described three-dimensional rebuilding method comprises: the intrinsic parameter of demarcating described image collection module; Demarcate the direction of illumination of each light source module; Described in mobile device control, image collection module is obtained object the to be taken image under each light source module irradiates; The 3D approach that mobile device calculates each pixel in every width image is to obtain 3D approach to field, and the 3D approach obtaining carried out to integration to field to obtain the threedimensional model of object to be taken.
According to three-dimensional scanner and the three-dimensional rebuilding method thereof based on mobile device of the present invention, can realize the remote 3-D scanning of high-precision three-dimensional scanner uni, and simple in structure, cost.
Brief description of the drawings
The following description of carrying out in conjunction with the drawings, above-mentioned and other side, feature and the advantage of embodiments of the invention will become clearer, in accompanying drawing:
Fig. 1 is the structural representation of the three-dimensional scanner based on mobile device according to an embodiment of the invention.
Fig. 2 is the flow chart of the three-dimensional rebuilding method of the three-dimensional scanner based on mobile device according to an embodiment of the invention.
Embodiment
Below, describe with reference to the accompanying drawings embodiments of the invention in detail.But, can implement in many different forms the present invention, and the present invention should not be interpreted as being limited to the specific embodiment of setting forth here.On the contrary, it is in order to explain principle of the present invention and practical application thereof that these embodiment are provided, thereby makes others skilled in the art can understand various embodiment of the present invention and be suitable for the various amendments that particular desired is applied.
Mobile device can be for example visual telephone, mobile phone, smart phone, International Mobile Telecommunication 2000 (IMT-2000) equipment, Wideband Code Division Multiple Access (WCDMA) (WCDMA) equipment, universal mobile telecommunications system (UMTS) equipment, PDA(Personal Digital Assistant), portable media player (PMP), DMB (DMB) equipment, e-book (E-book), notebook computer, panel computer or digital camera etc. according to an embodiment of the invention.
Fig. 1 is the structural representation of the three-dimensional scanner based on mobile device according to an embodiment of the invention.
With reference to Fig. 1, the three-dimensional scanner based on mobile device comprises mobile device 10 and lighting apparatus 20 according to an embodiment of the invention.
In the present embodiment, mobile device 10 at least comprises display 101, is positioned at the image collection module 102 of display 101 tops and is arranged on the data-interface 103 of mobile device 10 bottoms.Wherein, display 101 can be for example liquid crystal display (LCD) or OLED display etc.Image collection module 102 can be for example the camera with shooting and video call function.Image collection module 102, towards object to be taken, that is to say, image collection module 102 is towards object space, and wherein, object space refers to the direction from image collection module 102 to object to be taken.Data-interface 103 can be for example USB interface.Can realize and the communicating by letter of mobile device 10 by data-interface 103, and then the transfer of data of realization and mobile device 10.In addition, also can charge to mobile device 10 by data-interface 103, or mobile device 10 can charge to other equipment by data-interface 103, wherein, described other equipment are connected with data-interface 103 by data pin (or data wire), and then are connected with mobile device 10.
According to photometry three-dimensional reconstruction principle, the object that at least needs the light source module of three different directions to treat shooting irradiates, and can calculate the surface normal of object to be taken.Therefore, in the present invention, lighting apparatus 20 need comprise at least three light source modules.
In the present embodiment, lighting apparatus 20 comprises three light source modules 201, seat stand 202 and data pin 203.
Light source module 201 can be for example LED lamp.In the present invention, light source module 201 is not limited to LED lamp, and it can be for example also incandescent lamp or optical fiber.In addition, in the present invention, light source module 201 can be for example visible LED lamp (such as red LED lamp, green light LED lamp etc.), infrared light LED lamp or ultraviolet leds lamp etc.Each light source module 201 is towards object to be taken, and each light source module 201 is towards object space.In other words, the shooting direction of the direction of illumination of each light source module 201 and image collection module 102 is basically identical.
Seat stand 202 comprises pedestal 2021, and wherein, the two side ends of pedestal 2021 is respectively along extending to form two boss 2022 perpendicular to the direction of pedestal 2021 place directions.Data pin 203 can be for example USB plug.Data pin 203 is positioned on pedestal 2021, and between two boss 2022.And data pin 203 and two boss 2022 are positioned at pedestal 2021 homonymies.One in three light source modules 201 is positioned on pedestal 2021, and other two in three light source modules 201 lay respectively on two boss 2022.Data pin 203 connection corresponding to data-interface 103, so that mobile device 10 is controlled the light on and off state of each light source module 201, and powers for each light source module 201.
Mobile device 10 is placed on the pedestal 2021 of seat stand 202, and data pin 203 is plugged together and is connected with data-interface 103, makes mobile device 10 and lighting apparatus 20 carry out data communication.Mobile device 10 can be powered to each light source module 201, and can control the light on and off state of each light source module 201.In addition,, when mobile device 10 is controlled each light source module 201 irradiating object, control image collection module 102 and obtain object the to be taken image under each light source module 201 irradiates.In other words,, when mobile device 10 is controlled single source module 201 irradiating object, control image collection module 102 and obtain object the to be taken image under this single source module 201 is irradiated.
Mobile device 10 is controlled successively three light source modules 201 and is irradiated, and like this, mobile device 10 is controlled image collection module 102 and obtained successively object to be taken three width images under three light source modules 201 irradiate.Mobile device 10 carries out three-dimensional reconstruction to the three width images that obtain, to obtain the threedimensional model of object to be taken.The threedimensional model of the object to be taken obtaining is presented in display 101.
Fig. 2 is the flow chart of the three-dimensional rebuilding method of the three-dimensional scanner based on mobile device according to an embodiment of the invention.
See figures.1.and.2, in step S1, demarcate the intrinsic parameter of the image collection module 102 of mobile device 10.In this step, by demarcating the intrinsic parameter of image collection module 102 of mobile device 10, to obtain focal length, the center point coordinate etc. of image collection module 102.Wherein, the scaling method of the intrinsic parameter of the image collection module 102 of the mobile device 10 in this step adopts conventional based on tessellated standardization in the industry, specifically refer to document " Z.Zhang; " Aflexiblenewtechniqueforcameracalibration "; IEEETransactionsonPatternAnalysisandMachineIntelligence, Vol.22, No.11; pages1330-1334,2000. ".
In step S2, demarcate the direction of illumination (or light source direction) of each light source module 201.In this step, can utilize mirror-reflection ball to demarcate the direction of illumination of each light source module 201 (or light source direction).Wherein, when light source module 201 light irradiations are on mirror-reflection ball time, in the image that image collection module 102 gets, there will be an obvious bright spot, in the image getting, detect the image coordinate of this bright spot, because the normal direction of the each point of mirror-reflection ball own can calculate by the image coordinate on spheroid, therefore the intrinsic parameter of image collection module 102 in integrating step S1, can obtain the direction of illumination (or light source direction) of light source module 201 with respect to angle or the direction of the optical axis of image collection module 102.
Then, each light source module 201 is carried out to said method, can demarcate the direction of illumination (or light source direction) of each light source module 201.Because said method is also conventional method in the industry, specifically refer to document " R.J.Woodham; " Photometricmethodfordeterminingsurfaceorientationform multipleimages; " OpticalEngineering, vol.19, no.1, pp.139-144,1980. ".
In step S3, when mobile device 10 is controlled each light source module 201 and irradiated object to be taken, control image collection module 102 and obtain object the to be taken image under each light source module 201 irradiates.In other words,, when mobile device 10 is controlled single source module 201 irradiating object, control image collection module 102 and obtain object the to be taken image under this single source module 201 is irradiated.
In this step, mobile device 10 is controlled successively three light source modules 201 and is irradiated, and like this, mobile device 10 is controlled image collection module 102 and obtained successively object to be taken three width images under three light source modules 201 irradiate.
In step S4, the 3D approach that mobile device 10 calculates each pixel in every width image is to obtain 3D approach to field, and the 3D approach obtaining carried out to integration to field to obtain the threedimensional model of object to be taken.In this step, can be according to the reflection behavior of surface of object to be taken, in mobile device 10, set the parameters such as corresponding reflection model, reflectivity, and calculate the surface normal of object to be taken according to conventional in the industry photometry three-dimensional reconstruction algorithm, obtain 3D approach to field.In addition, in this step, in the industry conventional photometry three-dimensional reconstruction algorithm specifically referring to document " Z.ZhouandP.Tan; " Ring-light photometricstereo; " Proc.ofEuropeanConf.onComputerVision, pp.265-279,2010. ".
Foregoing of the present invention can utilize hardware, firmware is realized, or can be via being stored in recording medium (such as CDROM, digital universal disc (DVD), tape, RAM, floppy disk, hard disk or magneto optical disk) in software or the operation of downloading to be stored in the computer code on local record medium on remote logging medium or nonvolatile machine readable media and by network of computer code or original stored realize, make to use all-purpose computer or application specific processor or utilize able to programme or specialized hardware (such as ASIC or FPGA) to implement method described herein via the software being stored on recording medium.As understood in the art, computer, processor, microprocessor controller or programmable hardware comprise the memory member that can store or receive software or computer code, for example, RAM, ROM, flash memory etc., wherein, when computer, processor or hardware access and while moving described software or computer code, described software or computer code will be realized processing method described herein.In addition, will be appreciated that: in the time that all-purpose computer access is used for realizing the code of shown here processing, all-purpose computer is converted to the special-purpose computer for carrying out shown here processing by the operation of described code.Any function providing in accompanying drawing and step can utilize hardware, software or both combinations to realize, and can in the programmable instructions of computer, carry out in whole or in part.
In sum, the three-dimensional scanner based on mobile device and three-dimensional rebuilding method thereof according to an embodiment of the invention, can realize the remote 3-D scanning of high-precision three-dimensional scanner uni, and simple in structure, cost.
Although exemplified and described the present invention with reference to particular implementation, but it should be appreciated by those skilled in the art that: in the case of not departing from the spirit and scope of the present invention that limited by claim and equivalent thereof, can carry out the various variations in form and details at this.
Claims (9)
1. the three-dimensional scanner based on mobile device, comprising:
Mobile device, has the image collection module towards object to be taken;
Lighting apparatus, comprises multiple light source modules towards object to be taken, and carries out transfer of data with described mobile device;
Wherein, described in described mobile device control, image collection module is obtained object to be taken and is in the each light source module image under irradiating.
2. three-dimensional scanner according to claim 1, is characterized in that, described lighting apparatus also comprises seat stand, and wherein, described multiple light source modules are separately positioned on the diverse location of seat stand.
3. three-dimensional scanner according to claim 1, is characterized in that, the bottom of described mobile device is provided with data-interface, and wherein, described lighting apparatus is by connecting described data-interface and described mobile device carries out transfer of data.
4. three-dimensional scanner according to claim 2, is characterized in that, the bottom of described mobile device is provided with data-interface, and wherein, described lighting apparatus is by connecting described data-interface and described mobile device carries out transfer of data.
5. three-dimensional scanner according to claim 2, is characterized in that, described seat stand comprises pedestal and is separately positioned on the boss of pedestal two side ends, wherein, in described pedestal and described boss, at least one light source module is all set.
6. three-dimensional scanner according to claim 4, is characterized in that, described seat stand comprises pedestal and is separately positioned on the boss of pedestal two side ends, wherein, in described pedestal and described boss, at least one light source module is all set.
7. three-dimensional scanner according to claim 6, it is characterized in that, on described pedestal, be provided with the data pin corresponding with the data-interface of mobile device, wherein, described mobile device is by the light on and off state that is connected to control described light source module of data-interface and data pin.
8. three-dimensional scanner according to claim 1, is characterized in that, described light source module is LED lamp.
9. a three-dimensional rebuilding method for the three-dimensional scanner described in claim 1 to 8 any one, comprising:
Demarcate the intrinsic parameter of described image collection module;
Demarcate the direction of illumination of each light source module;
Described in mobile device control, image collection module is obtained object the to be taken image under each light source module irradiates;
The 3D approach that mobile device calculates each pixel in every width image is to obtain 3D approach to field, and the 3D approach obtaining carried out to integration to field to obtain the threedimensional model of object to be taken.
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| WO2017032284A1 (en) * | 2015-08-22 | 2017-03-02 | 吴翔 | Three-dimensional scanning method by using code division multiple access and multiple-antenna technology |
| CN106937105A (en) * | 2015-12-29 | 2017-07-07 | 宁波舜宇光电信息有限公司 | The 3D rendering method for building up of three-dimensional scanner and target object based on structure light |
| CN110095087A (en) * | 2018-01-31 | 2019-08-06 | 北京驭光科技发展有限公司 | Three-dimensional sensing accessory, three-dimensional sensing system and method |
| CN117414110A (en) * | 2023-12-14 | 2024-01-19 | 先临三维科技股份有限公司 | Control method, device, terminal equipment and system of three-dimensional scanning equipment |
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