CN104123710A - Implement method of three-dimensional video camera system - Google Patents
Implement method of three-dimensional video camera system Download PDFInfo
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- CN104123710A CN104123710A CN201310145530.0A CN201310145530A CN104123710A CN 104123710 A CN104123710 A CN 104123710A CN 201310145530 A CN201310145530 A CN 201310145530A CN 104123710 A CN104123710 A CN 104123710A
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Abstract
The invention relates to an implement method for a three-dimensional video camera system, and belongs to the field of video communication technologies. The implement method for the three-dimensional video camera system includes the following steps of 1) illuminating fixed black and white grating stripes to an object through a projector, and calibrating a digital camera; 2) obtaining valid parameters of the digital camera after normal calibration, using the digital camera to photograph the illuminated object, and obtaining video information; 3) conducting data processing of the video information, transmitting each frame of the video information in a video stream manner into a computer, conducting real-time parsing and 3D modeling, and obtaining a dynamic 3D image; and 4) integrating photographed data and synthesizing into a file. The implement method for the three-dimensional video camera system is advantageous in that a single-frame picture or multi-frame video is used for generating a continuous 3DCG and 3D video, and the degree of freedom is larger; and the specific black and white grating space encoding method is used for eliminating the interference of colors of an object or scene and the anti-interference capability is enhanced.
Description
Technical field
The present invention relates to a kind of implementation method of 3 D video camera system, belong to video image communication technical field.
Background technology
We are residing is a three-dimensional world, but camera and video camera shooting is but two-dimentional picture and video, has lost depth information.Only have this point of two-dimensional signal to make to a great extent development and the application of machine vision in life be subject to restriction significantly, the object of three-dimensional measurement is when obtaining Object Depth image, to obtain form and the three-dimensional world coordinate of three-dimensional body, to realize more deep to three-dimensional world and to understand accurately.
In the last few years, there are many researchers both domestic and external to work out the method for a variety of three-dimensional measurements, the method of for example binocular stereo vision, this method is the image-forming principle of simulation human eye, measure when object, carry out obtaining after combined treatment the three-dimensional information of this object by the two dimensional image of two different angles.Although binocular stereo vision method is pressed close to human eye image-forming principle very much, but while determining an object dimensional information, need two pictures just can carry out, therefore aspect processing, efficiency is not high, and two simulation human eyes camera relative position and need to have very strict control with respect to putting of ground.
Because structured light space encoding method only need to just can be extrapolated the three-dimensional information on testee by Vector triangle by a pictures, the method has very high resolution, and fast operation, and implementation method is based on Vector triangle, and its easy implementation becomes the emphasis of our research.
Based on the three-dimensional measurement of structured light space encoding method, its core technology is selection and the arrangement of space encoding, in now a lot of periodicals and paper, is encoded to master with color space, and its reason is that colored RGB passage is (0,0,0), (0,255,255) or (255,0,255) etc. in these situations because single pass value is not 0 to be exactly 255, so easily determine which kind of color is this color be, and determine the residing position of this vitta with this.But in practice, the object that grating irradiates is not lily entirely, and in the time running into colored object, coloud coding is stamped and will be run into very large problem, so what the inventive method adopted is the black-white grating of gray level, thereby avoids the situation of this None-identified.
Summary of the invention
The implementation method that the object of the invention is to have the problem of disturbing for coloud coding in the time irradiating color body and provide a kind of 3 D video camera system based on black-white grating, it is main body three-dimensional camera that the method mainly adopts a video camera and a projector, by computing machine, video information is processed in real time, thereby realized 3 D video shooting.
The technical solution that realizes the object of the invention is: a kind of implementation method of 3 D video camera system, first project fixing black-white grating striped by a projector to object, then by calibrated video camera, irradiated object is made a video recording, again video information is transferred to each frame of form by video flowing and in computing machine, resolves in real time and carry out 3D modeling, to realize real-time 3D scene.
Its concrete steps are as follows:
Step 1: to the fixing black-white grating striped of object illumination, digital camera is demarcated by projector;
Step 2: obtain the actual parameter of digital camera after normal demarcation, and digital camera is made a video recording to irradiated object, obtain video information;
Step 3: video information is carried out to data processing, be transferred to each frame of form by video information by video flowing and resolve in real time in computing machine and carry out 3D modeling, obtain dynamic 3D rendering;
Step 4: integrate picked-up data composite document.
Principle of the present invention is: the single photographs of the present invention by an Input equipment or video can obtain the three-dimensional information of the object that in visual field, black-white grating striped is irradiated to, and mainly using principle is triangle rule:
Wherein d is the distance of projector's viewport and video camera viewport, the complementary angle of a is projector's viewport the angle to direction and its viewport and video camera viewport line, the complementary angle of b is video camera viewport the angle to direction and its viewport and projector's viewport line, l is that on object, this point, to the distance of d, is the depth information of object.
In addition, can change according to self-demand, three-dimensional camera is changed into three-dimensional camera function, by the API that calls video camera, the picture obtaining is processed, and there is the full three-dimensional information that three-dimensional camera can be rotated to shooting and can obtain this object in situation about needing around some objects, can generate on computers 360 ° of veined real-world object complexions.
Compared with prior art, its distinguishing feature is in the present invention:
1. adopt single Input equipment to carry out image capture, efficiency is higher, and data volume is less;
2. adopt single frames picture or multi-frame video to generate continuous type 3DCG and 3D video, degree of freedom is larger;
3. adopt the space encoding method of specific black-white grating itself to be with coloured interference to eliminate material object or scene, to strengthen antijamming capability;
4. change traditional horizontal direction Vector triangle, change vertical direction into, equipment packages is more reasonable.
Brief description of the drawings
Fig. 1 is Vector triangle.
Tu2Shi projector encapsulate schematic diagram vertical with digital camera.
Fig. 3 is three-dimensional camera shooting System Operation process flow diagram.
Fig. 4 is the optical model of camera.
Embodiment
Describe the present invention below in conjunction with accompanying drawing.
The implementation method of 3 D video camera system of the present invention, its computing method are mainly used Vector triangle, as shown in Figure 1, the triangle of level is placed on to vertical direction, because projector is inverted or cisco unity malfunction when 90 ° of slant settings, and the basic project organization of projector is flat, therefore projector is placed on to encapsulation the top, digital camera is placed by lower floor, and power-supply unit is placed in middle level.
The vertical encapsulating structure of projector of the present invention and digital camera as shown in Figure 2, comprises digital camera, adopts Phantom v640 high-speed digital photography machine, for obtaining single-frame images or the multi-frame video in visual field; Projector, adopts beautiful news QUMI Q5, for specific black-white grating striped is projected to the object in visual field; Power-supply unit is used to projector and digital camera to power, and processes the computing machine of Video stream information.
When work, first be placed on the front a distance of digital camera with scaling board, on this scaling board, formed by the square of the fixing length of side, after the concrete data of known realistic space three-dimensional system of coordinate, the now funtcional relationship of the two-dimensional coordinate system of realistic space three-dimensional system of coordinate and Computer display can be instead released according to focal length again, thereby actual three-dimensional concrete data message can be obtained.
As shown in Figure 3, it is three-dimensional camera shooting System Operation process flow diagram of the present invention, first while specific black-white grating striped being projected on object, by the video camera of demarcating, its visual field information is absorbed, and analyze the residing space two-dimensional information of every bit in visual field by arranging of specific black-white grating, again in conjunction with the depth information obtaining after Computer Analysis, use OpenGL to carry out 3D modeling to generate continuous 3 D video by the three-dimensional information obtaining, and can be rotated observation to the image under this frame at any time of video point, and we have obtained the actual three-dimensional information of object, so we can go out distance between object and the detailed information of body surface by real-time measurement.
Owing to needing in use the relative position by digital camera and projector to fix, thus should by digital camera and projector with and electric power system be integrated in an encapsulation, to improve the validity of obtaining video.
As shown in Figure 4, setting up four coordinate systems taking the plane that shows on camera, camera image planes, computing machine and the space at M point place as object, is respectively realistic space three-dimensional system of coordinate WX
wy
wz
w, camera two dimensional image coordinate system oxy, camera three-dimensional image coordinate system CX
cy
cz
cwith computer two-dimensional image coordinate system ouv.Wherein in realistic space three-dimensional system of coordinate, 1 M, by rotation matrix and translation vector, can extrapolate the relevant position of M at camera three-dimensional image coordinate system, is shown below:
Wherein R is rotation matrix, and T is translation vector, then get final product according to the pin-hole model of camera:
Wherein f is the distance between photocentre C and the image planes of camera, can obtain the funtcional relationship of realistic space three-dimensional system of coordinate and camera two dimensional image coordinate system by twice conversion of above formula, the two-dimensional coordinate system of last camera two dimensional image coordinate system and Computer display is only the relation of multiplying power.
Taking single frames picture as example, by demarcating to obtain after digital camera inner parameter, use three-dimensional camera shooting system to photograph to the object of formulating, the specific black-white grating striped of the omnidistance projection of projector is to scene, when being radiated on actual object, black-white grating striped may there is corresponding bending and distortion because of the irregular shape of actual object, and can determine the encoded radio of the striped at this place according to the gray-scale value of the pixel of any point in image planes, and each encoded radio correspondence unique projected angle, so just can obtain by the transformational relation of the two-dimensional coordinate system of Vector triangle and real space three-dimensional system of coordinate and Computer display the space three-dimensional information of this point.According to this rule, algorithm is committed in code, just can analyze and do suitably compensation to the striped of this bending by computing machine, can recover the three-dimensional information of comparatively real object.Because the coded sequence of black and white strip is certain, so in decoding one by one if there is for example from Article 3 directly to the situation of Article 5, illustrate and now have the situation that striped is lost to occur, the compensation of carrying out Article 4 in the edge of Article 3 and Article 5 can obtain comparatively real information.Owing to will obtaining three-dimensional information in kind by a pictures, become more important so differentiate each residing position of root striped, so change the half-tone information of part striped when chequered with black and white striped being arranged by specific space encoding mode, when algorithm is realized, the error of its existence is dropped to minimum level as far as possible, finally can obtain by specific configuration the three-dimensional information of each some present position, and all point-renderings are become to a figure, reproduce the three-dimensional information figure on this irradiated surface of material object by OpenGL, aspect tinter, use the original color of material object while shooting to carry out texture mapping, thereby obtain comparatively real 3DCG in kind.
Be example for continuous multi-frame video, only need to be on the basis of single frames picture, the input matrix of OpenGL is carried out to real-time update and do not stop flush buffers and just can realize, but in order to increase pause function, can specify special button to keep the information content of current buffer zone.When by this three-dimensional camera shooting system, same object being rotated and being taken when obtaining omnidirectional three-dimensional information, can in the time that this object is observed in computer terminal rotation, be not only a viewed surface by splicing function, but the real surface of whole object.
When finally picture or video processing, can select two points to measure two distances between point, or be to select three somes observations whether whether enough smooth with judgment object surface at grade, these are all that scene by obtaining or three-dimensional information in kind are got, and this is quite effectively and efficient for measuring those objects that can not contact.
Claims (4)
1. an implementation method for 3 D video camera system, is characterized in that comprising the following steps:
Step 1: to the fixing black-white grating striped of object illumination, digital camera is demarcated by projector;
Step 2: obtain the actual parameter of digital camera after normal demarcation, and digital camera is made a video recording to irradiated object, obtain video information;
Step 3: video information is carried out to data processing, be transferred to each frame of form by video information by video flowing and resolve in real time in computing machine and carry out 3D modeling, obtain dynamic 3D rendering;
Step 4: integrate picked-up data composite document.
2. the implementation method of 3 D video camera system according to claim 1, it is characterized in that: digital camera is demarcated described in step 1, its demarcating steps is: be first placed on the front a distance of digital camera with scaling board, described scaling board is made up of the square of fixing the length of side, after the concrete data of known realistic space three-dimensional system of coordinate, according to the counter now funtcional relationship of the two-dimensional coordinate system of realistic space three-dimensional system of coordinate and Computer display of releasing of focal length, obtain actual three-dimensional concrete data message.
3. the implementation method of 3 D video camera system according to claim 2, it is characterized in that: the funtcional relationship of described realistic space three-dimensional system of coordinate and the two-dimensional coordinate system of Computer display is: setting up four coordinate systems taking the plane that shows on digital camera, digital camera image planes, computing machine and the space at M point place as object, is respectively realistic space three-dimensional system of coordinate WX
wy
wz
w, digital camera two dimensional image coordinate system oxy, digital camera 3-D view coordinate system CX
cy
cz
cwith computer two-dimensional image coordinate system ouv, wherein in realistic space three-dimensional system of coordinate, 1 M, by rotation matrix and translation vector, can extrapolate M point in the relevant position of digital camera 3-D view coordinate system, is shown below:
Wherein R is rotation matrix, and T is translation vector, then get final product according to the pin-hole model of digital camera:
Wherein f is the distance between photocentre C and the image planes of camera, can obtain the funtcional relationship of realistic space three-dimensional system of coordinate and camera two dimensional image coordinate system by twice conversion of above formula.
4. the implementation method of 3 D video camera system according to claim 1, is characterized in that: this system comprises digital camera, for obtaining single-frame images or the multi-frame video in visual field; Projector, for projecting the object in visual field by specific black-white grating striped; Power-supply unit, is used to projector and digital camera to power; Computing machine, for the treatment of Video stream information.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105657424A (en) * | 2015-12-30 | 2016-06-08 | 深圳市云宙多媒体技术有限公司 | Method and system for coding chroma of movie scene |
| CN107404643A (en) * | 2016-05-18 | 2017-11-28 | 上海宽翼通信科技有限公司 | A kind of three-dimensional camera shooting system and its image capture method |
| CN111105488A (en) * | 2019-12-20 | 2020-05-05 | 成都纵横自动化技术股份有限公司 | Imaging simulation method and device, electronic equipment and storage medium |
-
2013
- 2013-04-25 CN CN201310145530.0A patent/CN104123710A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105657424A (en) * | 2015-12-30 | 2016-06-08 | 深圳市云宙多媒体技术有限公司 | Method and system for coding chroma of movie scene |
| CN107404643A (en) * | 2016-05-18 | 2017-11-28 | 上海宽翼通信科技有限公司 | A kind of three-dimensional camera shooting system and its image capture method |
| CN111105488A (en) * | 2019-12-20 | 2020-05-05 | 成都纵横自动化技术股份有限公司 | Imaging simulation method and device, electronic equipment and storage medium |
| CN111105488B (en) * | 2019-12-20 | 2023-09-08 | 成都纵横自动化技术股份有限公司 | Imaging simulation method, imaging simulation device, electronic equipment and storage medium |
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