CN104596444A - Three-dimensional photographic system and three-dimensional photographic method based on coding pattern projection - Google Patents
Three-dimensional photographic system and three-dimensional photographic method based on coding pattern projection Download PDFInfo
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Abstract
The invention relates to the field of three-dimensional measurement, in particular to a three-dimensional photographic system and a three-dimensional photographic method based on coding pattern projection. By the three-dimensional photographic system and the three-dimensional photographic method based coding pattern projection, three-dimensional data of a single-frame image are quickly resolved in a coding pattern projection mode, and a formed three-dimensional measured object point cloud has the characteristics of easiness in computing, high speed, high resolution ration and high measurement data precision. Moreover, the three-dimensional photographic system can be reused in follow-up three-dimensional photography by once calibration when components are not detached or changed, and is easy and convenient to operate.
Description
Technical field
The present invention relates to three-dimensional measurement field, particularly a kind of tri-dimensional photographing system and method based on encoded pattern projection.
Background technology
From image, calculate object Shape ' three-dimensional data is the focus that optical triangle method field studies for a long period of time, and has the optical three-dimensional measurement technology of high speed, high precision and noncontact advantage to be the focus studied always.Recently, in fields such as commercial measurement, reverse-engineering, vision guided navigation, Aero-Space, video display amusement, virtual reality, shaping and beauties, the 3D Three-dimension object recognition and the 3D that are especially in use in national safety-security area print concern and the research that industry is subject to extreme.
Optical three-dimensional measurement technology based on principle of triangulation has the research of decades, from the many images of needs to the three-dimensional reconstruction only needing piece image to carry out object Shape '.Researcher, when design triangle measuring system, employs different projected images, and as stripe pattern, gray code map picture, that coding pattern image waits until that body surface realizes is position encoded.Under this requirement background, how realizing utilizing minimum image to obtain 3 d shape data is fast the difficult problem that faces of current research and challenge, in some cases to utilizing piece image to obtain the demand of 3 d shape data acquisition more strongly, we are called single frames and measure.This single frames three-dimensional vision information technology achieves the real-time measurement of mobile testee.
Along with the needs that single frames is measured, Caspi (Caspi, D., Kiryati, N., and Shamir, J., " Rangeimaging with adaptive color structured light; " Pattern Analysis and MachineIntelligence, IEEE Transactions on, 1998,20 (5), 470-480.) colored Gray code is utilized to decrease shooting picture number.Boyer and Kak (Boyer, K.L., and Kak, A.C., " Color-Encoded StructuredLight for Rapid Active Ranging, " IEEE Transactions on Pattern Analysis and MachineIntelligence, 1987, PAMI-9 (1), 14-28.) reduce picture number by the color fringe image of projection unique encodings.Fourier transform profilometry is also conventional method for real-time measurement, but there is phase place to complicated and separating objects is difficult to expansion problems.Mikael
and Per Synnergren (
m.and Synnergren, P., " Measurementof Shape by Using Projected Random Patterns and Temporal Digital SpecklePhotography; " Appl.Opt.1999,38 (10), 1990-1997.) coding pattern measuring method is incorporated in three-dimensional measurement, but it still belongs to the relevant method of plane, and calculate very consuming time.
The kinect of Microsoft realizes by laser code pattern image the depth information that single-frame images obtains object, but it is mainly for the large scene design required for body sense, measuring accuracy is poor, can not adapt to the requirement of three-dimensional body fields of measurement to measuring accuracy.
Summary of the invention
The object of the invention is to overcome existing based in the acquiring three-dimensional images technology of single frames coding pattern, measuring accuracy is poor, the problem of three-dimensional body fields of measurement can not be adapted to, there is provided a kind of measuring accuracy high, be applicable to the tri-dimensional photographing method based on encoded pattern projection that three-dimensional body measures (especially three-dimensional face measurement): it comprises demarcation and arranges the stage and take pictures the stage in real time; Described demarcation arranges the stage and comprises the steps:
(1-1) adopt plane reference method to demarcate photographic means intrinsic parameter, photographic means intrinsic parameter comprises photographic means focal distance f in the direction of the width
u, focal distance f in short transverse
v, photographic means principal point coordinate (u
0, v
0), effective image pickup scope of photographic means is set as measurement space.
(1-2) carry out encoded pattern projection, obtain the spatial modulation field with coding pattern in measurement space projection.
(1-3) distance d is demarcated in setting, carry out coding by precision displacement platform to measurement space to demarcate, namely in measurement space, at interval of demarcation distance d gather a coding pattern successively, and by each station acquisition to coding pattern save as uncalibrated image by the order near to far away from 1 to N label.
(1-4) in the last operation position of step (1-3), determined by pose measurement and demarcate rotation matrix R between world coordinate system and photographic means coordinate system and translation vector T, wherein, R is the orthogonal matrix of 3 × 3, and its element is (r
1..., r
9), the component of translation vector T is respectively (T
x, T
y, T
z).
The described stage of taking pictures in real time comprises the steps:
(2-1) carry out encoded pattern projection, taken the coding projection image modulated by three-dimensional body by photographic means, both take the testee image under encoded pattern projection by photographic means;
(2-2) with the block of pixels of j*j for base unit, calculate the spatial depth value Z of captured each block of pixels of testee image, j is the natural odd number of more than 3; Its process is, calculates block of pixels relevance degree C (u, the v of testee image and each uncalibrated image; T), computing formula is as follows:
Wherein, (u, v) is center pixel point coordinate in current pixel block, and t is uncalibrated image sequence number, and its value is from 1 to N, S (u, v; T) for this block of pixels is corresponding to uncalibrated image, O (u, v; H) for the testee image of current shooting is in this block of pixels, O (u, v; H) value is directly obtain by testee image in measuring process, and wherein, h represents pixel (u, v) corresponding testee real space depth value.
with
be respectively S (u, v in block of pixels to be measured; T) with O (u, v; H) mean value; According to captured testee and relevance degree C (u, the v with reference to uncalibrated image; T) the relevance degree curve map drawn carries out curve fitting, and solves the uncalibrated image label m corresponding to its maximum related value, directly obtains the spatial depth value Z=d × m of calculation level according to timing signal shooting image spacing distance d.
(2-3) according to rotation matrix R, translation vector T and the spatial depth value Z of each pixel of testee image that calculates, solve the coordinate X on the Width corresponding to this pixel and the coordinate Y in short transverse, thus obtain the three-dimensional coordinate on testee surface corresponding to testee image slices vegetarian refreshments, its computing formula is:
Further, in step (1-2), encoded pattern projection mode is photolithographicallpatterned, printing mode or digital projection mode.
Further, the light source of described encoded pattern projection adopts infrared light supply, visible light source or near ultraviolet light source.
Further, the resolution of described encoded pattern projection is more than 300,000 pixels.
Further, the value of described demarcation distance d is 0.1mm-10mm.
The present invention also provides one to provide measuring accuracy high simultaneously, be applicable to three-dimensional body and measure (especially three-dimensional face measurement) tri-dimensional photographing system based on encoded pattern projection, comprise control device, photographic means and encoded pattern projection device, described photographic means, encoded pattern projection device are all connected with described control device.
Described control device comprises uncalibrated image memory module, spatial depth value computing module and three-dimensional coordinate computing module;
Described uncalibrated image memory module has the uncalibrated image of order label for storing;
Described spatial depth value computing module is for calculating the spatial depth value of captured each block of pixels of testee image;
Described three-dimensional coordinate computing module is used for calculating its three-dimensional coordinate according to the spatial depth value of each block of pixels.
Further, the light source of described encoded pattern projection device is infrared light supply, visible light source or near ultraviolet light source.
Further, described encoded pattern projection device is photoetching encoded pattern projection device, prints encoded pattern projection device or numerical coding pattern projection arrangement.
Compared with prior art, beneficial effect of the present invention: the tri-dimensional photographing method and system based on encoded pattern projection provided by the present invention realize resolving fast of single-frame images three-dimensional data, the three-dimensional testee point cloud of formation has the advantages that calculating is simple, speed is fast, resolution is high, measure data precision is high; Tri-dimensional photographing method provided by the invention and device are ensureing not occur to dismantle when parts change operation only once to demarcate and can reuse in three-dimensional measurement afterwards, simple to operation.
Accompanying drawing illustrates:
Fig. 1 is that the tri-dimensional photographing method based on encoded pattern projection provided by the invention demarcation arranges phase flow figure.
Fig. 2 is that the tri-dimensional photographing method based on encoded pattern projection provided by the invention is taken pictures phase flow figure in real time.
Fig. 3 is the tri-dimensional photographing system construction drawing based on encoded pattern projection provided by the invention.
Fig. 4 is the tri-dimensional photographing method overall flow figure based on encoded pattern projection provided by the invention.
Wherein, 1-control device, 2-photographic means, 3-encoded pattern projection device
Embodiment
Below in conjunction with drawings and the specific embodiments, the present invention is described in further detail.But this should be interpreted as that the scope of the above-mentioned theme of the present invention is only limitted to following embodiment, all technology realized based on content of the present invention all belong to scope of the present invention.
Embodiment 1: as described in Figure 3, the present embodiment provides a kind of tri-dimensional photographing system based on encoded pattern projection, comprise control device 1, photographic means 2 and encoded pattern projection device 3, described photographic means 2, encoded pattern projection device 3 are all connected with described control device 1.
Described photographic means 2 is for taking image (as facial image).
Described encoded pattern projection device 3 for carrying out encoded pattern projection in effective image pickup scope of described photographic means 2.
Described control device 1 comprises uncalibrated image memory module, spatial depth value computing module and three-dimensional coordinate computing module (not showing uncalibrated image memory module, spatial depth value computing module and three-dimensional coordinate computing module in figure).
Described uncalibrated image memory module has the uncalibrated image of order label for storing.
Described spatial depth value computing module is for calculating the spatial depth value of captured each block of pixels of testee image.
Described three-dimensional coordinate computing module is used for calculating its three-dimensional coordinate according to the spatial depth value of each block of pixels.
In the present embodiment, photographic means 2 adopts the GS3-U3-14S5C-C CCD type video camera of PointGray, and its resolution is 1384 × 1036pixels, and lens focus is 12mm.Encoded pattern projection device 3 adopts resolution to be the Otto code ML550DLP digital projector of 1280 × 800pixels.
Further, in the present embodiment, the light source infrared light supply of described encoded pattern projection device 3.
Further, in the present embodiment, described encoded pattern projection device 3 is numerical coding pattern projection arrangement.
Embodiment 2: as shown in Figure 1 and Figure 2, adopts tri-dimensional photographing system as described in Example 1, and the present embodiment provides a kind of tri-dimensional photographing method based on encoded pattern projection to comprise demarcation and arranges the stage and take pictures the stage in real time; Described demarcation arranges the stage and comprises the steps:
S101: adopt plane reference method to demarcate photographic means intrinsic parameter, photographic means intrinsic parameter comprises the focal distance f on photographic means Width
u, focal distance f in short transverse
v, photographic means principal point coordinate (u
0, v
0), effective image pickup scope of photographic means is set as measurement space.
S102: the random digit projected image generating the above resolution of 1,000,000 pixel, obtains the spatial modulation field with coding pattern in measurement space projection.
S103: distance d is demarcated in setting, d=1mm, carry out coding by precision displacement platform to measurement space to demarcate, namely in measurement space, a coding pattern is gathered successively at interval of demarcation distance d, and by each station acquisition to coding pattern save as uncalibrated image, as N=200 in the present embodiment by the order near to far away from 1 to N label.
S104: in step S103: last operation position, determined by pose measurement and demarcate rotation matrix R between world coordinate system and photographic means coordinate system and translation vector T, wherein, R is the orthogonal matrix of 3 × 3, and its element is (r
1..., r
9), the component of translation vector T is respectively (T
x, T
y, T
z).
More than demarcate arrange the stage only need setting once, the stage of taking pictures in real time after this all without the need to repeat arrange.
The described stage of taking pictures in real time comprises the steps:
S201: carry out encoded pattern projection, taken the coding projection image modulated by face (this method can be applicable to take the three-dimensional body including but not limited to face) by photographic means, both take the testee image under encoded pattern projection by photographic means;
S202: with the block of pixels of j*j for base unit, calculates the spatial depth value Z of captured each block of pixels of testee image, in the present embodiment, and j=3; Its process is, calculates block of pixels relevance degree C (u, the v of testee image and each uncalibrated image; T), computing formula is as follows:
Wherein, (u, v) is center pixel point coordinate in current pixel block (i.e. the coordinate of pixel on image ranks), and t is uncalibrated image sequence number, and its value is from 1 to N, S (u, v; T) for this block of pixels is corresponding to uncalibrated image, O (u, v; H) for the testee image of current shooting is in the value of this block of pixels, O (u, v; H) value is directly obtain by testee image in measuring process, and wherein, h represents pixel (u, v) corresponding testee real space depth value;
with
be respectively S (u, v in block of pixels to be measured; T) with O (u, v; H) mean value; According to captured testee and relevance degree C (u, the v with reference to uncalibrated image; T) the relevance degree curve map drawn carries out curve fitting, and solves the uncalibrated image label m corresponding to its maximum related value, directly obtains the spatial depth value Z=d × m of calculation level according to timing signal shooting image spacing distance d.
S203: according to rotation matrix R, translation vector T and the spatial depth value Z of each pixel of testee image that calculates, solve the coordinate X on the Width corresponding to this pixel and the coordinate Y in short transverse, thus obtain the three-dimensional coordinate of captured each pixel homologue body surface millet cake of testee image, its computing formula is:
Wherein, f
ufor the focal length on photographic means Width, f
vfor photographic means focal length in the height direction, (u
0, v
0) be photographic means principal point coordinate, (r
1..., r
9) be the rotation matrix R between world coordinate system and photographic means coordinate system, (T
x, T
y, T
z) be three components of the translation vector T between world coordinate system and photographic means coordinate system.
Further, the light source of described encoded pattern projection adopts infrared light supply.
Measure a dumbbell rule standard component according to the method described above, gained measuring accuracy is as shown in table 1:
The measuring accuracy of table 1 diverse location
Claims (8)
1. based on a tri-dimensional photographing method for encoded pattern projection, it is characterized in that, comprise demarcation and the stage is set and takes pictures the stage in real time; Described demarcation arranges the stage and comprises the steps:
(1-1) demarcate photographic means intrinsic parameter, photographic means intrinsic parameter comprises the focal distance f on photographic means Width
u, focal distance f in short transverse
v, photographic means principal point coordinate (u
0, v
0), effective image pickup scope of photographic means is set as measurement space;
(1-2) carry out encoded pattern projection, obtain the spatial modulation field with coding pattern in measurement space projection;
(1-3) distance d is demarcated in setting, carry out coding to measurement space to demarcate, namely in measurement space, far away from closely causing, at interval of demarcation distance d gather a coding pattern successively, and by each station acquisition to coding pattern save as uncalibrated image from 1 to N label in order;
(1-4) in the last operation position of step (1-3), determined by pose measurement and demarcate rotation matrix R between world coordinate system and photographic means coordinate system and translation vector T, wherein, R is the orthogonal matrix of 3 × 3, and its element is (r
1..., r
9), the component of translation vector T is respectively (T
x, T
y, T
z);
The described stage of taking pictures in real time comprises the steps:
(2-1) carry out encoded pattern projection, take the testee image under encoded pattern projection by photographic means;
(2-2) with the block of pixels of j*j for base unit, calculate the spatial depth value Z of captured each block of pixels of testee image, j is the natural odd number of more than 3; Its process is, calculates each block of pixels relevance degree C (u, the v of testee image and each uncalibrated image; T), computing formula is as follows:
Wherein, (u, v) is center pixel point coordinate in current pixel block, and t is uncalibrated image sequence number, and its value is from 1 to N, S (u, v; T) for this block of pixels is corresponding to uncalibrated image, O (u, v; H) for the testee image of current shooting is in this block of pixels;
with
be respectively S (u, v in block of pixels to be measured; T) with O (u, v; H) mean value; According to captured testee and relevance degree C (u, the v with reference to uncalibrated image; T) the relevance degree curve map drawn carries out curve fitting, and solves the uncalibrated image label m corresponding to its maximum related value, directly obtains the spatial depth value Z=d × m of calculation level according to timing signal shooting image spacing distance d.
(2-3) according to rotation matrix R, translation vector T and the spatial depth value Z of each pixel of testee image that calculates, solve the coordinate X on the Width corresponding to this pixel and the coordinate Y in short transverse, thus obtain the three-dimensional coordinate on testee surface corresponding to testee image slices vegetarian refreshments, its computing formula is:
2. as claimed in claim 1 based on the tri-dimensional photographing method of encoded pattern projection, it is characterized in that, in step (1-2), encoded pattern projection mode is photolithographicallpatterned, printing mode or digital projection mode.
3. as claimed in claim 1 based on the tri-dimensional photographing method of encoded pattern projection, it is characterized in that, the light source of described encoded pattern projection adopts infrared light supply, visible light source or near ultraviolet light source.
4., as claimed in claim 1 based on the tri-dimensional photographing method of encoded pattern projection, it is characterized in that, the resolution of described encoded pattern projection is more than 300,000 pixels.
5. as claimed in claim 1 based on the tri-dimensional photographing method of encoded pattern projection, it is characterized in that, the value of described demarcation distance d is 0.1mm-10mm.
6. based on a tri-dimensional photographing system for encoded pattern projection, it is characterized in that, comprise control device, photographic means and encoded pattern projection device, described photographic means, encoded pattern projection device are all connected with described control device;
Described control device comprises uncalibrated image memory module, spatial depth value computing module and three-dimensional coordinate computing module;
Described uncalibrated image memory module has the uncalibrated image of order label for storing;
Described spatial depth value computing module is for calculating the spatial depth value of captured each block of pixels of testee image;
Described three-dimensional coordinate computing module is used for calculating its three-dimensional coordinate according to the spatial depth value of each block of pixels.
7., as claimed in claim 6 based on the tri-dimensional photographing system of encoded pattern projection, it is characterized in that, the light source of described encoded pattern projection device is infrared light supply, visible light source or black light light source.
8. as claimed in claim 6 based on the tri-dimensional photographing system of encoded pattern projection, it is characterized in that, described encoded pattern projection device is photoetching encoded pattern projection device, prints encoded pattern projection device or numerical coding pattern projection arrangement.
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