CN104634323A - Multi-stage photographing three-dimensional photographic system and method - Google Patents
Multi-stage photographing three-dimensional photographic system and method Download PDFInfo
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- CN104634323A CN104634323A CN201510081130.7A CN201510081130A CN104634323A CN 104634323 A CN104634323 A CN 104634323A CN 201510081130 A CN201510081130 A CN 201510081130A CN 104634323 A CN104634323 A CN 104634323A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
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Abstract
The invention relates to the field of three-dimensional measurement and particularly relates to a multi-stage photographing three-dimensional photographic system and a multi-stage photographing three-dimensional photographic method. The three-dimensional photographic system and the method based on code pattern projection adopt a code pattern projection manner to rapidly resolve three-dimensional data of a single-frame image; a formed three-dimensional detected object point cloud has the characteristics of simplicity in calculation, rapid speed, high resolution rate and high measurement data precision; meanwhile, compared with a three-dimensional photographic method or device only having a single photographic device, the three-dimensional photographic system with the plurality of photographic devices can guarantee the measurement precision and also can enlarge a measurement depth range; and the three-dimensional photographic method and the three-dimensional photographic device can be repeatedly used in the three-dimensional photographing by only carrying out calibration for one time when detached part change operation does not occur, and the operation is simple and convenient.
Description
Technical field
The present invention relates to three-dimensional measurement field, particularly one multistage shooting tri-dimensional photographing system and method.
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., " Range imaging with adaptive color structured light; " Pattern Analysis and Machine Intelligence, 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 Structured Light for Rapid Active Ranging, " IEEE Transactions on Pattern Analysis and Machine Intelligence, 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., " Measurement of Shape by Using Projected Random Patterns and Temporal Digital Speckle Photography; " 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.Based on encoded pattern projection three-dimensional body measuring technique can realize high-precision measurement, but it ensures that the scope that fathoms under high precision performance condition is very little, generally only has 20cm, and this limits its application undoubtedly.
Summary of the invention
The object of the invention is to the problem that the scope that fathoms when overcoming the existing acquiring three-dimensional images technology high measurement accuracy based on single frames coding pattern is little, there is provided one namely to ensure measuring accuracy, the multistage shooting tri-dimensional photographing method of the scope of fathoming can be improved again: 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) measurement space is divided into n equal portions in the depth direction, demarcates the intrinsic parameter of n photographic means respectively, and n photographic means best image pickup scope order is in the depth direction set in one_to_one corresponding in each equal portions measurement space.
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), by demarcating, make n photographic means have identical best image pickup scope in the height direction with on Width.
(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, a coding pattern is gathered successively at interval of demarcation distance d, and by each station acquisition to coding pattern save as uncalibrated image by the order near to far away from 1 to N label, N is by measurement range on depth direction and demarcate distance decision, usually
(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, respectively taken the testee image under an encoded pattern projection by n platform photographic means.
(2-2) with the block of pixels of j*j for base unit, j is the natural odd number of more than 3; Contrast detecting or detecting phase method is utilized to select each block of pixels correspondence object shooting the most clearly image.
(2-3) the depth value Z of each block of pixels image that goes out of calculating sifting, its process is, each block of pixels relevance degree C (u, the v of each block of pixels image that calculating sifting goes out 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 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 image 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.
(2-4) 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 namely to ensure measuring accuracy simultaneously, the multistage shooting tri-dimensional photographing system of the scope of fathoming can be improved again, comprise control device, n photographic means and encoded pattern projection device, described photographic means, encoded pattern projection device is all connected with described control device, the photographic means best image pickup scope in the depth direction of n drops in n the decile space that measurement space divides equally in the depth direction respectively, n decile space one_to_one corresponding of a described n photographic means and measurement space, preferably, each photographic means the best shooting focal length in the depth direction should drop on the center of the decile measurement space of its correspondence, n is more than 2 natural numbers.
Described control device comprises uncalibrated image memory module, subimage block screening 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 subimage block screening module to be used for the image of different cameras shooting with j*j block of pixels for base unit carries out sharpness screening, and j is the natural odd number of more than 3.
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: multistage shooting tri-dimensional photographing method and system 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; Meanwhile, compared to only having the tri-dimensional photographing method of single photographic means namely to ensure measuring accuracy, the scope of fathoming can be improved again.
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 multistage shooting tri-dimensional photographing method demarcation provided by the invention arranges phase flow figure.
Fig. 2 is that multistage shooting tri-dimensional photographing method provided by the invention is taken pictures phase flow figure in real time.
Fig. 3 is multistage shooting tri-dimensional photographing system construction drawing provided by the invention.
Fig. 4 is point schematic diagram such as the multistage shooting tri-dimensional photographing method calibration phase test space provided by the invention;
Fig. 5 is multistage shooting tri-dimensional photographing method overall flow figure 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 multistage shooting tri-dimensional photographing system, comprise control device 1, 3 photographic means 2 and encoded pattern projection device 3, described photographic means 2, encoded pattern projection device 3 is all connected with described control device 1, the photographic means 2 best image pickup scope in the depth direction of 3 drops in 3 decile spaces that measurement space divides equally in the depth direction respectively, 3 decile space one_to_one corresponding of described 3 photographic means and measurement space, preferably, each photographic means the best shooting focal length in the depth direction should drop on the center of the decile measurement space of its correspondence.
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, optical sieving 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 subimage block screening module to be used for the image of different cameras shooting with 3*3 block of pixels for base unit carries out sharpness screening.
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 of described encoded pattern projection device 3 is infrared light supply.
Further, in the present embodiment, described encoded pattern projection device 3 is numerical coding pattern projection arrangement.
The multistage shooting tri-dimensional photographing system that embodiment provides is compared to the tri-dimensional photographing system of single photographic means, and its effective coverage (sensing range) can reach 3 times of the tri-dimensional photographing system of single photographic means.
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 multistage shooting tri-dimensional photographing method to comprise demarcation and arranges the stage and take pictures the stage in real time; The present embodiment has 3 photographic means for system, and described demarcation arranges the stage and comprises the steps:
S101: as shown in Figure 4, 3 equal portions are divided into by measurement space (to be respectively d1 in the depth direction, d2, d3), demarcate the intrinsic parameter of 3 photographic means respectively, and 3 photographic means best image pickup scope order is in the depth direction set in one_to_one corresponding in each equal portions measurement space, in the present embodiment, 3 photographic means from the bottom up successively label be the first photographic means, second photographic means, 3rd photographic means, wherein the best image pickup scope of the first photographic means is demarcated in d1 space, the best image pickup scope of the second photographic means is demarcated in d2 space, in d3 space, (Fig. 4 only represents that the decile of measurement space and n photographic means are illustrated with the corresponding of decile measurement space in the best image pickup scope demarcation of the second photographic means, do not represent the initial of measurement space scope or final position for as shown in the figure).
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), by demarcating, make n photographic means have identical best image pickup scope in the height direction with on Width.
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 by the order near to far away from 1 to N label, as in the present embodiment, N=600.
S104: in the last operation position of step S103, 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, is respectively taken the testee image under an encoded pattern projection by n platform photographic means.
S202: with the block of pixels of j*j for base unit, in the present embodiment, j=3; Contrast detecting or detecting phase method is utilized to select each block of pixels correspondence object shooting the most clearly image.
(2-3) the depth value Z of each block of pixels image that goes out of calculating sifting, its process is, each block of pixels relevance degree C (u, the v of each block of pixels image that calculating sifting goes out 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) this block of pixels is corresponding to uncalibrated image (the same pixel block in 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, solve the uncalibrated image label m corresponding to its maximum related value, then the position at this uncalibrated image place is the position at this block of pixels place in the depth direction, directly obtains the spatial depth value Z=d × m of this block of pixels according to timing signal shooting image spacing distance d.
S204: 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, in the present embodiment, 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
| Position | Radius (measured value) | Radius (actual value) | Error |
| 1 | 15.0011 | 15.0798 | 0.0787 |
| 2 | 15.0011 | 15.0943 | 0.0932 |
| 3 | 15.0011 | 14.9369 | -0.0642 |
| 4 | 15.0011 | 15.0842 | 0.0831 |
Claims (8)
1. a multistage shooting tri-dimensional photographing method, is characterized in that, 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) measurement space is divided into n equal portions in the depth direction, demarcates the intrinsic parameter of n photographic means respectively, and n photographic means best image pickup scope order is in the depth direction set in each decile measurement space;
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, respectively taken the testee image under an encoded pattern projection by n platform photographic means;
(2-2) with the block of pixels of j*j for base unit, utilize contrast detect or detecting phase method select each block of pixels correspondence the most clearly object shooting image, j is the natural odd number of more than 3; ;
(2-3) the depth value Z of each block of pixels image that goes out of calculating sifting, its process is, each block of pixels relevance degree C (u, the v of each block of pixels image that calculating sifting goes out 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.
(2-4) 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. multistage shooting tri-dimensional photographing method as claimed in claim 1, is characterized in that, in step (1-2), encoded pattern projection mode is photolithographicallpatterned, printing mode or digital projection mode.
3. multistage shooting tri-dimensional photographing method as claimed in claim 1, 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. multistage shooting tri-dimensional photographing method as claimed in claim 1, it is characterized in that, the resolution of described encoded pattern projection is more than 300,000 pixels.
5. multistage shooting tri-dimensional photographing method as claimed in claim 1, is characterized in that, the value of described demarcation distance d is 0.1mm-10mm.
6. a multistage shooting tri-dimensional photographing system, is characterized in that, comprise control device, encoded pattern projection device and n photographic means, n is more than 2 natural numbers, and described photographic means, encoded pattern projection device are all connected with described control device;
N photographic means best image pickup scope in the depth direction drops in n the decile space that measurement space divides equally in the depth direction respectively;
Described control device comprises uncalibrated image memory module, subimage block screening module, spatial depth value computing module and three-dimensional coordinate computing module;
Described subimage block screening module to be used for the image of different cameras shooting with j*j block of pixels for base unit carries out sharpness screening, and j is the natural odd number of more than 3;
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. multistage shooting tri-dimensional photographing system as claimed in claim 6, is characterized in that, the light source of described encoded pattern projection device is infrared light supply, visible light source or near ultraviolet light source.
8. multistage shooting tri-dimensional photographing system as claimed in claim 6, 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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| CN107063131A (en) * | 2017-06-02 | 2017-08-18 | 四川大学 | A kind of related non-valid measurement point minimizing technology of time series and system |
| CN107063131B (en) * | 2017-06-02 | 2019-09-03 | 四川大学 | A kind of time series correlation non-valid measurement point minimizing technology and system |
| CN107346425A (en) * | 2017-07-04 | 2017-11-14 | 四川大学 | A kind of three-D grain photographic system, scaling method and imaging method |
| CN109405735A (en) * | 2017-08-18 | 2019-03-01 | 阿里巴巴集团控股有限公司 | 3 D scanning system and 3-D scanning method |
| WO2020093321A1 (en) | 2018-11-08 | 2020-05-14 | 成都频泰鼎丰企业管理中心（有限合伙） | Three-dimensional measurement device |
| CN112930468A (en) * | 2018-11-08 | 2021-06-08 | 成都频泰鼎丰企业管理中心（有限合伙） | Three-dimensional measuring device |
| CN112930468B (en) * | 2018-11-08 | 2022-11-18 | 成都频泰鼎丰企业管理中心（有限合伙） | Three-dimensional measuring device |
| JP7418455B2 (en) | 2018-11-08 | 2024-01-19 | 成都頻泰鼎豐企業管理中心（有限合夥） | 3D measurement equipment and measurement system |
| US11953313B2 (en) | 2018-11-08 | 2024-04-09 | Chengdu Pin Tai Ding Feng Business Administration | Three-dimensional measurement device |
| CN112927340A (en) * | 2021-04-06 | 2021-06-08 | 中国科学院自动化研究所 | Three-dimensional reconstruction acceleration method, system and equipment independent of mechanical placement |
| CN112927340B (en) * | 2021-04-06 | 2023-12-01 | 中国科学院自动化研究所 | Three-dimensional reconstruction acceleration method, system and equipment independent of mechanical placement |
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