CN104634323B - A kind of multistage shooting tri-dimensional photographing system and method - Google Patents
A kind of multistage shooting tri-dimensional photographing system and method Download PDFInfo
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- CN104634323B CN104634323B CN201510081130.7A CN201510081130A CN104634323B CN 104634323 B CN104634323 B CN 104634323B CN 201510081130 A CN201510081130 A CN 201510081130A CN 104634323 B CN104634323 B CN 104634323B
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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
Abstract
The present invention relates to three-dimensional measurement field, particularly to a kind of multistage shooting tri-dimensional photographing system and method.Tri-dimensional photographing method and system based on encoded pattern projection provided by the present invention use the mode of encoded pattern projection that single-frame images carries out the quick resolving of three-dimensional data, the three-dimensional testee point cloud formed has the advantages that calculating is simple, speed is fast, resolution is high, measure data precision is high, simultaneously, tri-dimensional photographing method or apparatus compared to the most single photographic means, the present invention provides the tri-dimensional photographing system with multiple stage photographic means can realize i.e. ensureing certainty of measurement, can improve again the scope of fathoming；The tri-dimensional photographing method and device that the present invention provides only need to once be demarcated when ensureing and not occurring and dismantle parts change operation and can be reused in tri-dimensional photographing afterwards, simple to operation.
Description
Technical field
The present invention relates to three-dimensional measurement field, particularly to a kind of multistage shooting tri-dimensional photographing system and method.
Background technology
Calculating object Shape ' three-dimensional data from image is the focus that optical triangle method field studies for a long period of time, and have at a high speed,
The focus of the optical three-dimensional measurement technology of high accuracy and noncontact advantage always research.Recently, commercial measurement, reverse-engineering,
The fields such as the amusement of vision guided navigation, Aero-Space, video display, virtual reality, shaping and beauty, are especially in use in country's safety-security area
3D Three-dimension object recognition and 3D print industry by concern extremely and research.
Optical three-dimensional measurement technology based on principle of triangulation has the research of decades, from the many images of needs to only needing
Piece image is wanted to carry out the three-dimensional reconstruction of object Shape '.Researcher, when design triangle measures system, employs different projections
Picture, such as stripe pattern, gray code map picture, that coding pattern image waits until that body surface realizes is position encoded.At this requirement background
Under, how realizing utilizing minimum image quickly to obtain 3 d shape data is the difficult problem that faces of current research and challenge, at certain
To utilizing piece image to obtain the demand of 3 d shape data acquisition more strongly in the case of Xie, we are called single frames and measure.This
Plant single frames three-dimensional vision information technology and achieve the real-time measurement of mobile testee.
The needs measured along with single frames, 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.) utilize colored Gray code 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.) by projecting the color fringe image of unique encodings
Reduce picture number.Fourier transform profilometry is also conventional method for real-time measurement, but complicated and separating objects are also existed phase
Position is difficult to expansion problems.Mikaeland 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 falls within the method that plane is relevant, and calculates the most time-consuming.
The kinect of Microsoft is also to realize single-frame images by laser code pattern image to obtain the depth information of object, but its
Mainly for the large scene design required for body-sensing, certainty of measurement is poor, it is impossible to enough adapt to three-dimensional body fields of measurement to measuring essence
The requirement of degree.Three-dimensional body based on encoded pattern projection measures technology can realize high-precision measurement, but it ensures high accuracy
The scope that fathoms under performance condition is the least, the most only 20cm, and this limits its application undoubtedly.
Summary of the invention
Measure when it is an object of the invention to overcome existing acquiring three-dimensional images technology high measurement accuracy based on single frames coding pattern
The problem that depth bounds is little, it is provided that one had both ensured certainty of measurement, can improve again the multistage shooting tri-dimensional photographing of the scope of fathoming
Method: it includes that demarcation arranges the stage and takes pictures the stage in real time；Described demarcation arranges the stage and comprises the steps:
(1-1) in the depth direction measurement space is divided into n equal portions, demarcates the intrinsic parameter of n photographic means respectively, and
N photographic means optimal image pickup scope order in the depth direction is set in one_to_one corresponding in each equal portions measurement space.
Photographic means intrinsic parameter includes photographic means focal distance f in the direction of the widthu, focal distance f in short transversev, photograph dress
Put principal point coordinate (u0,v0), by demarcating so that n photographic means in the height direction with width on have identical
Good image pickup scope.
(1-2) carry out encoded pattern projection, obtain the spatial modulation field with coding pattern in measurement space projection.
(1-3) set demarcation distance d, by precision displacement platform, measurement space is carried out coding and demarcate, i.e. at measurement space
In, gather a coding pattern successively at interval of demarcating distance d, and by the coding pattern that arrives in each station acquisition by near to
From 1 to N, label saves as uncalibrated image to remote order, and N is by measuring scope on depth direction and demarcating distance decision, generally
(1-4) in the last operation position of step (1-3), demarcation world coordinate system and photograph are determined by pose measurement
Spin matrix R between device coordinate system and translation vector T, wherein, R is the orthogonal matrix of 3 × 3, and its element is (r1,…,r9),
The component of translation vector T is respectively (Tx,Ty,Tz)。
The described stage of taking pictures in real time comprises the steps:
(2-1) carry out encoded pattern projection, n platform photographic means respectively shoot the testee image under an encoded pattern projection.
(2-2) with the block of pixels of j*j as ultimate unit, j is the odd number of more than 3；Utilize contrast detecting or detecting phase method
Select each block of pixels correspondence object the most clearly shooting image.
(2-3) the depth value Z of each block of pixels image that calculating sifting goes out, its process is, each picture that calculating sifting goes out
Element block image and each block of pixels relevance degree C (u, the v of each uncalibrated image；T), computing formula is as follows:
Wherein, (u, v) is center pixel point coordinates in current pixel block, and t is uncalibrated image serial number, its value from 1 to N, S (u, v；t)
Corresponding with reference to uncalibrated image, O (u, v for this block of pixels；H) it is the testee image value in this block of pixels of current shooting,
O(u,v；H) value for during measuring by testee image directly obtains, wherein, h represent pixel (u, v) corresponding tested
Object real space depth value.WithIt is respectively S (u, v in block of pixels to be measured；T) with O (u, v；H) average
Value；According to captured testee image and relevance degree C (u, the v with reference to uncalibrated image；T) the relevance degree curve chart drawn enters
Row curve matching, solves the uncalibrated image label m corresponding to its maximum related value, shoots image spacing distance d according to timing signal
Directly obtain the spatial depth value Z=d × m calculating point.
(2-4) deep according to spin matrix R, translation vector T and the space of testee each pixel of image that calculates
Angle value Z, solves the coordinate X on the width corresponding to this pixel and the coordinate Y in short transverse, thus obtains measured object
The three-dimensional coordinate on testee surface corresponding to body 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 uses 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 described value demarcating distance d is 0.1mm-10mm.
The present invention also provides for providing one i.e. to ensure certainty of measurement simultaneously, can improve again the multistage shooting three-dimensional of the scope of fathoming
Photographic system, including controlling device, n photographic means and encoded pattern projection device, described photographic means, coding pattern are thrown
Image device is all connected with described control device, and the photographic means of n optimal image pickup scope in the depth direction respectively falls in measurement
In n the decile space that space is divided equally in the depth direction, described n photographic means and n decile space one of measurement space
One is corresponding, it is preferred that each photographic means optimal shooting focal length in the depth direction should fall at the decile measurement space of its correspondence
Center, n is more than 2 natural numbers.
Described control device include 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 storage.
Described subimage block screening module is for carrying out clearly for ultimate unit with j*j block of pixels the image of different cameras shooting
Clear degree screening, j is the odd number of more than 3.
Described spatial depth value computing module is for calculating the spatial depth value of captured testee each block of pixels of image.
Described three-dimensional coordinate computing module is 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 digital coding graphic pattern projection device.
Compared with prior art, beneficial effects of the present invention: multistage shooting tri-dimensional photographing method and system provided by the present invention
Realizing the quick resolving of single-frame images three-dimensional data, the three-dimensional testee point cloud of formation has that calculating is simple, speed is fast, differentiates
The feature that rate is high, measure data precision is high；Meanwhile, i.e. ensure to measure essence compared to the tri-dimensional photographing method of the most single photographic means
Degree, can improve again the scope of fathoming.
The tri-dimensional photographing method and device that the present invention provides only need to carry out a deutero-albumose when ensureing and not occurring and dismantle parts change operation
Surely can three-dimensional measurement afterwards be reused, simple to operation.
Accompanying drawing illustrates:
Fig. 1 demarcates for the multistage shooting tri-dimensional photographing method that the present invention provides and arranges phase flow figure.
Fig. 2 takes pictures phase flow figure in real time for the multistage shooting tri-dimensional photographing method that the present invention provides.
The multistage shooting tri-dimensional photographing system construction drawing that Fig. 3 provides for the present invention.
The multistage shooting tri-dimensional photographing method calibration phase test space that Fig. 4 provides for the present invention etc. point schematic diagram.
The multistage shooting tri-dimensional photographing method overall flow figure that Fig. 5 provides for the present invention.
Wherein, 1-controls device, 2-photographic means, 3-encoded pattern projection device.
Detailed description of the invention
Below in conjunction with the accompanying drawings and specific embodiment the present invention is described in further detail.But this should be interpreted as the present invention
The scope of above-mentioned theme is only limitted to below example, and all technology realized based on present invention belong to the scope of the present invention.
Embodiment 1: as described in Figure 3, the present embodiment provide a kind of multistage shooting tri-dimensional photographing system, including control device 1,
3 photographic means 2 and encoded pattern projection device 3, described photographic means 2, encoded pattern projection device 3 all with described control
Device 1 connects, and the photographic means 2 of 3 optimal image pickup scope in the depth direction respectively falls in measurement space at depth direction
On in 3 decile spaces dividing equally, 3 decile space one_to_one corresponding of described 3 photographic means and measurement space, it is preferred that
Each photographic means optimal shooting focal length in the depth direction should fall in the center of decile measurement space of its correspondence.
Described photographic means 2 is used for shooting image (such as facial image).
Described encoded pattern projection device 3 is for carrying out encoded pattern projection in effective image pickup scope of described photographic means 2.
Described control device 1 includes uncalibrated image memory module, optical sieving module, spatial depth value computing module and three
Dimension coordinate computing module (does not shows in figure that uncalibrated image memory module, spatial depth value computing module and three-dimensional coordinate calculate mould
Block).
Described uncalibrated image memory module has the uncalibrated image of order label for storage.
Described subimage block screening module is for carrying out clearly for ultimate unit with 3*3 block of pixels the image of different cameras shooting
Clear degree screening.
Described spatial depth value computing module is for calculating the spatial depth value of captured testee each block of pixels of image.
Described three-dimensional coordinate computing module is for calculating its three-dimensional coordinate according to the spatial depth value of each block of pixels.
In the present embodiment, photographic means 2 uses the GS3-U3-14S5C-C CCD type video camera of PointGray, and its resolution is
1384 × 1036pixels, lens focus is 12mm.Encoded pattern projection device 3 uses resolution to be 1280 × 800pixels
Otto code ML550DLP digital projector.
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 digital coding graphic pattern projection device.
The multistage shooting tri-dimensional photographing system that embodiment provides is compared to the tri-dimensional photographing system of single photographic means, and it effectively shoots
Scope (detection range) is up to 3 times of tri-dimensional photographing system of single photographic means.
Embodiment 2: as shown in Figure 1 and Figure 2, uses tri-dimensional photographing system as described in Example 1, and the present embodiment provides one
Plant multistage shooting tri-dimensional photographing method and include that demarcation arranges the stage and takes pictures the stage in real time；The present embodiment has 3 photograph with system
As a example by device, described demarcation arranges the stage and comprises the steps:
S101: as shown in Figure 4, is divided into 3 equal portions (respectively d1, d2, d3) in the depth direction by measurement space, point
Not Biao Ding the intrinsic parameter of 3 photographic means, and 3 photographic means optimal image pickup scope order in the depth direction is set in
One_to_one corresponding in each equal portions measurement space, in the present embodiment, 3 photographic means are numbered the first photograph dress the most successively
Put, the second photographic means, the 3rd photographic means, wherein the optimal image pickup scope of the first photographic means is demarcated in d1 space, the
The optimal image pickup scope of two photographic means is demarcated in d2 space, and the optimal image pickup scope of the second photographic means is demarcated in d3 space
In (Fig. 4 only represents the decile of measurement space and n photographic means is corresponding with decile measurement space illustrates, does not represent measurement
Initial or the final position of spatial dimension is as shown in the figure).
Photographic means intrinsic parameter includes the focal distance f on photographic means widthu, focal distance f in short transversev, photographic means
Principal point coordinate (u0,v0), by demarcating so that n photographic means in the height direction with width on have identical optimal
Image pickup scope.
S102: generate the random digit projection picture of the 1000000 above resolution of pixel, has coding in measurement space projection acquisition
The spatial modulation field of pattern.
S103: set and demarcate distance d, d=1mm, carry out coding by precision displacement platform to measurement space and demarcate, and is i.e. surveying
In quantity space, gather a coding pattern successively at interval of demarcating distance d, and by each station acquisition to coding pattern press
From closely to remote order, from 1 to N, label saves as uncalibrated image, in the present embodiment, N=600.
S104: in the last operation position of step S103, determines demarcation world coordinate system and photographic means by pose measurement
Spin matrix R between coordinate system and translation vector T, wherein, R is the orthogonal matrix of 3 × 3, and its element is (r1,…,r9), flat
The component moving vector T is respectively (Tx,Ty,Tz)。
More than demarcating and arrange the stage and only need to set once, the stage of taking pictures in real time hereafter is all without repeating to arrange.
The described stage of taking pictures in real time comprises the steps:
S201: carry out encoded pattern projection, is respectively shot the testee image under an encoded pattern projection by n platform photographic means.
S202: with the block of pixels of j*j as ultimate unit, in the present embodiment, j=3；Utilize contrast detecting or the choosing of detecting phase method
Go out each block of pixels correspondence object the most clearly shooting image.
The depth value Z of each block of pixels image that S203: calculating sifting goes out, its process is, each pixel that calculating sifting goes out
Block image and each block of pixels relevance degree C (u, the v of each uncalibrated image；T), computing formula is as follows:
Wherein, (u v) is center pixel point coordinates in current pixel block (i.e. pixel coordinate on image ranks), t
Uncalibrated image serial number, its value from 1 to N, S (u, v；T) this block of pixels is corresponding with reference to the uncalibrated image (phase in uncalibrated image
Same block of pixels), O (u, v；H) it is the testee image value in this block of pixels of current shooting, O (u, v；H) value is measurement process
In directly obtained by testee image, wherein, h represents pixel (u, v) corresponding testee real space depth value.WithIt is respectively S (u, v in block of pixels to be measured；T) with O (u, v；H) meansigma methods；According to captured testee
With relevance degree C (u, the v with reference to uncalibrated image；T) the relevance degree curve chart drawn carries out curve fitting, and solves its maximum phase
Uncalibrated image label m corresponding to the value of pass, then the position at this uncalibrated image place is this block of pixels place in the depth direction
Position, 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 spin matrix R, translation vector T and the spatial depth of testee each pixel of image calculated
Value Z, solves the coordinate X on the width corresponding to this pixel and the coordinate Y in short transverse, thus obtains captured quilt
Surveying the three-dimensional coordinate of each pixel homologue body surface cake of subject image, its computing formula is:
Wherein, fuFor the focal length on photographic means width, fvFor photographic means focal length in the height direction, (u0,v0)
For photographic means principal point coordinate, (r1,…,r9) it is the spin matrix R, (T between world coordinate system and photographic means coordinate systemx,Ty,Tz) it is
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 uses infrared light supply.
Measuring a dumbbell rule standard component according to the method described above, gained certainty of measurement is as shown in table 1:
The certainty of measurement 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, it is characterised in that include that demarcation arranges the stage and takes pictures the stage in real time；Described demarcation
The stage of setting comprises the steps:
(1-1) in the depth direction measurement space is divided into n equal portions, demarcates the intrinsic parameter of n photographic means respectively, and will
N photographic means optimal image pickup scope order in the depth direction is set in each decile measurement space；
Photographic means intrinsic parameter includes the focal distance f on photographic means widthu, focal distance f in short transversev, photographic means master
Point coordinates (u0,v0), 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) set demarcation distance d, measurement space is carried out coding and demarcates, i.e. in measurement space, cause far near, every
Gather a coding pattern successively every demarcating distance d, and the coding pattern arrived in each station acquisition is marked from 1 to N in order
Number save as uncalibrated image；
(1-4) in the last operation position of step (1-3), demarcation world coordinate system and photograph dress are determined by pose measurement
Putting the spin matrix R between coordinate system and translation vector T, wherein, R is the orthogonal matrix of 3 × 3, and its element is (r1,…,r9),
The component of translation vector T is respectively (Tx,Ty,Tz)；
The described stage of taking pictures in real time comprises the steps:
(2-1) carry out encoded pattern projection, n platform photographic means respectively shoot the testee image under an encoded pattern projection；
(2-2) with the block of pixels of j*j as ultimate unit, contrast detecting or detecting phase method is utilized to select each block of pixels correspondence
The image of object shooting clearly, j is the odd number of more than 3；
(2-3) the depth value Z of each block of pixels image that calculating sifting goes out, its process is, each pixel that calculating sifting goes out
Block image and each block of pixels relevance degree C (u, the v of each uncalibrated image；T), computing formula is as follows:
Wherein, (u, v) is center pixel point coordinates in current pixel block, and t is uncalibrated image serial number, its value from 1 to N,
S(u,v；T) it is that this block of pixels is corresponding with reference to uncalibrated image, O (u, v；H) it is that the testee image of current shooting is in this block of pixels；WithIt is respectively S (u, v in block of pixels to be measured；T) with O (u, v；H) meansigma methods；According to captured testee
With relevance degree C (u, the v with reference to uncalibrated image；T) the relevance degree curve chart drawn carries out curve fitting, and solves its maximum phase
Uncalibrated image label m corresponding to the value of pass, directly obtains the spatial depth calculating point according to timing signal shooting image spacing distance d
Value Z=d × m；
(2-4) according to spin matrix R, translation vector T and the spatial depth of testee each pixel of image calculated
Value Z, solves the coordinate X on the width corresponding to this pixel and the coordinate Y in short transverse, thus obtains testee
The three-dimensional coordinate on testee surface corresponding to image slices vegetarian refreshments, its computing formula is:
Multistage shooting tri-dimensional photographing method the most as claimed in claim 1, it is characterised in that encoded pattern projection in step (1-2)
Mode is photolithographicallpatterned, printing mode or digital projection mode.
Multistage shooting tri-dimensional photographing method the most as claimed in claim 1, it is characterised in that the light source of described encoded pattern projection uses
Infrared light supply, visible light source or near ultraviolet light source.
Multistage shooting tri-dimensional photographing method the most as claimed in claim 1, it is characterised in that the resolution of described encoded pattern projection exists
More than 300000 pixels.
Multistage shooting tri-dimensional photographing method the most as claimed in claim 1, it is characterised in that the value of described demarcation distance d is
0.1mm-10mm。
6. a multistage shooting tri-dimensional photographing system, it is characterised in that include controlling device, encoded pattern projection device and n photograph
Device, 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 optimal image pickup scope in the depth direction respectively falls in n the decile that measurement space is divided equally in the depth direction
In space；
Described control device includes uncalibrated image memory module, subimage block screening module, spatial depth value computing module and three-dimensional seat
Mark computing module；
Described subimage block screening module is for carrying out definition sieve with j*j block of pixels for ultimate unit to the image of different cameras shooting
Choosing, j is the odd number of more than 3；
Described uncalibrated image memory module has the uncalibrated image of order label for storage；
Described spatial depth value computing module is for calculating the spatial depth value of captured testee each block of pixels of image；
Described three-dimensional coordinate computing module is for calculating its three-dimensional coordinate according to the spatial depth value of each block of pixels.
Multistage shooting tri-dimensional photographing system the most as claimed in claim 6, it is characterised in that the light source of described encoded pattern projection device
For infrared light supply, visible light source or near ultraviolet light source.
Multistage shooting tri-dimensional photographing system the most as claimed in claim 6, it is characterised in that described encoded pattern projection device is photoetching
Encoded pattern projection device, printing encoded pattern projection device or digital coding graphic pattern projection device.
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