CN105451012A - Three-dimensional imaging system and three-dimensional imaging method - Google Patents
Three-dimensional imaging system and three-dimensional imaging method Download PDFInfo
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- CN105451012A CN105451012A CN201510793546.1A CN201510793546A CN105451012A CN 105451012 A CN105451012 A CN 105451012A CN 201510793546 A CN201510793546 A CN 201510793546A CN 105451012 A CN105451012 A CN 105451012A
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- imaging
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- acquiring device
- structured light
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/67—Focus control based on electronic image sensor signals
Abstract
The invention discloses a three-dimensional imaging system and a three-dimensional imaging method. Zoom lenses are introduced into the three-dimensional imaging system. Through the zoom lens of a projection portion, a projection field of view and a projection distance of a projection unit are adjusted. Through the zoom lens of an image acquisition portion, a shooting field of view and optical magnification times are adjusted so that automatic zoom-structure optical imaging to an object is realized. By using a traditional apparatus, a depth resolution is reduced along with increase of a distance. By using the system and the method of the invention, the above defect is overcome, an effect distance of a structure optical imaging is increased and accuracy of three-dimensional imaging is improved.
Description
Technical field
The present invention relates to optical technical field, be specifically related to a kind of 3-D imaging system and three-D imaging method.
Background technology
3-D imaging system is widely used in the field such as Design of Dies, commercial measurement.The method of structured light (StructuredLight) extensively adopted at present is a kind of active optical measuring technique, its general principle is to the controllable luminous point of testee surface projection by project structured light device, striation or light face structure, and obtain image by image acquiring device (as video camera), by system geometrical relationship, triangle principle is utilized to calculate the three-dimensional coordinate of object, namely structured light three-dimensional imaging process comprises two steps, first the two dimensional image that object is modulated by structural light stripes is obtained, and then from the two-dimensional image comprising deforming stripe, the three dimensional point cloud of object is obtained by digital reconstruction method.Structural light measurement method have calculate simple, volume is little, price is low, wide range, be convenient to the feature of installation and maintenance, structured light three-dimensional imaging technology has been furtherd investigate and extensive use, particularly applies more extensive in actual measuring three-dimensional profile.
But structured light three-dimensional imaging system does not have optical focal distance setting system, exist along with distance increases, depth resolution can reduce gradually, this strongly limits the application of structured light three-dimensional imaging system in remote imaging.
Summary of the invention
In view of this, the present invention proposes a kind of 3-D imaging system and three-D imaging method, optical zoom can be introduced 3-D imaging system, thus can according to the distance adjustment imaging region of imaging object, still can obtain image with high-resolution when imaging object is far away, improve the accuracy of three-dimensional imaging.
First aspect, provides a kind of 3-D imaging system, comprising:
Projection arrangement, has the first zoom lens, for imaging object projective structure light pattern;
Image acquiring device, has the second zoom lens, has the image of the imaging object of described structured light patterns for obtaining projection;
Control device, for the border of the first image detection architecture light pattern obtained according to described image acquiring device, and regulate the optical parametric of described second zoom lens meet predetermined relationship to make the imaging region of described image acquiring device and described structured light patterns border and obtain the second image, calculate according to described second image the three dimensional point cloud obtaining described imaging object.
Preferably, described control device controls the optical parametric of described second zoom lens to make the overlapping margins of the border of the imaging region of described image acquiring device and described structured light patterns.
Preferably, described first zoom lens comprises the first lens group and the first servomotor;
Described second zoom lens comprises the second lens group and the second servomotor.
Preferably, described control device adjusts the imaging region of described image acquiring device by the focal length controlling described second zoom lens.
Second aspect, provides a kind of three-D imaging method, comprising:
To the structured light patterns of imaging object projection preliminary dimension;
Obtain the first image, and detect the border of described structured light patterns according to described first image;
Adjustment image acquiring device optical imagery parameter, makes the imaging region of described image acquiring device and described structured light patterns meet predetermined relationship;
Obtain the second image that projection has the imaging object of described structured light patterns;
The three dimensional point cloud obtaining described imaging object is calculated according to described second image.
Preferably, adjustment image acquiring device optical imagery parameter, makes the imaging region of described image acquiring device and described structured light patterns meet predetermined relationship and comprises:
Control described image acquiring device to make the overlapping margins of the border of the imaging region of described image acquiring device and described structured light patterns.
Preferably, adjust image acquiring device optical imagery parameter to comprise:
Regulate the focal length of the zoom lens of described image acquiring device.
By introducing zoom lens in 3-D imaging system, projection visual field and the projector distance of projecting cell is regulated by the zoom lens of projection section, its shooting visual field and optical magnification is regulated by the zoom lens of image acquisition section, thus the autozoom structure light imaging achieved object, overcome the defect that conventional apparatus reduces along with distance increase depth resolution, increase the operating distance of structure light imaging, improve the accuracy of three-dimensional imaging.
Accompanying drawing explanation
By referring to the description of accompanying drawing to the embodiment of the present invention, above-mentioned and other objects, features and advantages of the present invention will be more clear, in the accompanying drawings:
Fig. 1 is the schematic diagram of the 3-D imaging system of the embodiment of the present invention;
Fig. 2 a-Fig. 2 b is the operation principle schematic diagram of the 3-D imaging system of the embodiment of the present invention;
Fig. 3 is the flow chart of the three-D imaging method of the embodiment of the present invention.
Embodiment
Based on embodiment, present invention is described below, but the present invention is not restricted to these embodiments.In hereafter details of the present invention being described, detailedly describe some specific detail sections.Do not have the description of these detail sections can understand the present invention completely for a person skilled in the art yet.In order to avoid obscuring essence of the present invention, known method, process, flow process, element and circuit do not describe in detail.
In addition, it should be understood by one skilled in the art that the accompanying drawing provided at this is all for illustrative purposes, and accompanying drawing is not necessarily drawn in proportion.
Unless the context clearly requires otherwise, similar words such as " comprising ", " comprising " otherwise in whole specification and claims should be interpreted as the implication that comprises instead of exclusive or exhaustive implication; That is, be the implication of " including but not limited to ".
In describing the invention, it is to be appreciated that term " first ", " second " etc. are only for describing object, and instruction or hint relative importance can not be interpreted as.In addition, in describing the invention, except as otherwise noted, the implication of " multiple " is two or more.
Fig. 1 is the schematic diagram of the 3-D imaging system of the embodiment of the present invention.
As shown in Figure 1,3-D imaging system comprises projection arrangement 1, image acquiring device 2 and control device 3.
Wherein, projection arrangement 1 comprises projecting apparatus 11, first zoom lens 12, projection arrangement 1 for the size that sets according to user to imaging object projective structure light pattern.
Described structured light patterns can for dot pattern or candy strip or other be existingly suitable for the structured light patterns of carrying out optical 3-dimensional imaging.
Particularly, the first zoom lens 12 can comprise the first lens group 12a and the first servomotor 12b.First servomotor 12b is used for according to the eyeglass relative position relation of control break first lens group 12a to change its focal length, the size of adjustment projection.
Image acquiring device 2 comprises imageing sensor 21, second zoom lens 22.Image acquiring device 2 has the image of the imaging object of described structured light patterns for obtaining projection.
Control device 3 is connected with image acquiring device 2, for the border of the first image detection architecture light pattern according to described image acquiring device 2 acquisition, and regulate the optical parametric of described second zoom lens 22 meet predetermined relationship to make the imaging region of described image acquiring device and described structured light patterns border and obtain the second image, calculate according to described second image the three dimensional point cloud obtaining described imaging object.
Wherein, the described first image dynamic image that can obtain based on the initial setting up of zoom lens for image acquiring device or static image file or the intermediate image data etc. that read by imageing sensor in internal memory.Second image is the image file for carrying out three-dimensional point cloud calculating.
In FIG, control device 3 is also connected with projection arrangement 1 alternatively, and control device 3 can provide data needed for projection structure light pattern by communication connection to projection arrangement 1.Alternatively, control device 3 also may be used for receive user instruction the first zoom lens 12 is controlled.
Wherein, the second zoom lens 22 can comprise the second lens group 22a and the second servomotor 22b.Second servomotor 22b is used for according to the eyeglass relative position relation of control break second lens group 22a to change its focal length and multiplication factor to adjust the size of imaging region.
As shown in Figure 2 a and 2 b, in use, user regulates the first zoom lens 12 to change the size (being expressed as A in Fig. 2 a and Fig. 2 b) of the structured light patterns overlay area of projection, to make itself and imaging object suitable (also namely, just cover or be a bit larger tham imaging object).Because structured light patterns has repeatability, therefore, the image that control device 3 easily obtains according to image acquiring device 2 detects the border obtaining structured light patterns, and control the second zoom lens 22 and make the region of the imaging region of imageing sensor 21 (visual field) (being expressed as B in Fig. 2 a and Fig. 2 b) and structured light patterns suitable, such as, just covered structure light pattern namely border (also overlapping margins) or exceed region that structured light patterns covers a little or be slightly less than the region that structured light patterns covers.Thus, can ensure with the most clear and to imaging object imaging under the most suitable condition of multiplication factor.Thus, no matter imaging object is distant or nearer, can pass through the size of the first zoom lens 12 adjustment structure light pattern, and navigational figure acquisition device 2 adjusts its second zoom lens 22 to obtain best imaging focal length according to the size of structured light patterns automatically.
Should be understood that the control device 3 of the present embodiment can comprise the processor being suitable for execution of program instructions, this processor controls according to programmable program command.
Thus, by introducing zoom lens in 3-D imaging system, projection visual field and the projector distance of projecting cell is regulated by the zoom lens of projection section, its shooting visual field and optical magnification is regulated by the zoom lens of image acquisition section, thus the autozoom structure light imaging achieved object, overcome the defect that conventional apparatus reduces along with distance increase depth resolution, increase the operating distance of structure light imaging, improve the accuracy of three-dimensional imaging.
Fig. 3 is the flow chart of the three-D imaging method of the embodiment of the present invention
As shown in Figure 3, described method comprises:
Step S100, to imaging object projection preliminary dimension structured light patterns.
Wherein, described preliminary dimension is the size that user sets, and user can obtain the structured light patterns with preliminary dimension by directly regulating the second lens group.
Step S200, obtain the first image, and detect the border of described structured light patterns according to described first image.
Particularly, its border is detected according to the image with structured light patterns obtained.Wherein, the described first image dynamic image that can be image acquiring device obtain based on the initial setting up of zoom lens or static image file.
Step S300, adjustment image acquiring device, make the imaging region of described image acquiring device and described structured light patterns meet predetermined relationship.
Particularly, image acquiring device has zoom lens, is regulated the relation of its imaging region and structured light patterns by the focal length and multiplication factor regulating the zoom lens of described image acquiring device.
Described predetermined relationship can be the overlapping margins of imaging region and structured light patterns, or is a bit larger tham or is slightly smaller than the region of structured light patterns covering.
Step S400, acquisition project the second image having the imaging object of described structured light patterns.
Step S500, to calculate according to described second image and obtain the three dimensional point cloud of described imaging object.
In use, user changes the size of the structured light patterns overlay area of projection, to make itself and imaging object suitable (also namely, just cover or be a bit larger tham imaging object).Because structured light patterns has repeatability, therefore, the image easily obtained according to image acquiring device detects the border obtaining structured light patterns, and it is suitable with the region of structured light patterns to control imaging region (visual field), such as, just covered structure light pattern namely border (also overlapping margins) or exceed region that structured light patterns covers a little or be slightly less than the region that structured light patterns covers.Thus, can ensure to come imaging object imaging with maximum pixel the most clearly.Thus, no matter imaging object is distant or comparatively near, can by the size of adjustment structure light pattern, and navigational figure acquisition device adjusts its zoom lens to obtain best imaging focal length according to the size of structured light patterns automatically.
Should be understood that and the Method and Process that embodiment part describes can be embodied as code and/or data, this code and/or data can be stored in computer-readable recording medium as above.When computer system reads and when performing code and/or data that computer-readable recording medium stores, computer system performs and is embodied as data structure and code and the Method and Process be stored in computer-readable recording medium.
In addition, Method and Process described herein can be included in hardware module or device.These modules or device can include but not limited to application-specific integrated circuit (ASIC) (ASIC) chip, field programmable gate array (FPGA), perform the programmable logic device of the special or share processor of specific software module or one section of code and/or other known or later exploitation now at special time.When activating hardware module or device, they perform the Method and Process be included in wherein.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, to those skilled in the art, the present invention can have various change and change.All do within spirit of the present invention and principle any amendment, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (7)
1. a 3-D imaging system, comprising:
Projection arrangement, has the first zoom lens, for imaging object projective structure light pattern;
Image acquiring device, has the second zoom lens, has the image of the imaging object of described structured light patterns for obtaining projection;
Control device, for the border of the first image detection architecture light pattern obtained according to described image acquiring device, and regulate the optical parametric of described second zoom lens meet predetermined relationship to make the imaging region of described image acquiring device and described structured light patterns border and obtain the second image, calculate according to described second image the three dimensional point cloud obtaining described imaging object.
2. 3-D imaging system according to claim 1, is characterized in that, described control device controls the optical parametric of described second zoom lens to make the overlapping margins of the border of the imaging region of described image acquiring device and described structured light patterns.
3. 3-D imaging system according to claim 1, is characterized in that, described first zoom lens comprises the first lens group and the first servomotor;
Described second zoom lens comprises the second lens group and the second servomotor.
4. 3-D imaging system according to claim 1, is characterized in that, described control device adjusts the imaging region of described image acquiring device by the focal length controlling described second zoom lens.
5. a three-D imaging method, comprising:
To the structured light patterns of imaging object projection preliminary dimension;
Obtain the first image, and detect the border of described structured light patterns according to described first image;
Adjustment image acquiring device optical imagery parameter, makes the imaging region of described image acquiring device and described structured light patterns meet predetermined relationship;
Obtain the second image that projection has the imaging object of described structured light patterns;
The three dimensional point cloud obtaining described imaging object is calculated according to described second image.
6. three-D imaging method according to claim 5, is characterized in that, adjustment image acquiring device optical imagery parameter, makes the imaging region of described image acquiring device and described structured light patterns meet predetermined relationship and comprise:
Control described image acquiring device to make the overlapping margins of the border of the imaging region of described image acquiring device and described structured light patterns.
7. three-D imaging method according to claim 5, is characterized in that, adjustment image acquiring device optical imagery parameter comprises:
Regulate the focal length of the zoom lens of described image acquiring device.
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| CN105974427A (en) * | 2016-06-24 | 2016-09-28 | 上海图漾信息科技有限公司 | Structural light distance measurement device and method |
| CN106412557A (en) * | 2016-11-02 | 2017-02-15 | 深圳市魔眼科技有限公司 | 3D camera control method and 3D camera control device |
| CN106507091A (en) * | 2016-11-14 | 2017-03-15 | 墨宝股份有限公司 | A kind of method of utilization 3D animations shooting and producing true man's theme Showmov piece |
| CN107024850A (en) * | 2017-05-26 | 2017-08-08 | 清华大学 | High-speed structures light 3-D imaging system |
| CN107222737A (en) * | 2017-07-26 | 2017-09-29 | 维沃移动通信有限公司 | The processing method and mobile terminal of a kind of depth image data |
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| CN109313707A (en) * | 2016-06-01 | 2019-02-05 | 维迪私人有限公司 | Optical measurement and scanning system and application method |
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| CN106412557A (en) * | 2016-11-02 | 2017-02-15 | 深圳市魔眼科技有限公司 | 3D camera control method and 3D camera control device |
| CN106507091A (en) * | 2016-11-14 | 2017-03-15 | 墨宝股份有限公司 | A kind of method of utilization 3D animations shooting and producing true man's theme Showmov piece |
| CN107024850A (en) * | 2017-05-26 | 2017-08-08 | 清华大学 | High-speed structures light 3-D imaging system |
| CN107222737A (en) * | 2017-07-26 | 2017-09-29 | 维沃移动通信有限公司 | The processing method and mobile terminal of a kind of depth image data |
| CN109981932A (en) * | 2017-12-28 | 2019-07-05 | 宁波舜宇光电信息有限公司 | Depth camera and its bearing calibration based on structure light |
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| CN108718406A (en) * | 2018-05-31 | 2018-10-30 | 西安知微传感技术有限公司 | A kind of varifocal 3D depth cameras and its imaging method |
| CN109963138A (en) * | 2019-02-15 | 2019-07-02 | 深圳奥比中光科技有限公司 | A kind of depth camera and image acquiring method |
| CN112291448A (en) * | 2019-07-12 | 2021-01-29 | 中山大学 | Small viewpoint distance view shooting and acquiring system |
| CN112291448B (en) * | 2019-07-12 | 2021-07-27 | 中山大学 | Small viewpoint distance view shooting and acquiring system |
| WO2021022775A1 (en) * | 2019-08-05 | 2021-02-11 | 歌尔股份有限公司 | Depth image generation method, apparatus and device, and computer-readable storage medium |
| CN114322821A (en) * | 2020-09-29 | 2022-04-12 | 沈阳华慧高新技术有限公司 | Three-dimensional scanning device and calibration method and measurement method thereof |
| CN112598719A (en) * | 2020-12-09 | 2021-04-02 | 北京芯翌智能信息技术有限公司 | Depth imaging system, calibration method thereof, depth imaging method and storage medium |
| CN112598719B (en) * | 2020-12-09 | 2024-04-09 | 上海芯翌智能科技有限公司 | Depth imaging system, calibration method thereof, depth imaging method and storage medium |
| CN114812439A (en) * | 2022-04-14 | 2022-07-29 | 深圳市菲森科技有限公司 | Focusing method of projection imaging lens group of structured light three-dimensional measurement system |
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