CN105651201A - Three-dimensional scanning device and three-dimensional scanning method - Google Patents
Three-dimensional scanning device and three-dimensional scanning method Download PDFInfo
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- CN105651201A CN105651201A CN201610045370.6A CN201610045370A CN105651201A CN 105651201 A CN105651201 A CN 105651201A CN 201610045370 A CN201610045370 A CN 201610045370A CN 105651201 A CN105651201 A CN 105651201A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
Abstract
The invention provides a three-dimensional scanning device and a three-dimensional scanning method. The three-dimensional scanning device comprises a light beam transmission module, an image acquisition module, a distance determination module and a three-dimensional modeling module, wherein the light beam transmission module is used for transmitting light beams to an object to be scanned, and light spots are formed on the object to be scanned by the light beams; the image acquisition module is used for acquiring a scanning image sequence of the object to be scanned; the distance determination module is used for acquiring a first image sequence in the scanning image sequence, and determining a photographing distance between the three-dimensional scanning device and the object to be scanned according to light spot information of each first image in the first image sequence when the first images are acquired; and the three-dimensional modeling module is used for determining a three-dimensional model of the object to be scanned according to the first image sequence and the photographing distance between the three-dimensional scanning device and the object to be scanned according to the first image sequence when the first images are acquired. According to the three-dimensional scanning device and the three-dimensional scanning method, even if the movement track of the image of the object to be scanned, which is photographed by the three-dimensional scanning device, is not ideal circumference, the 3D modeling accuracy also can be guaranteed.
Description
The application is a point case application, and its parent application number is 201110288847.0, and denomination of invention is three-dimensional scanner and three dimension scanning method, and the applying date is 2011.09.26.
Technical field
The present invention relates to three-dimensional (3D) scanning technique field, particularly relate to a kind of three-dimensional scanner and three dimension scanning method.
Background technology
As shown in Figure 1, prior art utilizes three-dimensional scanner (mobile phone, pick up camera, photographic camera etc.) treat scanning object carry out 3D scan time, normally three-dimensional scanner is rotated a circle around object to be scanned, take one group of image sequence, utilize the parameters such as distance R when taking image and between object to be scanned of this image sequence and three-dimensional scanner, calculate the 3D model of object to be scanned.
Three-dimensional scanner is used to treat scanning object when taking, three-dimensional scanner must keep the motion being close to circumference by object relatively to be scanned, namely three-dimensional scanner needs when moving to keep the distance R between object to be scanned constant, just can ensure the accurate of 3D modeling.
And in fact, user holds three-dimensional scanner and treats scanning object when scanning, it is very difficult to the motion track ensureing three-dimensional scanner is desirable circumference, thus can cause the out of true of 3D modeling.
Summary of the invention
In view of this, the present invention provides a kind of three-dimensional scanner and three dimension scanning method, even if motion track when three-dimensional scanner takes the image of object to be scanned is not desirable circumference, it is also possible to ensure the accuracy of 3D modeling.
For solving the problem, the present invention provides a kind of three-dimensional scanner, comprising: beam emissions module, for object emission beam to be scanned, described light beam forms hot spot on described object to be scanned; Image capture module, for gathering the scanned image sequence of described object to be scanned; Distance determination module, for the first image sequence obtained in described scanned image sequence, and the facula information according to each first image in described first image sequence, it is determined that shooting distance between described three-dimensional scanner and described object to be scanned when gathering described first image; Three-dimensional modeling module, for shooting distance between described three-dimensional scanner and described object to be scanned according to described first image sequence and when gathering described first image, it is determined that the three-dimensional model of described object to be scanned.
Optionally, described distance determination module comprises: gravity sensitive module, the change of acceleration during for measuring each scan image gathered in described scanned image sequence; Contour area estimation module, for the change according to acceleration when gathering described scan image, estimates the contour area of described object to be scanned in described scan image; First image zooming-out module, for according to the contour area of described object to be scanned in described scan image, extracting described first image sequence from described scanned image sequence.
Optionally, described distance determination module also comprises: Angle Measurement Module, for measuring deflection angle when gathering described scan image; Described first image zooming-out module, also for according to deflection angle when gathering described scan image, the contour area of described object to be scanned in described scan image, extracting described first image sequence from described scanned image sequence.
Optionally, described distance determination module comprises: the 2nd image zooming-out module, for the facula information in each scan image in described scanned image sequence is analyzed, described first image sequence is extracted from described scanned image sequence according to analytical results, wherein, in described first image sequence, the facula information of each first image can meet the demand of the described shooting distance calculated between described and described object to be scanned.
The present invention also provides a kind of three dimension scanning method, comprising: to object emission beam to be scanned, and described light beam forms hot spot on described object to be scanned; Gather the scanned image sequence of described object to be scanned; Obtain the first image sequence in described scanned image sequence, and the facula information according to each first image in described first image sequence, it is determined that shooting distance between described three-dimensional scanner and described object to be scanned when gathering described first image; Shooting distance between described three-dimensional scanner and described object to be scanned according to described first image sequence and when gathering described first image, it is determined that the three-dimensional model of described object to be scanned.
Optionally, the step of the first image sequence in the described scanned image sequence of described acquisition comprises: the change of acceleration when measuring each scan image gathered in described scanned image sequence; Change according to acceleration when gathering described scan image, estimates the contour area of described object to be scanned in described scan image; According to the contour area of described object to be scanned in described scan image, from described scanned image sequence, extract described first image sequence.
Optionally, the step of the first image sequence in the described scanned image sequence of described acquisition comprises: measure deflection angle when gathering described scan image; The change of acceleration when measuring each scan image gathered in described scanned image sequence; Change according to acceleration when gathering described scan image, estimates the contour area of described object to be scanned in described scan image; According to deflection angle when gathering described scan image, the contour area of described object to be scanned in described scan image, from described scanned image sequence, extract described first image sequence.
Optionally, the step of the first image sequence in the described scanned image sequence of described acquisition comprises: the facula information in each scan image in described scanned image sequence analyzed, described first image sequence is extracted from described scanned image sequence according to analytical results, wherein, in described first image sequence, the facula information of each first image can meet the demand of the described shooting distance calculated between described and described object to be scanned.
The present invention has following useful effect:
The shooting distance between three-dimensional scanner and object to be scanned can be calculated, utilize the shooting distance between three-dimensional scanner and object to be scanned that actual computation goes out, determine the three-dimensional model of object to be scanned, even if motion track when three-dimensional scanner takes the image of object to be scanned is not desirable circumference, it is also possible to ensure the accuracy of 3D modeling.
From the image sequence of the object to be scanned of three-dimensional scanner shooting, choose the image of shooting when three-dimensional scanner is just treating scanning object, it is determined that the three-dimensional model of object to be scanned, it is possible to improve the accuracy of 3D modeling.
Arranging beam launcher in three-dimensional scanner, to object emission beam to be scanned, the hot spot formed on object to be scanned by light beam, calculates the shooting distance between three-dimensional scanner and object to be scanned, it is achieved simple, cost is lower. In addition, it is also possible to the hot spot formed on object to be scanned by light beam, judge whether three-dimensional scanner is just treating scanning object, thus correct deflection angle when three-dimensional scanner takes the image of object to be scanned.
Accompanying drawing explanation
Fig. 1 is that three-dimensional scanner of the prior art treats desirable motion track schematic diagram when scanning object carries out 3D scanning;
Fig. 2 is a structural representation of the three-dimensional scanner of the embodiment of the present invention;
The three-dimensional scanner that Fig. 3 is the embodiment of the present invention treats the motion track schematic diagram that scanning object carries out reality when 3D scans;
Fig. 4 is a schematic flow sheet of the three dimension scanning method of the embodiment of the present invention.
Embodiment
In the embodiment of the present invention, when carrying out three dimension scanning, three-dimensional scanner is to object emission beam to be scanned, this light beam forms hot spot on object to be scanned, according to the hot spot in the image photographed, the shooting distance between three-dimensional scanner and object to be scanned when taking image can be calculated, thus utilize the image that photographs and shooting distance corresponding to those images, determine the three-dimensional model of object to be scanned, owing to shooting distance is that actual computation obtains, even if thus the motion track of three-dimensional scanner is not desirable circumference, also the accuracy of 3D modeling can be ensured.
Below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail.
The structural representation being illustrated in figure 2 the three-dimensional scanner of the embodiment of the present invention, this three-dimensional scanner can be mobile phone, pick up camera, photographic camera etc., comprising:
Beam emissions module 201, for object emission beam to be scanned, this light beam is visible ray, it is possible to form hot spot on object to be scanned. This beam emissions module 201 can to object emission one light beams to be scanned, now, the light beam launched can form a hot spot on object to be scanned, this beam emissions module 201 can also simultaneously to object emission multiple light beams to be scanned, now, the light beam of transmitting can form multiple hot spot on object to be scanned.
Image capture module 202, for gathering the scanned image sequence of object to be scanned. This three-dimensional scanner is when carrying out three dimension scanning, it is necessary to rotate a circle around object to be scanned, takes the scanned image sequence of one group of object to be scanned.
Distance determination module 203, for the first image sequence obtained in this scanned image sequence, and the facula information according to the first image each in the first image sequence, it is determined that shooting distance between three-dimensional scanner and object to be scanned when gathering the first image. This first image sequence can be all images in this scanned image sequence, it is also possible to be the parts of images in this scanned image sequence.
Three-dimensional modeling module 204, for according to three-dimensional scanner when the first image sequence and collection the first image and the shooting distance between object to be scanned, it is determined that the three-dimensional model of object to be scanned.
As shown in Figure 3, the motion track of three-dimensional scanner 302 when object 301 to be scanned rotates is not desirable circumference, due to utilize that actual computation goes out shooting distance d between three-dimensional scanner 302 and object to be scanned 301 (the center O2 of three-dimensional scanner 302 to and the center O1 of object to be scanned 301 between distance), determine the three-dimensional model of object to be scanned, even if motion track when three-dimensional scanner 302 takes the image of object 301 to be scanned is not desirable circumference, it is also possible to ensure the accuracy of 3D modeling.
Mentioning in above-described embodiment, the scanned image sequence of three-dimensional scanner collection is the image sequence of its shooting that rotates a circle around object to be scanned, below to how determining that the method that three-dimensional scanner has rotated a circle around object to be scanned is described.
The first defining method is: utilize image matching technology, determine three-dimensional scanner current shooting to image whether mate with first image of its shooting and to be directed at, if the image that current shooting arrives is directed at first images match of its shooting, then show that three-dimensional scanner rotates a circle around object to be scanned, now, it is possible to using the coupling alignment image of first image, first image and other images of taking between the two as the scanned image sequence described in above-described embodiment.
2nd kind of defining method is: pre-estimates three-dimensional scanner and rotates a circle the required time around object to be scanned, and start timing when three-dimensional scanner takes first image, after arriving the required time that rotates a circle pre-estimated, timing terminates, the image sequence that will photograph at the end of timing, as the scanned image sequence described in above-described embodiment.
Above-described embodiment is mentioned, the first image sequence adopted when determining the three-dimensional model of object to be scanned, it is possible to be all images that three-dimensional scanner rotates a circle photograph around object to be scanned, it is also possible to be parts of images. It could be understood that in order to make three-dimensional modeling more accurate, three-dimensional scanner is when around object rotary taking to be scanned, and three-dimensional scanner need to just treat scanning object. But, in specific implementation process, when being difficult to ensure shooting each image, three-dimensional scanner is all just treating scanning object, if all images photographed carries out three-dimensional modeling thus selection three-dimensional scanner rotates a circle around object to be scanned, can cause the out of true of three-dimensional modeling.
Therefore, when being difficult to ensure shooting each image, three-dimensional scanner is all just treating scanning object, in the embodiment of the present invention, can rotate a circle all images photographed around object to be scanned from three-dimensional scanner, select the image that three-dimensional scanner is just treating scanning object shooting, the image selected is utilized to carry out three-dimensional modeling, to improve the accuracy of three-dimensional modeling.
Illustrate below to how to select the method for the first image meeting modeling demand to be described in detail from all images of three-dimensional scanner shooting.
First embodiment:
In the embodiment of the present invention, one gravity sensitive module can be set in three-dimensional scanner, such as G-sensor (gravity sensitive device), the change (direction of motion of three-dimensional scanner) of acceleration when measuring three-dimensional scanner acquisition scans image, the change of the acceleration according to the three-dimensional scanner measured, estimate the contour area of object to be scanned in scan image, then the contour area of object to be scanned in scan image and the contour area of estimation are contrasted, if the contour area difference of the contour area of the object to be scanned in scan image and estimation is less, when then showing to take this scan image, three-dimensional scanner is just treating scanning object, this scan image can be chosen as the first image, if the contour area difference of the contour area of the object to be scanned in scan image and estimation is bigger, when then showing to take this scan image, three-dimensional scanner is not just treating scanning object, then abandon this scan image.
Based on foregoing description, the distance determination module in above-described embodiment can comprise:
Gravity sensitive module, the change of acceleration during for measuring each scan image gathered in described scanned image sequence;
Contour area estimation module, for the change according to acceleration when gathering described scan image, estimates the contour area of described object to be scanned in described scan image;
First image zooming-out module, for according to the contour area of described object to be scanned in described scan image, extracting described first image sequence from described scanned image sequence.
2nd embodiment:
In above-described embodiment, one Angle Measurement Module can also be set in three-dimensional scanner, such as gyrostat, measure deflection angle during acquisition scans image, when the contour area of object to be scanned in scan image and the contour area of estimation are contrasted, consider deflection angle when gathering this scan image, if the contour area difference of the contour area of the object to be scanned in scan image and estimation is less, when then showing to take this scan image, three-dimensional scanner is just treating scanning object, this scan image can be chosen as the first image, if the contour area difference of the contour area of the object to be scanned in scan image and estimation is bigger, when then showing to take this scan image, three-dimensional scanner is not just treating scanning object, then abandon this scan image.
Based on foregoing description, the distance determination module in above-described embodiment can also comprise:
Angle Measurement Module, for measuring deflection angle when gathering described scan image;
Described first image zooming-out module, also for according to deflection angle when gathering described scan image, the contour area of described object to be scanned in described scan image, extracting described first image sequence from described scanned image sequence.
3rd embodiment:
When three-dimensional scanner just treats scanning object, the hot spot that the light beam that three-dimensional scanner is launched is formed on object to be scanned, the normally circle of rule, in the embodiment of the present invention, facula information in scan image can be analyzed, judge whether this facula information can meet the demand of the shooting distance between calculating and object to be scanned, such as, whether image exists the circle etc. whether hot spot or hot spot are rule, if image not existing hot spot or hot spot is irregular circle, scanning object is not just being treated when then likely showing that three-dimensional scanner takes this scan image, then can abandon this scan image, if image existing hot spot and hot spot is the circle of rule, scanning object is just being treated when then likely showing that three-dimensional scanner takes this scan image, then can choose this scan image as the first image.
Based on foregoing description, the distance determination module in above-described embodiment can comprise:
2nd image zooming-out module, for the facula information in each scan image in described scanned image sequence is analyzed, described first image sequence is extracted from described scanned image sequence according to analytical results, wherein, in described first image sequence, the facula information of each first image can meet the demand of the described shooting distance calculated between described and described object to be scanned.
In above-described embodiment, the first image of three-dimensional scanner collection comprises hot spot, before three-dimensional modeling, in addition it is also necessary to remove the hot spot in the first image. In the embodiment of the present invention, it is possible to adopt the method that several first images are carried out image co-registration, remove the hot spot in the first image.
Based on foregoing description, the three-dimensional modeling module in above-described embodiment can comprise:
Image procossing module, for described first image sequence being processed, obtains not containing the 2nd image sequence of described hot spot;
Execution module, for according to described 2nd image sequence and gather in described 2nd image sequence the 2nd image time described three-dimensional scanner and described object to be scanned between shooting distance, it is determined that the three-dimensional model of described object to be scanned.
Corresponding to the three-dimensional scanner in above-described embodiment, as shown in Figure 4, the embodiment of the present invention also provides a kind of three dimension scanning method, and this three dimension scanning method comprises the following steps:
Step 401, to object emission beam to be scanned, this light beam forms hot spot on object to be scanned;
Step 402, gathers the scanned image sequence of object to be scanned;
Step 403, obtains the first image sequence in scanned image sequence;
Step 404, according to the facula information of the first image each in the first image sequence, it is determined that shooting distance between three-dimensional scanner and object to be scanned when gathering the first image;
Step 405, according to three-dimensional scanner when the first image sequence and collection the first image and the shooting distance between object to be scanned, it is determined that the three-dimensional model of object to be scanned.
The the first image sequence adopted when determining the three-dimensional model of object to be scanned, it is possible to be all images that three-dimensional scanner rotates a circle photograph around object to be scanned, it is also possible to be parts of images. It could be understood that in order to make three-dimensional modeling more accurate, three-dimensional scanner is when around object rotary taking to be scanned, and three-dimensional scanner need to just treat scanning object. But, in specific implementation process, when being difficult to ensure shooting each image, three-dimensional scanner is all just treating scanning object, if all images photographed carries out three-dimensional modeling thus selection three-dimensional scanner rotates a circle around object to be scanned, can cause the out of true of three-dimensional modeling.
Therefore, when being difficult to ensure shooting each image, three-dimensional scanner is all just treating scanning object, in the embodiment of the present invention, can rotate a circle all images photographed around object to be scanned from three-dimensional scanner, select the image that three-dimensional scanner is just treating scanning object shooting, the image selected is utilized to carry out three-dimensional modeling, to improve the accuracy of three-dimensional modeling.
In the embodiment of the present invention, the change (direction of motion of three-dimensional scanner) of acceleration when can measure three-dimensional scanner acquisition scans image, the change of the acceleration according to the three-dimensional scanner measured, estimate the contour area of object to be scanned in scan image, then the contour area of object to be scanned in scan image and the contour area of estimation are contrasted, if the contour area difference of the contour area of the object to be scanned in scan image and estimation is less, when then showing to take this scan image, three-dimensional scanner is just treating scanning object, this scan image can be chosen as the first image, if the contour area difference of the contour area of the object to be scanned in scan image and estimation is bigger, when then showing to take this scan image, three-dimensional scanner is not just treating scanning object, then abandon this scan image.
Based on above description, the method for the first image sequence obtained in described scanned image sequence in the step 403 in above-described embodiment can comprise the following steps:
Step one, the change of acceleration when measuring each scan image gathered in described scanned image sequence;
Step 2, according to the change of acceleration when gathering described scan image, estimates the contour area of described object to be scanned in described scan image;
Step 3, according to the contour area of described object to be scanned in described scan image, extracts described first image sequence from described scanned image sequence.
When the contour area of object to be scanned in scan image and the contour area of estimation are contrasted, it is also conceivable to deflection angle when gathering this scan image, if the contour area difference of the contour area of the object to be scanned in scan image and estimation is less, when then showing to take this scan image, three-dimensional scanner is just treating scanning object, this scan image can be chosen as the first image, if the contour area difference of the contour area of the object to be scanned in scan image and estimation is bigger, when then showing to take this scan image, three-dimensional scanner is not just treating scanning object, then abandon this scan image.
Based on above description, the method for the first image sequence obtained in described scanned image sequence in the step 403 in above-described embodiment can comprise the following steps:
Step one, measures deflection angle when gathering described scan image;
Step 2, the change of acceleration when measuring each scan image gathered in described scanned image sequence;
Step 3, according to the change of acceleration when gathering described scan image, estimates the contour area of described object to be scanned in described scan image;
Step 4, according to deflection angle when gathering described scan image, the contour area of described object to be scanned in described scan image, extracts described first image sequence from described scanned image sequence.
When three-dimensional scanner just treats scanning object, the hot spot that the light beam that three-dimensional scanner is launched is formed on object to be scanned, the normally circle of rule, in the embodiment of the present invention, facula information in scan image can be analyzed, judge whether this facula information can meet the demand of the shooting distance between calculating and object to be scanned, such as, whether image exists the circle etc. whether hot spot or hot spot are rule, if image not existing hot spot or hot spot is irregular circle, scanning object is not just being treated when then likely showing that three-dimensional scanner takes this scan image, then can abandon this scan image, if image existing hot spot and hot spot is the circle of rule, scanning object is just being treated when then likely showing that three-dimensional scanner takes this scan image, then can choose this scan image as the first image.
Based on above description, the method for the first image sequence obtained in described scanned image sequence in the step 403 in above-described embodiment can comprise the following steps:
Facula information in each scan image in described scanned image sequence is analyzed, described first image sequence is extracted from described scanned image sequence according to analytical results, wherein, in described first image sequence, the facula information of each first image can meet the demand of the described shooting distance calculated between described and described object to be scanned.
In above-described embodiment, the first image of three-dimensional scanner collection comprises hot spot, before three-dimensional modeling, in addition it is also necessary to remove the hot spot in the first image. In the embodiment of the present invention, it is possible to adopt the method that several first images are carried out image co-registration, remove the hot spot in the first image.
Thus, above-mentioned steps 405 is (according to three-dimensional scanner when the first image sequence and collection the first image and the shooting distance between object to be scanned, determine the three-dimensional model of object to be scanned) can specifically comprise: described first image sequence is processed, obtains not containing the 2nd image sequence of described hot spot; According to described 2nd image sequence and gather in described 2nd image sequence the 2nd image time described three-dimensional scanner and described object to be scanned between shooting distance, it is determined that the three-dimensional model of described object to be scanned.
In sum, embodiments of the invention have the following advantages:
The shooting distance between three-dimensional scanner and object to be scanned can be calculated, utilize the shooting distance between three-dimensional scanner and object to be scanned that actual computation goes out, determine the three-dimensional model of object to be scanned, even if motion track when three-dimensional scanner takes the image of object to be scanned is not desirable circumference, it is also possible to ensure the accuracy of 3D modeling.
From the image sequence of the object to be scanned of three-dimensional scanner shooting, choose the image of shooting when three-dimensional scanner is just treating scanning object, it is determined that the three-dimensional model of object to be scanned, it is possible to improve the accuracy of 3D modeling.
Arranging beam launcher in three-dimensional scanner, to object emission beam to be scanned, the hot spot formed on object to be scanned by light beam, calculates the shooting distance between three-dimensional scanner and object to be scanned, it is achieved simple, cost is lower. In addition, it is also possible to the hot spot formed on object to be scanned by light beam, judge whether three-dimensional scanner is just treating scanning object, thus correct deflection angle when three-dimensional scanner takes the image of object to be scanned.
Many functional components described in this specification sheets are all called as module, specifically to emphasize the independence of its implementation.
In the embodiment of the present invention, module can with software simulating, to perform by various types of treater. For example, the executable code module of a mark can comprise one or more physics or the logic block of computer instruction, and for example, it can be built as object, process or function. However, the performed code of institute's identification module is does not have to be physically positioned at together, but can comprise the different instruction on being stored in different position, when these command logics are combined in together, its composition module and realize the regulation object of this module.
In fact, executable code module can be individual instructions or many bar instructions, and it is even possible that be distributed in multiple different code section, is distributed in the middle of distinct program, and crosses over the distribution of multiple memory devices. Equally, service data can be identified in module, and can according to any suitable form realize and be organized in the data structure of any suitable type. Described service data can be collected as single data set, or can be distributed on different positions (to be included in different storage device), and can only be present in as electronic signal at least in part on system or network.
When module can utilize software simulating, consider the level of existing hardware technique, so can with the module of software simulating, when not considering cost, those skilled in the art can build corresponding hardware circuit and realize corresponding function, and described hardware circuit comprises existing semi-conductor or other discrete element of conventional ultra-large integrated (VLSI) circuit or gate array and such as logic chip, transistor and so on. Module can also with programmable hardware device, and such as field-programmable gate array, programmable logic array, logical device able to programme etc. realize.
The above is only the preferred embodiment of the present invention; it is noted that for those skilled in the art, under the premise without departing from the principles of the invention; can also making some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (8)
1. a three-dimensional scanner, it is characterised in that, comprising:
Beam emissions module, for object emission beam to be scanned, described light beam forms hot spot on described object to be scanned;
Image capture module, for gathering the scanned image sequence of described object to be scanned;
Distance determination module, for the first image sequence obtained in described scanned image sequence, and the facula information according to each first image in described first image sequence, it is determined that shooting distance between described three-dimensional scanner and described object to be scanned when gathering described first image;
Three-dimensional modeling module, for shooting distance between described three-dimensional scanner and described object to be scanned according to described first image sequence and when gathering described first image, it is determined that the three-dimensional model of described object to be scanned.
2. three-dimensional scanner as claimed in claim 1, it is characterised in that, described distance determination module comprises:
Gravity sensitive module, the change of acceleration during for measuring each scan image gathered in described scanned image sequence;
Contour area estimation module, for the change according to acceleration when gathering described scan image, estimates the contour area of described object to be scanned in described scan image;
First image zooming-out module, for according to the contour area of described object to be scanned in described scan image, extracting described first image sequence from described scanned image sequence.
3. three-dimensional scanner as claimed in claim 2, it is characterised in that, described distance determination module also comprises:
Angle Measurement Module, for measuring deflection angle when gathering described scan image;
Described first image zooming-out module, also for according to deflection angle when gathering described scan image, the contour area of described object to be scanned in described scan image, extracting described first image sequence from described scanned image sequence.
4. three-dimensional scanner as claimed in claim 1, it is characterised in that, described distance determination module comprises:
2nd image zooming-out module, for the facula information in each scan image in described scanned image sequence is analyzed, described first image sequence is extracted from described scanned image sequence according to analytical results, wherein, in described first image sequence, the facula information of each first image can meet the demand of the described shooting distance calculated between described and described object to be scanned.
5. a three dimension scanning method, it is characterised in that, comprising:
To object emission beam to be scanned, described light beam forms hot spot on described object to be scanned;
Gather the scanned image sequence of described object to be scanned;
Obtain the first image sequence in described scanned image sequence, and the facula information according to each first image in described first image sequence, it is determined that shooting distance between described three-dimensional scanner and described object to be scanned when gathering described first image;
Shooting distance between described three-dimensional scanner and described object to be scanned according to described first image sequence and when gathering described first image, it is determined that the three-dimensional model of described object to be scanned.
6. three dimension scanning method as claimed in claim 5, it is characterised in that, the step of the first image sequence in the described scanned image sequence of described acquisition comprises:
The change of acceleration when measuring each scan image gathered in described scanned image sequence;
Change according to acceleration when gathering described scan image, estimates the contour area of described object to be scanned in described scan image;
According to the contour area of described object to be scanned in described scan image, from described scanned image sequence, extract described first image sequence.
7. three dimension scanning method as claimed in claim 5, it is characterised in that, the step of the first image sequence in the described scanned image sequence of described acquisition comprises:
Measure deflection angle when gathering described scan image;
The change of acceleration when measuring each scan image gathered in described scanned image sequence;
Change according to acceleration when gathering described scan image, estimates the contour area of described object to be scanned in described scan image;
According to deflection angle when gathering described scan image, the contour area of described object to be scanned in described scan image, from described scanned image sequence, extract described first image sequence.
8. three dimension scanning method as claimed in claim 5, it is characterised in that, the step of the first image sequence in the described scanned image sequence of described acquisition comprises:
Facula information in each scan image in described scanned image sequence is analyzed, described first image sequence is extracted from described scanned image sequence according to analytical results, wherein, in described first image sequence, the facula information of each first image can meet the demand of the described shooting distance calculated between described and described object to be scanned.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610045370.6A CN105651201B (en) | 2011-09-26 | 2011-09-26 | Three-dimensional scanner and 3-D scanning method |
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| CN201110288847.0A CN103017676B (en) | 2011-09-26 | 2011-09-26 | Three-dimensional scanner and 3-D scanning method |
| CN201610045370.6A CN105651201B (en) | 2011-09-26 | 2011-09-26 | Three-dimensional scanner and 3-D scanning method |
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| CN105651201B (en) | 2018-08-31 |
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