CN105761301A - Three-dimensional laser scanning system and color point cloud image establishment method thereof - Google Patents
Three-dimensional laser scanning system and color point cloud image establishment method thereof Download PDFInfo
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- CN105761301A CN105761301A CN201410779833.2A CN201410779833A CN105761301A CN 105761301 A CN105761301 A CN 105761301A CN 201410779833 A CN201410779833 A CN 201410779833A CN 105761301 A CN105761301 A CN 105761301A
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Abstract
The present invention provides a three-dimensional laser scanning system and a color point cloud image establishment method thereof. According to the method, firstly, a color code comparison table is established, the color code comparison table comprises a plurality of color groups, and each of the color groups comprises a plurality of color codes; then multiple strokes of original images are received from an image-taking device, and a data point with a largest brightness in each row or column in each stroke of original image is defined and the color code calculation corresponding to the data point is calculated; according to the color code calculation value, a corresponding color code is selected from the color code comparison table, and the selected corresponding color codes are used to establish the color three-dimensional point cloud image of a target object is established. According to the system and the method, a mode of searching a table is used to define the color of a point cloud image, and the method is easy to implement.
Description
Technical field
The present invention is about colour point clouds image producing method, particularly relates to three-dimensional laser scanning system and colour point clouds image method for building up thereof.
Background technology
Refer to Fig. 7, three-dimensional (3D) laser scanning system of existing three angle measurements includes monochromatic (or Single wavelength) laser scanner 51, one monochromatic (or Single wavelength) image-taking device 52 and an image processing apparatus 53, this laser scanner 51 projects a laser scanning line 510 and moves to scan this target item 54 on a target item 54 and along one scan direction, this image-taking device 52 is along with carrying out when this laser scanning line 510 moves and is projeced into this target item 54 shooting to obtain complex original image, please coordinate with reference to Fig. 8, for corresponding to the original image 60 taken by Fig. 7 laser scanning line 510 position, this original image 60 only presents this laser scanning line 510 reflective information 61 on this target item 54.In Fig. 8, this original image 60 includes m × n stroke count strong point, each stroke count strong point has the brightness of correspondence, three-dimensional coordinate and depth information (rangeimage), and this image processing apparatus 53 electrically connects this laser scanner 51 with image-taking device 52 to carry out data transmission.This main complex original image taken by this image-taking device 52 of image processing apparatus 53 produces the three-dimensional point cloud image of this target item 54.
But, this three-dimensional point cloud image is only capable of being presented the third dimension of this target item 54 by the density degree of data point, and this three-dimensional point cloud image is only monochrome image and does not have color information, not easily differentiates the actual look of this target item 54.nullAlthough existing color three dimension point cloud chart of setting up is as system (such as U.S. Patent Bulletin US7463269 and US7528831 case、The StrataFotoCX3D product of Strata company and RyanWhite et al. paper delivered: RyanWhiteandDavidForsyth,Retexturingsingleviewsusingtextureandshading,TechnicalReportNo.UCB/EECS-2005-4,UniversityofCalifornia,Berkeley,2005.) can directly produce colored three-dimensional point cloud image，But these color three dimension point cloud charts include high-res color sensitive element as system、The filter switching device such as module or high-precision drive mechanism，Not only improve hardware cost，Also the complexity of algorithm is increased，Thus extending the activity duration that scanning is set up with image.
Summary of the invention
Therefore the main purpose of the present invention is to provide the colour point clouds image method for building up of a kind of three-dimensional laser scanning system, utilizes the three-dimensional laser scanning system of existing monochrome to set up color three dimension point cloud chart picture, therefore does not need to install the hardware of high cost.
In the colour point clouds image method for building up of three-dimensional laser scanning system of the present invention, this three-dimensional laser scanning system includes a laser scanner, one image-taking device and an image processing apparatus, this laser scanner projects a laser scanning line and moves to scan this target item on a target item and along one scan direction, this image-taking device carries out when being projeced into this target item along with this laser scanning line moves shooting to obtain complex original image, each original image has m × n the data point including monochrome information, the method performs in this image processing apparatus and comprises:
Setting up a colour coding synopsis, this colour coding synopsis includes plural number color group, and each color group comprises plural number colour coding；
Receive this complex original image from this image-taking device, and define each row in each original image or each column have the data point of high-high brightness and calculates the code value of calculation of the same colour that this data point is corresponding；
Table look-up from this colour coding synopsis according to colour coding value of calculation and select the colour coding of a correspondence, and utilize the plural colour coding selected to set up a color three dimension point cloud chart picture of this target item.
It is a further object of the present invention to provide a kind of three-dimensional laser scanning system, comprise:
One laser scanner, projects a laser scanning line and moves to scan this target item on a target item and along one scan direction；
One image-taking device, along with carrying out when this laser scanning line moves and is projeced into this target item shooting to obtain complex original image, each original image has m × n the data point including monochrome information；And
One image processing apparatus, electrically connects this laser scanner and this image-taking device, and has a colour coding synopsis, and this colour coding synopsis includes plural number color group, and each color group comprises plural number colour coding；This image processing apparatus receives this complex original image from this image-taking device, and define each row in each original image or each column have the data point of high-high brightness and calculates the code value of calculation of the same colour that this data point is corresponding, select the colour coding of a correspondence to table look-up from this colour coding synopsis according to colour coding value of calculation, and utilize the plural colour coding selected to set up a color three dimension point cloud chart picture of this target item.
It should be noted that the inventive method is to perform under the hardware structure of existing three-dimensional laser scanning system, do not need to install high-res color sensitive element, the filter switching hardware such as module or high-precision drive mechanism, nature will not improve hardware cost；Additionally, the present invention is easy to implement by the color of lookup table mode defining point cloud atlas picture, being not necessary to by complicated algorithm, nature can complete this color three dimension point cloud chart picture within the limited activity duration.
Accompanying drawing explanation
Fig. 1: the schematic diagram of three-dimensional laser scanning system of the present invention.
Fig. 2: the schematic diagram of original image taken by this image-taking device in the present invention.
Fig. 3: the flow chart of the inventive method.
Fig. 4: the schematic diagram of brightness value corresponding to complex data point in the present invention.
Fig. 5: brightness Gaussian curve schematic diagram corresponding to the i-th columns strong point in the present invention.
Fig. 6: brightness Gaussian curve schematic diagram corresponding to the i-th+3 columns strong point in the present invention.
Fig. 7: the schematic diagram of existing three-dimensional laser scanning system.
Fig. 8: the schematic diagram of original image taken by existing image-taking device.
Reference numeral illustrates:
11 laser scanner 12 image-taking devices
13 image processing apparatus 14 target items
141 tooth body 142 gingiva tissues
20 laser scanning line 30 original images
31 reflective information 32 data points
41 Gaussian curve 42 Gaussian curves
51 laser scanner 52 image-taking devices
53 image processing apparatus 510 laser scanning lines
54 target item 60 original images
61 reflective informations
Detailed description of the invention
The inventive method can be applicable to the three-dimensional laser scanning system of three angle measurements, refer to Fig. 1, this three-dimensional laser scanning system includes laser scanner 11, image-taking device 12 and an image processing apparatus 13, and its framework and function are referred to prior art and described in Fig. 7, do not repeat them here.In brief, Fig. 1 is the state that laser scanning line 20 is projeced into a target item 14, Fig. 2 is the original image 30 that this image-taking device 12 is instantly taken, this original image 30 comprises this laser scanning line 20 reflective information 31 on this target item 14, wherein each original image 30 includes m × n stroke count strong point, and each stroke count strong point has the brightness of correspondence, three-dimensional coordinate and depth information (rangeimage).The inventive method mainly complex original image taken by this image-taking device 12 sets up the three-dimensional colour point clouds image of this target item 14.This target item 14 is for tooth model, but is not limited.
The inventive method performs in this image processing apparatus 13.Refer to Fig. 3, first, the present invention sets up a colour coding synopsis, and this colour coding synopsis includes plural number color group, and each color group comprises plural number colour coding (step 101).This plural number color group represents different colour systems respectively, such as comprise at least two colour system in the colour systems such as red, orange, yellow, green, blue, indigo, purple, Lycoperdon polymorphum Vitt, wherein each color group has the plural colour coding of correspondence, color representated by these colour codings degree deep, shallow, bright, dark is different from each other, and colour coding can be the colour coding of the RGB color code of 16 systems or extended formatting.It is also preferred that the left every colour coding in each color group is all to there being code index value of the same colour.
As shown in Figure 1, the target item 14 of the present invention is for tooth model, in general, tooth model includes the tooth body 141 of white color system and the gingiva tissue 142 of red colour system, therefore this colour coding synopsis can include the first color group and the second color group, represented the color of white color system by the first color group, the second color group represents the color of red colour system, such as following table:
After this image processing apparatus 13 receives complex original image from this image-taking device 12, define the data point in each row of each original image 30 or each column with high-high brightness, and calculate code value of calculation (step 102) of the same colour of this data point.For convenience of description, refer to the schematic diagram of Fig. 4, Fig. 4 is corresponding to local data's dot matrix of Fig. 2, in Fig. 4, the monochrome information of each data point 32 represents with a brightness value respectively, only have the brightness value of the data point 32 corresponding to reflective information 31 more than zero, and the more big representative of brightness value is more big to the reflectance of laser scanning line 20, the distributing position of remainder data point 32 is not projected by laser scanning line 20, therefore brightness value is zero.
This image processing apparatus 13 can directly define every string according to the size of brightness value to be had the data point of maximum brightness value H and calculates the brightness value number of data points W (namely corresponding to the number of data points of reflective information 31) more than zero in every string, to calculate the colour coding value of calculation of these row according to H and W, this colour coding value of calculation can be W/H or H/W, and the present invention illustrates for H/W.For the i-th of Fig. 4 the row, in the complex data point of the i-th row, these row have the data point of maximum brightness value (H=9) and are positioned at (i, j), in these row, the brightness value number of data points W more than zero is 5, therefore for the original image 30 of Fig. 3, its i-th row definable goes out a data point (i with maximum brightness value, j), the colour coding value of calculation of its correspondence is 9/5.Additionally, (i, the brightness value of both sides data point j) successively decreases outward, therefore the complex data point 32 in i-th row with brightness value can correspond to the Gaussian curve 41 shown in Fig. 5 from Fig. 4 it can also be seen that data point.Similarly, again for i-th+3 row of Fig. 4, corresponding to the Gaussian curve 42 shown in Fig. 6, the data point being positioned at (i+3, j-1) has maximum brightness value (H=6), and in these row, the brightness value number of data points W more than zero is 3, therefore in the original image 30 of Fig. 3, its i-th+3 row definable goes out the data point (i+3, j-1) of a tool maximum brightness value, and the colour coding value of calculation of its correspondence is 6/3.Therefore such as the aforementioned practice, the several column in the original image 30 of Fig. 3 can define the data point with maximum brightness value and colour coding value of calculation thereof respectively.
It is above illustrating for the original image 30 of Fig. 2, it should be noted that, in next original image photographed, because the position change of laser scanning line 20, therefore the i-th row have the data point of maximum brightness value and naturally understand different from a upper original image in next original image, if in the i-th row of a such as upper original image, there is the data point of maximum brightness value at (i, j), then in the i-th row of next original image, the data point with maximum brightness value is positioned at (i, j+1), and the rest may be inferred.Therefore when after the scanning operation completing this target item 14 and acquirement plural number original image, the data point with maximum brightness value of at least string in each original image and the colour coding value of calculation of correspondence thereof can be obtained.
Then, this image processing apparatus 13 is tabled look-up from this colour coding synopsis according to the colour coding value of calculation of these data points and is selected the colour coding of a correspondence respectively, and in obtaining in each original image after the colour coding of data point and correspondence thereof, this image processing apparatus 13 utilizes these data points and colour coding to set up color three dimension point cloud chart picture (step 103) of this target item 14.In this preferred embodiment, the colour coding index value that comparison is consistent with colour coding value of calculation, and then select should the colour coding of colour coding index value, such as, in Fig. 4, and data point (i, colour coding value of calculation j) is 9/5, its corresponding colour coding is FFF0F0, belongs to the first color group；Similarly, the colour coding of data point (i+3, j-1) is E9967A, belongs to the second color group.
As it was previously stated, each data point has the three-dimensional coordinate of correspondence, depth data and colour coding, this image processing apparatus 13 directly can set up this color three dimension point cloud chart picture according to the three-dimensional coordinate of these data points, depth data and colour coding.Or, this image processing apparatus 13 first can produce an initial three-dimensional point cloud chart picture according to this plural number original image, then it is loaded in this initial three-dimensional point cloud chart picture by the plural colour coding taken out selected by the 102nd step the data point of each correspondence respectively, imply that each data point is loaded into the colour coding of correspondence in this initial three-dimensional point cloud chart picture, sets up this color three dimension point cloud chart picture whereby.
Refer to Fig. 2, the tooth body 141 of white color system and the gingiva tissue 142 of red colour system is included because of tooth model, setting result according to colour coding again, data point (i in the initial data 30 of visible Fig. 3, j) belong to the color group of white and correspond to tooth body 141, data point (i+3, j-1) belong to red color group and correspond to gingiva tissue 142, again because each colour coding has the degree deep, shallow, bright, dark of its colour system corresponding, consequently, it is possible to this color three dimension point cloud chart picture can reflect the material object of this tooth model really.
In the 102nd step, the present invention provides the second to calculate the mode of colour coding value of calculation.Same for Fig. 3 and Fig. 4, first from the complex data point of every string, define the brightest data point.Arranging for i-th, its brightest data point is K represents the line number (column) of the brightness value data point more than zero in the i-th row (row), IkRepresentative data point (i, brightness value k).In the brightest data point defining the i-th row, (i, after x), calculates the average brightness value of the brightness value data point more than zero in the i-th row T is the brightness value number of data points more than zero in the i-th row.Obtain the average brightness value of the i-th rowAfter, according to this average brightness valueCalculate a dispersion degree reference value σ,This dispersion degree reference value σ is namely as this colour coding value of calculation.
Consequently, it is possible to colour coding synopsis such as following table:
Be with, for the original image 30 shown in Fig. 3, the colour coding value of calculation of the brightest data point and correspondence thereof can be calculated respectively from several column, then this image processing apparatus 13 is tabled look-up from this colour coding synopsis according to the colour coding value of calculation of these data points and is selected the colour coding of a correspondence respectively, comparison goes out the colour coding that colour coding index value is consistent with colour coding value of calculation, such as the brightest data point (i, j) colour coding value of calculation be σ 4, colour coding corresponding to it is F5FFFA, belonging to the first color group, the rest may be inferred.Obtaining in each original image after the colour coding of data point and correspondence thereof, this image processing apparatus 13 performs the 103rd step to obtain this color three dimension point cloud chart picture.
Foundation about colour coding synopsis, the laser scanning line 20 reflective condition at target item 14 is gone out from Fig. 5 and Fig. 6 observable, this laser scanning line 20 is relatively wide in the scope of tooth body 141 scattering, represents this laser scanning line 20 relatively low at the focusing effect of this tooth body 141；Relatively, this laser scanning line 20 is narrower in the scope of the scattering of this gingiva tissue 142, and relative focus effect is higher.The difference of focusing effect whereby, is available for the present invention and differentiates the article surface of unlike material, different tissues or different qualities.With identical principle, this system can first shoot with reference to article one, and analyze laser scanning line reflective information on these reference article and the colour coding according to reflective information definition complex data point its correspondence i.e., and then set up and store this colour coding synopsis at this image processing apparatus 13.For example, this system also can obtain the original image of similar Fig. 3 and the data of Fig. 4 when can these reference article be shot, and calculates colour coding index value (H/W or σ as the aforementioned) according to these data.After calculating colour coding index value, these colour coding index values can be set the colour coding of a correspondence respectively by staff according to the actual color of these reference article, and then set up and store this colour coding synopsis at this image processing apparatus 13.
Thus, because the present invention sets up the color three dimension point cloud chart picture of this target item 14 according to this colour coding synopsis, this colour coding synopsis is based on the real image of these reference article and sets up again, therefore the color three dimension point cloud chart picture of this target item 14 can close to color in kind.
The above is merely to illustrate technical scheme, and above-described embodiment all under the spirit and category of the present invention, can carried out modifying and change by any those of ordinary skill in the art.Therefore, protection scope of the present invention should be as the criterion depending on right.
Claims (10)
1. the colour point clouds image method for building up of a three-dimensional laser scanning system, this three-dimensional laser scanning system includes a laser scanner, one image-taking device and an image processing apparatus, this laser scanner projects a laser scanning line and moves to scan this target item on a target item and along one scan direction, this image-taking device carries out when being projeced into this target item along with this laser scanning line moves shooting to obtain complex original image, each original image has m × n the data point including monochrome information, it is characterized in that, the method performs in this image processing apparatus and comprises:
Setting up a colour coding synopsis, this colour coding synopsis includes plural number color group, and each color group comprises plural number colour coding；
Receive this complex original image from this image-taking device, and define each row in each original image or each column have the data point of high-high brightness and calculates the code value of calculation of the same colour that this data point is corresponding；
Table look-up from this colour coding synopsis according to colour coding value of calculation and select the colour coding of a correspondence, and utilize the plural colour coding selected to set up a color three dimension point cloud chart picture of this target item.
2. the colour point clouds image method for building up of three-dimensional laser scanning system as claimed in claim 1, it is characterised in that in the step producing this color three dimension point cloud chart picture, comprise:
Merge this complex original image to produce an initial three-dimensional point cloud chart picture；
The plural colour coding selected is loaded in this initial three-dimensional point cloud chart picture the data point of each correspondence respectively, to set up this color three dimension point cloud chart picture.
3. the colour point clouds image method for building up of three-dimensional laser scanning system as claimed in claim 1, it is characterised in that in the step producing this color three dimension point cloud chart picture, comprise:
The plural colour coding selected is loaded into the data point of a plurality of correspondences；
This color three dimension point cloud chart picture is set up according to the complex data point with colour coding.
4. the colour point clouds image method for building up of three-dimensional laser scanning system as according to any one of claims 1 to 3, it is characterised in that
In definition, this has in the step of data point of high-high brightness, directly defines the data point with maximum brightness value according to the size of monochrome information；
In the step calculating this colour coding value of calculation, calculate this colour coding value of calculation according to the brightness value number of data points more than zero in the maximum brightness value of this data point and this row.
5. the colour point clouds image method for building up of three-dimensional laser scanning system as according to any one of claims 1 to 3, it is characterised in that
In definition, this has in the step of data point of high-high brightness, defines the brightest data point from the complex data of each column point K represents the line number of the brightness value data point more than zero, I in the i-th rowkRepresentative data point (i, brightness value k)；
In the step calculating this colour coding value of calculation, calculate the average brightness value of the brightness value data point more than zero in the i-th row T is the brightness value number of data points more than zero in the i-th row, then according to this average brightness valueCalculate a dispersion degree reference value σ,This dispersion degree reference value σ is namely as this colour coding value of calculation.
6. a three-dimensional laser scanning system, it is characterised in that comprise:
One laser scanner, projects a laser scanning line and moves to scan this target item on a target item and along one scan direction；
One image-taking device, along with carrying out when this laser scanning line moves and is projeced into this target item shooting to obtain complex original image, each original image has m × n the data point including monochrome information；And
One image processing apparatus, electrically connects this laser scanner and this image-taking device, and has a colour coding synopsis, and this colour coding synopsis includes plural number color group, and each color group comprises plural number colour coding；This image processing apparatus receives this complex original image from this image-taking device, and define each row in each original image or each column have the data point of high-high brightness and calculates the code value of calculation of the same colour that this data point is corresponding, select the colour coding of a correspondence to table look-up from this colour coding synopsis according to colour coding value of calculation, and utilize the plural colour coding selected to set up a color three dimension point cloud chart picture of this target item.
7. three-dimensional laser scanning system as claimed in claim 6, it is characterized in that, this image processing apparatus produces an initial three-dimensional point cloud chart picture after merging this complex original image, the plural colour coding selected to be loaded in this initial three-dimensional point cloud chart picture respectively after the data point of each correspondence, set up this color three dimension point cloud chart picture.
8. three-dimensional laser scanning system as claimed in claim 6, it is characterised in that the plural colour coding selected is loaded into the data point of a plurality of correspondences by this image processing apparatus, to set up this color three dimension point cloud chart picture according to the complex data point with colour coding.
9. the three-dimensional laser scanning system as according to any one of claim 6 to 8, it is characterized in that, this image processing apparatus directly defines this data point with maximum brightness value according to the size of monochrome information, and calculates this colour coding value of calculation according to the brightness value number of data points more than zero in the maximum brightness value of this data point and this row.
10. the three-dimensional laser scanning system as according to any one of claim 6 to 8, it is characterised in that this image processing apparatus defines the brightest data point from the complex data point of each column K represents the line number of the brightness value data point more than zero, I in the i-th rowkRepresentative data point (i, brightness value k)；Then the average brightness value of the brightness value data point more than zero in the i-th row is calculated T is the brightness value number of data points more than zero in the i-th row, then according to this average brightness valueCalculate a dispersion degree reference value σ as this colour coding value of calculation,
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