CN105844701A - Sequential-image three-dimensional modeling method - Google Patents
Sequential-image three-dimensional modeling method Download PDFInfo
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- CN105844701A CN105844701A CN201610155575.XA CN201610155575A CN105844701A CN 105844701 A CN105844701 A CN 105844701A CN 201610155575 A CN201610155575 A CN 201610155575A CN 105844701 A CN105844701 A CN 105844701A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
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- A—HUMAN NECESSITIES
- A43—FOOTWEAR
- A43D—MACHINES, TOOLS, EQUIPMENT OR METHODS FOR MANUFACTURING OR REPAIRING FOOTWEAR
- A43D1/00—Foot or last measuring devices; Measuring devices for shoe parts
- A43D1/02—Foot-measuring devices
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Abstract
A sequential-image three-dimensional modeling method is disclosed. The method comprises the following steps of placing a measured foot which is covered with a sock possessing textures on a measurement pad, wherein the measurement pad is provided with a mark unit of array assignment; encircling a periphery of the measured foot by photographic equipment and acquiring 360 degree images of the measured foot; and transmitting the images to a computer to carry out three-dimensional modeling so as to obtain a foot three-dimensional model. In the invention, only through the common photographic equipment, such as a mobile phone, a three-dimensional modeling process can be completed and a special camera or a three-dimensional camera and other professional equipment are not needed to carry out calibration, therefore, operation is convenient and cost is low; a dense and matched thinking is used to carry out three-dimensional modeling so that whole modeling process time is shortened, efficiency is high and time cost is saved.
Description
Technical field
The present invention relates to a kind of sequence image three-dimensional modeling method.
Background technology
The mode buying shoes is roughly divided into two kinds, and one is line under type, and another kind is line upper type.But no matter use
Any mode all existing defects, specifically: line under type mainly shows as client and goes select style and try footwear on to solid shop/brick and mortar store
Son, would generally take a long time during trying on, inconvenient；Line upper type mainly shows as client and chooses in on-line shop
The size measured according to oneself after selecting style goes to select yardage, but the shoes yardage standard of each manufacturer production is different, past
Toward causing the yardage marked inconsistent with the yardage that client measures, client tries shoes on after receiving, and also needs entrance to move back if improper
Goods or the program exchanged goods, make troubles to client.Meanwhile, be no matter to buy on line or under line, the yardage size of shoes only by
Shoe length determines, have ignored other such as important data such as arcuate, this results in client cannot be only according to shoes yardage
Just can correctly select to be suitable for the shoes of oneself foot type.
To this, occur that the Chinese patent literature of some improved products such as Publication No. 1544883 discloses on the market
A kind of three-dimensional foot type measuring based on specifiable lattice pattern and the method for modeling.It is through the foot of people with the socks being printed on grid
On, then shot by multiple digital camera equipments or video camera, it is ensured that the angle point of each grid is by least two number simultaneously
Code picture pick-up device or video camera photographed, and were then based on the principle of stereoscopic vision and optical imagery, recovered all grid angle points
Three-dimensional position；On this basis, utilize the three-dimensional position of these angle points recovered, again simulate covering on people's foot
Three-dimensional grid, retrains the locus of standard foot finally according to three-dimensional grid, by deformable modeling method, sets up specific three
The model of dimension foot type, and calculate the parameter of foot type.Although the program is workable, and realize low cost, be beneficial to promote
Use.However it is necessary that use two or the picture pick-up device of more than two or video camera, and computer system needs to recover all
The three-dimensional position of grid angle point, algorithm is complicated, and data processing amount is relatively big, and the time spent is longer, adds time cost.
Summary of the invention
In order to overcome the problems referred to above, the present invention provides that a kind of to have measurement process simple, convenient and measure high excellent of efficiency
The sequence image three-dimensional modeling method of point.
A kind of sequence image three-dimensional modeling method of offer is provided, including:
The measured foot being cased with having veined socks is placed on measurement pad, and described pad of measuring is provided with the labelling of array arrangement
Unit；Picture pick-up device around peripheral one week of measured foot and is obtained the image of 360 degree of measured foot；By image transmitting
Carry out three-dimensional modeling to computer, obtain foot's threedimensional model.
Further, described three-dimensional modeling comprises the following steps:
S1, every piece image is processed, position and detect the indexing unit in image, obtain the figure of indexing unit central point
Image position information, in the i-th width image got, labelling unit center point point set is designated as Pi；
S2, point set Pi with Pi+1 got in adjacent two width images is mated, find same place pair, and set up 1 a pair
Should be related to, utilize the corresponding relation between same place pair, resolve the internal reference of picture pick-up device, and picture pick-up device is at shooting two adjacent images
Time relative location parameter spin matrix R and translation matrix T, described internal reference includes that principal point position (cx, cy) and shooting set
Standby focal length (fx, fy), solution formula is
(X, Y, Z are that the same place found out in point set Pi Yu Pi+1 is to coordinate in three dimensions；U, v are that corresponding same place exists
Each pixel coordinate of corresponding point on image,For nine components of the required spin matrix R solved,For
Three components of translation matrix T, s represents the physical length in image in an image pixel corresponding three-dimensional space)；
S3, the relative location parameter R of picture pick-up device when utilizing described interior participation adjacent image to obtain, T matrix, to two width neighbor map
Picture is corrected, and by i+1 sub-picture through rotating, translation conversion to same i-th width image is under same coordinate system；
S4, employing local matching algorithm carry out the dense Stereo Matching between adjacent image, to any point in the i-th width image, with this
A n*n(n is set as odd number centered by Dian) window of pixel size, passes through moving window with a line in i+1 width image
Scanning pixel-by-pixel, acquisition point pair, calculate the similarity degree between pixel in two windows simultaneously, computing formula is
I(u, v) represent that coordinate is on image (d represents the number of pixels that window moves for u, the gray value of pixel v) }, it is on duty
When different value Diff meets presetting threshold value T, it is believed that in the i-th width image, (u, v) with pixel (u+ in i+1 width figure for pixel
D, v) completes coupling, now records pixel coordinate difference d between this matching double points；
S5, right to each described point got, this some degree of depth in three dimensions can be calculated by pixel coordinate difference
Z, computing formula is
(f is picture pick-up device focal length, T be i+1 width image rotated to during the i-th width image taking with picture pick-up device optical center
When point is under the coordinate system of initial point, the distance at the center of the picture pick-up device of i+1 width picture position to initial point, d=X i-X i+1)；
S6, according to similarity principle, calculate the X of each point, Y coordinate, obtain each point on image three dimensional space coordinate (X, Y,
Z), the partial 3 d point cloud completing adjacent two width images is rebuild；
S7, all adjacent images are carried out S1-S6 operation, each partial points is converged the complete point set obtaining target altogether, profit
With delaunay Triangulation Algorithm by unordered point set create-rule geometry dough sheet, complete threedimensional model modeling.
Further, described picture pick-up device obtains the image at least 30 of foot, and two images that adjacent time obtains
There is the overlapping region of at least 40%.
Further, described indexing unit is provided with appointment mark.
Further, described appointment mark is Quick Response Code or bar code.
Further, described picture pick-up device is general camera or stereoscopic camera or mobile phone.
Further, described measurement pad is the scraps of paper or plastic sheet or wood chip.
The present invention only need to can complete three-dimensional modeling process by common picture pick-up device, such as mobile phone, without specially
The professional equipments such as the camera of door or three-dimensional camera are demarcated, the most easy to operate, and low cost；Use the think of of dense Stereo Matching
Road carries out three-dimensional modeling, shortens the time of whole modeling process, and efficiency is high, has saved time cost.
Accompanying drawing explanation
Fig. 1 is the method flow schematic diagram of the present invention.
Fig. 2 is the method flow schematic diagram of three-dimensional modeling in Fig. 1.
Fig. 3 is the use process status schematic diagram of the present invention.
Fig. 4 is the algorithm schematic diagram of S5 in the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawings the detailed description of the invention of the present invention is described in further detail.
Referring to Fig. 1 and Fig. 2, Fig. 1 and Fig. 2 and disclose a kind of sequence image three-dimensional modeling method, concrete steps include:
Step 101, being cased with having the measured foot of veined socks, to be placed in measurement pad upper (such as Fig. 3), and described measurement sets on pad
There is the indexing unit of array arrangement, picture pick-up device around peripheral one week of measured foot and is obtained 360 degree of measured foot
Image.Described picture pick-up device obtains the image at least 30 of foot, and two images that adjacent time obtains have at least 40%
Overlapping region, to guarantee the accuracy that data process.
Wherein, described indexing unit is provided with appointment mark.Described appointment mark can be Quick Response Code or bar code.Also may be used
To put on the mark of numeral or pattern, it is also possible to make whole Zhang Suoshu measure and pad in checkerboard image, as long as making indexing unit have spy
Levying, it is possible to obtained the position of indexing unit by detection, the central point of the most described indexing unit can be as characteristic point, often
The corresponding characteristic point information of individual described indexing unit.
Described picture pick-up device is general camera or stereoscopic camera or mobile phone.Described picture pick-up device has only to one, and right
Picture pick-up device less demanding, it is not necessary to special equipment, the mobile phone of every day use can also use, and the person of being convenient for measuring is any
Place is measured.
Described measurement pad is the scraps of paper or plastic sheet or wood chip, it is therefore preferable to the scraps of paper, can be by array arrangement by printer
Indexing unit prints, and is available for single use, it is possible to life-time service, can select the most flexibly.Use described measurement
Pad can save the buying expenses of bulky measurement equipment, saves memory space, also without manually adjusting parameter, preheating etc. during use
Step, convenient use.Pad light and handy, the easy to use and advantage of low cost owing to measuring, use in being not only available for shop, Ren Men
Can also measure voluntarily in daily life, versatility is stronger.
The veined socks of described tool do not require the texture specified, as long as having texture, it is therefore an objective to provide gray scale special
Levy, to distinguish measured foot and the indexing unit measured on pad.
Step 102, image transmitting to computer is carried out three-dimensional modeling (such as Fig. 2):
S1, every piece image is processed, position and detect the indexing unit in image, obtain the figure of indexing unit central point
Image position information, in the i-th width image got, labelling unit center point point set is designated as Pi；
S2, point set Pi with Pi+1 got in adjacent two width images is mated, find same place pair, and set up 1 a pair
Should be related to, utilize the corresponding relation between same place pair, resolve the internal reference of picture pick-up device, and picture pick-up device is at shooting two adjacent images
Time relative location parameter spin matrix R and translation matrix T, described internal reference includes that principal point position (cx, cy) and shooting set
Standby focal length (fx, fy), solution formula is
(X, Y, Z are that the same place found out in point set Pi Yu Pi+1 is to coordinate in three dimensions；U, v are that corresponding same place exists
Each pixel coordinate of corresponding point on image,For nine components of the required spin matrix R solved,For
Three components of translation matrix T, s represents the physical length in image in an image pixel corresponding three-dimensional space)；
S3, the relative location parameter R of picture pick-up device when utilizing described interior participation adjacent image to obtain, T matrix, to two width neighbor map
Picture is corrected, and by i+1 sub-picture through rotating, translation conversion to same i-th width image is under same coordinate system；
S4, employing local matching algorithm carry out the dense Stereo Matching between adjacent image, to any point in the i-th width image, with this
A n*n(n is set as odd number centered by Dian) window of pixel size, passes through moving window with a line in i+1 width image
Scanning pixel-by-pixel, acquisition point pair, calculate the similarity degree between pixel in two windows simultaneously, computing formula is
I(u, v) represent that coordinate is on image (d represents the number of pixels that window moves for u, the gray value of pixel v) }, it is on duty
When different value Diff meets presetting threshold value T, it is believed that in the i-th width image, (u, v) with pixel (u+ in i+1 width figure for pixel
D, v) completes coupling, now records pixel coordinate difference d between this matching double points；
S5, refer to Fig. 4, right to each described point got, this point can be calculated at three-dimensional space by pixel coordinate difference
Degree of depth Z between, computing formula is
(f is picture pick-up device focal length, T be i+1 width image rotated to during the i-th width image taking with picture pick-up device optical center
When point is under the coordinate system of initial point, the distance at the center of the picture pick-up device of i+1 width picture position to initial point, d=X i-X i+1)；
S6, according to similarity principle, calculate the X of each point, Y coordinate, obtain each point on image three dimensional space coordinate (X, Y,
Z), the partial 3 d point cloud completing adjacent two width images is rebuild；
S7, all adjacent images are carried out S1-S6 operation, each partial points is converged the complete point set obtaining target altogether, profit
With delaunay Triangulation Algorithm by unordered point set create-rule geometry dough sheet, complete threedimensional model modeling.
Step 103, obtain foot's threedimensional model.
The present invention only need to can complete three-dimensional modeling process by common picture pick-up device, such as mobile phone, without specially
The professional equipments such as the camera of door or three-dimensional camera are demarcated, the most easy to operate, and low cost；Use the think of of dense Stereo Matching
Road carries out three-dimensional modeling, shortens the time of whole modeling process, and efficiency is high, has saved time cost
Obviously, those skilled in that art the present invention can be carried out various change and modification without deviating from the present invention spirit and
Scope.So, if these amendments of the present invention and modification belong within the scope of the claims in the present invention and equivalent technologies thereof,
Then the present invention is also intended to change and including modification include these.
Claims (8)
1. a sequence image three-dimensional modeling method, it is characterised in that including:
The measured foot being cased with having veined socks being placed on measurement pad, described pad of measuring is provided with the mark of array arrangement
Note unit；
Picture pick-up device around peripheral one week of measured foot and is obtained the image of 360 degree of measured foot；
Image transmitting to computer is carried out three-dimensional modeling, obtains foot's threedimensional model.
Sequence image three-dimensional modeling method the most according to claim 1, it is characterised in that described three-dimensional modeling includes following
Step:
Every piece image is processed, positions and detect the indexing unit in image, obtain the image of indexing unit central point
Positional information, gets the point set Pi of the central point of indexing unit in the i-th width image；
The point set Pi got in adjacent two width images is mated with point set Pi+1, finds same place pair, and set up one by one
Corresponding relation, utilizes the corresponding relation between same place pair, resolves the internal reference of picture pick-up device, and picture pick-up device is at shooting two neighbor map
Relative location parameter spin matrix R during picture and translation matrix T, described internal reference includes principal point position (cx, cy) and shooting
Device focus (fx, fy), solution formula is
(X, Y, Z are that the same place found out in point set Pi Yu Pi+1 is to coordinate in three dimensions；U, v are that corresponding same place exists
Each pixel coordinate of corresponding point on image,For nine components of the required spin matrix R solved,For
Three components of translation matrix T, s represents the physical length in image in an image pixel corresponding three-dimensional space)；
The relative location parameter R of picture pick-up device when utilizing described interior participation adjacent image to obtain, T matrix, to two width adjacent images
It is corrected, and by i+1 width image through rotating, translation conversion to same i-th width image is under same coordinate system；
Use local matching algorithm to carry out the dense Stereo Matching between adjacent image, to any point in the i-th width image, with this point be
Center sets a n*n(n as odd number) window of pixel size, carried out by moving window with a line in i+1 width image
Individual element scans, acquisition point pair, calculates the similarity degree between pixel in two windows simultaneously, and computing formula is
I(u, v) represent that coordinate is on image (d represents the number of pixels that window moves for u, the gray value of pixel v) }, it is on duty
When different value Diff meets presetting threshold value T, it is believed that in the i-th width image, (u, v) with pixel (u+ in i+1 width figure for pixel
D, v) completes coupling, now records pixel coordinate difference d between this matching double points；
Right to each described point got, this some degree of depth Z in three dimensions can be calculated by pixel coordinate difference, meter
Calculation formula is
(f is picture pick-up device focal length, T be i+1 width image rotated to during the i-th width image taking with picture pick-up device optical center
When point is under the coordinate system of initial point, the distance at the center of the picture pick-up device of i+1 width picture position to initial point, d=X i-X i+1)；
According to similarity principle, calculate the X of each point, Y coordinate, obtain the three dimensional space coordinate (X, Y, Z) of each point on image,
The partial 3 d point cloud completing adjacent two width images is rebuild；
All adjacent images are carried out S1-S6 operation, each partial points is converged the complete point set obtaining target altogether, utilize
Delaunay Triangulation Algorithm, by unordered point set create-rule geometry dough sheet, completes threedimensional model modeling.
Sequence image three-dimensional modeling method the most according to claim 1, it is characterised in that described picture pick-up device obtains foot
Image at least 30.
4. according to the sequence image three-dimensional modeling method described in claim 1 or 3, it is characterised in that the two of adjacent time acquisition
The image opening foot has the overlapping region of at least 40%.
Sequence image three-dimensional modeling method the most according to claim 1, it is characterised in that described indexing unit is provided with finger
Marking.
Sequence image three-dimensional modeling method the most according to claim 5, it is characterised in that described appointment mark is Quick Response Code
Or bar code.
Sequence image three-dimensional modeling method the most according to claim 1, it is characterised in that described picture pick-up device is common phase
Machine or stereoscopic camera or mobile phone.
Sequence image three-dimensional modeling method the most according to claim 1, it is characterised in that described measurement pad is the scraps of paper or moulds
Tablet or wood chip.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106942813A (en) * | 2017-03-29 | 2017-07-14 | 浙江理工大学 | The contactless convenient measuring method for obtaining somatic data |
| CN107358641A (en) * | 2017-07-06 | 2017-11-17 | 林嘉恒 | Prime number spiral scanning method and system |
| CN108961015A (en) * | 2018-07-27 | 2018-12-07 | 朱培恒 | A kind of online virtual examination shoes method |
| CN109754457A (en) * | 2017-11-02 | 2019-05-14 | 韩锋 | Reconstruct system, method and the electronic equipment of object threedimensional model |
| CN109813335A (en) * | 2017-11-21 | 2019-05-28 | 武汉四维图新科技有限公司 | Scaling method, device, system and the storage medium of data collection system |
| CN110390694A (en) * | 2019-07-19 | 2019-10-29 | 中兵勘察设计研究院有限公司 | A kind of positioning of photography method for article three-dimensional reconstruction |
| CN110411415A (en) * | 2019-07-20 | 2019-11-05 | 中兵勘察设计研究院有限公司 | A kind of method for imaging for article three-dimensional reconstruction |
| CN116714975A (en) * | 2023-08-10 | 2023-09-08 | 河北卓然睿和自动化科技有限公司 | Automatic positioning adjustment method and device for material sheet, processing machine and storage medium |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106942813A (en) * | 2017-03-29 | 2017-07-14 | 浙江理工大学 | The contactless convenient measuring method for obtaining somatic data |
| CN106942813B (en) * | 2017-03-29 | 2019-12-06 | 浙江理工大学 | non-contact measurement method for conveniently acquiring human body data |
| CN107358641A (en) * | 2017-07-06 | 2017-11-17 | 林嘉恒 | Prime number spiral scanning method and system |
| CN109754457A (en) * | 2017-11-02 | 2019-05-14 | 韩锋 | Reconstruct system, method and the electronic equipment of object threedimensional model |
| CN109813335A (en) * | 2017-11-21 | 2019-05-28 | 武汉四维图新科技有限公司 | Scaling method, device, system and the storage medium of data collection system |
| CN108961015A (en) * | 2018-07-27 | 2018-12-07 | 朱培恒 | A kind of online virtual examination shoes method |
| CN110390694A (en) * | 2019-07-19 | 2019-10-29 | 中兵勘察设计研究院有限公司 | A kind of positioning of photography method for article three-dimensional reconstruction |
| CN110411415A (en) * | 2019-07-20 | 2019-11-05 | 中兵勘察设计研究院有限公司 | A kind of method for imaging for article three-dimensional reconstruction |
| CN110411415B (en) * | 2019-07-20 | 2022-01-07 | 中兵勘察设计研究院有限公司 | Photographing method for three-dimensional reconstruction of object |
| CN116714975A (en) * | 2023-08-10 | 2023-09-08 | 河北卓然睿和自动化科技有限公司 | Automatic positioning adjustment method and device for material sheet, processing machine and storage medium |
| CN116714975B (en) * | 2023-08-10 | 2023-10-31 | 河北卓然睿和自动化科技有限公司 | Automatic positioning adjustment method and device for material sheet, processing machine and storage medium |
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