CN106170086A - The method of drawing three-dimensional image and device, system - Google Patents
The method of drawing three-dimensional image and device, system Download PDFInfo
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- CN106170086A CN106170086A CN201610698004.0A CN201610698004A CN106170086A CN 106170086 A CN106170086 A CN 106170086A CN 201610698004 A CN201610698004 A CN 201610698004A CN 106170086 A CN106170086 A CN 106170086A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N2013/0074—Stereoscopic image analysis
- H04N2013/0081—Depth or disparity estimation from stereoscopic image signals
Abstract
The invention discloses method and device, the system of drawing three-dimensional image.Wherein, told method includes: obtains respectively and with the first viewpoint, target is acquired the black light image that obtains and described target is acquired with the second viewpoint the first coloured image obtained；The parallax between described first viewpoint and described second viewpoint is calculated by described black light image；According to the pixel coordinate of the first coloured image described in described parallactic movement, obtain the second coloured image of the first viewpoint；3-D view is formed by described first coloured image and described second coloured image.By the way, it is possible to increase three dimensional display effect.
Description
Technical field
The present invention relates to dimension display technologies field, particularly relate to method and device, the system of drawing three-dimensional image.
Background technology
Mankind's eyes can produce vision difference, just due to position difference when watching the object with certain distance
It is that this parallax allows people have the sensorial effects of three-dimensional.Dimension display technologies is according to this principle, by will obtain simultaneously
Binocular images is received by corresponding eyes respectively, thus produces 3-D effect.Owing to this technology has brought brand-new
Stereos copic viewing is experienced, and the demand of 3-D view resource is the most day by day increased by people in recent years.
One of method of currently acquired 3-D view is that by image processing techniques, two dimensional image is converted into 3-D view.
It is specially and uses image processing techniques to be calculated the depth information of scene of existing two dimensional image, and then draw out virtual other
Visual point image, utilizes existing two dimensional image and other virtual visual point images to form 3-D view.
Owing to the depth information of the existing two dimensional image for drawing these other visual point images is through being calculated, this
Process can cause the loss of image detail information, affects the effect of three dimensional display.
Summary of the invention
The technical problem that present invention mainly solves is to provide method and device, the system of drawing three-dimensional image, it is possible to carry
High three dimensional display effect.
For solving above-mentioned technical problem, the technical scheme that the present invention uses is: provide a kind of drawing three-dimensional image
Method, including: obtain respectively and target is acquired the black light image that obtains and with the second viewpoint to institute with the first viewpoint
State the first coloured image that target is acquired obtaining；Described first viewpoint and described second is calculated by described black light image
Parallax between viewpoint；According to the pixel coordinate of the first coloured image described in described parallactic movement, obtain the second of the first viewpoint
Coloured image；3-D view is formed by described first coloured image and described second coloured image.
Wherein, described black light image is to described target projective structure light pattern at projection module, by being arranged on
Described target is acquired obtaining by the black light image acquisition device stating the first viewpoint, and described first coloured image is by being arranged on
Described target is acquired obtaining by the color camera of described second viewpoint.
It is wherein, described by the parallax between described black light image described first viewpoint of calculating and described second viewpoint,
Including: according to the matching algorithm of Digital Image Processing, calculate the described black light image that comprises described structured light patterns with
Displacement between each pixel of the reference configuration light image preset；It is calculated the first viewpoint and described second by described displacement to regard
Parallax between point, wherein, described displacement and described parallax have linear relationship.
Wherein, the described parallax being calculated between the first viewpoint and described second viewpoint by described displacement, including: utilize
Following formula 1 is calculated the parallax d between the first viewpoint and described second viewpoint,
Wherein, B1For the distance between described black light image acquisition device and described projection module, B2For described invisible
Distance between light image harvester and color camera；Z0It is that described reference configuration light image place plane is relative to black light
The depth value of image acquisition device；F is the image planes focal length of black light image acquisition device and color camera, and Δ u is black light figure
Displacement between each pixel of picture and default reference configuration light image.
Wherein, the described pixel coordinate according to the first coloured image described in described parallactic movement, obtain the of the first viewpoint
Two coloured images, including: according to parallax d, set up the first pixel coordinate I of described black light imageir(uir,vir) with described
Second pixel coordinate I of the first coloured imager(ur,vrCorresponding relation between) is: Iir(uir,vir)=Ir(ur+d,vr)；Will
The pixel value of the first pixel coordinate of described black light image is set in described first coloured image and described first pixel
Coordinate has the pixel value of the second pixel coordinate of corresponding relation, to form the described target the second cromogram in the first viewpoint
Picture；Described second coloured image is smoothed, denoising.
Wherein, also include: utilize described black light image to be calculated the depth image of described first viewpoint；Utilize three
Dimension image transformation theory, depth image and described first coloured image according to described first viewpoint are calculated described target and exist
3rd coloured image of the first viewpoint；
Described formed 3-D view by described first coloured image and described second coloured image, including: by described second
The pixel value of the respective pixel in coloured image and described 3rd coloured image is averaged or weighted average, obtains described
4th coloured image of one viewpoint；3-D view is formed by described first coloured image and described 4th coloured image.
Wherein, the position relationship between described first viewpoint and the second viewpoint is the position relationship between human body eyes；Institute
State color camera and described black light image acquisition device and described projection module is on same straight line；Described black light
Image is infrared image, and described black light image acquisition device is infrared camera.
Wherein, the image acquisition target surface of described color camera and described black light image acquisition device equal in magnitude, differentiate
Rate and focal length are identical, and optical axis is parallel to each other.
In order to solve above-mentioned technical problem, the present invention uses and another solution is that a kind of 3-D view of offer draws dress
Put, including acquisition module, target is acquired the black light image that obtains and with for obtaining respectively with the first viewpoint
Two viewpoints are acquired the first coloured image obtained to described target；Computing module, based on by described black light image
Calculate the parallax between described first viewpoint and described second viewpoint；Obtain module, for according to described in described parallactic movement first
The pixel coordinate of coloured image, obtains the second coloured image of the first viewpoint；Form module, for by described first coloured image
3-D view is formed with described second coloured image.
In order to solve above-mentioned technical problem, the present invention uses and another solution is that a kind of 3-D view of offer draws system
System, including projection module, black light image acquisition device, color camera and described black light image acquisition device and colored phase
The image processing equipment that machine connects；Described image processing equipment is used for: obtains respectively and adopts with the black light image of the first viewpoint
Storage is acquired the black light image that obtains and is acquired described target with the color camera of the second viewpoint target
The first coloured image obtained；Regarding between described first viewpoint and described second viewpoint is calculated by described black light image
Difference；According to the pixel coordinate of the first coloured image described in described parallactic movement, obtain the second coloured image of the first viewpoint；By institute
State the first coloured image and described second coloured image forms 3-D view.
The invention has the beneficial effects as follows: utilize the black light image of the first viewpoint collected obtain the first viewpoint and
The parallax of the second viewpoint, and utilize the first coloured image of the second viewpoint and this parallax to obtain the second cromogram of the second viewpoint
Picture, and then formed 3-D view by the first coloured image and the second coloured image, due to regarding of this first viewpoint and the second viewpoint
Difference is obtained by the view data collected, and needs not move through image procossing, therefore decreases the loss of image detail information, with
The more accurately coloured image of two viewpoints of acquisition, and then decrease the distortion factor of the 3-D view of synthesis, improve based on two dimension
The three dimensional display effect that image generates.And relative to existing DIBR technology, the present embodiment is without being calculated the deep of image
Degree information, it is to avoid be repeated several times and calculate the error introduced, further increase three dimensional display effect.
Accompanying drawing explanation
Fig. 1 is the flow chart of method one embodiment of drawing three-dimensional image of the present invention；
Fig. 2 is the schematic diagram of method one application scenarios of drawing three-dimensional image of the present invention；
Fig. 3 is the partial process view of another embodiment of method of drawing three-dimensional image of the present invention；
Fig. 4 is the partial process view of the method another embodiment of drawing three-dimensional image of the present invention；
Fig. 5 is the flow chart of the method another embodiment again of drawing three-dimensional image of the present invention；
Fig. 6 is the structural representation of 3-D view drawing apparatus one embodiment of the present invention；
Fig. 7 is the structural representation of 3-D view drawing system one embodiment of the present invention；
Fig. 8 is the structural representation of 3-D view another embodiment of drawing system of the present invention.
Detailed description of the invention
In order to be better understood from technical scheme, below in conjunction with the accompanying drawings the embodiment of the present invention is retouched in detail
State.
The term used in embodiments of the present invention is only merely for describing the purpose of specific embodiment, and is not intended to be limiting
The present invention." a kind of ", " described " and " being somebody's turn to do " of singulative used in the embodiment of the present invention and appended claims
It is also intended to include most form, unless context clearly shows that other implications.It is also understood that term used herein
Any or all possible combination that "and/or" refers to and comprises one or more project of listing being associated.
Refer to the flow chart that Fig. 1, Fig. 1 are method one embodiments of drawing three-dimensional image of the present invention.In the present embodiment, should
Method can be performed by 3-D view drawing apparatus, comprises the following steps:
S11: obtain respectively and target is acquired the black light image that obtains and with the second viewpoint pair with the first viewpoint
Described target is acquired the first coloured image obtained.
It should be noted that black light image of the present invention and coloured image are two dimensional image.This is invisible
Light image is to obtain the image that the intensity of the black light in target is formed.
Wherein, this first viewpoint and the second viewpoint are positioned at the diverse location of target, to obtain at two viewpoints of this target
Image.It is that the different images superposition watched by eyes is formed generally, due to three-dimensional sense organ, therefore this first viewpoint and second regards
Point is for two viewpoints as human body eyes, and the position relationship between the i.e. first viewpoint and the second viewpoint is between human body eyes
Position relationship.Such as, the distance of Regular Human's eyes is t, then the distance between the first viewpoint and the second viewpoint be set to
T, this t are specifically such as 6.5cm.And, same or like for ensureing the picture depth of the first viewpoint and the second viewpoint, by first
Viewpoint is set to the second viewpoint identical with the distance of this target or is less than setting threshold value apart from difference, applies concrete
In, this setting threshold value may be configured as the value of no more than 10cm or 20cm.
In one specifically application, as in figure 2 it is shown, this black light image is for projecting to described target 23 at projection module 25
Structured light patterns, is acquired described target 23 by the black light image acquisition device 21 being arranged on described first viewpoint
Arriving, target 23 is acquired obtaining by this first coloured image by the color camera 22 being arranged on described second viewpoint.Invisible
The image transmitting that light image harvester 21 and color camera are collected is to 3-D view drawing apparatus 24, following to carry out
The acquisition of 3-D view.Owing to color camera is different from the position of black light image acquisition device, thus this first coloured image with
Space three-dimensional point corresponding on same pixel coordinate in black light image also differs.In Fig. 2, color camera 22 and institute
State black light image acquisition device 21 and described projection module 25 is on same straight line, so that this color camera 22 and described
Black light image acquisition device 21 and described projection module 25 are identical to the degree of depth of target.Certainly, Fig. 2 is only used as a kind of enforcement
Example, other apply in, above-mentioned three kinds also can not be on the same line.
Specifically, projection module 25 is typically made up of laser and diffraction optical element, and laser can be swashing of edge transmitting type
Light can also be vertical cavity surface laser, and this laser is the black light that can be collected by this black light image acquisition device.Spread out
Penetrate optical element to need to be configured of the functions such as collimation, beam splitting, diffusion according to different structured light patterns.Above-mentioned knot
Structure light pattern can be to be distributed irregular speckle pattern, and speckle center energy level needs to meet harmless requirement, therefore
Need to consider the configuring condition of the power of laser and diffraction optical element.
The dense degree of speckle pattern have impact on speed and the precision that depth value calculates, and speckle particle is the most, calculates speed
The slowest, but precision is the highest.Therefore, this projection module 25 can select to close according to the approximate depth of the target area of shooting image
Suitable speckle particle density, while ensureing to calculate speed, still has higher computational accuracy.Certainly, this speckle particle is close
Degree also can be determined according to the calculating demand of self by above-mentioned 3-D view drawing apparatus 24, and the density information this determined
Send to projection module 25.
Wherein, this projection module 25 is to target area but does not limit to be the angle of flare projection speckle particle pattern with certain
's.
At projection module 25 after target projective structure light image, what black light image acquisition device 21 gathered target can not
See light image.Specifically, this black light can be any black light, and such as, this black light image acquisition device 21 can be
Infrared collecting device, such as infrared camera, this black light image is infrared image；Or black light image acquisition device 21 can be
EUV collector, such as ultraviolet-cameras, this black light image is ultraviolet image.
For the collection effect reached and avoid follow-up unnecessary calculating, can be by color camera and black light image
Harvester is arranged to synchronous acquisition and collection frame number is identical, and the coloured image and the black light image that so obtain can guarantee that one by one
Corresponding relation, it is simple to subsequent calculations.
S12: calculated the parallax between described first viewpoint and described second viewpoint by described black light image.
Such as, relevant (DIC) algorithm of matching algorithm such as figure digital picture utilizing Digital Image Processing is calculated the
Parallax between image and the image of the second viewpoint of one viewpoint, the image of the i.e. first viewpoint and the pixel of the image of the second viewpoint
Relative position relation between coordinate.
S13: according to the pixel coordinate of the first coloured image described in described parallactic movement, obtain the second colour of the first viewpoint
Image.
Such as, the pixel coordinate of this first coloured image is moved image parallactic value d that respective pixel is corresponding, wherein, moves
Dynamic pixel coordinate (the u obtained1+d,v1) pixel value (being also called rgb value) be the pixel coordinate (u in the first coloured image1,
v1) pixel value.
S14: formed 3-D view by described first coloured image and the second coloured image.
Such as, using the first coloured image and the second coloured image as human body binocular images, with compositing 3 d images,
Can be specifically top-down format, left-right format or the 3-D view shown for 3D of red blue form.Further, closing
After becoming 3-D view, also this 3-D view can be shown, or output shows to the exterior display device connected.
In the present embodiment, the black light image of the first viewpoint collected is utilized to obtain the first viewpoint and the second viewpoint
Parallax, and utilize the first coloured image of the second viewpoint and this parallax to obtain the second coloured image of the second viewpoint, Jin Eryou
First coloured image and the second coloured image form 3-D view, owing to the parallax of this first viewpoint and the second viewpoint is by gathering
The view data arrived obtains, and needs not move through image procossing, therefore decreases the loss of image detail information, more accurately to obtain
The coloured image of two viewpoints, and then decrease the distortion factor of the 3-D view of synthesis, improve based on two dimensional image generation
Three dimensional display effect.And draw (depth-image-based rendering, DIBR) skill relative to existing depth image
Art, the present embodiment is without being calculated the depth information of image, it is to avoid is repeated several times and calculates the error introduced, improves further
Three dimensional display effect.
Referring to Fig. 3, in another embodiment, this black light image is to described target projective structure at projection module
Light pattern, is acquired obtaining to described target by the black light image acquisition device being arranged on described first viewpoint, and described
Described target is acquired obtaining by one coloured image by the color camera being arranged on described second viewpoint, and the present embodiment is with above-mentioned
The difference of embodiment is, above-mentioned S12 includes following sub-step:
S121: according to the matching algorithm of Digital Image Processing, calculate and comprise the described invisible of described structured light patterns
Displacement between each pixel of light image and default reference configuration light image.
The matching algorithm of this Digital Image Processing such as numeral image correlation algorithm.This reference configuration light pattern is to advance with
The projection module planar projective reference configuration light pattern to setpoint distance set, and utilize the black light set
Image acquisition device gathers what the reference configuration light pattern of this plane obtained, and above-mentioned " setting " is interpreted as once setting it
After, this image acquisition device and projection module also will not be moved when the follow-up collection carrying out this black light image.
Such as, digital picture related algorithm is utilized to obtain black light image with reference configuration light pattern as with reference to speckle pattern
The shift value Δ u of each respective pixel between Xiang.The certainty of measurement of current digital image related algorithm can reach sub-pixel, such as
1/8 pixel, say, that the value of Δ u can be the multiple of 1/8, unit is pixel.
S122: be calculated the parallax between the first viewpoint and described second viewpoint by described displacement.
Owing to the displacement between this black light image and each pixel of this reference configuration light image and this parallax have line
Sexual relationship.Therefore movable and its linear relationship is calculated the parallax between the first viewpoint and described second viewpoint.
Such as, utilize the parallax d that following formula 11 is calculated between the first viewpoint and described second viewpoint,
Wherein, B1For the distance between described black light image acquisition device and described projection module, B2For described invisible
Distance between light image harvester and color camera；Z0It is that described reference configuration light image place plane is relative to black light
The depth value of image acquisition device；F is the image planes focal length of black light image acquisition device and color camera, and Δ u is black light figure
Displacement between each pixel of picture and default reference configuration light image.This reference configuration light image place plane is throws before
Penetrate the plane at this reference configuration light pattern place, this Z0For representing the distance between this image acquisition device of this plan range, can
Obtained by the range information of this plane when testing this reference configuration light image before.In the present embodiment, the unit of f is pixel, f's
Value can first pass through demarcation in advance and obtain.
When the numerical value of calculated parallax d is not integer, process such as it can being rounded up or round.
Referring to Fig. 4, in another embodiment, it is with the difference of above-described embodiment, and above-mentioned 13 include following sub-step
Rapid:
S131: set up the of the first pixel coordinate of described black light image and described first coloured image according to parallax
Corresponding relation between two pixel coordinates.
Such as, according to parallax d, the first pixel coordinate I of described black light image is set upir(uir,vir) with described first
Second pixel coordinate I of coloured imager(ur,vrCorresponding relation between) is: Iir(uir,vir)=Ir(ur+d,vr)。
S132: the pixel value of the first pixel coordinate of described black light image is set in described first coloured image
There is the pixel value of the second pixel coordinate of corresponding relation with described first pixel coordinate, to form described target in the first viewpoint
The second coloured image.
Such as, according to corresponding relation, by pixel value (alternatively referred to as rgb value) assignment of the first coloured image in black light
Image, to generate the second coloured image.Illustrate with one of them pixel coordinate of image, if d is 1, then black light image
Pixel coordinate (1,1) is corresponding with the pixel coordinate of the first coloured image (2,1).Then, by the pixel coordinate of black light image
The pixel value of (1,1) be set to pixel coordinate (2,1) in the first coloured image pixel value (r, g, b).
S133: described second coloured image is smoothed, denoising.
Owing to some bad points usually occur in the data of shift value Δ u, cause the coloured image finally given occurs
These data can be amplified when processing further in step below, and then have a strong impact on three dimensional display by the problems such as cavity
Effect, for avoiding bad point or the area data impact on three dimensional display of depth image, this sub-step the second colour to obtaining
Image carries out denoising, smoothing processing.
Certainly, in other embodiments, above-mentioned S13 step can only include above-mentioned S131 and S132 sub-step.
Refer to Fig. 5, in another embodiment again, after above-mentioned S11, further comprising the steps of:
S15: utilize described black light image to be calculated the depth image of described first viewpoint.
Such as, utilizing infrared image to calculate the depth image of this first viewpoint, its concrete calculation can use existing
Related algorithm.
S16: utilize 3-D view transformation theory, according to depth image and described first coloured image of described first viewpoint
It is calculated the described target the 3rd coloured image in the first viewpoint.
Adopt with image according to 3-D view conversion (3D Image Wrapping) arbitrary three-dimensional coordinate point of theoretical space
Two-dimensional coordinate point in collection plane can be mapped by transitting probability theory, therefore thus the first viewpoint and second can be regarded by theory
The pixel coordinate of the image of point is mapped, and according to this corresponding relation and the pixel value of the first coloured image of the second viewpoint,
It is that the image pixel coordinates of the first viewpoint arranges the pixel value of respective pixel coordinate in the first coloured image of the second viewpoint.
Such as, this S16 includes following sub-step:
A: utilize equation 1 below 2 to be calculated the first pixel coordinate (u of depth image of described first viewpointD,vD) with
Second pixel coordinate (u of described first coloured imageR,vRCorresponding relation between),
Wherein, described ZDFor the depth information in described first depth image, represent degree of depth phase described in described target range
The depth value of machine；ZRRepresent the depth value of color camera described in described target range；For described color camera
The pixel homogeneous coordinates fastened of image coordinate；The pixel fastened for the image coordinate of described depth camera
Homogeneous coordinates；MRFor the internal reference matrix of described color camera, MDInternal reference matrix for described depth camera；R is that depth camera is relative
Spin matrix in the outer ginseng matrix of color camera, T is that depth camera is relative to the translation in the outer ginseng matrix of color camera
Matrix.
Internal reference matrix and the outer ginseng matrix of above-mentioned camera and harvester can be set in advance, and specifically this internal reference matrix can basis
The parameter that arranges of camera and harvester is calculated, and this outer ginseng matrix can be by between black light image acquisition device and color camera
Position relationship determine.In one embodiment, by pixel focal length and the figure of camera and the collection lens of harvester
As gathering the inner parameter matrix that the center position coordinates of target surface is constituted.Owing to the position relationship of the first viewpoint and the second viewpoint sets
It is set to the position relationship of human eye eyes, between human body eyes, there is no any rotating against and the distance of only setting value t, therefore
Color camera is unit matrix relative to the spin matrix R of black light image acquisition device, translation matrix T=[t, 0,0]-1。
Further, this setting value t can be carried out according to the distance of black light image acquisition device and color camera with target
Adjust.In another embodiment, further comprising the steps of before above-mentioned S11: to obtain target and black light image acquisition device
Distance with color camera；When judging that described target is equal with the distance of described black light image acquisition device and described color camera
During more than the first distance value, described setting value t is tuned up；When judging described target and described black light image acquisition device and institute
State the distance of color camera when being respectively less than second distance value, described setting value t is turned down.
Wherein, described first distance value is more than or equal to described second distance value.Such as, when target and black light image
The distance of harvester is 100cm, and target is also 100cm with the distance of color camera, owing to 100cm is less than second distance value
200cm, then turn a step value down by setting value, or according to current goal and black light image acquisition device and color camera
Distance be calculated turn value down after be adjusted.When the distance of target with black light image acquisition device and color camera is
300cm, owing to 300cm is more than second distance value 200 and less than the first distance value 500cm, is not adjusted this setting value.
B: the pixel value of the first pixel coordinate of described black light image is set in described first coloured image with
Described first pixel coordinate has the pixel value of the second pixel coordinate of corresponding relation, to form described target in the first viewpoint
3rd coloured image.
Such as, by the depth information Z of the black light image of the first viewpointDAfter substituting into above-mentioned formula 12, formula can be tried to achieve
The depth information of second viewpoint on 12 left sides namely the depth information Z of the first coloured imageR, and the image of the first coloured image
Pixel homogeneous coordinates in coordinate systemIn the present embodiment, black light image acquisition device and color camera and target away from
From identical, the Z i.e. tried to achieveRWith ZDIt is equal.By pixel homogeneous coordinatesAvailable the first picture with this black light image
Element coordinate (uD,vD) the second pixel coordinate (u of the first coloured image one to oneR,vR), such as its corresponding relation is (uR,
vR)=(uD+d,vD).Then, according to corresponding relation, by the pixel value assignment of the first coloured image in black light image, with life
Become the 3rd coloured image.
In this again another embodiment, above-mentioned S14 comprises the following steps:
S141: the pixel value of the respective pixel in described second coloured image and described 3rd coloured image is averaged
Or weighted average, obtains the 4th coloured image of described first viewpoint.
With the pixel coordinate citing in coloured image, the pixel coordinate in the second coloured image and the 3rd coloured image
The pixel value of (Ur, Vr) is respectively (r1, g1, b1) and (r2, g2, b2), then by the picture in the 4th coloured image of the first viewpoint
The pixel value of element coordinate (Ur, Vr) is set to
S142: formed 3-D view by described first coloured image and described 4th coloured image.
Such as, using the first coloured image and the 4th coloured image as human body binocular images, with compositing 3 d images.
It is understood that in above-described embodiment, this black light image acquisition device and the image of color camera can be arranged
Target surface is equal in magnitude, resolution is identical and focal length is identical in collection.Or, color camera and described black light image acquisition device
Image acquisition target surface size, resolution and focal length at least one differ, the target surface size of such as color camera with
And resolution is all big than black light image acquisition device, now, after above-mentioned S13, this preparation method also includes: to described first
Coloured image and/or described second coloured image carry out interpolation, dividing processing so that described first coloured image and described second
The target area that coloured image is corresponding is identical, and image size is the most identical with resolution.Due to color camera and black light figure
As harvester exists error when assembling, therefore the image acquisition target surface of this black light image acquisition device above-mentioned and color camera is big
Little equal, resolution is identical and focal length is identical is interpreted as: the image of this black light image acquisition device and color camera is adopted
Collection target surface size, resolving power and focal length are identical in the range of allowable error.
And, above-mentioned image includes photo or video, when above-mentioned image is video, and described black light image acquisition
The frequency acquisition of device and color camera synchronizes, if or black light image acquisition device different with the frequency acquisition of color camera
Step, then obtain the video image that frequency is consistent by the way of image interpolation.
Refer to the structural representation that Fig. 6, Fig. 6 are 3-D view drawing apparatus one embodiments of the present invention.In the present embodiment,
This drawing apparatus 60 includes acquisition module 61, computing module 62, forms module 63 and obtain module 64.Wherein,
Acquisition module 61 for obtain respectively with the first viewpoint target is acquired the black light image that obtains and with
Second viewpoint is acquired the first coloured image obtained to described target；
Computing module 62 is for being calculated between described first viewpoint and described second viewpoint by described black light image
Parallax；
Obtain module 64 for the pixel coordinate according to the first coloured image described in described parallactic movement, obtain the first viewpoint
The second coloured image；
Form module 63 for being formed 3-D view by described first coloured image and described second coloured image.
Alternatively, described black light image is to described target projective structure light pattern at projection module, by being arranged on
Described target is acquired obtaining by the black light image acquisition device of described first viewpoint, and described first coloured image is by arranging
Described target is acquired obtaining by the color camera in described second viewpoint.
Alternatively, computing module 62, specifically for the matching algorithm according to Digital Image Processing, calculates and comprises described knot
Displacement between described black light image and each pixel of default reference configuration light image of structure light pattern；By described displacement
Being calculated the parallax between the first viewpoint and described second viewpoint, wherein, described displacement and described parallax have linear relationship.
Still optionally further, computing module 62 performs described to be calculated the first viewpoint and described second by described displacement and regard
Parallax between point, including: utilize the parallax d that above-mentioned formula 11 is calculated between the first viewpoint and described second viewpoint.
Alternatively, module 64 is obtained specifically for according to parallax d, setting up the first pixel coordinate of described black light image
Iir(uir,vir) and the second pixel coordinate I of described first coloured imager(ur,vrCorresponding relation between) is: Iir(uir,vir)
=Ir(ur+d,vr)；The pixel value of the first pixel coordinate of described black light image is set in described first coloured image
There is the pixel value of the second pixel coordinate of corresponding relation with described first pixel coordinate, to form described target in the first viewpoint
The second coloured image；Described second coloured image is smoothed, denoising.
Alternatively, computing module 62 is additionally operable to the degree of depth utilizing described black light image to be calculated described first viewpoint
Image；Utilizing 3-D view transformation theory, depth image and described first coloured image according to described first viewpoint calculate
To described target at the 3rd coloured image of the first viewpoint；This formation module 63 is specifically for by described second coloured image and institute
The pixel value stating the respective pixel in the 3rd coloured image is averaged or weighted average, obtains the 4th of described first viewpoint the
Coloured image；3-D view is formed by described first coloured image and described 4th coloured image.
Alternatively, the position relationship between described first viewpoint and the second viewpoint is the position relationship between human body eyes；
Described color camera and described black light image acquisition device and described projection module are on same straight line；Described invisible
Light image is infrared image, and described black light image acquisition device is infrared camera.
Alternatively, the image acquisition target surface of described color camera and described black light image acquisition device equal in magnitude, point
Resolution and focal length are identical, and optical axis is parallel to each other.
Alternatively, described black light image and described first coloured image are photo or video, when described invisible
When light image and described first coloured image are video, the frequency acquisition of described black light image acquisition device and color camera is same
Step, if or the frequency acquisition of black light image acquisition device and color camera asynchronous, then obtain by the way of image interpolation
Obtain the video image that frequency is consistent.
Wherein, the above-mentioned module of this drawing apparatus is respectively used to perform the corresponding steps in said method embodiment, specifically
Execution process as above embodiment of the method illustrates, therefore not to repeat here.
Refer to the structural representation that Fig. 7, Fig. 7 are 3-D view drawing system one way of example of the present invention.This enforcement
In example, this system 70 includes projecting module 74, black light image acquisition device 71, color camera 72 and described black light figure
The image processing equipment 73 connected as harvester 71 and color camera 72.This image processing equipment 73 includes input interface 731, place
Reason device 732, memorizer 733.Further, this image processing equipment 73 also can be connected with projection module 74.
This input interface 731 is for the image obtaining black light image acquisition device 71 and color camera 72 collects.
Memorizer 733 is used for storing computer program, and provides described computer program to processor 732, and can store
The internal reference matrix of the data that processor 732 is used when processing such as black light image acquisition device 71 and color camera 72 and outer ginseng
Matrix etc., and the image that input interface 731 obtains.
Processor 732 is used for:
Obtained respectively by input interface 731 and with the black light image acquisition device 71 of the first viewpoint, target is acquired
The black light image that obtains and with the color camera 72 of the second viewpoint, described target is acquired the first cromogram obtained
Picture；
The parallax between described first viewpoint and described second viewpoint is calculated by described black light image；
According to the pixel coordinate of the first coloured image described in described parallactic movement, obtain the second cromogram of the first viewpoint
Picture；
3-D view is formed by described first coloured image and described second coloured image.
In the present embodiment, image processing equipment 73 may also include display screen 734, and this display screen 734 is used for showing this three-dimensional
Image, to realize three dimensional display.Certainly, in another embodiment, image processing equipment 73 is not used in this 3-D view of display, as
Shown in Fig. 8, this 3-D view drawing system 70 also includes the display device 75 being connected with image processing equipment 73, display device 75
For receiving the 3-D view of image processing equipment 73 output, and show this 3-D view.
Alternatively, processor 732, specifically for the matching algorithm according to Digital Image Processing, calculates and comprises described structure
Displacement between described black light image and each pixel of default reference configuration light image of light pattern；By described displacement meter
Calculating the parallax obtaining between the first viewpoint and described second viewpoint, wherein, described displacement and described parallax have linear relationship.
Still optionally further, processor 732 performs described to be calculated the first viewpoint and described second by described displacement and regard
Parallax between point, including: utilize the parallax d that following formula 1 is calculated between the first viewpoint and described second viewpoint.
Alternatively, processor 732 performs the described pixel coordinate according to the first coloured image described in described parallactic movement,
To the second coloured image of the first viewpoint, including: according to parallax d, set up the first pixel coordinate I of described black light imageir
(uir,vir) and the second pixel coordinate I of described first coloured imager(ur,vrCorresponding relation between) is: Iir(uir,vir)=
Ir(ur+d,vr)；The pixel value of the first pixel coordinate of described black light image is set in described first coloured image with
Described first pixel coordinate has the pixel value of the second pixel coordinate of corresponding relation, to form described target in the first viewpoint
Second coloured image；Described second coloured image is smoothed, denoising.
Alternatively, processor 732 is additionally operable to the degree of depth utilizing described black light image to be calculated described first viewpoint
Image；Utilizing 3-D view transformation theory, depth image and described first coloured image according to described first viewpoint calculate
To described target at the 3rd coloured image of the first viewpoint；Processor 732 performs described by described first coloured image with described
Second coloured image forms 3-D view, including: by the correspondence picture in described second coloured image and described 3rd coloured image
The pixel value of element is averaged or weighted average, obtains the 4th coloured image of described first viewpoint；Colored by described first
Image and described 4th coloured image form 3-D view.
Alternatively, the position relationship between described first viewpoint and the second viewpoint is the position relationship between human body eyes；
Described color camera 72 and described black light image acquisition device 71 and described projection module 74 are on same straight line；Described
Black light image is infrared image, and described black light image acquisition device 71 is infrared camera.
Alternatively, the image acquisition target surface size phase of described color camera 72 and described black light image acquisition device 71
Identical Deng, resolution and focal length, optical axis is parallel to each other.
Alternatively, described black light image and described first coloured image are photo or video, when described invisible
When light image and described first coloured image are video, the frequency acquisition of described black light image acquisition device and color camera is same
Step, if or the frequency acquisition of black light image acquisition device and color camera asynchronous, then obtain by the way of image interpolation
Obtain the video image that frequency is consistent.
This image processing equipment 73 can be used for performing side described in above-described embodiment as above-mentioned 3-D view drawing apparatus
Method.Such as, the method that the invention described above embodiment discloses can also be applied in processor 732, or real by processor 732
Existing.Processor 732 is probably a kind of IC chip, has the disposal ability of signal.During realizing, said method
Each step can be completed by the instruction of the integrated logic circuit of the hardware in processor 732 or software form.Above-mentioned place
Reason device 732 can be general processor, digital signal processor (DSP), special IC (ASIC), ready-made gate array able to programme
Row (FPGA) or other PLDs, discrete gate or transistor logic, discrete hardware components.Can realize
Or disclosed each method, step and the logic diagram in the execution embodiment of the present invention.General processor can be microprocessor
Or this processor can also be the processor etc. of any routine.Step in conjunction with the method disclosed in the embodiment of the present invention is permissible
It is embodied directly in hardware decoding processor to have performed, or has performed with the hardware in decoding processor and software module combination
Become.Software module may be located at random access memory, flash memory, read only memory, and programmable read only memory or electrically-erasable can
In the storage medium that this area such as programmable memory, depositor is ripe.This storage medium is positioned at memorizer 733, and processor 732 is read
Take the information in respective memory, complete the step of said method in conjunction with its hardware.
In such scheme, the black light image of the first viewpoint collected is utilized to obtain the first viewpoint and the second viewpoint
Parallax, and utilize the first coloured image of the second viewpoint and this parallax to obtain the second coloured image of the second viewpoint, Jin Eryou
First coloured image and the second coloured image form 3-D view, owing to the parallax of this first viewpoint and the second viewpoint is by gathering
The view data arrived obtains, and needs not move through image procossing, therefore decreases the loss of image detail information, more accurately to obtain
The coloured image of two viewpoints, and then decrease the distortion factor of the 3-D view of synthesis, improve based on two dimensional image generation
Three dimensional display effect.And relative to existing DIBR technology, the present embodiment is without being calculated the depth information of image, it is to avoid
It is repeated several times and calculates the error introduced, further increase three dimensional display effect.
The foregoing is only embodiments of the present invention, not thereby limit the scope of the claims of the present invention, every utilization is originally
Equivalent structure or equivalence flow process that description of the invention and accompanying drawing content are made convert, or are directly or indirectly used in what other were correlated with
Technical field, is the most in like manner included in the scope of patent protection of the present invention.
Claims (10)
1. the method for a drawing three-dimensional image, it is characterised in that including:
Obtain respectively and target is acquired the black light image that obtains and with the second viewpoint to described target with the first viewpoint
It is acquired the first coloured image obtained；
The parallax between described first viewpoint and described second viewpoint is calculated by described black light image；
According to the pixel coordinate of the first coloured image described in described parallactic movement, obtain the second coloured image of the first viewpoint；
3-D view is formed by described first coloured image and described second coloured image.
Method the most according to claim 1, it is characterised in that described black light image is to described mesh at projection module
Mark projective structure light pattern, is acquired described target by the black light image acquisition device being arranged on described first viewpoint
Arriving, described target is acquired obtaining by described first coloured image by the color camera being arranged on described second viewpoint.
Method the most according to claim 2, it is characterised in that described calculating by described black light image described first regards
Parallax between point and described second viewpoint, including:
According to the matching algorithm of Digital Image Processing, calculate the described black light image comprising described structured light patterns with pre-
If reference configuration light image each pixel between displacement；
Being calculated the parallax between the first viewpoint and described second viewpoint by described displacement, wherein, described displacement regards with described
Difference has linear relationship.
Method the most according to claim 3, it is characterised in that described be calculated the first viewpoint and described by described displacement
Parallax between second viewpoint, including:
Utilize the parallax d that following formula 1 is calculated between the first viewpoint and described second viewpoint,
Wherein, B1For the distance between described black light image acquisition device and described projection module, B2For described black light figure
As the distance between harvester and color camera；Z0It is that described reference configuration light image place plane is relative to black light image
The depth value of harvester；F is the image planes focal length of black light image acquisition device and color camera, Δ u be black light image with
Displacement between each pixel of the reference configuration light image preset.
Method the most according to claim 1, it is characterised in that described according to the first coloured image described in described parallactic movement
Pixel coordinate, obtain the second coloured image of the first viewpoint, including:
According to parallax d, set up the first pixel coordinate I of described black light imageir(uir,vir) and described first coloured image
The second pixel coordinate Ir(ur,vrCorresponding relation between) is:
Iir(uir,vir)=Ir(ur+d,vr)；
The pixel value of the first pixel coordinate of described black light image is set in described first coloured image and described
One pixel coordinate has the pixel value of the second pixel coordinate of corresponding relation, to form the described target the second coloured silk in the first viewpoint
Color image；
Described second coloured image is smoothed, denoising.
Method the most according to claim 2, it is characterised in that also include:
Described black light image is utilized to be calculated the depth image of described first viewpoint；
Utilizing 3-D view transformation theory, depth image and described first coloured image according to described first viewpoint are calculated
Described target is at the 3rd coloured image of the first viewpoint；
Described formed 3-D view by described first coloured image and described second coloured image, including:
The pixel value of the respective pixel in described second coloured image and described 3rd coloured image is averaged or weights
Averagely, the 4th coloured image of described first viewpoint is obtained；
3-D view is formed by described first coloured image and described 4th coloured image.
Method the most according to claim 2, it is characterised in that the position relationship between described first viewpoint and the second viewpoint
For the position relationship between human body eyes；Described color camera and described black light image acquisition device and described projection module
It is on same straight line；Described black light image is infrared image, and described black light image acquisition device is infrared camera.
8. according to the method described in any one of claim 1 to 7, it is characterised in that described color camera and described black light
The image acquisition target surface of image acquisition device is equal in magnitude, resolution and focal length identical, optical axis is parallel to each other.
9. a 3-D view drawing apparatus, it is characterised in that including:
Acquisition module, is acquired, with the first viewpoint, the black light image that obtains for obtaining respectively and regards with second target
Point is acquired the first coloured image obtained to described target；
Computing module, for being calculated the parallax between described first viewpoint and described second viewpoint by described black light image；
Obtain module, for according to the pixel coordinate of the first coloured image described in described parallactic movement, obtain the of the first viewpoint
Two coloured images；
Form module, for being formed 3-D view by described first coloured image and described second coloured image.
10. a 3-D view drawing system, it is characterised in that include projecting module, black light image acquisition device, colored phase
The image processing equipment that machine is connected with described black light image acquisition device and color camera；
Described image processing equipment is used for:
Obtain respectively black light image that target is acquired obtaining by the black light image acquisition device with the first viewpoint and
With the color camera of the second viewpoint, described target is acquired the first coloured image obtained；
The parallax between described first viewpoint and described second viewpoint is calculated by described black light image；
According to the pixel coordinate of the first coloured image described in described parallactic movement, obtain the second coloured image of the first viewpoint；
3-D view is formed by described first coloured image and described second coloured image.
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| CN201610698004.0A CN106170086B (en) | 2016-08-19 | 2016-08-19 | Method and device thereof, the system of drawing three-dimensional image |
| PCT/CN2017/085147 WO2018032841A1 (en) | 2016-08-19 | 2017-05-19 | Method, device and system for drawing three-dimensional image |
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| CN106170086B (en) | 2019-03-15 |
| WO2018032841A1 (en) | 2018-02-22 |
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