CN106170086B - Method and device thereof, the system of drawing three-dimensional image - Google Patents
Method and device thereof, the system of drawing three-dimensional image Download PDFInfo
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- CN106170086B CN106170086B CN201610698004.0A CN201610698004A CN106170086B CN 106170086 B CN106170086 B CN 106170086B CN 201610698004 A CN201610698004 A CN 201610698004A CN 106170086 B CN106170086 B CN 106170086B
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- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
Abstract
The invention discloses the method and device thereof of drawing three-dimensional image, system.Wherein, told method includes: to obtain the black light image being acquired with the first viewpoint to target and the first color image being acquired with the second viewpoint to the target respectively；Parallax between first viewpoint and second viewpoint is calculated by the black light image；According to the pixel coordinate of the first color image described in the parallactic movement, the second color image of the first viewpoint is obtained；3-D image is formed by first color image and second color image.By the above-mentioned means, can be improved Three-dimensional Display effect.
Description
Technical field
The present invention relates to dimension display technologies fields, method and device thereof, system more particularly to drawing three-dimensional image.
Background technique
Mankind's eyes are since position difference can generate vision difference when watching the object with certain distance, just
It is that this parallax allows people to have three-dimensional sensorial effects.Dimension display technologies are according to this principle, by will simultaneously obtain
Binocular images are received by corresponding eyes respectively, to generate 3-D effect.Since this technology has been brought completely newly
Stereoscopic viewing experience, demand of the people to 3-D image resource also increasingly increases in recent years.
At present obtain 3-D image method first is that converting 3-D image by image processing techniques for two dimensional image.
The depth information of scene of existing two dimensional image is specially calculated with image processing techniques, and then draws out virtual other
Visual point image forms 3-D image using existing two dimensional image and other virtual visual point images.
Due to the depth information of the existing two dimensional image for drawing other visual point images be by being calculated, this
Process will lead to the loss of image detail information, influence the effect of Three-dimensional Display.
Summary of the invention
The invention mainly solves the technical problem of providing the method and device thereof of drawing three-dimensional image, system, Neng Gouti
High Three-dimensional Display effect.
In order to solve the above technical problems, one technical scheme adopted by the invention is that: a kind of drawing three-dimensional image is provided
Method, comprising: obtain the black light image being acquired with the first viewpoint to target respectively and with the second viewpoint to institute
State the first color image that target is acquired；First viewpoint and described second are calculated by the black light image
Parallax between viewpoint；According to the pixel coordinate of the first color image described in the parallactic movement, the second of the first viewpoint is obtained
Color image；3-D image is formed by first color image and second color image.
Wherein, the black light image is in projective module group to the target projective structure light pattern, by being arranged in
The black light image acquisition device for stating the first viewpoint is acquired to obtain to the target, and first color image is by being arranged in
The color camera of second viewpoint is acquired to obtain to the target.
Wherein, the parallax calculated by the black light image between first viewpoint and second viewpoint,
Include: the matching algorithm according to Digital Image Processing, calculate the black light image comprising the structured light patterns with
Displacement between each pixel of preset reference configuration light image；First viewpoint and second view are calculated by the displacement
Parallax between point, wherein the displacement has linear relationship with the parallax.
Wherein, described that parallax between first viewpoint and second viewpoint is calculated by the displacement, comprising: to utilize
The parallax d between the first viewpoint and second viewpoint is calculated in following formula 1,
Wherein, B1For the distance between the black light image acquisition device and the projective module group, B2It is described invisible
The distance between light image collector and color camera；Z0It is plane where the reference configuration light image 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
As the displacement between each pixel of preset reference configuration light image.
Wherein, the pixel coordinate according to the first color image described in the parallactic movement obtains the of the first viewpoint
Two color images, comprising: according to parallax d, establish the first pixel coordinate I of the black light imageir(uir,vir) with it is described
Second pixel coordinate I of the first color imager(ur,vr) between corresponding relationship are as follows: Iir(uir,vir)=Ir(ur+d,vr)；It will
The pixel value of first pixel coordinate of the black light image is set as in first color image and first pixel
Coordinate has the pixel value of the second pixel coordinate of corresponding relationship, to form the target in the second cromogram of the first viewpoint
Picture；Smooth, denoising is carried out to second color image.
Wherein, further includes: the depth image of first viewpoint is calculated using the black light image；Utilize three
Image transformation theory is tieed up, the target is calculated according to the depth image of first viewpoint and first color image and is existed
The third color image of first viewpoint；
It is described that 3-D image is formed by first color image and second color image, comprising: by described second
Color image and the pixel value of the respective pixel in the third color image are averaged or are weighted and averaged, and obtain described
4th color image of one viewpoint；3-D image is formed by first color image and the 4th color image.
Wherein, positional relationship of the positional relationship between first viewpoint and the second viewpoint between human body eyes；Institute
It states color camera and the black light image acquisition device and the projective module group is on same straight line；The black light
Image is infrared image, and the black light image acquisition device is infrared camera.
Wherein, the Image Acquisition target surface of the color camera and the black light image acquisition device is equal in magnitude, differentiates
Rate and focal length are identical, and optical axis is parallel to each other.
In order to solve the above-mentioned technical problem, the present invention uses another solution is that providing a kind of 3-D image drafting dress
It sets, comprising: module is obtained, for obtaining the black light image being acquired with the first viewpoint to target respectively and with the
The first color image that two viewpoints are acquired the target；Computing module, based on by the black light image
Calculate the parallax between first viewpoint and second viewpoint；Module is obtained, for according to first described in the parallactic movement
The pixel coordinate of color image obtains the second color image of the first viewpoint；Module is formed, for by first color image
3-D image is formed with second color image.
In order to solve the above-mentioned technical problem, the present invention uses another solution is that providing a kind of 3-D image drafting system
System, including projective module group, black light image acquisition device, color camera, with the black light image acquisition device and colour phase
The image processing equipment of machine connection；Described image processing equipment is used for: obtaining adopted with the black light image of the first viewpoint respectively
The black light image and the target is acquired with the color camera of the second viewpoint that storage is acquired target
The first obtained color image；View between first viewpoint and second viewpoint is calculated by the black light image
Difference；According to the pixel coordinate of the first color image described in the parallactic movement, the second color image of the first viewpoint is obtained；By institute
It states the first color image and second color image forms 3-D image.
The beneficial effects of the present invention are: using the black light image of the first viewpoint collected obtain the first viewpoint and
The parallax of second viewpoint, and the second cromogram of the second viewpoint is obtained using the first color image of the second viewpoint and the parallax
Picture, and then 3-D image is formed by the first color image and the second color image, due to the view of first viewpoint and the second viewpoint
Difference is obtained by the image data collected, without being subjected to image procossing, therefore reduces the loss of image detail information, with
The more acurrate color image for obtaining two viewpoints, and then reduce the distortion factor of the 3-D image of synthesis, it improves based on two dimension
The Three-dimensional Display effect that image generates.And relative to existing DIBR technology, the present embodiment is not necessarily to that the depth of image is calculated
Information is spent, the error for being repeated several times and calculating and introducing is avoided, further improves Three-dimensional Display effect.
Detailed description of the invention
Fig. 1 is the flow chart of one embodiment of method of drawing three-dimensional image of the present invention；
Fig. 2 is the schematic diagram of one application scenarios of method 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 method for drawing three-dimensional image of the present invention and the flow chart of another embodiment；
Fig. 6 is the structural schematic diagram of one embodiment of 3-D image drawing apparatus of the present invention；
Fig. 7 is the structural schematic diagram of one embodiment of 3-D image drawing system of the present invention；
Fig. 8 is the structural schematic diagram of another embodiment of 3-D image drawing system of the present invention.
Specific embodiment
For a better understanding of the technical solution of the present invention, being retouched in detail to the embodiment of the present invention with reference to the accompanying drawing
It states.
The term used in embodiments of the present invention is only to be not intended to be limiting merely for for the purpose of describing particular embodiments
The present invention.In the embodiment of the present invention and the "an" of singular used in the attached claims, " described " and "the"
It is also intended to including most forms, unless the context clearly indicates other meaning.It is also understood that term used herein
"and/or" refers to and includes that one or more associated any or all of project listed may combine.
Referring to Fig. 1, Fig. 1 is the flow chart of one embodiment of method of drawing three-dimensional image of the present invention.It, should in the present embodiment
Method can be executed by 3-D image drawing apparatus, comprising the following steps:
S11: the black light image being acquired with the first viewpoint to target is obtained and respectively with the second viewpoint pair
The first color image that the target is acquired.
It is worth noting that, black light image of the present invention and color image are two dimensional image.This is invisible
Light image is the intensity for obtaining the black light in target and the image that is formed.
Wherein, first viewpoint and the second viewpoint are located at the different location of target, at two viewpoints to obtain the target
Image.It is to be superimposed to be formed by the different images that eyes are watched, therefore first viewpoint and second is regarded generally, due to three-dimensional sense organ
Point is for two viewpoints as human body eyes, i.e. positional relationship between the first viewpoint and the second viewpoint is between human body eyes
Positional relationship.For example, the distance of Regular Human's eyes is t, then set the distance between the first viewpoint and the second viewpoint to
The specific for example 6.5cm of t, the t.Moreover, to guarantee that the picture depth of the first viewpoint and the second viewpoint is same or similar, by first
Viewpoint and the second viewpoint are set as identical at a distance from the target or are no more than given threshold apart from difference, in concrete application
In, which may be configured as the value no more than 10cm or 20cm.
In a concrete application, as shown in Fig. 2, the black light image is to project in projective module group 25 to the target 23
Structured light patterns, the black light image acquisition device 21 by first viewpoint is arranged in are acquired the target 23
It arrives, which is acquired to obtain by the color camera 22 that second viewpoint is arranged in target 23.It is invisible
The image transmitting that light image collector 21 and color camera are collected is following to carry out to 3-D image drawing apparatus 24
The acquisition of 3-D image.Since color camera is different from the position of black light image acquisition device, thus first color image with
Corresponding space three-dimensional point is not identical on same pixel coordinate in black light image.In Fig. 2, color camera 22 and institute
It states black light image acquisition device 21 and the projective module group 25 is on same straight line, so that the color camera 22 and described
Black light image acquisition device 21 and the projective module group 25 are identical to the depth of target.Certainly, Fig. 2 is only used as a kind of implementation
Example, in other application, above-mentioned three kinds can not also be on the same line.
Specifically, projective module group 25 is generally made of laser and diffraction optical element, and laser can be swashing for edge transmitting type
Light is also possible to vertical cavity surface laser, which is the black light that can be collected by the black light image acquisition device.Spread out
Penetrating optical element can be configured to have the function of collimation, beam splitting, diffusion etc. according to different structured light patterns needs.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 comprehensively consider the power of laser and the configuring condition of diffraction optical element.
The concentration of speckle pattern affects the speed and precision of depth value calculating, and speckle particle is more, calculating speed
It is slower, but precision is higher.Therefore, which can close according to the approximate depth of the target area of shooting image, selection
Suitable speckle particle density still has higher computational accuracy while guaranteeing calculating speed.Certainly, the speckle particle is close
Degree can also be by the determination according to the calculating demand of itself of above-mentioned 3-D image drawing apparatus 24, and by the density information of the determination
It is sent to projective module group 25.
Wherein, the projective module group 25 to target area be but it is unlimited be that speckle particle pattern is projected with certain angle of flare
's.
In projective module group 25 to after target projective structure light image, what black light image acquisition device 21 acquired target can not
Light-exposed image.Specifically, which can be any black light, for example, the black light image acquisition device 21 can be
Infrared collecting device, such as infrared camera, the black light image are infrared image；Or black light image acquisition device 21 can be
EUV collector, such as ultraviolet-cameras, the black light image are ultraviolet image.
For the collection effect reached and subsequent extra calculating is avoided, it can be by color camera and black light image
Collector is arranged to synchronous acquisition and acquisition frame number is identical, and the color image and black light image obtained in this way can guarantee one by one
Corresponding relationship is convenient for subsequent calculating.
S12: the parallax between first viewpoint and second viewpoint is calculated by the black light image.
For example, being calculated the using related (DIC) algorithm of matching algorithm such as figure digital picture of Digital Image Processing
Parallax between the image of one viewpoint and the image of the second viewpoint, the i.e. pixel of the image of the first viewpoint and the image of the second viewpoint
Relative positional relationship between coordinate.
S13: according to the pixel coordinate of the first color image described in the parallactic movement, obtain the first viewpoint second is colored
Image.
For example, by the corresponding image parallactic value d of the respective pixel of pixel coordinate movement of first color image, wherein move
Dynamic obtained pixel coordinate (u1+d,v1) pixel value (also known as rgb value) be the first color image in pixel coordinate (u1,
v1) pixel value.
S14: 3-D image is formed by first color image and the second color image.
For example, using the first color image and the second color image as human body binocular images, to synthesize 3-D image,
It specifically can be the 3-D image for 3D display of top-down format, left-right format or red blue format.Further, it is closing
After 3-D image, the 3-D image can also be shown, or the exterior display device of output to connection is shown.
In the present embodiment, the first viewpoint and the second viewpoint are obtained using the black light image of the first viewpoint collected
Parallax, and obtain the second color image of the second viewpoint, Jin Eryou using the first color image of the second viewpoint and the parallax
First color image and the second color image form 3-D image, since the parallax of first viewpoint and the second viewpoint is by acquiring
The image data arrived obtains, and without being subjected to image procossing, therefore reduces the loss of image detail information, with more acurrate acquisition
The color image of two viewpoints, and then reduce the distortion factor of the 3-D image of synthesis, it improves based on two dimensional image generation
Three-dimensional Display effect.And (depth-image-based rendering, DIBR) skill is drawn relative to existing depth image
Art, the present embodiment are not necessarily to that the depth information of image is calculated, avoid the error for being repeated several times and calculating and introducing, further increase
Three-dimensional Display effect.
Referring to Fig. 3, in another embodiment, which is in projective module group to the target projective structure
Light pattern, the black light image acquisition device by first viewpoint is arranged in are acquired to obtain to the target, and described
One color image is acquired to obtain by the color camera that second viewpoint is arranged in the target, the present embodiment with it is above-mentioned
The difference of embodiment is that above-mentioned S12 includes following sub-step:
S121: it according to the matching algorithm of Digital Image Processing, calculates comprising the described invisible of the structured light patterns
Displacement between light image and each pixel of preset reference configuration light image.
Such as digital image correlation algorithm of the matching algorithm of the Digital Image Processing.The reference configuration light pattern is to advance with
The projective module group set and utilizes the black light that has set to the planar projective reference configuration light pattern of set distance
What the reference configuration light pattern that image acquisition device acquires the plane obtained, above-mentioned " setting " is interpreted as once setting it
Afterwards, the image acquisition device and projective module group will not also be moved in the subsequent acquisition for carrying out the black light image.
For example, obtaining black light image using digital picture related algorithm such as refers to speckle pattern with reference configuration light pattern
The shift value Δ u of each respective pixel as between.The measurement accuracy of current digital image related algorithm can reach sub-pixel, such as
1/8 pixel, that is to say, that the value of Δ u can be 1/8 multiple, and unit is pixel.
S122: the parallax between the first viewpoint and second viewpoint is calculated by the displacement.
Since the displacement between the black light image and each pixel of the reference configuration light image has line with the parallax
Sexual intercourse.Therefore the parallax between the first viewpoint and second viewpoint is calculated in movable and its linear relationship.
For example, the parallax d between the first viewpoint and second viewpoint is calculated using following formula 11,
Wherein, B1For the distance between the black light image acquisition device and the projective module group, B2It is described invisible
The distance between light image collector and color camera；Z0It is plane where the reference configuration light image 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
As the displacement between each pixel of preset reference configuration light image.Plane where the reference configuration light image is thrown before being
Penetrate the plane where the reference configuration light pattern, the Z0It, can for indicating the distance between plan range image acquisition device
The range information of the plane obtains when by testing the reference configuration light image before.In the present embodiment, the unit of f is pixel, f's
Value can first pass through in advance calibration and obtain.
When the numerical value for the parallax d being calculated is not integer, it the processing such as can be rounded up or be rounded to it.
Referring to Fig. 4, the difference with above-described embodiment is in another embodiment, above-mentioned 13 include following sub-step
It is rapid:
S131: according to parallax establish the black light image the first pixel coordinate and first color image the
Corresponding relationship between two pixel coordinates.
For example, establishing the first pixel coordinate I of the black light image according to parallax dir(uir,vir) and described first
Second pixel coordinate I of color imager(ur,vr) between corresponding relationship are as follows: Iir(uir,vir)=Ir(ur+d,vr)。
S132: it sets the pixel value of the first pixel coordinate of the black light image in first color image
There is the pixel value of the second pixel coordinate of corresponding relationship with first pixel coordinate, to form the target in the first viewpoint
The second color image.
For example, according to corresponding relationship, by pixel value (alternatively referred to as rgb value) assignment of the first color image in black light
Image, to generate the second color image.It is illustrated with one of pixel coordinate of image, if d is 1, black light image
Pixel coordinate (1,1) is corresponding with pixel coordinate (2,1) of the first color image.Then, by the pixel coordinate of black light image
The pixel value of (1,1) is set as the pixel value (r, g, b) of pixel coordinate (2,1) in the first color image.
S133: smooth, denoising is carried out to second color image.
Since some bad points usually occur in the data of shift value Δ u, cause to occur in finally obtained color image
These data can be amplified when being further processed in step below, and then seriously affect Three-dimensional Display by the problems such as empty
Effect, to avoid the influence of the bad point or area data of depth image to Three-dimensional Display, this sub-step is colored to second obtained
Image denoised, smoothing processing.
Certainly, in other embodiments, above-mentioned S13 step can only include above-mentioned S131 and S132 sub-step.
Referring to Fig. 5, in another embodiment again, it is further comprising the steps of after above-mentioned S11:
S15: the depth image of first viewpoint is calculated using the black light image.
For example, calculating the depth image of first viewpoint using infrared image, specific calculation can be used existing
Related algorithm.
S16: 3-D image transformation theory is utilized, according to the depth image of first viewpoint and first color image
The target is calculated in the third color image of the first viewpoint.
It is theoretical that (3D Image Wrapping) is converted according to 3-D image --- any three-dimensional coordinate point in space is adopted with image
Two-dimensional coordinate point in collection plane can be mapped by transitting probability theory, therefore thus theory can regard the first viewpoint and second
The pixel coordinate of image of point is mapped, and according to the pixel value of the corresponding relationship and the first color image of the second viewpoint,
The pixel value of respective pixel coordinate in first color image of the second viewpoint is set for the image pixel coordinates of the first viewpoint.
For example, the S16 includes following sub-step:
A: the first pixel coordinate (u of the depth image of first viewpoint is calculated using following equation 12D,vD) with
Second pixel coordinate (u of first color imageR,vR) between corresponding relationship,
Wherein, the ZDFor the depth information in first depth image, depth phase described in the target range is indicated
The depth value of machine；ZRIndicate the depth value of color camera described in the target range；For the color camera
The pixel homogeneous coordinates fastened of image coordinate；The pixel fastened for the image coordinate of the depth camera
Homogeneous coordinates；MRFor the internal reference matrix of the color camera, MDFor the internal reference matrix of the depth camera；R is that depth camera is opposite
Spin matrix in the outer ginseng matrix of color camera, T are depth camera relative to the translation in the outer ginseng matrix of color camera
Matrix.
The internal reference matrix and outer ginseng matrix of above-mentioned camera and collector can be preset, and the specific internal reference matrix can basis
The setting parameter of camera and collector is calculated, which can be by between black light image acquisition device and color camera
Positional relationship determine.In one embodiment, by camera and the pixel focal length and figure of the collection lens of collector
The inner parameter matrix constituted as the center position coordinates of acquisition target surface.Since the positional relationship of the first viewpoint and the second viewpoint is set
It is set to the positional relationship of human eye eyes, does not have the distance of any relative rotation and only setting value t between human body eyes, therefore
Color camera is unit matrix, translation matrix T=[t, 0,0] relative to the spin matrix R of black light image acquisition device-1。
Further, setting value t can be carried out at a distance from target according to black light image acquisition device and color camera
Adjustment.It is further comprising the steps of before above-mentioned S11 in another embodiment: to obtain target and black light image acquisition device
With the distance of color camera；When judging that the target is equal at a distance from the black light image acquisition device and the color camera
When greater than first distance value, the setting value t is tuned up；When judging the target and the black light image acquisition device and institute
When stating the distance of color camera and being respectively less than second distance value, the setting value t is turned down.
Wherein, the first distance value is greater than or equal to the second distance value.For example, when target and black light image
The distance of collector is 100cm, and target is also 100cm at a distance from color camera, since 100cm is less than second distance value
200cm then turns setting value down a step 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 target is at a distance from black light image acquisition device and color camera
The setting value is not adjusted then by 300cm since 300cm is greater than second distance value 200 and is less than first distance value 500cm.
B: by the pixel value of the first pixel coordinate of the black light image be set as in first color image with
First pixel coordinate has the pixel value of the second pixel coordinate of corresponding relationship, to form the target in the first viewpoint
Third color image.
For example, by the depth information Z of the black light image of the first viewpointDAfter substituting into above-mentioned formula 12, formula can be acquired
The depth information of second viewpoint on 12 left sides namely the depth information Z of the first color imageRAnd first color image image
Pixel homogeneous coordinates on coordinate systemIn the present embodiment, black light image acquisition device and color camera and target away from
From Z that is identical, that is, acquiringRWith ZDIt is equal.By pixel homogeneous coordinatesAvailable the first picture with the black light image
Plain coordinate (uD,vD) one-to-one first color image the second pixel coordinate (uR,vR), such as its corresponding relationship is (uR,
vR)=(uD+d,vD).Then, according to corresponding relationship, by the pixel value assignment of the first color image in black light image, with life
At third color image.
This again in another embodiment, above-mentioned S14 the following steps are included:
S141: the pixel value of the respective pixel in second color image and the third color image is averaged
Or weighted average, obtain the 4th color image of first viewpoint.
It is illustrated with the pixel coordinate in color image, the pixel coordinate in the second color image and third color image
The pixel value of (Ur, Vr) is respectively (r1, g1, b1) and (r2, g2, b2), then by the picture in the 4th color image of the first viewpoint
The pixel value of plain coordinate (Ur, Vr) is set as
S142: 3-D image is formed by first color image and the 4th color image.
For example, using the first color image and the 4th color image as human body binocular images, to synthesize 3-D image.
It is understood that in above-described embodiment, the image of settable the black light image acquisition device and color camera
Acquisition target surface is equal in magnitude, resolution ratio is identical and focal length is identical.Alternatively, color camera and the black light image acquisition device
At least one of Image Acquisition target surface size, resolution ratio and focal length it is not identical, such as the target surface size of color camera with
And resolution ratio is all bigger than black light image acquisition device, at this point, after above-mentioned S13, the preparation method further include: to described first
Color image and/or second color image carry out interpolation, dividing processing, so that first color image and described second
The corresponding target area of color image is identical, and image size and resolution ratio are also identical.Due to color camera and black light figure
As there are errors in assembly for collector, therefore the Image Acquisition target surface of the above-mentioned black light image acquisition device and color camera is big
It is small it is equal, resolution ratio is identical and focal length is identical is interpreted as: the image of the black light image acquisition device and color camera is adopted
It is identical in the range of allowable error for collecting target surface size, resolving power and focal length.
Moreover, above-mentioned image includes photo or video, and when above-mentioned image is video, the black light Image Acquisition
Device is synchronous with the frequency acquisition of color camera, if black light image acquisition device and color camera frequency acquisition it is different
Step, then obtain the consistent video image of frequency by way of image interpolation.
Referring to Fig. 6, Fig. 6 is the structural schematic diagram of one embodiment of 3-D image drawing apparatus of the present invention.In the present embodiment,
The drawing apparatus 60 includes obtaining module 61, computing module 62, forming module 63 and obtain module 64.Wherein,
Obtain module 61 be used to obtain respectively the black light image that target is acquired with the first viewpoint and with
The first color image that second viewpoint is acquired the target；
Computing module 62 by the black light image for being calculated between first viewpoint and second viewpoint
Parallax；
Module 64 is obtained for the pixel coordinate according to the first color image described in the parallactic movement, obtains the first viewpoint
The second color image；
Module 63 is formed to be used to form 3-D image by first color image and second color image.
Optionally, the black light image is in projective module group to the target projective structure light pattern, by being arranged in
The black light image acquisition device of first viewpoint is acquired to obtain to the target, and first color image is by being arranged
The target is acquired to obtain in the color camera of second viewpoint.
Optionally, computing module 62 is specifically used for the matching algorithm according to Digital Image Processing, calculates comprising the knot
Displacement between the black light image of structure light pattern and each pixel of preset reference configuration light image；By the displacement
The parallax between the first viewpoint and second viewpoint is calculated, wherein the displacement has linear relationship with the parallax.
Still optionally further, computing module 62, which executes, described is calculated the first viewpoint and second view by the displacement
Parallax between point, comprising: the parallax d between the first viewpoint and second viewpoint is calculated using above-mentioned formula 11.
Optionally, module 64 is obtained to be specifically used for establishing the first pixel coordinate of the black light image according to parallax d
Iir(uir,vir) with the second pixel coordinate I of first color imager(ur,vr) between corresponding relationship are as follows: Iir(uir,vir)
=Ir(ur+d,vr)；It sets the pixel value of the first pixel coordinate of the black light image in first color image
There is the pixel value of the second pixel coordinate of corresponding relationship with first pixel coordinate, to form the target in the first viewpoint
The second color image；Smooth, denoising is carried out to second color image.
Optionally, computing module 62 is also used to be calculated the depth of first viewpoint using the black light image
Image；Using 3-D image transformation theory, calculated according to the depth image of first viewpoint and first color image
To the target the first viewpoint third color image；The formation module 63 is specifically used for second color image and institute
The pixel value for stating the respective pixel in third color image is averaged or is weighted and averaged, and the 4th of first viewpoint is obtained
Color image；3-D image is formed by first color image and the 4th color image.
Optionally, positional relationship of the positional relationship between first viewpoint and the second viewpoint between human body eyes；
The color camera and the black light image acquisition device and the projective module group are on same straight line；It is described invisible
Light image is infrared image, and the black light image acquisition device is infrared camera.
Optionally, the Image Acquisition target surface of the color camera and the black light image acquisition device is equal in magnitude, divides
Resolution and focal length are identical, and optical axis is parallel to each other.
Optionally, the black light image and first color image are photo or video, when described invisible
When light image and first color image are video, the frequency acquisition of the black light image acquisition device and color camera is same
Step, if black light image acquisition device and color camera frequency acquisition it is asynchronous, obtained by way of image interpolation
Obtain the consistent video image of frequency.
Wherein, the above-mentioned module of the drawing apparatus is respectively used to execute the corresponding steps in above method embodiment, specifically
Implementation procedure embodiment of the method explanation as above, therefore not to repeat here.
Referring to Fig. 7, Fig. 7 is the structural schematic diagram of one way of example of 3-D image drawing system of the present invention.This implementation
In example, which includes projective module group 74, black light image acquisition device 71, color camera 72 and the black light figure
The image processing equipment 73 connected as collector 71 and color camera 72.The image processing equipment 73 includes input interface 731, place
Manage device 732, memory 733.Further, which can also connect with projective module group 74.
The input interface 731 is for obtaining the image that black light image acquisition device 71 and color camera 72 collect.
Memory 733 provides the computer program to processor 732, and can store for storing computer program
The internal reference matrix of used data such as black light image acquisition device 71 and color camera 72 and outer ginseng when the processing of processor 732
The image that matrix etc. and input interface 731 obtain.
Processor 732 is used for:
It is obtained by input interface 731 and target is acquired respectively with the black light image acquisition device 71 of the first viewpoint
Obtained black light image and the first cromogram that the target is acquired with the color camera 72 of the second viewpoint
Picture；
Parallax between first viewpoint and second viewpoint is calculated by the black light image；
According to the pixel coordinate of the first color image described in the parallactic movement, the second cromogram of the first viewpoint is obtained
Picture；
3-D image is formed by first color image and second color image.
In the present embodiment, image processing equipment 73 may also include display screen 734, and the display screen 734 is for showing the three-dimensional
Image, to realize Three-dimensional Display.Certainly, in another embodiment, image processing equipment 73, which is not used in, shows the 3-D image, such as
Shown in Fig. 8, which further includes the display equipment 75 connecting with image processing equipment 73, shows equipment 75
For receiving the 3-D image of the output of image processing equipment 73, and show the 3-D image.
Optionally, processor 732 is specifically used for the matching algorithm according to Digital Image Processing, calculates comprising the structure
Displacement between the black light image of light pattern and each pixel of preset reference configuration light image；By the displacement meter
Calculation obtains the parallax between the first viewpoint and second viewpoint, wherein the displacement has linear relationship with the parallax.
Still optionally further, processor 732, which executes, described is calculated the first viewpoint and second view by the displacement
Parallax between point, comprising: the parallax d between the first viewpoint and second viewpoint is calculated using following formula 1.
Optionally, processor 732 executes the pixel coordinate according to the first color image described in the parallactic movement, obtains
To the second color image of the first viewpoint, comprising: according to parallax d, establish the first pixel coordinate I of the black light imageir
(uir,vir) with the second pixel coordinate I of first color imager(ur,vr) between corresponding relationship are as follows: Iir(uir,vir)=
Ir(ur+d,vr)；By the pixel value of the first pixel coordinate of the black light image be set as in first color image with
First pixel coordinate has the pixel value of the second pixel coordinate of corresponding relationship, to form the target in the first viewpoint
Second color image；Smooth, denoising is carried out to second color image.
Optionally, processor 732 is also used to be calculated the depth of first viewpoint using the black light image
Image；Using 3-D image transformation theory, calculated according to the depth image of first viewpoint and first color image
To the target the first viewpoint third color image；Processor 732 executes described by first color image and described
Second color image forms 3-D image, comprising: by the correspondence picture in second color image and the third color image
The pixel value of element is averaged or is weighted and averaged, and the 4th color image of first viewpoint is obtained；It is colored by described first
Image and the 4th color image form 3-D image.
Optionally, positional relationship of the positional relationship between first viewpoint and the second viewpoint between human body eyes；
The color camera 72 and the black light image acquisition device 71 and the projective module group 74 are on same straight line；It is described
Black light image is infrared image, and the black light image acquisition device 71 is infrared camera.
Optionally, the Image Acquisition target surface size phase of the color camera 72 and the black light image acquisition device 71
Identical Deng, resolution ratio and focal length, optical axis is parallel to each other.
Optionally, the black light image and first color image are photo or video, when described invisible
When light image and first color image are video, the frequency acquisition of the black light image acquisition device and color camera is same
Step, if black light image acquisition device and color camera frequency acquisition it is asynchronous, obtained by way of image interpolation
Obtain the consistent video image of frequency.
The image processing equipment 73 can be used as above-mentioned 3-D image drawing apparatus, for executing side described in above-described embodiment
Method.For example, the method that aforementioned present invention embodiment discloses also can be applied in processor 732, or real by processor 732
It is existing.Processor 732 may be a kind of IC chip, the processing capacity with signal.During realization, the above method
Each step can be completed by the integrated logic circuit of the hardware in processor 732 or the instruction of software form.Above-mentioned place
Reason device 732 can be general processor, digital signal processor (DSP), specific integrated circuit (ASIC), ready-made programmable gate array
Arrange (FPGA) either other programmable logic device, discrete gate or transistor logic, discrete hardware components.It may be implemented
Or disclosed each method, step and logic diagram in the execution embodiment of the present invention.General processor can be microprocessor
Or the processor is also possible to any conventional processor etc..The step of method in conjunction with disclosed in the embodiment of the present invention, can be with
Be embodied directly in hardware decoding processor and execute completion, or in decoding processor hardware and software module combination executed
At.Software module can be located at random access memory, and flash memory, read-only memory, programmable read only memory or electrically-erasable can
In the storage medium of this fields such as programmable memory, register maturation.The storage medium is located at memory 733, and processor 732 is read
The step of taking the information in respective memory, completing the above method in conjunction with its hardware.
In above scheme, the first viewpoint and the second viewpoint are obtained using the black light image of the first viewpoint collected
Parallax, and obtain the second color image of the second viewpoint, Jin Eryou using the first color image of the second viewpoint and the parallax
First color image and the second color image form 3-D image, since the parallax of first viewpoint and the second viewpoint is by acquiring
The image data arrived obtains, and without being subjected to image procossing, therefore reduces the loss of image detail information, with more acurrate acquisition
The color image of two viewpoints, and then reduce the distortion factor of the 3-D image of synthesis, it improves based on two dimensional image generation
Three-dimensional Display effect.And relative to existing DIBR technology, the present embodiment is not necessarily to that the depth information of image is calculated, and avoids
The error for calculating and introducing is repeated several times, further improves Three-dimensional Display effect.
Mode the above is only the implementation of the present invention is not intended to limit the scope of the invention, all to utilize this
Equivalent structure or equivalent flow shift made by description of the invention and accompanying drawing content, it is relevant to be applied directly or indirectly in other
Technical field is included within the scope of the present invention.
Claims (9)
1. a kind of method of drawing three-dimensional image characterized by comprising
The black light image being acquired with the first viewpoint to target is obtained respectively and with the second viewpoint to the target
The first color image being acquired；
Using the matching algorithm of Digital Image Processing, first viewpoint and second view are calculated by the black light image
Parallax between point；
According to the pixel coordinate of the first color image described in the parallactic movement, the second color image of the first viewpoint is obtained；
3-D image is formed by first color image and second color image；
Wherein, the matching algorithm using Digital Image Processing, by the black light image calculate first viewpoint and
Parallax between second viewpoint, comprising:
According to the matching algorithm of Digital Image Processing, calculate the black light image comprising structured light patterns with it is preset
Displacement between each pixel of reference configuration light image；It is calculated between the first viewpoint and second viewpoint by the displacement
Parallax；Wherein, the displacement has linear relationship with the parallax；
Or
According to the matching algorithm of Digital Image Processing, according to the black light image of first viewpoint and second viewpoint
First color image calculates the parallax between first viewpoint and second viewpoint.
2. the method according to claim 1, wherein the black light image is in projective module group to the mesh
Projective structure light pattern is marked, the black light image acquisition device by first viewpoint is arranged in is acquired the target
It arrives, first color image is acquired to obtain by the color camera that second viewpoint is arranged in the target.
3. according to the method described in claim 2, it is characterized in that, described be calculated the first viewpoint and described by the displacement
Parallax between second viewpoint, comprising:
The parallax d between the first viewpoint and second viewpoint is calculated using following formula 1,
Wherein, B1For the distance between the black light image acquisition device and the projective module group, B2For the black light figure
As the distance between collector and color camera；Z0It is plane where the reference configuration light image relative to black light image
The depth value of collector；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 preset reference configuration light image.
4. the method according to claim 1, wherein described according to the first color image described in the parallactic movement
Pixel coordinate, obtain the second color image of the first viewpoint, comprising:
According to parallax d, the first pixel coordinate I of the black light image is establishedir(uir,vir) and first color image
The second pixel coordinate Ir(ur,vr) between corresponding relationship are as follows:
Iir(uir,vir)=Ir(ur+d,vr)；
It sets the pixel value of the first pixel coordinate of the black light image in first color image and described
One pixel coordinate has the pixel value of the second pixel coordinate of corresponding relationship, to form the target in the second coloured silk of the first viewpoint
Chromatic graph picture；
Smooth, denoising is carried out to second color image.
5. the method according to claim 1, wherein further include:
The depth image of first viewpoint is calculated using the black light image；
Using 3-D image transformation theory, it is calculated according to the depth image of first viewpoint and first color image
Third color image of the target in the first viewpoint；
It is described that 3-D image is formed by first color image and second color image, comprising:
The pixel value of respective pixel in second color image and the third color image is averaged or is weighted
It is average, obtain the 4th color image of first viewpoint；
3-D image is formed by first color image and the 4th color image.
6. according to the method described in claim 2, it is characterized in that, positional relationship between first viewpoint and the second viewpoint
For the positional relationship between human body eyes；The color camera and the black light image acquisition device and the projective module group
On same straight line；The black light image is infrared image, and the black light image acquisition device is infrared camera.
7. method according to any one of claims 1 to 6, which is characterized in that the color camera and the black light
The Image Acquisition target surface of image acquisition device is equal in magnitude, resolution ratio and focal length are identical, and optical axis is parallel to each other.
8. a kind of 3-D image drawing apparatus characterized by comprising
Module is obtained, for obtaining the black light image being acquired with the first viewpoint to target respectively and with the second view
The first color image that point is acquired the target；
Computing module calculates first view by the black light image for the matching algorithm using Digital Image Processing
Parallax between point and second viewpoint；
Module is obtained, for the pixel coordinate according to the first color image described in the parallactic movement, obtains the of the first viewpoint
Two color images；
Module is formed, for forming 3-D image by first color image and second color image；
Wherein, the computing module is specifically used for:
According to the matching algorithm of Digital Image Processing, calculate the black light image comprising structured light patterns with it is preset
Displacement between each pixel of reference configuration light image；It is calculated between the first viewpoint and second viewpoint by the displacement
Parallax；Wherein, the displacement has linear relationship with the parallax；
Or
According to the matching algorithm of Digital Image Processing, according to the black light image of first viewpoint and second viewpoint
First color image calculates the parallax between first viewpoint and second viewpoint.
9. a kind of 3-D image drawing system, which is characterized in that including projective module group, black light image acquisition device, colored phase
Machine, the image processing equipment being connect with the black light image acquisition device and color camera；
Described image processing equipment is used for:
Obtain respectively the black light image that target is acquired with the black light image acquisition device of the first viewpoint and
The first color image that the target is acquired with the color camera of the second viewpoint；
Using the matching algorithm of Digital Image Processing, first viewpoint and second view are calculated by the black light image
Parallax between point；
According to the pixel coordinate of the first color image described in the parallactic movement, the second color image of the first viewpoint is obtained；
3-D image is formed by first color image and second color image；
Wherein, the matching algorithm using Digital Image Processing, by the black light image calculate first viewpoint and
Parallax between second viewpoint, comprising:
According to the matching algorithm of Digital Image Processing, calculate the black light image comprising structured light patterns with it is preset
Displacement between each pixel of reference configuration light image；It is calculated between the first viewpoint and second viewpoint by the displacement
Parallax；Wherein, the displacement has linear relationship with the parallax；
Or
According to the matching algorithm of Digital Image Processing, according to the black light image of first viewpoint and second viewpoint
First color image calculates the parallax between first viewpoint and second viewpoint.
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| CN106875435B (en) * | 2016-12-14 | 2021-04-30 | 奥比中光科技集团股份有限公司 | Method and system for obtaining depth image |
| CN107105217B (en) * | 2017-04-17 | 2018-11-30 | 深圳奥比中光科技有限公司 | Multi-mode depth calculation processor and 3D rendering equipment |
| CN108460368B (en) * | 2018-03-30 | 2021-07-09 | 百度在线网络技术（北京）有限公司 | Three-dimensional image synthesis method and device and computer-readable storage medium |
| CN113436129B (en) * | 2021-08-24 | 2021-11-16 | 南京微纳科技研究院有限公司 | Image fusion system, method, device, equipment and storage medium |
| CN114119680B (en) * | 2021-09-09 | 2022-09-20 | 合肥的卢深视科技有限公司 | Image acquisition method and device, electronic equipment and storage medium |
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| KR101502372B1 (en) * | 2008-11-26 | 2015-03-16 | 삼성전자주식회사 | Apparatus and method for obtaining an image |
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