CN106548489A - The method for registering of a kind of depth image and coloured image, three-dimensional image acquisition apparatus - Google Patents
The method for registering of a kind of depth image and coloured image, three-dimensional image acquisition apparatus Download PDFInfo
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10024—Color image
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10048—Infrared image
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Abstract
The invention discloses the method for registering of a kind of depth image and coloured image, three-dimensional image acquisition apparatus, the method includes：The black light image and coloured image of object to be measured are gathered using collecting device；Pixel coordinate deviant of each pixel relative to reference picture in calculating black light image；The depth value of each pixel in coloured image is calculated using the parameter of deviant and collecting device.By the way, the present invention can save the memory space of system without the need for the depth value of the black light image of calculating collection, while the error that the calculating for avoiding complexity brings, improves the efficiency and precision of registration.
Description
Technical field
The present invention relates to technical field of image processing, the registering side of more particularly to a kind of depth image and coloured image
Method, three-dimensional image acquisition apparatus.
Background technology
In three-dimensional camera shooting or three-dimensional artificial smart field, depth camera and color camera of the utilization based on structure light are simultaneously
The depth image and coloured image for obtaining target is the mode that current precision is higher and is easily achieved.Due to depth camera and coloured silk
Form and aspect machine causes depth image to have certain parallax with coloured image, that is to say, that same spatial point in deviation geometrically
On depth image and coloured image, corresponding location of pixels is differed.
In the prior art, in order to depth image is alignd with coloured image, usually using in depth image
Depth value calculates pixel parallax, recycles parallax that depth image is carried out deviation amendment, and this algorithm is often inaccurate, causes
Alignment effect is not good.
The content of the invention
The invention mainly solves the technical problem of providing method for registering, the graphics of a kind of depth image and coloured image
As harvester, the depth value of the black light image without the need for calculating collection, the memory space of system can be saved, while avoiding
The error that complicated calculatings brings, improves registering efficiency and precision.
To solve above-mentioned technical problem, one aspect of the present invention is：Depth image and coloured image are provided
Method for registering, the method for registering includes：The black light image and coloured image of object to be measured are gathered using collecting device；Meter
Pixel coordinate deviant of each pixel relative to reference picture in calculation black light image；Using deviant and collecting device
Parameter is calculated the depth value of each pixel in coloured image.
Wherein, the black light image and coloured image of object to be measured are gathered using collecting device, including：Using structure light
Depth camera is to Object Projection structured light patterns to be measured, and gathers the black light image of object to be measured；And using colored phase
Machine gathers the coloured image of object to be measured.
Wherein, the depth value of each pixel in coloured image is calculated using the parameter of deviant and collecting device, is wrapped
Include：Each pixel correspondence picture on coloured image in black light image is calculated using the parameter of deviant and collecting device
The pixel coordinate and depth value of element；The pixel coordinate and depth value of coloured image are processed using interpolation algorithm, obtained
The depth value of all pixels in coloured image.
Wherein, each pixel is calculated in black light image in cromogram using the parameter of deviant and collecting device
As the pixel coordinate and depth value of upper respective pixel, including：The pixel of black light image is calculated using below equation
Coordinate (uD,vD) with the pixel coordinate (u of coloured imageR,vR) between corresponding relation and coloured image pixel coordinate (uR,
vR) corresponding depth value：Wherein, The pixel homogeneous coordinates that respectively coloured image and black light image coordinate are fastened；ZRTo sit
Mark (uR,vR) corresponding depth value；MR、MD, R, T collecting device parameter for being, wherein MR、MDRespectively color camera and structure light
The internal reference matrix of depth camera, R, T are respectively spin matrix and translation matrix of the structure light depth camera relative to color camera；
Δ is pixel coordinate deviant；B is the distance between the magazine projection module of mechanism's optical depth and collection module；F is collection
The lens focus of module.
Wherein, interpolation algorithm be ternary linear interpolation, ternary cubic interpolation, the one kind in Kriging regression algorithm.
Wherein, structure light depth camera is infrared structure optical depth camera, including infrared projection module and infrared receiver
Module；Structured light patterns are irregular speckle pattern.
Wherein, pixel coordinate deviant of each pixel relative to reference picture in calculating black light image, including：Really
Determine the displacement mapping relations of each pixel and respective pixel in reference picture in black light image；It is determined that corresponding search is calculated
Method；According to displacement mapping relations and searching algorithm, pixel coordinate offset value delta is calculated.
To solve above-mentioned technical problem, another technical solution used in the present invention is：A kind of three-dimensional image acquisition is provided
Device, the harvester include：Collecting device, for gathering the black light image and coloured image of object to be measured；Processor,
For calculating pixel coordinate deviant of each pixel relative to reference picture in black light image；And using deviant and
The parameter of collecting device is calculated the depth value of each pixel in coloured image, so as to obtain the 3-D view of object to be measured.
Wherein, collecting device includes structure light depth camera and color camera；Structure light depth camera is for to be measured
Object Projection structured light patterns, and gather the black light image of object to be measured；Color camera is used for the coloured silk for gathering object to be measured
Color image.
Wherein, processor specifically for being calculated the pixel coordinate (u of black light image using below equationD,vD) with
Pixel coordinate (the u of coloured imageR,vR) between corresponding relation and coloured image pixel coordinate (uR,vR) corresponding depth
Value：Wherein,Respectively
For the pixel homogeneous coordinates that coloured image and black light image coordinate are fastened；ZRFor coordinate (uR,vR) corresponding depth value；
MR、MD, R, T collecting device parameter for being, wherein MR、MDThe respectively internal reference matrix of color camera and structure light depth camera, R,
T is respectively spin matrix and translation matrix of the structure light depth camera relative to color camera；Δ is pixel coordinate deviant；B
For the distance between the magazine projection module of mechanism's optical depth and collection module；F is the lens focus for gathering module.
The invention has the beneficial effects as follows：It is different from the situation of prior art, depth image and the coloured image of the present invention
Method for registering includes：The black light image and coloured image of object to be measured are gathered using collecting device；Calculate black light figure
Pixel coordinate deviant of each pixel relative to reference picture as in；It is calculated using the parameter of deviant and collecting device
The depth value of each pixel in coloured image.By the way, can pass through directly using collection black light image with
The parameter of the calculated deviation value of reference picture and collecting device is obtained on the coloured image that gathers on respective pixel coordinate
Depth value.Due to the depth value of the black light image without the need for calculating collection, the memory space of system is saved, while avoiding
The error that complicated calculating brings, improves the efficiency and precision of registration.
Description of the drawings
Fig. 1 is the schematic flow sheet of depth image of the present invention and one embodiment of method for registering of coloured image；
Fig. 2 is the stream of depth image of the present invention and an embodiment of S12 in one embodiment of method for registering of coloured image
Journey schematic diagram；
Fig. 3 is the stream of depth image of the present invention and an embodiment of S13 in one embodiment of method for registering of coloured image
Journey schematic diagram；
Fig. 4 is the structural representation of one embodiment of three-dimensional image acquisition apparatus of the present invention；
Fig. 5 is the structural representation of another embodiment of three-dimensional image acquisition apparatus of the present invention.
Specific embodiment
Refering to Fig. 1, Fig. 1 is the flow process signal of depth image of the present invention and one embodiment of method for registering of coloured image
Figure, the method include：
S11：The black light image and coloured image of object to be measured are gathered using collecting device.
Wherein, black light image can be collected by black light receiving module, and coloured image can be
Collected by color camera, the mode of collection can be taken pictures or image.
Usually, module is projected to Object Projection to be measured from black light, then by black light receiving module gathering
The black light image of object to be measured.Black light projection module therein and black light receiving module can be collectively forming one
Individual black light shoots camera.
Wherein, black light projection module is made up of light source and diffraction optical element, and light source is adopted for launching and this
The single surface-emission laser of black light consistent wavelength, the effect of diffraction optical element be by it is laser collimated be beamed into it is multiple
The black light light beam being randomly distributed.In other embodiment, light source can also adopt the light source of array, such as vertical cavity surface to send out
Laser array is penetrated, the arrangement pattern of the light source of array can be consistent with the partial subgraph case in the beam pattern for projecting.Can not
See between light projection module and black light receiving module at intervals.
Additionally, black light projection module, black light receiving module and color camera can be configured in same
On straight line, it is also possible to have a certain degree.As geometrically black light receiving module is not overlap with color camera, cause collection
Black light image and coloured image exist in pixel parallax, i.e. space certain point in black light image and cromogram
The relative position of the pixel coordinate as in is different.
Wherein, the black light can be infrared light or ultraviolet light etc., for example, it may be wavelength is 830nm's or 850nm
Infrared light.
Optionally, in one embodiment, S11 can be specially：
Using structure light depth camera to Object Projection structured light patterns to be measured, and gather the black light figure of object to be measured
Picture；And the coloured image of object to be measured is gathered using color camera.
Wherein, structure light depth camera is infrared structure optical depth camera, including infrared projection module and infrared receiver
Module；Structured light patterns are irregular speckle pattern.
It should be understood that in general, or it is to be measured to as if motion in the case of, structure light depth camera and coloured silk
Form and aspect machine should have identical frequency acquisition, so as to collect black light image and coloured image in synchronization.
Certainly, acquisition target absolute rest or other in particular cases, it is also possible to acquisition time black light image and coloured image.
S12：Pixel coordinate deviant of each pixel relative to reference picture in calculating black light image.
Wherein, reference picture is a width black light image of known depth value.Specifically, can be perpendicular to structure light
A flat board is placed in the plane of the optical axis of depth camera, known to the distance of the flat board and structure light depth camera.Again to the flat board
Projection structure light pattern is simultaneously taken pictures or is photographed by structure light depth camera and obtained reference picture.Wherein, reference picture
The pattern of the black light image of pattern and collection object to be measured is to be collected under the projection of same projection module respectively
, i.e., in order to ensure the uniformity of its structured light patterns (speckle pattern).
Optionally, the known depth of reference picture can arbitrarily be arranged, and generally, can select structure optical depth
The median of the depth survey scope of degree camera, for example, the depth survey scope of structure light depth camera is (a, b), then refer to
The depth of image can be
Optionally, refering to Fig. 2, in one embodiment, S12 can be specifically included：
S121：Determine the displacement mapping relations of each pixel and respective pixel in reference picture in black light image.
S122：It is determined that corresponding searching algorithm.
S123：According to displacement mapping relations and searching algorithm, pixel coordinate offset value delta is calculated.
Specifically, simple introduction is done to calculating deviant below：
The pixel region more than one of target pixel points is included at least in extracting the black light image of collection, due to speckle pattern
Case is identical, you can to find one in a reference image with the pixel region very much like (similarity reaches pre-conditioned)
A region (finding target pixel points corresponding pixel points in a reference image in black light image), obtain wherein with
The coordinate of the corresponding pixel of target pixel points, so by comparing the drift condition of two pixels, it is possible to obtain in space
The deviant of pixel coordinate of the same point in black light image and reference picture.
Specifically, it is first determined the displacement mapping function of each pixel, it is however generally that the function needs to consider collection not
In two width figure of visible images and reference picture on object to be measured each point translation and deformation.In the present embodiment, due to two
Pattern in width figure causes change in location only due to subject depth to be measured changes, and larger deformation does not occur, therefore
The function can be simplified to only consider the situation of translation, i.e.,：X=x+ Δs.Here X and x is respectively a point of object to be measured
Pixel coordinate in the black light image and reference picture of collection, Δ is pixel coordinate deviant to be asked.
Secondly, it is determined that corresponding searching algorithm.Newton iteration method is generally adopted by, but the algorithm is related to substantial amounts of
Number and division arithmetic, algorithm write and execution efficiency is not high.The present embodiment can be using based on interative least square method
Searching algorithm.Situation due to being only considered along X-direction translation, thus only need to carry out one-dimensional searching algorithm just can be with,
So can boosting algorithm by a relatively large margin efficiency and precision.
Finally just offset value delta can be solved with reference to displacement mapping function and interative least square method.
S13：The depth value of each pixel in coloured image is calculated using the parameter of deviant and collecting device.
Wherein, deviant is calculated offset value delta in above-mentioned S12, and collecting device includes adopting for black light image
The collecting device of collection equipment and coloured image, in the present embodiment, can be structure light depth camera and color camera.Collection sets
Standby parameter includes outer ginseng and internal reference, wherein, outer ginseng includes the degrees of offset between structure light depth camera and color camera, for example
Distance and the anglec of rotation etc., internal reference include the parameter of the camera internals such as the camera lens of camera, focal length.
Optionally, refering to Fig. 3, in one embodiment, S13 can be specifically included：
S131：Each pixel is calculated in black light image in cromogram using the parameter of deviant and collecting device
As the pixel coordinate and depth value of upper respective pixel.
Due to gather black light image each pixel respectively and reference picture and the coloured image of collection between have
There is corresponding relation, therefore, it can set up the corresponding relation in coloured image and reference picture between each pixel coordinate.
Pixel coordinate (the u of black light image can be calculated using below equation specificallyD,vD) and coloured image
Pixel coordinate (uR,vR) between corresponding relation and coloured image pixel coordinate (uR,vR) corresponding depth value：
Wherein,Respectively coloured image and black light
The pixel homogeneous coordinates that image coordinate is fastened；ZRFor coordinate (uR,vR) corresponding depth value；MR、MD, R, T be collecting device ginseng
Number, wherein MR、MDThe respectively internal reference matrix of color camera and laser camera, R, T are respectively laser camera relative to color camera
Spin matrix and translation matrix；Δ is pixel coordinate deviant；B is the magazine projection module of mechanism's optical depth and collection mould
The distance between group；F is the lens focus for gathering module.
S132：The pixel coordinate and depth value of coloured image are processed using interpolation algorithm, obtain coloured image
The depth value of middle all pixels.
As the black light image for gathering has certain skew with coloured image, each pixel in black light image
A corresponding pixel can not possibly be found in coloured image, in other words, part picture in coloured image, is had
Vegetarian refreshments cannot obtain its depth value, therefore, it can carry out the pixel coordinate and depth value of coloured image using interpolation algorithm
Process, obtain the depth value of all pixels in coloured image.
Optionally, interpolation algorithm be ternary linear interpolation, ternary cubic interpolation, the one kind in Kriging regression algorithm, this
In be not construed as limiting.
So, the depth value of each pixel in the coloured image for collecting by above-mentioned S11-S13, has just been obtained, i.e.,
The coloured image with depth information can be obtained, the registration of depth image and coloured image in other words, that is, is completed.
Certainly, in other embodiments, it is also possible to obtain every in black light image by above-mentioned corresponded manner
The rgb value of individual pixel, then by related algorithm being carried out with reference picture, obtain the depth value of black light image, so as to obtain
Coloured image with depth information.
Prior art is different from, the depth image of present embodiment is included with the method for registering of coloured image：Using collection
Equipment gathers the black light image and coloured image of object to be measured；In calculating black light image, each pixel is relative to reference
The pixel coordinate deviant of image；The depth of each pixel in coloured image is calculated using the parameter of deviant and collecting device
Angle value.By the way, black light image and the calculated deviation of reference picture directly using collection can be passed through
The parameter of value and collecting device obtains the depth value on the coloured image of collection on respective pixel coordinate.Due to adopting without the need for calculating
The depth value of the black light image of collection, saves the memory space of system, while the error that the calculating for avoiding complexity brings, carries
The efficiency and precision of high registration.
Refering to Fig. 4, Fig. 4 is the structural representation of one embodiment of three-dimensional image acquisition apparatus of the present invention, and the device includes：
Collecting device 41, for gathering the black light image and coloured image of object to be measured；
Processor 42, offsets relative to the pixel coordinate of reference picture for calculating each pixel in black light image
Value；And the depth value of each pixel in coloured image is calculated using the parameter of deviant and collecting device, so as to obtain
The 3-D view of object to be measured.
Wherein, collecting device 41 specifically includes structure light depth camera 411 and color camera 412.
Structure light depth camera 411 is for Object Projection structured light patterns to be measured, and gathers the invisible of object to be measured
Light image.
Color camera 412 is used for the coloured image for gathering object to be measured.
Wherein, in another embodiment, as shown in figure 5, structure light depth camera 41 is infrared structure optical depth camera
50, which includes：Infrared projection module 51, for Object Projection infrared structure light pattern to be measured；Infrared receiver module 52, is used for
Gather the infrared image of object to be measured.
Optionally, infrared projection module 51 is used to project infrared speckle pattern, and infrared receiver module 52 is used to receive to be measured
The infrared speckle image of object.
It should be understood that infrared projection module 51, infrared receiver module 52 and color camera 412 can be straight in same
Arrange on line, it is also possible to which certain angle is arranged.
Optionally, in other embodiments, processor 42 is additionally operable to
Pixel coordinate (the u of black light image is calculated using below equationD,vD) with the pixel coordinate of coloured image
(uR,vR) between corresponding relation and coloured image pixel coordinate (uR,vR) corresponding depth value：
Wherein,Respectively coloured image and black light
The pixel homogeneous coordinates that image coordinate is fastened；ZRFor coordinate (uR,vR) corresponding depth value；MR、MD, R, T be collecting device ginseng
Number, wherein MR、MDThe respectively internal reference matrix of color camera and laser camera, R, T are respectively laser camera relative to color camera
Spin matrix and translation matrix；Δ is pixel coordinate deviant；B is the magazine projection module of mechanism's optical depth and collection mould
The distance between group；F is the lens focus for gathering module.
Below, with a specific example, the principle and step of present embodiment are described in detail：
1st, first with infrared camera and the speckle image and coloured image of color camera collection target.
Need exist for acquisition time and frequency by the infrared receiver module of infrared camera and color camera using processor
It is configured, realizes the synchronous acquisition to target image.Infrared receiver module and color camera inner parameter (focal length and in
The heart) and color camera need in advance to be demarcated relative to the external parameter (rotation and translation parameters) of infrared receiver module,
Generally speaking these parameters can be stored in the internal memory that system is specified, when subsequently being calculated, and can be called at any time.
2nd, and then using loading by means of digital image correlation method infrared image is calculated relative to reference to each pixel in speckle image
Disagreement value A.
It is similar with the inside and outside parameter calibration of camera, obtain with reference to speckle image and in advance.Comprise the concrete steps that apart from red
Depth Z known to outer receiving module0Place, places the flat board perpendicular to infrared receiver module optical axis, then using infrared projection mould
Group as refers to speckle image to projection speckle on the flat board, then by the speckle image that infrared receiver module is collected.
3rd, a group calculated in conjunction with camera parameter and disagreement value A under color camera pixel coordinate system includes depth
The three dimensional point cloud of value and coordinate value.
After second step calculates the bias Δ of each pixel in infrared speckle image, one group is directly calculated by picture by following formula
The three dimensional point cloud that plain coordinate and depth value are constituted is (uR,vR,ZR)：
Wherein,Respectively coloured image and black light
The pixel homogeneous coordinates that image coordinate is fastened；ZRFor coordinate (uR,vR) corresponding depth value；MR、MD, R, T be collecting device ginseng
Number, wherein MR、MDThe respectively internal reference matrix of color camera and laser camera, R, T are respectively laser camera relative to color camera
Spin matrix and translation matrix；Δ is pixel coordinate deviant；B is the magazine projection module of mechanism's optical depth and collection mould
The distance between group；F is the lens focus for gathering module.
The three dimensional point cloud for obtaining refers to the corresponding spatial point of depth camera each pixel and is imaged on color camera picture
Coordinate value and depth value in plain coordinate system.
4th, the depth value of each pixel of color camera is finally calculated using interpolation algorithm.
Wherein, interpolation algorithm can be the one kind in ternary linear interpolation, ternary cubic interpolation, Kriging regression algorithm.
Prior art is different from, the three-dimensional image acquisition apparatus of present embodiment include：Collecting device, it is to be measured for gathering
The black light image of object and coloured image；Processor, for calculating in black light image each pixel relative to reference
The pixel coordinate deviant of image；And each pixel in coloured image is calculated using the parameter of deviant and collecting device
Depth value.By the way, the black light image and reference picture that can pass through directly using collection is calculated
The parameter of deviation value and collecting device obtains the depth value on the coloured image of collection on respective pixel coordinate.Due to without the need for meter
The depth value of the black light image of collection is calculated, the memory space of system is saved, while the mistake that the calculating for avoiding complexity brings
Difference, improves the efficiency and precision of registration.
Embodiments of the present invention are the foregoing is only, the scope of the claims of the present invention is not thereby limited, it is every using this
Equivalent structure or equivalent flow conversion that description of the invention and accompanying drawing content are made, or directly or indirectly it is used in other correlations
Technical field, is included within the scope of the present invention.
Claims (10)
1. the method for registering of a kind of depth image and coloured image, it is characterised in that include：
The black light image and coloured image of object to be measured are gathered using collecting device；
Calculate pixel coordinate deviant of each pixel relative to reference picture in the black light image；
The depth value of each pixel in the coloured image is calculated using the parameter of the deviant and the collecting device.
2. method for registering according to claim 1, it is characterised in that
The utilization collecting device gathers the black light image and coloured image of object to be measured, including：
Using structure light depth camera to the Object Projection structured light patterns to be measured, and gather the invisible of the object to be measured
Light image；And
The coloured image of the object to be measured is gathered using color camera.
3. method for registering according to claim 2, it is characterised in that
The parameter using the deviant and the collecting device is calculated the depth of each pixel in the coloured image
Angle value, including：
Each pixel is calculated in the black light image in institute using the parameter of the deviant and the collecting device
State the pixel coordinate and depth value of respective pixel on coloured image；
The pixel coordinate and depth value of the coloured image are processed using interpolation algorithm, obtained in the coloured image
The depth value of all pixels.
4. method for registering according to claim 3, it is characterised in that described using the deviant and the collecting device
Parameter be calculated the pixel coordinate of each pixel respective pixel on the coloured image in the black light image with
And depth value, including：
Pixel coordinate (the u of the black light image is calculated using below equationD,vD) pixel with the coloured image
Coordinate (uR,vR) between corresponding relation and the coloured image pixel coordinate (uR,vR) corresponding depth value：
Wherein,Respectively described coloured image and it is described can not
The pixel homogeneous coordinates seen on light image coordinate system；ZRFor coordinate (uR,vR) corresponding depth value；MR、MD, R, T be described adopting
Collection device parameter, wherein MR、MDThe internal reference matrix of respectively described color camera and the structure light depth camera, R, T are respectively
Spin matrix and translation matrix of the structure light depth camera relative to the color camera；Δ is offset for the pixel coordinate
Value；B is the distance between the magazine projection module of mechanism's optical depth and collection module；F is the mirror of the collection module
Head focal length.
5. method for registering according to claim 3, it is characterised in that
The interpolation algorithm is ternary linear interpolation, ternary cubic interpolation, the one kind in Kriging regression algorithm.
6. method for registering according to claim 2, it is characterised in that
The structure light depth camera is infrared structure optical depth camera, including infrared projection module and infrared receiver module；
The structured light patterns are irregular speckle pattern.
7. method for registering according to claim 1, it is characterised in that
It is described to calculate pixel coordinate deviant of each pixel relative to reference picture in the black light image, including：
Determine the displacement mapping relations of each pixel and respective pixel in the reference picture in the black light image；
It is determined that corresponding searching algorithm；
According to the displacement mapping relations and the searching algorithm, the pixel coordinate offset value delta is calculated.
8. a kind of three-dimensional image acquisition apparatus, it is characterised in that include：
Collecting device, for gathering the black light image and coloured image of object to be measured；
Processor, for calculating pixel coordinate deviant of each pixel relative to reference picture in the black light image；
And
The depth value of each pixel in the coloured image is calculated using the parameter of the deviant and the collecting device,
So as to obtain the 3-D view of the object to be measured.
9. harvester according to claim 8, it is characterised in that
The collecting device includes structure light depth camera and color camera；
The structure light depth camera is for the Object Projection structured light patterns to be measured, and gathers the object to be measured not
Visible images；
The color camera is used for the coloured image for gathering the object to be measured.
10. harvester according to claim 9, it is characterised in that
The processor specifically for being calculated the pixel coordinate (u of the black light image using below equationD,vD) with
Pixel coordinate (the u of the coloured imageR,vR) between corresponding relation and the coloured image pixel coordinate (uR,vR) right
The depth value answered：
Wherein,Respectively described coloured image and it is described can not
The pixel homogeneous coordinates seen on light image coordinate system；ZRFor coordinate (uR,vR) corresponding depth value；MR、MD, R, T be described adopting
Collection device parameter, wherein MR、MDThe internal reference matrix of respectively described color camera and the structure light depth camera, R, T are respectively
Spin matrix and translation matrix of the structure light depth camera relative to the color camera；Δ is offset for the pixel coordinate
Value；B is the distance between the magazine projection module of mechanism's optical depth and collection module；F is the mirror of the collection module
Head focal length.
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