CN107835551A - The control method and device of lighting source power in 3 D scanning system - Google Patents

The control method and device of lighting source power in 3 D scanning system Download PDF

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Publication number
CN107835551A
CN107835551A CN201711057888.2A CN201711057888A CN107835551A CN 107835551 A CN107835551 A CN 107835551A CN 201711057888 A CN201711057888 A CN 201711057888A CN 107835551 A CN107835551 A CN 107835551A
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profile
lighting source
power
saturation factor
less
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CN107835551B (en
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吕源治
贾平
张洪宇
沙欧
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Changchun Institute of Optics Fine Mechanics and Physics of CAS
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Changchun Institute of Optics Fine Mechanics and Physics of CAS
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    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05B—ELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
    • H05B47/00—Circuit arrangements for operating light sources in general, i.e. where the type of light source is not relevant
    • H05B47/10—Controlling the light source
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B15/00—Special procedures for taking photographs; Apparatus therefor
    • G03B15/02—Illuminating scene
    • G03B15/03—Combinations of cameras with lighting apparatus; Flash units

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Image Input (AREA)

Abstract

The invention provides a kind of control method of lighting source power in 3 D scanning system, including：Collection lighting source projects the image of the reflection photogenerated index point on index point；The power of image adjustment lighting source based on index point, until the power of lighting source meets preparatory condition.The present invention can be effectively by the power adjusting of lighting source to rational scope, and then effectively increases adaptability of the 3 D scanning system to scanning circumstance.The invention also discloses a kind of control device of lighting source power in 3 D scanning system.

Description

The control method and device of lighting source power in 3 D scanning system
Technical field
The present invention relates to a kind of control of lighting source power in reverse Engineering Technology field, more particularly to 3 D scanning system Method and device processed.
Background technology
For a long time, the accurate measurement to real-world object physical dimension is mainly using slide measure, micrometer, bevel protractor etc. The contact manual measurement mode of survey tool, this metering system can not measure body surface in irregular shape and for texts Thing historic site etc. requires non-contacting measurement object, and there is also technical bottleneck.Development and new technology new demand with related discipline Driving, 3-D scanning technology arises at the historic moment, and the technology can be in the case where not contacting testee, according to the thing collected Body surface information calculates the spatial distribution of a cloud, in a computer that cloud data is whole by a series of Surface Reconstruction Synthesize testee triangle grid model, this technology be widely used in industrial design field auxiliary manufacture with examine, The Ruins protection of the location of operation of medical field and rehabilitation, the outdoor scene modeling and simulation of field of game entertainment and field of engaging in archaeological studies with Restore etc..
3 D scanning system mainly includes data acquisition and model reconstruction two parts, and in data acquisition, three-dimensional is swept Retouch instrument to be made up of the laser and binocular camera that can project one or more 1 word laser rays, when scanned object will irradiate When light is reflected into the binocular camera mutually to form an angle, one group of stereo pairs of scanned object have just been obtained, with The continuous change of spatial digitizer position, the quantity of stereo pairs are on the increase, these stereo pairs have recorded respectively by The image information of sweep object diverse location, different angle.During model reconstruction, first, according to principle of triangulation, press The sequencing obtained according to stereo pairs, calculate the point cloud number of the scanned subject surface of every group of stereo image pair record According to, and all cloud datas are unified into identical coordinate system；Then, the cloud data of acquisition is woven into triangle gridding simultaneously Generate three-dimensional surface model.In order that scanning process can see model reconstruction effect in real time, model reconstruction needs with data acquisition It is synchronous to carry out.
In 3 D scanning system, the relative position that index point is used to calculate in real time between scanning system and scanned object is closed System, the position relationship are generally embodied with the mathematical form of spin matrix and translation matrix, are that all cloud datas are unified Unique parameters into same coordinate system, indicate that the extraction accuracy of dot center is higher in image, scanning system is located at diverse location The cloud data collected accurately can more be unified into the same coordinate system.The extraction accuracy of mark dot center is existed by index point Image quality in image determines, and image quality then has direct relation with the lighting source of 3 D scanning system, illumination light In reasonable interval, the mark dot image acceptance of the bid will point inside round dot collected has significantly source power with outside annulus intersection Brightness changes, and this imaging characteristicses are especially advantageous for extracting accurate index point center；Lighting source power is too low and too high When, the brightness change between the inside round dot and outside annulus of the mark dot image acceptance of the bid will point collected is gentle, therefore, it is impossible to The position of accurate extraction mark dot center.Because different scanning occasion ambient light is different to the radiation situation of index point, therefore, To can just must make in lighting source power adjusting to zone of reasonableness the light that it sends with environment optical superposition relief index point Reach optimal imaging effect.It can thus be seen that how by the power adjusting of lighting source to rational scope be one urgently The problem of to be solved.
The content of the invention
In view of this, the invention provides a kind of control method of lighting source power in 3 D scanning system, Neng Gouyou The power adjusting by lighting source of effect effectively increases 3 D scanning system and scanning circumstance is fitted to rational scope Should be able to power.
The invention provides a kind of control method of lighting source power in 3 D scanning system, including：
Collection lighting source projects the image of index point described in reflection photogenerated on index point；
The power of lighting source described in image adjustment based on the index point, until the power of the lighting source meets Preparatory condition.
Preferably, the power of lighting source described in the image adjustment based on the index point, until the illumination light The power in source meets that preparatory condition includes：
The image border of the index point is detected, obtains N number of independent profile；
Set upper limit profile perimeter threshold Cth1, lower limit profile perimeter threshold Cth2, upper limit contour area threshold value Ath1, lower limit Contour area threshold value Ath2, wherein：Cth1＞ Cth2, Ath1＞ Ath2, profile girth position is filtered out from N number of independent profile In section [Cth2,Cth1] in and profile surround area and be located at section [Ath2,Ath1] in profile；
Set roundness threshold Dth, it is located at section [C to filtering out profile girth from N number of independent profileth2,Cth1] In and profile surround area and be located at section [Ath2,Ath1] in profile carry out ellipse fitting and filter out circularity after ellipse fitting Less than DthProfile；
Circularity is less than D after each ellipse fitting that calculating sifting goes outthProfile gradient, the gradient of the profile is to wheel After exterior feature carries out ellipse fitting, the difference of the average gray of oval inner side adjacent pixel and the average gray of outside adjacent pixel Value；
Set upper limit Grads threshold Gth1With lower limit Grads threshold Gth2, wherein：Gth1＞ Gth2, calculate circle after ellipse fitting Degree is less than DthProfile effective discrimination and saturation factor；
The power of the lighting source is adjusted based on the effectively discrimination and saturation factor, until the work(of the lighting source Rate meets preparatory condition.
Preferably, the setting upper limit Grads threshold Gth1With lower limit Grads threshold Gth2, wherein：Gth1＞ Gth2, calculate Circularity is less than D after ellipse fittingthThe effective discrimination and saturation factor of profile include：
Based on formulaCalculate effective discrimination Re, wherein, NeIt is less than for circularity after the ellipse fitting that filters out DthProfile in effective contour quantity, NAllIt is less than D for circularity after the ellipse fitting that filters outthProfile total quantity, institute State the gradient that effective contour is profile and be located at section [Gth2,Gth1] in profile；
Based on formulaCalculate saturation factor Rs, wherein, NsIt is less than D for circularity after the ellipse fitting that filters outth Profile in saturation profile quantity, the saturation profile be profile gradients be less than Gth2Profile.
Preferably, methods described also includes：
Show effectively discrimination and the saturation factor.
Preferably, methods described also includes：
Show the effective contour region and the saturation contour area.
Preferably, the power that the lighting source is adjusted based on the effectively discrimination and saturation factor, until described The power of lighting source meets that preparatory condition includes：
Judge whether the effectively discrimination is more than and preset effective discrimination threshold value, if so, then terminating the lighting source Power adjusting, if it is not, then：
By the saturation factor compared with default saturation factor threshold value, when the saturation factor is more than or equal to the default saturation Reduce the lighting source power during rate threshold value, increase the illumination when the saturation factor is less than the default saturation factor threshold value Light source power.
The control device of lighting source power in a kind of 3 D scanning system, including：
Binocular camera, the image of index point described in reflection photogenerated on index point is projected for gathering lighting source；
Controller, for the power of lighting source described in the image adjustment based on the index point, until the illumination light The power in source meets preparatory condition.
Preferably, the controller includes：
Detection module, for detecting the image border of the index point, obtain N number of independent profile；
First screening module, for setting upper limit profile perimeter threshold Cth1, lower limit profile perimeter threshold Cth2, upper limit profile Area threshold Ath1, lower limit contour area threshold value Ath2, wherein：Cth1＞ Cth2, Ath1＞ Ath2, from N number of independent profile Filter out profile girth and be located at section [Cth2,Cth1] in and profile surround area and be located at section [Ath2,Ath1] in profile；
Second screening module, for setting roundness threshold Dth, to filtering out profile girth from N number of independent profile Positioned at section [Cth2,Cth1] in and profile surround area and be located at section [Ath2,Ath1] in profile ellipse fitting and sieve Circularity is less than D after selecting ellipse fittingthProfile；
First computing module, circularity is less than D after each ellipse fitting gone out for calculating siftingthProfile gradient, institute The gradient for stating profile is the average gray and outside adjacent pixel of oval inner side adjacent pixel after carrying out ellipse fitting to profile Average gray difference；
Second computing module, for setting upper limit Grads threshold Gth1With lower limit Grads threshold Gth2, wherein：Gth1＞ Gth2, Circularity is less than D after calculating ellipse fittingthProfile effective discrimination and saturation factor；
Adjustment module, for adjusting the power of the lighting source based on the effectively discrimination and saturation factor, until institute The power for stating lighting source meets preparatory condition.
Preferably, second computing module is specifically used for：
Based on formulaCalculate effective discrimination Re, wherein, NeIt is less than for circularity after the ellipse fitting that filters out DthProfile in effective contour quantity, NAllIt is less than D for circularity after the ellipse fitting that filters outthProfile total quantity, institute State the gradient that effective contour is profile and be located at section [Gth2,Gth1] in profile；
Based on formulaCalculate saturation factor Rs, wherein, NsIt is less than D for circularity after the ellipse fitting that filters outth Profile in saturation profile quantity, the saturation profile be profile gradients be less than Gth2Profile.
Preferably described device also includes：
Display, for showing effectively discrimination and the saturation factor.
Preferably, the display is additionally operable to：
Show the effective contour region and the saturation contour area.
Preferably, the adjustment module includes：
Judging unit, effective discrimination threshold value is preset for judging whether the effectively discrimination is more than；
End unit, for when the effectively discrimination is more than and presets effective discrimination threshold value, terminating the illumination light Source power is adjusted；
Comparing unit, for by the saturation factor compared with default saturation factor threshold value, when the saturation factor be more than etc. Reduce the lighting source power when the default saturation factor threshold value, when the saturation factor is less than the default saturation factor threshold value Lighting source power described in Shi Zeng great.
It can be seen from the above technical proposal that the invention provides a kind of control of lighting source power in 3 D scanning system Method processed, when needing to be controlled the power of the lighting source in 3 D scanning system, lighting source projection is gathered first The image of index point described in reflection photogenerated on to index point, it is then based on the work(of the image adjustment lighting source of index point Rate, until the power of lighting source meets preparatory condition, can effectively by the power adjusting of lighting source to rational scope, And then effectively increase adaptability of the 3 D scanning system to scanning circumstance.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the side of the control method embodiment 1 of lighting source power in a kind of 3 D scanning system disclosed by the invention Method flow chart；
Fig. 2 is the side of the control method embodiment 2 of lighting source power in a kind of 3 D scanning system disclosed by the invention Method flow chart；
Fig. 3 is the side of the control method embodiment 3 of lighting source power in a kind of 3 D scanning system disclosed by the invention Method flow chart；
Fig. 4 is the knot of the control device embodiment 1 of lighting source power in a kind of 3 D scanning system disclosed by the invention Structure schematic diagram；
Fig. 5 is the knot of the control device embodiment 2 of lighting source power in a kind of 3 D scanning system disclosed by the invention Structure schematic diagram；
Fig. 6 is the knot of the control device embodiment 3 of lighting source power in a kind of 3 D scanning system disclosed by the invention Structure schematic diagram.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made Embodiment, belong to the scope of protection of the invention.
As shown in figure 1, implement for the control method of lighting source power in a kind of 3 D scanning system disclosed by the invention The flow chart of example 1, methods described include：
S101, collection lighting source project the image of index point described in reflection photogenerated on index point；
When needing that control is adjusted to the power of the lighting source in 3 D scanning system, an illumination is set first The power initial value of light source, then gather index point described in the reflection photogenerated projected during lighting source work on index point Image.
S102, image adjustment lighting source based on index point power, until the power of lighting source meets default bar Part.
Then it is adjusted according to the power in image contrast Mingguang City source of the index point of generation, is repeated during regulation Above-mentioned steps S101 and step S102, until the power of the lighting source after overregulating meets preparatory condition, that is, reaching can Make the more accurate state of scanning result of 3 D scanning system.It should be noted that repeat above-mentioned steps S101 and During step S102, the initial value of the lighting source power in step S101, except first time is the work(of operating personnel's setting Outside rate initial value, the initial value of later lighting source power is the power of the lighting source obtained after last power adjusting Value.
In summary, in the above-described embodiments, when needing to control the power of the lighting source in 3 D scanning system When processed, collection lighting source projects the image of index point described in the reflection photogenerated on index point first, is then based on indicating The power of the image adjustment lighting source of point, until the power of lighting source meets preparatory condition, can be effectively by illumination light The power adjusting in source effectively increases adaptability of the 3 D scanning system to scanning circumstance to rational scope.
As shown in Fig. 2 implement for the control method of lighting source power in a kind of 3 D scanning system disclosed by the invention The flow chart of example 2, methods described include：
S201, collection lighting source project the image of index point described in reflection photogenerated on index point；
When needing that control is adjusted to the power of the lighting source in 3 D scanning system, an illumination is set first The power initial value of light source, then gather index point described in the reflection photogenerated projected during lighting source work on index point Image.
S202, the image border for detecting index point, obtain N number of independent profile；
S203, setting upper limit profile perimeter threshold Cth1, lower limit profile perimeter threshold Cth2, upper limit contour area threshold value Ath1、 Lower limit contour area threshold value Ath2, wherein：Cth1＞ Cth2, Ath1＞ Ath2, profile girth position is filtered out from N number of independent profile In section [Cth2,Cth1] in and profile surround area and be located at section [Ath2,Ath1] in profile；
S204, setting roundness threshold Dth, it is located at section [C to filtering out profile girth from N number of independent profileth2, Cth1] in and profile surround area and be located at section [Ath2,Ath1] in profile carry out ellipse fitting and after filtering out ellipse fitting Circularity is less than DthProfile；
Circularity is less than D after each ellipse fitting that S205, calculating sifting go outthProfile gradient, the gradient of the profile After carrying out ellipse fitting to profile, oval the inner side average gray of adjacent pixel and the average gray of outside adjacent pixel Difference；
S206, setting upper limit Grads threshold Gth1With lower limit Grads threshold Gth2, wherein：Gth1＞ Gth2, calculate oval plan Circularity is less than D after conjunctionthProfile effective discrimination and saturation factor；
S207, the power based on effective discrimination and saturation factor regulation lighting source, until the power of lighting source meets Preparatory condition.
Repeat the above steps S201~step S207 during regulation, until the power of lighting source meets default bar Part.It should be noted that during above-mentioned steps S201~step S207 is repeated, the lighting source in step S201 The initial value of power, in addition to first time is the power initial value of operating personnel's setting, the initial value of later lighting source power For the performance number of the lighting source obtained after last power adjusting.Specifically, in the above-described embodiments, calculating oval plan Circularity is less than D after conjunctionthProfile effective discrimination when, formula can be passed throughCalculate effective discrimination Re, wherein, NeIt is less than D for circularity after the ellipse fitting that filters outthProfile in effective contour quantity, NAllFor the ellipse fitting filtered out Circularity is less than D afterwardsthProfile total quantity, the effective contour is located at section [G for the gradient of profileth2,Gth1] in profile.
Specifically, in the above-described embodiments, circularity is less than D after ellipse fitting is calculatedthProfile saturation factor when, can To pass through formulaCalculate saturation factor Rs, wherein, NsIt is less than D for circularity after the ellipse fitting that filters outthProfile The quantity of middle saturation profile, the saturation profile are that profile gradients are less than Gth2Profile.
As shown in figure 3, implement for the control method of lighting source power in a kind of 3 D scanning system disclosed by the invention The flow chart of example 3, methods described include：
S301, collection lighting source project the image of index point described in reflection photogenerated on index point；
When needing that control is adjusted to the power of the lighting source in 3 D scanning system, an illumination is set first The power initial value of light source, then gather index point described in the reflection photogenerated projected during lighting source work on index point Image.
S302, the image border for detecting index point, obtain N number of independent profile；
S303, setting upper limit profile perimeter threshold Cth1, lower limit profile perimeter threshold Cth2, upper limit contour area threshold value Ath1、 Lower limit contour area threshold value Ath2, wherein：Cth1＞ Cth2, Ath1＞ Ath2, profile week is filtered out from N number of independent profile Length is located at section [Cth2,Cth1] in and profile surround area and be located at section [Ath2,Ath1] in profile；
S304, setting roundness threshold Dth, it is located at section to filtering out profile girth from N number of independent profile [Cth2,Cth1] in and profile surround area and be located at section [Ath2,Ath1] in profile carry out ellipse fitting and filter out ellipse Circularity is less than D after fittingthProfile；
Circularity is less than D after each ellipse fitting that S305, calculating sifting go outthProfile gradient, the gradient of the profile After carrying out ellipse fitting to profile, oval the inner side average gray of adjacent pixel and the average gray of outside adjacent pixel Difference；
S306, setting upper limit Grads threshold Gth1With lower limit Grads threshold Gth2, wherein：Gth1＞ Gth2, calculate oval plan Circularity is less than D after conjunctionthProfile effective discrimination and saturation factor；
S307, the effective discrimination of display and saturation factor；
After effective discrimination and saturation factor is calculated, further effective discrimination and saturation factor can also be shown Show, so that operating personnel can intuitively observe effective discrimination value and saturation factor value.
S308, judge whether effective discrimination is more than default effective discrimination threshold value, if it is not, into S309, if so, then entering Enter S310：
Circularity is less than D after ellipse fitting is calculatedthProfile effective discrimination after, further effective discrimination is entered Row judges, judges whether effective discrimination is more than and presets effective discrimination threshold value.It should be noted that judging effective discrimination When whether being more than default effective discrimination threshold value, can carry out automatic decision or operating personnel has by what is shown Imitate discrimination and carry out artificial judgement.
S309, by saturation factor compared with default saturation factor threshold value, when saturation factor is more than or equal to the default saturation factor Reduce the lighting source power during threshold value, increase the illumination light when the saturation factor is less than the default saturation factor threshold value Source power.
When judge effective discrimination be less than or equal to preset effective discrimination threshold value when, further by the saturation factor calculated with Default saturation factor threshold value is compared.It should be noted that in relatively saturation factor and default saturation factor threshold value, can carry out certainly Dynamic comparison or operating personnel carry out artificial judgement by the saturation factor shown.
When saturation factor is more than or equal to default saturation factor threshold value, now the power of lighting source is reduced, when saturation factor is small When default saturation factor threshold value, now by the power increase of lighting source.It should be noted that reducing the power of lighting source Or when increasing the power of lighting source, it can automatically adjust, can also be adjusted manually by operating personnel.
S310, terminate lighting source power adjusting；
When judging that effective discrimination is more than default effective discrimination threshold value, show that the power of now lighting source meets in advance If condition, it can now terminate the power adjusting to lighting source.
It should be noted that during above-mentioned regulation lighting source power, above-mentioned steps S301~step is repeated Rapid S310, until the power of the lighting source after overregulating meets preparatory condition.Repeating above-mentioned steps S301~step During rapid S310, the initial value of the lighting source power in step S301, except first time is the power of operating personnel's setting Outside initial value, the initial value of later lighting source power is the performance number of the lighting source obtained after last power adjusting.
Specifically, in the above-described embodiments, circularity is less than D after ellipse fitting is calculatedthProfile effective discrimination When, formula can be passed throughCalculate effective discrimination Re, wherein, NeIt is less than D for circularity after the ellipse fitting that filters outth Profile in effective contour quantity, NAllIt is less than D for circularity after the ellipse fitting that filters outthProfile total quantity, it is described to have Effect profile is located at section [G for the gradient of profileth2,Gth1] in profile.
Specifically, in the above-described embodiments, circularity is less than D after ellipse fitting is calculatedthProfile saturation factor when, can To pass through formulaCalculate saturation factor Rs, wherein, NsIt is less than D for circularity after the ellipse fitting that filters outthProfile The quantity of middle saturation profile, the saturation profile are that profile gradients are less than Gth2Profile.
Specifically, in the above-described embodiments, can also be by effective contour region and saturation contour area in the picture with not Same color mark comes out and is shown the image after mark, and the painted areas that operating personnel arrive according to the observation judges illumination Whether light source power, which needs, is adjusted, and the power of lighting source is adjusted the result arrived according to the observation.
In summary, the present invention makes 3 D scanning system in varying environment light irradiation by the control to illumination light source power In the case of can obtain effectively indicate dot pattern, substantially increase adaptability of the 3 D scanning system to scanning circumstance.With The 3 D scanning system of brightness is controlled to compare by adjusting the time for exposure using constant power light source, because the present invention can be with Using the lighting source of relatively high power adjustable range, therefore, have for incandescent and very dark scanning circumstance and preferably adapt to energy Power.
As shown in figure 4, implement for the control device of lighting source power in a kind of 3 D scanning system disclosed by the invention The structural representation of example 1, described device include：
Binocular camera 401, the figure of index point described in reflection photogenerated on index point is projected for gathering lighting source Picture；
When needing that control is adjusted to the power of the lighting source in 3 D scanning system, an illumination is set first The power initial value of light source, then gather index point described in the reflection photogenerated projected during lighting source work on index point Image.
Controller 402, for the power of the image adjustment lighting source based on index point, until the power of lighting source is expired Sufficient preparatory condition.
Then it is adjusted according to the power in image contrast Mingguang City source of the index point of generation, is repeated during regulation Above-mentioned collection lighting source projects the image of the reflection photogenerated index point on index point, until the illumination light after overregulating The power in source meets preparatory condition, that is, reaches the more accurate state of scanning result that can make 3 D scanning system.Need It is bright, during above-mentioned re-adjustments lighting source power, the initial value of lighting source power, except first time is operation Outside the power initial value of personnel setting, the initial value of later lighting source power is the illumination obtained after last power adjusting The performance number of light source.
In summary, in the above-described embodiments, when needing to control the power of the lighting source in 3 D scanning system When processed, collection lighting source projects the image of index point described in the reflection photogenerated on index point first, is then based on indicating The power of the image adjustment lighting source of point, until the power of lighting source meets preparatory condition, can be effectively by illumination light The power adjusting in source effectively increases adaptability of the 3 D scanning system to scanning circumstance to rational scope.
As shown in figure 5, implement for the control device of lighting source power in a kind of 3 D scanning system disclosed by the invention The structural representation of example 2, described device include：
Binocular camera 501, the figure of index point described in reflection photogenerated on index point is projected for gathering lighting source Picture；
When needing that control is adjusted to the power of the lighting source in 3 D scanning system, an illumination is set first The power initial value of light source, then gather index point described in the reflection photogenerated projected during lighting source work on index point Image.
Detection module 502, for detecting the image border of index point, obtain N number of independent profile；
First screening module 503, for setting upper limit profile perimeter threshold Cth1, lower limit profile perimeter threshold Cth2, the upper limit Contour area threshold value Ath1, lower limit contour area threshold value Ath2, wherein：Cth1＞ Cth2, Ath1＞ Ath2, from N number of independent wheel Profile girth is filtered out in exterior feature and is located at section [Cth2,Cth1] in and profile surround area and be located at section [Ath2,Ath1] in wheel It is wide；
Second screening module 504, for setting roundness threshold Dth, to filtering out profile from N number of independent profile Girth is located at section [Cth2,Cth1] in and profile surround area and be located at section [Ath2,Ath1] in profile carry out ellipse fitting And circularity is less than D after filtering out ellipse fittingthProfile；
First computing module 505, circularity is less than D after each ellipse fitting gone out for calculating siftingthProfile gradient, The gradient of the profile is the adjacent picture of average gray and outside of oval inner side adjacent pixel after carrying out ellipse fitting to profile The difference of the average gray of element；
Second computing module 506, for setting upper limit Grads threshold Gth1With lower limit Grads threshold Gth2, wherein：Gth1＞ Gth2, circularity is less than D after calculating ellipse fittingthProfile effective discrimination and saturation factor；
Adjustment module 508, for the power based on effective discrimination and saturation factor regulation lighting source, until lighting source Power meet preparatory condition.
It should be noted that during above-mentioned re-adjustments lighting source power, the initial value of lighting source power, In addition to first time is the power initial value of operating personnel's setting, the initial value of later lighting source power is adjusted for last power The performance number of the lighting source obtained after section.
Specifically, in the above-described embodiments, circularity is less than D after ellipse fitting is calculatedthProfile effective discrimination When, formula can be passed throughCalculate effective discrimination Re, wherein, NeIt is less than D for circularity after the ellipse fitting that filters outth Profile in effective contour quantity, NAllIt is less than D for circularity after the ellipse fitting that filters outthProfile total quantity, it is described to have Effect profile is located at section [G for the gradient of profileth2,Gth1] in profile.
Specifically, in the above-described embodiments, circularity is less than D after ellipse fitting is calculatedthProfile saturation factor when, can To pass through formulaCalculate saturation factor Rs, wherein, NsIt is less than D for circularity after the ellipse fitting that filters outthProfile The quantity of middle saturation profile, the saturation profile are that profile gradients are less than Gth2Profile.
As shown in fig. 6, implement for the control device of lighting source power in a kind of 3 D scanning system disclosed by the invention The structural representation of example 3, described device include：
Binocular camera 601, the figure of index point described in reflection photogenerated on index point is projected for gathering lighting source Picture；
When needing that control is adjusted to the power of the lighting source in 3 D scanning system, an illumination is set first The power initial value of light source, then gather index point described in the reflection photogenerated projected during lighting source work on index point Image.
Detection module 602, for detecting the image border of index point, obtain N number of independent profile；
First screening module 603, for setting upper limit profile perimeter threshold Cth1, lower limit profile perimeter threshold Cth2, the upper limit Contour area threshold value Ath1, lower limit contour area threshold value Ath2, wherein：Cth1＞ Cth2, Ath1＞ Ath2, from N number of independent wheel Profile girth is filtered out in exterior feature and is located at section [Cth2,Cth1] in and profile surround area and be located at section [Ath2,Ath1] in wheel It is wide；
Second screening module 604, for setting roundness threshold Dth, to filtering out profile from N number of independent profile Girth is located at section [Cth2,Cth1] in and profile surround area and be located at section [Ath2,Ath1] in profile carry out ellipse fitting And circularity is less than D after filtering out ellipse fittingthProfile；
First computing module 605, circularity is less than D after each ellipse fitting gone out for calculating siftingthProfile gradient, The gradient of the profile is the adjacent picture of average gray and outside of oval inner side adjacent pixel after carrying out ellipse fitting to profile The difference of the average gray of element；
Second computing module 606, for setting upper limit Grads threshold Gth1With lower limit Grads threshold Gth2, wherein：Gth1＞ Gth2, circularity is less than D after calculating ellipse fittingthProfile effective discrimination and saturation factor；
Display 607, for showing effective discrimination and saturation factor；
After effective discrimination and saturation factor is calculated, further effective discrimination and saturation factor can also be shown Show, so that operating personnel can intuitively observe effective discrimination value and saturation factor value.
Judging unit 608, effective discrimination threshold value is preset for judging whether effective discrimination is more than；
Circularity is less than D after ellipse fitting is calculatedthProfile effective discrimination after, further effective discrimination is entered Row judges, judges whether effective discrimination is more than and presets effective discrimination threshold value.It should be noted that judging effective discrimination When whether being more than default effective discrimination threshold value, can carry out automatic decision or operating personnel has by what is shown Imitate discrimination and carry out artificial judgement.
End unit 609, for when effective discrimination is more than and presets effective discrimination threshold value, terminating the lighting source Power adjusting；
When judging that effective discrimination is more than default effective discrimination threshold value, show that the power of now lighting source meets in advance If condition, it can now terminate the power adjusting to lighting source.
Comparing unit 610, for when effective discrimination is less than or equal to preset effective discrimination threshold value, by saturation factor with it is pre- If saturation factor threshold value is compared, reduce the lighting source work(when saturation factor is more than or equal to the default saturation factor threshold value Rate, increase the lighting source power when the saturation factor is less than the default saturation factor threshold value.
When judge effective discrimination be less than or equal to preset effective discrimination threshold value when, further by the saturation factor calculated with Default saturation factor threshold value is compared.It should be noted that in relatively saturation factor and default saturation factor threshold value, can carry out certainly Dynamic comparison or operating personnel carry out artificial judgement by the saturation factor shown.
When saturation factor is more than or equal to default saturation factor threshold value, now the power of lighting source is reduced, when saturation factor is small When default saturation factor threshold value, now by the power increase of lighting source.It should be noted that reducing the power of lighting source Or when increasing the power of lighting source, it can automatically adjust, can also be adjusted manually by operating personnel.Need It is bright, during above-mentioned re-adjustments lighting source power, the initial value of lighting source power, except first time is operation Outside the power initial value of personnel setting, the initial value of later lighting source power is the illumination obtained after last power adjusting The performance number of light source.
Specifically, in the above-described embodiments, circularity is less than D after ellipse fitting is calculatedthProfile effective discrimination When, formula can be passed throughCalculate effective discrimination Re, wherein, NeIt is less than D for circularity after the ellipse fitting that filters outth Profile in effective contour quantity, NAllIt is less than D for circularity after the ellipse fitting that filters outthProfile total quantity, it is described to have Effect profile is located at section [G for the gradient of profileth2,Gth1] in profile.
Specifically, in the above-described embodiments, circularity is less than D after ellipse fitting is calculatedthProfile saturation factor when, can To pass through formulaCalculate saturation factor Rs, wherein, NsIt is less than D for circularity after the ellipse fitting that filters outthProfile The quantity of middle saturation profile, the saturation profile are that profile gradients are less than Gth2Profile.
Specifically, in the above-described embodiments, can also be by effective contour region and saturation contour area in the picture with not Same color mark comes out and is shown the image after mark, and the painted areas that operating personnel arrive according to the observation judges illumination Whether light source power, which needs, is adjusted, and the power of lighting source is adjusted the result arrived according to the observation.
In summary, the present invention makes 3 D scanning system in varying environment light irradiation by the control to illumination light source power In the case of can obtain effectively indicate dot pattern, substantially increase adaptability of the 3 D scanning system to scanning circumstance.With The 3 D scanning system of brightness is controlled to compare by adjusting the time for exposure using constant power light source, because the present invention can be with Using the lighting source of relatively high power adjustable range, therefore, have for incandescent and very dark scanning circumstance and preferably adapt to energy Power.
Each embodiment is described by the way of progressive in this specification, what each embodiment stressed be and other The difference of embodiment, between each embodiment identical similar portion mutually referring to.For device disclosed in embodiment For, because it is corresponded to the method disclosed in Example, so description is fairly simple, related part is said referring to method part It is bright.
Professional further appreciates that, with reference to the unit of each example of the embodiments described herein description And algorithm steps, can be realized with electronic hardware, computer software or the combination of the two, in order to clearly demonstrate hardware and The interchangeability of software, the composition and step of each example are generally described according to function in the above description.These Function is performed with hardware or software mode actually, application-specific and design constraint depending on technical scheme.Specialty Technical staff can realize described function using distinct methods to each specific application, but this realization should not Think beyond the scope of this invention.
Directly it can be held with reference to the step of method or algorithm that the embodiments described herein describes with hardware, processor Capable software module, or the two combination are implemented.Software module can be placed in random access memory (RAM), internal memory, read-only deposit Reservoir (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technology In any other form of storage medium well known in field.
The foregoing description of the disclosed embodiments, professional and technical personnel in the field are enable to realize or using the present invention. A variety of modifications to these embodiments will be apparent for those skilled in the art, as defined herein General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one The most wide scope caused.

Claims (12)

  1. A kind of 1. control method of lighting source power in 3 D scanning system, it is characterised in that including：
    Collection lighting source projects the image of index point described in reflection photogenerated on index point；
    The power of lighting source described in image adjustment based on the index point, until the power of the lighting source meets to preset Condition.
  2. 2. according to the method for claim 1, it is characterised in that illumination described in the image adjustment based on the index point The power of light source, until the power of the lighting source meets that preparatory condition includes：
    The image border of the index point is detected, obtains N number of independent profile；
    Set upper limit profile perimeter threshold Cth1, lower limit profile perimeter threshold Cth2, upper limit contour area threshold value Ath1, lower limit profile Area threshold Ath2, wherein：Cth1＞ Cth2, Ath1＞ Ath2, from N number of independent profile filtering out profile girth is located at area Between [Cth2,Cth1] in and profile surround area and be located at section [Ath2,Ath1] in profile；
    Set roundness threshold Dth, it is located at section [C to filtering out profile girth from N number of independent profileth2,Cth1] in and Profile surrounds area and is located at section [Ath2,Ath1] in profile carry out ellipse fitting and circularity is less than after filtering out ellipse fitting DthProfile；
    Circularity is less than D after each ellipse fitting that calculating sifting goes outthProfile gradient, the gradient of the profile is enters to profile After row ellipse fitting, the difference of the average gray of oval inner side adjacent pixel and the average gray of outside adjacent pixel；
    Set upper limit Grads threshold Gth1With lower limit Grads threshold Gth2, wherein：Gth1＞ Gth2, circularity is small after calculating ellipse fitting In DthProfile effective discrimination and saturation factor；
    The power of the lighting source is adjusted based on the effectively discrimination and saturation factor, until the power of the lighting source is expired Sufficient preparatory condition.
  3. 3. according to the method for claim 2, it is characterised in that the setting upper limit Grads threshold Gth1With lower limit gradient threshold Value Gth2, wherein：Gth1＞ Gth2, circularity is less than D after calculating ellipse fittingthThe effective discrimination and saturation factor of profile include：
    Based on formulaCalculate effective discrimination Re, wherein, NeIt is less than D for circularity after the ellipse fitting that filters outthWheel The quantity of effective contour, N in exterior featureAllIt is less than D for circularity after the ellipse fitting that filters outthProfile total quantity, it is described effectively wheel Exterior feature is located at section [G for the gradient of profileth2,Gth1] in profile；
    Based on formulaCalculate saturation factor Rs, wherein, NsIt is less than D for circularity after the ellipse fitting that filters outthProfile The quantity of middle saturation profile, the saturation profile are that profile gradients are less than Gth2Profile.
  4. 4. according to the method for claim 3, it is characterised in that also include：
    Show effectively discrimination and the saturation factor.
  5. 5. according to the method for claim 4, it is characterised in that also include：
    Show the effective contour region and the saturation contour area.
  6. 6. according to the method for claim 5, it is characterised in that described based on the effectively discrimination and saturation factor regulation institute The power of lighting source is stated, until the power of the lighting source meets that preparatory condition includes：
    Judge whether the effectively discrimination is more than and preset effective discrimination threshold value, if so, then terminating the lighting source power Regulation, if it is not, then：
    By the saturation factor compared with default saturation factor threshold value, when the saturation factor is more than or equal to the default saturation factor threshold Reduce the lighting source power during value, increase the lighting source when the saturation factor is less than the default saturation factor threshold value Power.
  7. A kind of 7. control device of lighting source power in 3 D scanning system, it is characterised in that including：
    Binocular camera, the image of index point described in reflection photogenerated on index point is projected for gathering lighting source；
    Controller, for the power of lighting source described in the image adjustment based on the index point, up to the lighting source Power meets preparatory condition.
  8. 8. device according to claim 7, it is characterised in that the controller includes：
    Detection module, for detecting the image border of the index point, obtain N number of independent profile；
    First screening module, for setting upper limit profile perimeter threshold Cth1, lower limit profile perimeter threshold Cth2, upper limit contour area Threshold value Ath1, lower limit contour area threshold value Ath2, wherein：Cth1＞ Cth2, Ath1＞ Ath2, screened from N number of independent profile Go out profile girth and be located at section [Cth2,Cth1] in and profile surround area and be located at section [Ath2,Ath1] in profile；
    Second screening module, for setting roundness threshold Dth, it is located to filtering out profile girth from N number of independent profile Section [Cth2,Cth1] in and profile surround area and be located at section [Ath2,Ath1] in profile ellipse fitting and filter out Circularity is less than D after ellipse fittingthProfile；
    First computing module, circularity is less than D after each ellipse fitting gone out for calculating siftingthProfile gradient, the wheel Wide gradient is oval the inner side average gray of adjacent pixel and the ash of outside adjacent pixel after carrying out ellipse fitting to profile Spend the difference of average value；
    Second computing module, for setting upper limit Grads threshold Gth1With lower limit Grads threshold Gth2, wherein：Gth1＞ Gth2, calculate Circularity is less than D after going out ellipse fittingthProfile effective discrimination and saturation factor；
    Adjustment module, for adjusting the power of the lighting source based on the effectively discrimination and saturation factor, until the photograph The power in Mingguang City source meets preparatory condition.
  9. 9. device according to claim 8, it is characterised in that second computing module is specifically used for：
    Based on formulaCalculate effective discrimination Re, wherein, NeIt is less than D for circularity after the ellipse fitting that filters outthWheel The quantity of effective contour, N in exterior featureAllIt is less than D for circularity after the ellipse fitting that filters outthProfile total quantity, it is described effectively wheel Exterior feature is located at section [G for the gradient of profileth2,Gth1] in profile；
    Based on formulaCalculate saturation factor Rs, wherein, NsIt is less than D for circularity after the ellipse fitting that filters outthProfile The quantity of middle saturation profile, the saturation profile are that profile gradients are less than Gth2Profile.
  10. 10. device according to claim 9, it is characterised in that also include：
    Display, for showing effectively discrimination and the saturation factor.
  11. 11. device according to claim 10, it is characterised in that the display is additionally operable to：
    Show the effective contour region and the saturation contour area.
  12. 12. device according to claim 11, it is characterised in that the adjustment module includes：
    Judging unit, effective discrimination threshold value is preset for judging whether the effectively discrimination is more than；
    End unit, for when the effectively discrimination is more than and presets effective discrimination threshold value, terminating the lighting source work( Rate is adjusted；
    Comparing unit, for by the saturation factor compared with default saturation factor threshold value, when the saturation factor is more than or equal to institute Reduce the lighting source power when stating default saturation factor threshold value, increase when the saturation factor is less than the default saturation factor threshold value The big lighting source power.
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