CN107869968A - A kind of quick three-dimensional scan method and system suitable for complex object surface - Google Patents
A kind of quick three-dimensional scan method and system suitable for complex object surface Download PDFInfo
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- CN107869968A CN107869968A CN201711250870.4A CN201711250870A CN107869968A CN 107869968 A CN107869968 A CN 107869968A CN 201711250870 A CN201711250870 A CN 201711250870A CN 107869968 A CN107869968 A CN 107869968A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/2518—Projection by scanning of the object
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Abstract
The invention discloses a kind of quick three-dimensional scan method suitable for complex object surface and system, method to comprise the following steps：According to the colouring information on testee surface, time for exposure, gain or the aperture of multiple cameras are set respectively；Control projecting apparatus launches vertical and horizontal striped to testee；Obtain the projected image on testee surface simultaneously using multiple cameras, generate phase diagram；On the basis of projecting apparatus, corresponding points are searched in phase diagram, carry out three-dimensional reconstruction.Quick three-dimensional scan method and system provided by the invention suitable for complex object surface, the quick scanning to various complex surface objects can be realized in the case of not by developer, meet the requirement in three-dimensional on-line checking, under conditions of hardware device is not increased, accomplish that a light projector is once rebuild, scanning effect is more preferable, speed faster, precision it is higher.
Description
Technical field
It is more particularly to a kind of suitable for quick the three of complex object surface the present invention relates to image acquisition and processing technical field
Tie up scan method and system.
Background technology
Current spatial digitizer is logical when scanning complex surface to need substantial amounts of pretreatment time, such as spray development agent.
Being scanned especially for bloom object, conventional method is to use multiple angle scannings, even combines scanning using single binocular,
Need to rebuild three times, it is final to need the data rebuild three times being transformed under same coordinate system, then overlapped data is removed, obtain
Final scanning result.
With social development, people propose higher requirement to the quality of product, thus substantial amounts of product or material need
On-line checking is wanted, wherein many demands are three-dimensional on-line checkings.Three-dimensional on-line checking is had no time because each object will scan
Pre-processed.The object of many on-line checkings, is directly scanned extremely difficult with traditional spatial digitizer, and effect is not
It is good.For example violent object is contrasted for surface color, such as circuit board, the metal scolding tin for having light above also has black member device
Part, conventional solution are scanned with different time for exposure multiexposure, multiple exposures.For the object of surface reflection, such as automobile metal plate
Gold, conventional solution are with different angle Multiple-Scans.When scanning complex object surface, traditional 3-D scanning needs
Want multiexposure, multiple exposure, the time is slow；And multi-angle scanning needs multiple devices, increases cost；Single binocular is combined, it is necessary to weigh three times
Build, it is computationally intensive, it cannot also obtain partial data on the surface for contrasting violent.
Therefore, currently existing scheme can not realize that single pass obtains partial data for the object of complexity；Due to online
The 3-D scanning time requirement detected to object is higher, also no effective for the online three-dimensional values on complex object surface
Solution.
The content of the invention
Based on problem above, the invention provides a kind of quick three-dimensional scan method suitable for complex object surface and it is
System, multiple cameras are set to expose acquired projections image simultaneously according to the colouring information on testee surface, and using projecting apparatus as base
Standard, corresponding points are searched in phase diagram, carry out three-dimensional reconstruction, it can be realized to various multiple in the case of not by developer
The quick scanning of miscellaneous surface object, meets the requirement of on-line checking, under conditions of hardware device is not increased, accomplishes a light projector
Once rebuild.
Quick three-dimensional scan method provided by the invention suitable for complex object surface, comprise the following steps：
According to the colouring information on testee surface, time for exposure, gain or the aperture of multiple cameras are set respectively；
Control projecting apparatus launches vertical and horizontal striped to testee；
Obtain the projected image on testee surface simultaneously using multiple cameras, generate phase diagram；
On the basis of projecting apparatus, corresponding points are searched in phase diagram, carry out three-dimensional reconstruction.
As a kind of embodiment, obtain the projected image on testee surface simultaneously using multiple cameras, generate phase
Bitmap, comprise the following steps：
Control multiple cameras while expose, obtain the projected image on testee surface；
The each pixel in projected image obtained for multiple cameras, this is asked in the phase of vertical direction and is somebody's turn to do
Polar curve of the point on projecting apparatus；
Using polar curve and vertical phase by horizontal folding phase unwrapping, the phase diagram of horizontal direction is obtained.
As a kind of embodiment, using polar curve and vertical phase by horizontal folding phase unwrapping, horizontal direction is obtained
Phase diagram, comprise the following steps：
Calculate intersection point of this between polar curve on projecting apparatus of the phase of vertical direction and this；
According to the cycle of the vertical and horizontal striped of generation, the cycle sequence number of the point is obtained；
The expansion phase of the point is calculated according to below equation
Wherein, k is the periodic sequence of the point,For the horizontal folding phase of the point.
As a kind of embodiments, on the basis of projecting apparatus, corresponding points are searched in phase diagram, carry out three-dimensional reconstruction,
Comprise the following steps：
According to default three-dimensional point sampling resolution, phase value corresponding to each sampled point on projecting apparatus is obtained；
According to phase value corresponding to each sampled point on projecting apparatus, corresponding points are found on each camera；
If finding corresponding points on more than two cameras, the corresponding points on two of which camera are selected to carry out Three-dimensional Gravity
Build；
If only finding corresponding points on single camera, Three-dimensional Gravity is carried out using the corresponding points on the camera and projecting apparatus
Build.
As a kind of embodiment, according to default three-dimensional point sampling resolution, each point pair on projecting apparatus is obtained
It is further comprising the steps of before the phase value answered：
Calibration system, obtain the calibrating parameters of projecting apparatus and all cameras.
Correspondingly, the quick three-dimensional scanning system provided by the invention suitable for complex object surface, including setup module,
Projection module, image collection module and reconstruction module；
Setup module, for the colouring information according to testee surface, the time for exposure of multiple cameras is set respectively, increased
Benefit or aperture；
Projection module, for controlling projecting apparatus to launch vertical and horizontal striped to testee；
Image collection module, for obtaining the projected image on testee surface simultaneously using multiple cameras, generate phase
Figure；
Module is rebuild, on the basis of projecting apparatus, searching corresponding points in phase diagram, carries out three-dimensional reconstruction.
As a kind of embodiment, image collection module includes projected image acquiring unit, computing unit and phase
Deploy unit；
Projected image acquiring unit, for controlling multiple cameras while exposing, obtain the projected image on testee surface；
Computing unit, for each pixel in the projected image that is obtained for multiple cameras, the point is asked for vertical
The phase in direction and polar curve of this on projecting apparatus；
Phase unwrapping unit, for by horizontal folding phase unwrapping, obtaining horizontal direction using polar curve and vertical phase
Phase diagram.
As a kind of embodiment, phase unwrapping unit includes the first computation subunit, the cycle obtains subelement and
Second computation subunit；
First computation subunit, for calculating this between polar curve on projecting apparatus of the phase of vertical direction and this
Intersection point；
Cycle obtains subelement, for the cycle of the vertical and horizontal striped according to generation, obtains the cycle sequence number of the point；
Second computation subunit, for calculating the expansion phase of the point according to below equation
Wherein, k is the periodic sequence of the point,For the horizontal folding phase of the point.
As a kind of embodiment, rebuilding module includes phase value acquiring unit, corresponding points searching unit, the first reconstruction
Unit and the second reconstruction unit；
Phase value acquiring unit, for according to default three-dimensional point sampling resolution, obtaining each sampled point on projecting apparatus
Corresponding phase value；
Corresponding points find unit, for the phase value according to corresponding to each sampled point on projecting apparatus, are sought on each camera
Look for corresponding points；
First reconstruction unit, if for finding corresponding points on more than two cameras, select on two of which camera
Corresponding points carry out three-dimensional reconstruction；
Second reconstruction unit, if for only finding corresponding points on single camera, using on the camera and projecting apparatus
Corresponding points carry out three-dimensional reconstruction.
As a kind of embodiment, rebuilding module also includes demarcation unit；
Unit is demarcated, for calibration system, the calibrating parameters of acquisition projecting apparatus and all cameras.
Beneficial effects of the present invention：
Quick three-dimensional scan method and system provided by the invention suitable for complex object surface, according to measured object body surface
The colouring information in face, time for exposure, gain or the aperture of multiple cameras are set respectively, obtained simultaneously with multiple cameras tested
The projected image of body surface, generates phase diagram, and this set can obtain for the complex object such as metal of surface reflection surface
Preferably scan effect, as long as and the exposure of every camera once, more cameras scan simultaneously, and sweep speed is very fast；Enter one
Step ground, the present invention set all cameras to share a projecting apparatus, so as to avoid producing interference；Finally, in three-dimensional reconstruction to throw
On the basis of shadow instrument, the conversion between coordinate system is eliminated, amount of calculation is smaller.Generally, camera calibration result is better than projector calibrating
As a result, the corresponding points three-dimensional reconstruction in three-dimensional reconstruction on prioritizing selection camera of the present invention, precision are higher.There is provided using the present invention
The quick three-dimensional scan method and system suitable for complex object surface, can be realized in the case of not by developer pair
The quick scanning of various complex surface objects, meets the requirement of three-dimensional on-line checking, under conditions of hardware device is not increased, does
Once rebuild to a light projector, scanning effect is more preferable, speed faster, precision it is higher.
Brief description of the drawings
Fig. 1 is that the flow for the quick three-dimensional scan method suitable for complex object surface that the embodiment of the present invention one provides is shown
It is intended to；
Fig. 2 is that the structure for the quick three-dimensional scanning system suitable for complex object surface that the embodiment of the present invention two provides is shown
It is intended to.
Embodiment
Below in conjunction with accompanying drawing, the technical characteristic above-mentioned and other to the present invention and advantage are clearly and completely described,
Obviously, described embodiment is only the section Example of the present invention, rather than whole embodiments.
Existing three-dimensional on-line checking, does not require nothing more than that sweep speed is fast, and requires that spraying is exempted on the surface of detection workpiece
Developer.As the violent surface of high finish surface (such as metal, scolding tin), Surfaces of Unusual Shape (as isolated area containing hole), color contrast,
The body surfaces such as deep dark surface, quick obtaining partial data is difficult to using traditional 3-D scanning technology, can not be answered well
Use on-line checking.
In order to solve the above problems, the present invention proposes a kind of quick three-dimensional scanning side suitable for complex object surface
Method, comprise the following steps：
S100, the colouring information according to testee surface, time for exposure, gain or the light of multiple cameras are set respectively
Circle.
Multiple cameras in the present invention refer at least two cameras, are separately positioned on around projecting apparatus.It is multiple in order to allow
The time for exposure of camera is the same, can set each camera gain different；Or can be by the aperture size of each camera
It is suitable that size is arranged to according to content of shooting；Or time for exposure, gain, aperture three can be set not in each camera
Equally.If necessary to secondary exposure more than twice, camera more than more than two, the Dan Shuan of computational methods and the present invention can be used
Mesh is similar.
For complex object surface, because color contrast is violent, so needing multiexposure, multiple exposure.Based on this, basis of the present invention
The colouring information on testee surface, set multiple cameras to be placed on diverse location respectively, and the exposure of multiple cameras is set respectively
Between light time, gain or aperture, as long as so every camera exposure is once, it is possible to quick to obtain preferably scanning effect.
S200, control projecting apparatus launch vertical and horizontal striped to testee.
This is in vertical and horizontal both direction and launches striped, and striped can be gray code or multifrequency phase shift.
Horizontal direction can use and only throw phase shift picture, by polar curve and vertical phase, by horizontal folding phase unwrapping.So level side
To the gray code map picture for just saving horizontal direction, picture number is thrown in reduction altogether.
S300, using multiple cameras the projected image on testee surface is obtained simultaneously, generate phase diagram.
First, the projected image on testee surface is obtained simultaneously using each camera.Then, the throwing obtained for camera
Each pixel on shadow image, ask for phase and this polar curve on projecting apparatus of this in vertical direction.Finally, utilize
Horizontal folding phase unwrapping is obtained the phase diagram of horizontal direction by polar curve and vertical phase.More cameras scan simultaneously, further
Lift sweep speed, it is only necessary to single pass, you can obtain complete data.
S400, on the basis of projecting apparatus, search corresponding points in phase diagram, carry out three-dimensional reconstruction.
All cameras of the present invention share a projecting apparatus, solve the interference of the structure light of multiple projecting apparatus.In Three-dimensional Gravity
When building on the basis of projecting apparatus, exempt the conversion of three-dimensional data coordinate system, and follow-up data deduplication is folded.Before three-dimensional reconstruction
With regard to determining the corresponding points using which camera or projecting apparatus, unnecessary three-dimensional reconstruction is avoided, substantially reduces amount of calculation, is entered
One step improves sweep speed.
The quick three-dimensional scan method and system suitable for complex object surface that the embodiment of the present invention one provides, according to quilt
The colouring information of body surface is surveyed, time for exposure, gain or the aperture of multiple cameras are set respectively, with multiple cameras simultaneously
The projected image on testee surface is obtained, generates phase diagram, this set is for the complex object table such as metal of surface reflection
Face, preferably scanning effect can be obtained, as long as and the exposure of every camera once, more cameras scan simultaneously, sweep speed
Comparatively fast；Further, the present invention sets all cameras to share a projecting apparatus, so as to avoid producing interference, improves scanning essence
Degree；Finally, in three-dimensional reconstruction on the basis of projecting apparatus, the conversion between coordinate system is eliminated, amount of calculation is smaller.Utilize this hair
The quick three-dimensional scan method and system suitable for complex object surface of bright offer, can be in the case of by developer
The quick scanning to various complex surface objects is realized, meets the requirement of three-dimensional on-line checking, is not increasing the bar of hardware device
Under part, accomplish that a light projector is once rebuild, scanning effect is more preferable, speed faster, precision it is higher.
Further, step S300 obtains the projected image on testee surface using multiple cameras simultaneously, generates phase
Figure comprises the following steps：
S310, the multiple cameras of control expose simultaneously, obtain the projected image on testee surface；
Each pixel on S320, the projected image obtained for multiple cameras, asks for phase of this in vertical direction
Position and polar curve of this on projecting apparatus；
S330, using polar curve and vertical phase by horizontal folding phase unwrapping, obtain the phase diagram of horizontal direction.
Step S330 by horizontal folding phase unwrapping, is obtained the phase diagram of horizontal direction, wrapped using polar curve and vertical phase
Include following steps：
S331, calculate intersection point of this between polar curve on projecting apparatus of the phase of vertical direction and this；
S332, the cycle according to the vertical and horizontal striped of generation, obtain the cycle sequence number of the point；
S333, the expansion phase for calculating according to below equation the point
S334, wherein, k are the periodic sequence of the point,For the horizontal folding phase of the point.
Further, step S400 searches corresponding points on the basis of projecting apparatus in phase diagram, carries out three-dimensional reconstruction,
Comprise the following steps：
S410, according to default three-dimensional point sampling resolution, obtain phase value corresponding to each sampled point on projecting apparatus；
S420, the phase value according to corresponding to each sampled point on projecting apparatus, corresponding points are found on each camera；
If S430, finding corresponding points on more than two cameras, the corresponding points on two of which camera are selected to carry out
Three-dimensional reconstruction；
If S440, only finding corresponding points on single camera, three are carried out using the corresponding points on the camera and projecting apparatus
Dimension is rebuild.
If finding corresponding points under projector coordinates, one pair of which corresponding points are chosen to be rebuild, others are directly lost
Abandon, reduce unnecessary three-dimensional reconstruction.Because the calibration result of usual camera can be better than the calibration result of projecting apparatus, so this
Invention is in three-dimensional reconstruction, the corresponding points above prioritizing selection camera, and the result of such three-dimensional reconstruction can be more accurate.
According to default three-dimensional point sampling resolution, before obtaining phase value corresponding to each being put on projecting apparatus, also wrap
Include following steps：Calibration system, obtain the calibrating parameters of projecting apparatus, left camera and right camera.
, can be by single binocular three times it should be noted that if testee surface is mutually reflected, or in sharp edges
The structure of three-dimensional reconstruction is compared, if result is very close to it is very stable to represent result three times.If result difference is very three times
Far, illustrate that the environmental disturbances are very serious, impurity point can be removed using this characteristic.Detected for small range, husky nurse can be used
Camera lens improves the depth of field.
Below using single binocular structure as a kind of embodiment, the implementation process of the present invention is specifically described.If need
Multiexposure, multiple exposure is wanted, a projecting apparatus and multiple cameras can be set, solve problem in the same way.
The quick three-dimensional scan method suitable for complex object surface that the embodiment of the present invention two provides, including following step
Suddenly：
S10, the colouring information according to testee surface, time for exposure, the gain of left camera and right camera are set respectively
Or aperture.
In order to make the left and right camera exposure time the same, left and right camera gain can be set different；Or can be by a left side
It is suitable that the aperture size of right camera according to content of shooting is arranged to size；Or time for exposure, gain, aperture three are in left and right
It is all settable different in camera.
If necessary to secondary exposure more than twice, camera more than more than two can be used, computational methods are with the present invention's
Single binocular is similar.
S20, control projecting apparatus launch vertical and horizontal striped to testee.
This is in vertical and horizontal both direction and launches striped, and striped can be gray code or multifrequency phase shift.
Horizontal direction can use and only throw phase shift picture, by polar curve and vertical phase, by horizontal folding phase unwrapping.So level side
To the gray code map picture for just saving horizontal direction, picture number is thrown in reduction altogether.
S30, the projected image for obtaining using left camera and right camera testee surface simultaneously, generate phase diagram.
First, the projected image on testee surface is obtained simultaneously using left camera and right camera.Then, for left camera
With right camera obtain projected image on each pixel, ask for this vertical direction phase and the point on projecting apparatus
Polar curve.Finally, horizontal folding phase unwrapping is obtained into the phase diagram of horizontal direction using polar curve and vertical phase：Left camera
Phase diagram is level verticallyPhase diagram is right camera level verticallyThe horizontal vertical phase diagram of projecting apparatus
For
S40, on the basis of projecting apparatus, search corresponding points in phase diagram, carry out three-dimensional reconstruction.
When searching corresponding points, F can be used1(i, j) and F2The corresponding points of (i, j) record each pixel of left and right camera search knot
Fruit, determine to use according to lookup result：Left camera adds right camera, left camera to add projecting apparatus, right camera to add a certain kind in projecting apparatus
Mode is calculated, and for a pixel, three-dimensional reconstruction is only rebuild once.
It should be noted that when to color contrast violent surface object scanning, traditional mode is that more exposures (are set
Put different time for exposure, multi collect), full surface could be obtained.What the present embodiment proposed " sets left camera and the right side respectively
Time for exposure, gain or the aperture of camera ", can the complete body surface data of single can acquisition.
The quick three-dimensional scan method suitable for complex object surface that the present embodiment provides, take single binocular to combine and think
Road, i.e., left camera+right camera, left camera+projecting apparatus, right camera+projecting apparatus, three kinds of modes are rebuild.It is right on the basis of projecting apparatus
Just determine that selection is rebuild using which kind of mode when each pixel is looking for corresponding points, so each pixel only needs one time three
Dimension is rebuild, and amount of calculation is small.The present invention can be realized to the quick of various complex surface objects in the case of not by developer
Scanning, meets the requirement of on-line checking, under conditions of hardware device is not increased, accomplishes that a light projector is once rebuild.
Specifically, above-mentioned steps S30 can be identical with the realization principle and process of above-described embodiment one, no longer superfluous herein
State.
As a kind of embodiment, step S40 can be realized by following steps：
S41, according to default three-dimensional point sampling resolution, obtain phase value corresponding to each sampled point on projecting apparatus；
S42, the phase value according to corresponding to each sampled point on projecting apparatus, corresponding points are found on left camera and right camera；
If S43, finding corresponding points on left camera and right camera, using the corresponding click-through on left camera and right camera
Row three-dimensional reconstruction；
If S44, only finding corresponding points on left camera, Three-dimensional Gravity is carried out using the corresponding points on left camera and projecting apparatus
Build；
If S45, only finding corresponding points on right camera, Three-dimensional Gravity is carried out using the corresponding points on right camera and projecting apparatus
Build.
For example, for each sampled point (i, j) on projecting apparatus, if finding corresponding points in left camera, F is set1(i,
J)=1, otherwise F1(i, j)=0；Similarly, if finding corresponding points in right camera, F is set2(i, j)=1, otherwise F2(i,j)
=0.
The final result for searching corresponding points, if F1(i, j)=1 and F2(i, j)=1, then using on left camera and right camera
Corresponding points carry out three-dimensional reconstruction；If F1(i, j)=1 and F2(i, j)=0, then carried out using the corresponding points on left camera and projecting apparatus
Three-dimensional reconstruction；If F2(i, j)=0 and F2(i, j)=1, then carry out three-dimensional reconstruction using the corresponding points on right camera and projecting apparatus.
Similarly, if setting 3 cameras (being respectively camera A, camera B, camera C) while obtaining the throwing on testee surface
Shadow image, phase diagram is generated, corresponding points on the basis of projecting apparatus, are being searched in phase diagram, when carrying out three-dimensional reconstruction, if two
Corresponding points are found on individual or three cameras, then carry out three-dimensional reconstruction from the corresponding points of two of which camera.The foundation of selection
Can be the phase masses of corresponding points, the corresponding points of selection wherein two higher cameras of phase masses carry out three-dimensional reconstruction.If
Corresponding points only are found on camera A (similarly camera B, camera C), then using on camera A (similarly camera B, camera C) and projecting apparatus
Corresponding points carry out three-dimensional reconstruction.
Referring to Fig. 2, based on same inventive concept, the embodiment of the present invention three also provides a kind of suitable for complex object surface
Quick three-dimensional scanning system, including setup module 100, projection module 200, image collection module 300 and reconstruction module 400；
Setup module 100 be used to, according to the colouring information on testee surface, setting respectively the time for exposure of multiple cameras,
Gain or aperture；
Projection module 200 is used to control projecting apparatus to launch vertical and horizontal striped to testee；
Image collection module 300 is used for the projected image for obtaining testee surface simultaneously using multiple cameras, generates phase
Bitmap；
Rebuild module 400 to be used on the basis of projecting apparatus, corresponding points are searched in phase diagram, carry out three-dimensional reconstruction.
Specifically, image, which obtains 100 modules, includes projected image acquiring unit, computing unit and phase unwrapping unit；
Projected image acquiring unit, for controlling multiple cameras while exposing, obtain the projected image on testee surface；
Each pixel that computing unit is used in the projected image for the acquisition of multiple cameras, the point is asked in vertical side
To phase and polar curve of this on projecting apparatus；
Phase unwrapping unit, for by horizontal folding phase unwrapping, obtaining horizontal direction using polar curve and vertical phase
Phase diagram.
Further, phase unwrapping unit includes the first computation subunit, the cycle obtains subelement and second calculates son
Unit；
First computation subunit is used to calculate this between polar curve on projecting apparatus of the phase of vertical direction and this
Intersection point；
Cycle obtains the cycle that subelement is used for the vertical and horizontal striped according to generation, obtains the cycle sequence number of the point；
Second computation subunit is used for the expansion phase that the point is calculated according to below equation
Wherein, k is the periodic sequence of the point,For the horizontal folding phase of the point.
Rebuilding module 400 includes phase value acquiring unit, corresponding points searching unit, the first reconstruction unit and the second weight
Build unit；
Phase value acquiring unit is used for according to default three-dimensional point sampling resolution, obtains each sampled point pair on projecting apparatus
The phase value answered；
Corresponding points find unit and are used for the phase value according to corresponding to each sampled point on projecting apparatus, are found on each camera
Corresponding points；
If the first reconstruction unit is used to find corresponding points on more than two cameras, using the corresponding click-through on camera
Row three-dimensional reconstruction；
If the second reconstruction unit is used to only find corresponding points on single camera, using pair on the camera and projecting apparatus
Carry out three-dimensional reconstruction should be put.
Further, rebuilding module 400 also includes demarcation unit, and demarcation unit is used for calibration system, obtains projecting apparatus
And the calibrating parameters of all cameras.
Quick three-dimensional scan method and system provided by the invention suitable for complex object surface, according to measured object body surface
The colouring information in face, time for exposure, gain or the aperture of multiple cameras are set respectively, obtained simultaneously with multiple cameras tested
The projected image of body surface, generates phase diagram, and this set can obtain for the complex object such as metal of surface reflection surface
Preferably scan effect, as long as and the exposure of every camera once, more cameras scan simultaneously, and sweep speed is very fast；Enter one
Step ground, the present invention set all cameras to share a projecting apparatus, so as to avoid producing interference；Finally, in three-dimensional reconstruction to throw
On the basis of shadow instrument, the conversion between coordinate system is eliminated, amount of calculation is smaller.Generally, camera calibration result is better than projector calibrating
As a result, the corresponding points three-dimensional reconstruction in three-dimensional reconstruction on prioritizing selection camera of the present invention, precision are higher.There is provided using the present invention
The quick three-dimensional scan method and system suitable for complex object surface, can be realized in the case of not by developer pair
The quick scanning of various complex surface objects, meets the requirement of three-dimensional on-line checking, under conditions of hardware device is not increased, does
Once rebuild to a light projector, scanning effect is more preferable, speed faster, precision it is higher.
Although the present invention is disclosed as above with preferred embodiment, it is not for limiting the present invention, any this area
Technical staff without departing from the spirit and scope of the present invention, may be by the methods and technical content of the disclosure above to this hair
Bright technical scheme makes possible variation and modification, therefore, every content without departing from technical solution of the present invention, according to the present invention
Any simple modifications, equivalents, and modifications made to above example of technical spirit, belong to technical solution of the present invention
Protection domain.
Claims (10)
1. a kind of quick three-dimensional scan method suitable for complex object surface, it is characterised in that comprise the following steps：
According to the colouring information on testee surface, time for exposure, gain or the aperture of multiple cameras are set respectively；
Control projecting apparatus launches vertical and horizontal striped to testee；
Obtain the projected image on testee surface simultaneously using multiple cameras, generate phase diagram；
On the basis of projecting apparatus, corresponding points are searched in phase diagram, carry out three-dimensional reconstruction.
2. the quick three-dimensional scan method according to claim 1 suitable for complex object surface, it is characterised in that utilize multiple
Camera obtains the projected image on testee surface simultaneously, generates phase diagram, comprises the following steps：
Control multiple cameras while expose, obtain the projected image on testee surface；
The each pixel in projected image obtained for multiple cameras, ask for this and exist in the phase of vertical direction and the point
Polar curve on projecting apparatus；
Using polar curve and vertical phase by horizontal folding phase unwrapping, the phase diagram of horizontal direction is obtained.
3. the quick three-dimensional scan method according to claim 2 suitable for complex object surface, it is characterised in that utilize polar curve
With vertical phase by horizontal folding phase unwrapping, the phase diagram of horizontal direction is obtained, is comprised the following steps：
Calculate intersection point of this between polar curve on projecting apparatus of the phase of vertical direction and this；
According to the cycle of the vertical and horizontal striped of generation, the cycle sequence number of the point is obtained；
The expansion phase of the point is calculated according to below equation
Wherein, k is the periodic sequence of the point,For the horizontal folding phase of the point.
4. the quick three-dimensional scan method suitable for complex object surface according to any one of claims 1 to 3, its feature
It is, on the basis of projecting apparatus, corresponding points is searched in phase diagram, three-dimensional reconstruction is carried out, comprises the following steps：
According to default three-dimensional point sampling resolution, phase value corresponding to each sampled point on projecting apparatus is obtained；
According to phase value corresponding to each sampled point on projecting apparatus, corresponding points are found on each camera；
If finding corresponding points on more than two cameras, the corresponding points on two of which camera are selected to carry out three-dimensional reconstruction；
If only finding corresponding points on single camera, three-dimensional reconstruction is carried out using the corresponding points on the camera and projecting apparatus.
5. the quick three-dimensional scan method according to claim 4 suitable for complex object surface, it is characterised in that in root
According to default three-dimensional point sampling resolution, obtain on projecting apparatus before phase value corresponding to each point, it is further comprising the steps of：
Calibration system, obtain the calibrating parameters of projecting apparatus and all cameras.
6. a kind of quick three-dimensional scanning system suitable for complex object surface, it is characterised in that including setup module, projective module
Block, image collection module and reconstruction module；
Setup module, for the colouring information according to testee surface, set respectively time for exposure of multiple cameras, gain or
Person's aperture；
Projection module, for controlling projecting apparatus to launch vertical and horizontal striped to testee；
Image collection module, for obtaining the projected image on testee surface simultaneously using multiple cameras, generate phase diagram；
Module is rebuild, on the basis of projecting apparatus, searching corresponding points in phase diagram, carries out three-dimensional reconstruction.
7. the quick three-dimensional scanning system according to claim 6 suitable for complex object surface, it is characterised in that image
Acquisition module includes projected image acquiring unit, computing unit and phase unwrapping unit；
Projected image acquiring unit, for controlling multiple cameras while exposing, obtain the projected image on testee surface；
Computing unit, for each pixel in the projected image that is obtained for multiple cameras, the point is asked in vertical direction
Phase and polar curve of this on projecting apparatus；
Phase unwrapping unit, for by horizontal folding phase unwrapping, obtaining the phase of horizontal direction using polar curve and vertical phase
Figure.
8. the quick three-dimensional scanning system according to claim 7 suitable for complex object surface, it is characterised in that phase
Deploying unit includes the first computation subunit, cycle acquisition subelement and the second computation subunit；
First computation subunit, for calculating friendship of this between polar curve on projecting apparatus of the phase of vertical direction and this
Point；
Cycle obtains subelement, for the cycle of the vertical and horizontal striped according to generation, obtains the cycle sequence number of the point；
Second computation subunit, for calculating the expansion phase of the point according to below equation
Wherein, k is the periodic sequence of the point,For the horizontal folding phase of the point.
9. the quick three-dimensional scanning system suitable for complex object surface according to any one of claim 6 to 8, its feature
It is, rebuilding module includes phase value acquiring unit, corresponding points searching unit, the first reconstruction unit and the second reconstruction unit；
Phase value acquiring unit, for according to default three-dimensional point sampling resolution, it is corresponding to obtain each sampled point on projecting apparatus
Phase value；
Corresponding points find unit, for the phase value according to corresponding to each sampled point on projecting apparatus, the searching pair on each camera
Ying Dian；
First reconstruction unit, if for finding corresponding points on more than two cameras, select pair on two of which camera
Carry out three-dimensional reconstruction should be put；
Second reconstruction unit, if for only finding corresponding points on single camera, using the correspondence on the camera and projecting apparatus
Point carries out three-dimensional reconstruction.
10. the quick three-dimensional scanning system according to claim 9 suitable for complex object surface, it is characterised in that weight
Modeling block also includes demarcation unit；
Unit is demarcated, for calibration system, the calibrating parameters of acquisition projecting apparatus and all cameras.
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