CN108195308B - 3D scanning device, system and method - Google Patents
3D scanning device, system and method Download PDFInfo
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- CN108195308B CN108195308B CN201711453488.3A CN201711453488A CN108195308B CN 108195308 B CN108195308 B CN 108195308B CN 201711453488 A CN201711453488 A CN 201711453488A CN 108195308 B CN108195308 B CN 108195308B
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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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
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Abstract
The invention discloses a 3D scanning device, a system and a method, wherein the 3D scanning device comprises a chassis, a supporting column, a supporting table surface, a supporting frame, a rotating device and a 3D camera, wherein the supporting column is fixedly arranged on the chassis; the supporting table top is fixedly arranged on the supporting column; the supporting frame is arranged on the side surface of the supporting column through the rotating device and is used for horizontally rotating around the axis of the supporting column; the support frame supports the 3D camera; the shooting direction of the 3D camera is from the 3D camera to a point on the axis. The 3D scanning device, the system and the method can conveniently and quickly acquire the 3D image, the acquired image is clearer, and the image acquired by the scanning device is easier to perform post-processing.
Description
Technical Field
The invention relates to a 3D scanning device, a system and a method.
Background
The 3D camera, which is manufactured by using a 3D lens, generally has two or more image pickup lenses, and has a pitch close to the pitch of human eyes, and can capture different images of the same scene seen by similar human eyes. The holographic 3D has a disc 5 above the lens, and can view the same image in all directions through dot grating imaging or -shaped grating holographic imaging, such as being in the environment.
The first 3D camera to date the 3D revolution has all been around the hollywood heavy-pound large and major sporting events. With the advent of 3D cameras, this technology is one step closer to home users. After the camera is introduced, each memorable moment of the life, such as the first step taken by a child, a university graduation celebration and the like, can be captured by using a 3D lens in the future.
A 3D camera typically has more than two lenses. The 3D camera functions like a human brain, and can fuse two lens images together to form a 3D image. These images can be played on a 3D television, and can be viewed by viewers wearing so-called actively shuttered glasses, or directly viewed by naked-eye 3D display devices. The 3D shutter glasses can rapidly alternately open and close the lenses of the left and right glasses at a rate of 60 times per second. This means that each eye sees a slightly different picture of the same scene, so the brain can thus think that it is enjoying a single picture in 3D.
The current 3D camera is inconvenient to obtain the whole 3D image of the object, and even if the 3D image can be obtained, the distortion phenomenon often appears, and the image is not clear enough.
Disclosure of Invention
The invention aims to overcome the defects that a 3D image shooting terminal in the prior art is inconvenient to acquire the whole 3D image of an object, distortion phenomenon often occurs and the image is not clear enough, and provides a 3D scanning device, a system and a method which can conveniently acquire the whole 3D image and make the picture clearer.
The invention solves the technical problems through the following technical scheme:
A3D scanning device is characterized in that the 3D scanning device comprises a chassis, a supporting column, a supporting table surface, a supporting frame, a rotating device and a 3D camera,
the supporting column is fixedly arranged on the chassis;
the supporting table top is fixedly arranged on the supporting column;
the supporting frame is arranged on the side surface of the supporting column through the rotating device and is used for horizontally rotating around the axis of the supporting column;
the support frame supports the 3D camera;
the shooting direction of the 3D camera is from the 3D camera to a point on the axis.
Preferably, the supporting platform is cylindrical, and the upper bottom surface of the supporting platform is a black silica gel pad.
Preferably, the support frame comprises a vertical rod and a cross rod, and the height of the vertical rod is adjustable.
Preferably, the 3D camera is configured to rotate the support frame a circle to capture all images of the object on the support table and send the images to a processing end, and the processing end is configured to splice all 3D images captured by the 3D scanning device after the support frame rotates a circle to generate a composite picture.
Preferably, the rotating device includes a detection module for detecting a rotation angle of the support frame and a communication module for communicating with the 3D camera, and the 3D camera is configured to acquire detection data of the detection module and capture an image when the support frame rotates by a preset angle.
Preferably, for a target 3D image, the processing end is configured to identify a feature point in a right side of a midline of the target 3D image, identify the feature point in a next 3D image of the target 3D image, and then stitch the target 3D image and the next 3D image of the target 3D image at the feature point.
Preferably, for a target 3D image, the processing end is configured to select a feature point from the target 3D image, obtain a distance from the feature point to the axis and a target included angle, determine a position of the feature point in a next 3D image of the target 3D image according to a rotation angle of the support frame, a distance from the feature point to the axis and the target included angle, and stitch the target 3D image and the next 3D image of the target 3D image at the feature point, where the target included angle is an included angle between a connection line from the feature point to an axis projection point and a plane where the 3D camera and the axis are located.
The invention also provides a 3D scanning system, which is characterized in that the 3D scanning system comprises a 3D scanning device as described above and a processing end.
Preferably, the processing terminal is a cloud server, a computer, a mobile phone or the 3D camera.
The present invention further provides a 3D scanning method, wherein the 3D scanning method includes:
the 3D camera transmits all images of the object on the supporting table top shot by rotating the supporting frame for one circle to a processing end;
for a target 3D image, the processing end identifies a feature point in one side of a center line of the target 3D image, identifies the feature point in a next 3D image of the target 3D image, and then stitches the target 3D image and the next 3D image of the target 3D image at the feature point;
or the like, or, alternatively,
for a target 3D image, the processing end selects a characteristic point in the target 3D image, obtains the distance from the characteristic point to the shaft and a target included angle, then determines the position of the characteristic point in the next 3D image through the rotating angle of the support frame, the distance from the characteristic point to the shaft and the target included angle in the next 3D image of the target 3D image, and stitches the next 3D image of the target 3D image and the target 3D image at the characteristic point, wherein the target included angle is the included angle between the connecting line of the characteristic point to the axis projection point and the plane where the 3D camera and the axis are located.
On the basis of the common knowledge in the field, the above preferred conditions can be combined randomly to obtain the preferred embodiments of the invention.
The positive progress effects of the invention are as follows: the 3D scanning device, the system and the method can conveniently and quickly acquire the 3D image, the acquired image is clearer, and the image acquired by the scanning device is easier to perform post-processing.
Drawings
Fig. 1 is a schematic structural view of a supporting device according to embodiment 1 of the present invention.
Detailed Description
The invention is further illustrated by the following examples, which are not intended to limit the scope of the invention.
Example 1
Referring to fig. 1, the present embodiment provides a 3D scanning system, where the 3D scanning system includes a 3D scanning device and a processing end.
The 3D scanning device includes a chassis 11, a support column 12, a support table 13, a support frame 14, a rotating device, and a 3D camera 15.
The processing end is a computer, and in this embodiment, the processing end is a computer, but the processing end is not limited thereto, and the processing end may also be a mobile phone, a cloud server, or a 3D camera with a processing function, that is, the 3D camera may be used for shooting or as a processing end.
The supporting column is fixedly arranged on the chassis.
The supporting table top is fixedly arranged on the supporting column.
The support frame is mounted on the side of the support column by the rotating device and is used for horizontally rotating around the axis 16 of the support column.
The support frame comprises a vertical rod and a cross rod, and the height of the vertical rod is adjustable. The cross rod comprises two supporting arms, and the two supporting arms are respectively connected with the supporting columns through bearings. Two bearings are arranged on the supporting column from top to bottom in sequence. The shooting direction of the 3D camera can be controlled through the height adjustment of the vertical rod.
The support frame supports the 3D camera.
The shooting direction of the 3D camera is from the 3D camera to a point on the axis. Typically the point is chosen to be at the same level as the 3D camera.
The supporting platform is cylindrical, and the upper bottom surface of the supporting platform is a black silica gel pad. The black silica gel pad not only can absorb light, can also increase frictional force.
The 3D camera is used for rotating the support frame a week and shoots all images of object on the support mesa and send to the processing end, the processing end is used for the concatenation the support frame rotates all 3D images of a week 3D camera shooting in order to generate a composite picture. The composite picture is a 3D image of an object on the support table.
The rotating device comprises a detection module for detecting the rotating angle of the support frame and a communication module for communicating with the 3D camera, and the 3D camera is used for acquiring the detection data of the detection module and shooting images when the support frame rotates by a preset angle.
The communication module transmits the data of the rotation angle or the photographing instruction to the 3D camera through a wireless network, so that the 3D camera can shoot uniformly according to the rotation of the support frame.
The communication module can also transmit the data of the rotation angle or the photographing instruction to the 3D camera through a transmission line, and the transmission line is arranged inside the support frame.
For a target 3D image, the processing end is configured to identify a feature point in a side of a centerline of the target 3D image, identify the feature point in a next 3D image of the target 3D image, and then stitch the target 3D image and the next 3D image of the target 3D image at the feature point.
If the supporting frame rotates clockwise from top to bottom, the processing end is used for identifying the characteristic point in the left side of the center line of the target 3D image, and if the supporting table rotates anticlockwise from top to bottom, the processing end is used for identifying the characteristic point in the right side of the center line of the target 3D image.
With the 3D scanning system, the embodiment further provides a 3D scanning method, including:
the 3D camera rotates the support frame a circle to shoot all images of objects on the support table top and sends the images to a processing end.
For a target 3D image, the processing end identifies a feature point in one side of a center line of the target 3D image, identifies the feature point in a next 3D image of the target 3D image, and then stitches the target 3D image and the next 3D image of the target 3D image at the feature point.
The 3D scanning device, the system and the method of the embodiment can conveniently and rapidly acquire the 3D image, the acquired image is clearer, and the image acquired by the 3D scanning device is easier to perform post-processing.
Example 2
This embodiment is substantially the same as embodiment 1 except that:
for a target 3D image, the processing end is used for selecting a feature point in the target 3D image, obtaining the distance from the feature point to the axis and a target included angle, then determining the position of the feature point in the next 3D image of the target 3D image through the rotating angle of the support frame, the distance from the feature point to the axis and the target included angle, and stitching the target 3D image and the next 3D image of the target 3D image at the feature point, wherein the target included angle is the included angle between the connecting line of the feature point to the axis projection point and the plane where the 3D camera and the axis are located.
The embodiment provides another image stitching technology, and on the same horizontal plane, by using the feature that the 3D camera can acquire the depth of field, the distance from the feature point to the lens of the 3D camera, the distance from the 3D camera to the axis, and the known included angle between the connecting line of the feature point and the lens and the 3D camera and the axis can be acquired, and the data of the triangle with the lens, the feature point and the axis point can be acquired.
The method comprises the steps of obtaining a target included angle and a distance from a rotating characteristic point to a lens through triangular data, a rotating angle of a supporting table top and a characteristic that a distance from the characteristic point to an axis is not changed, calculating the position of the rotating characteristic point, and marking the position of the rotating characteristic point, wherein the target 3D image and the next 3D image of the target 3D image are sewn at the characteristic point.
Furthermore, in order to simplify the calculation, the feature points in the target 3D image are selected as pixel points on the connecting line between the lens and the axis, so that one angle of the triangle is 0, which is more convenient to calculate. It is also convenient to calculate the distance of the feature point to the axis.
The 3D scanning device, the system and the method of the embodiment can conveniently and rapidly acquire the 3D image, the acquired image is clearer, and the image acquired by the 3D scanning device is easier to perform post-processing.
The present embodiment further provides a 3D scanning method, including:
for a target 3D image, the processing end selects a characteristic point in the target 3D image, obtains the distance from the characteristic point to the shaft and a target included angle, then determines the position of the characteristic point in the next 3D image through the rotating angle of the support frame, the distance from the characteristic point to the shaft and the target included angle in the next 3D image of the target 3D image, and stitches the next 3D image of the target 3D image and the target 3D image at the characteristic point, wherein the target included angle is the included angle between the connecting line of the characteristic point to the axis projection point and the plane where the 3D camera and the axis are located.
The 3D scanning device, the system and the method of the embodiment can conveniently and rapidly acquire the 3D image, the acquired image is clearer, and the image acquired by the 3D scanning device is easier to perform post-processing.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that these are by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.
Claims (7)
1. A3D scanning device is characterized in that the 3D scanning device comprises a chassis, a supporting column, a supporting table surface, a supporting frame, a rotating device and a 3D camera,
the supporting column is fixedly arranged on the chassis;
the supporting table top is fixedly arranged on the supporting column;
the supporting frame is arranged on the side surface of the supporting column through the rotating device and is used for horizontally rotating around the axis of the supporting column;
the support frame supports the 3D camera;
the shooting direction of the 3D camera is from the 3D camera to a point on the axis;
the 3D camera is used for sending all images of an object on the supporting table top shot by the supporting frame rotating for one circle to a processing end, and the processing end is used for splicing all 3D images shot by the 3D camera when the supporting frame rotates for one circle to generate a synthetic picture;
for a target 3D image, the processing end is used for selecting a feature point in the target 3D image, obtaining the distance from the feature point to the axis and a target included angle, then determining the position of the feature point in the next 3D image of the target 3D image through the rotating angle of the support frame, the distance from the feature point to the axis and the target included angle, and stitching the target 3D image and the next 3D image of the target 3D image at the feature point, wherein the target included angle is the included angle between the connecting line of the feature point to the axis projection point and the plane where the 3D camera and the axis are located.
2. The 3D scanning device according to claim 1, wherein the supporting table is cylindrical, and the upper bottom surface of the supporting table is a black silica gel pad.
3. The 3D scanning device of claim 1, wherein the support frame comprises a vertical rod and a cross rod, the vertical rod being adjustable in height.
4. The 3D scanning device as claimed in claim 1, wherein the rotating device comprises a detection module for detecting a rotation angle of the supporting frame and a communication module for communicating with the 3D camera, and the 3D camera is configured to obtain detection data of the detection module and capture an image for each rotation of the supporting frame by a predetermined angle.
5. A3D scanning system, wherein the 3D scanning system comprises a 3D scanning device according to any one of claims 1 to 4 and a processing end.
6. The 3D scanning system of claim 5, wherein the processing end is a cloud server, a computer or a mobile phone.
7. A 3D scanning method implemented with the 3D scanning system of claim 5, wherein the 3D scanning method comprises:
for a target 3D image, the processing end selects a characteristic point in the target 3D image, obtains the distance from the characteristic point to the axis and a target included angle, then determines the position of the characteristic point in the next 3D image through the rotating angle of the support frame, the distance from the characteristic point to the axis and the target included angle in the next 3D image of the target 3D image, and stitches the target 3D image and the next 3D image of the target 3D image at the characteristic point, wherein the target included angle is the included angle between the connecting line of the projection point of the characteristic point to the axis and the plane where the 3D camera and the axis are located.
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| CN201711453488.3A CN108195308B (en) | 2017-12-28 | 2017-12-28 | 3D scanning device, system and method |
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| CN201711453488.3A CN108195308B (en) | 2017-12-28 | 2017-12-28 | 3D scanning device, system and method |
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| CN108195308B true CN108195308B (en) | 2020-04-14 |
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| CN110986770B (en) * | 2019-12-12 | 2020-11-17 | 天目爱视（北京）科技有限公司 | Camera used in 3D acquisition system and camera selection method |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104079810A (en) * | 2014-07-16 | 2014-10-01 | 镇江中维信息技术有限公司 | Three-dimensional panoramic scanning device and three-dimensional model generating method |
| CN106416224A (en) * | 2016-08-25 | 2017-02-15 | 北京小米移动软件有限公司 | Panoramic shooting method, terminal, rotation assembly and panoramic shooting device |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104079810A (en) * | 2014-07-16 | 2014-10-01 | 镇江中维信息技术有限公司 | Three-dimensional panoramic scanning device and three-dimensional model generating method |
| CN106416224A (en) * | 2016-08-25 | 2017-02-15 | 北京小米移动软件有限公司 | Panoramic shooting method, terminal, rotation assembly and panoramic shooting device |
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