CN109141240B - A kind of measurement of adaptive 3 D and information acquisition device - Google Patents
A kind of measurement of adaptive 3 D and information acquisition device Download PDFInfo
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- CN109141240B CN109141240B CN201811031412.6A CN201811031412A CN109141240B CN 109141240 B CN109141240 B CN 109141240B CN 201811031412 A CN201811031412 A CN 201811031412A CN 109141240 B CN109141240 B CN 109141240B
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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
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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
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
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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
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/207—Image signal generators using stereoscopic image cameras using a single 2D image sensor
- H04N13/218—Image signal generators using stereoscopic image cameras using a single 2D image sensor using spatial multiplexing
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/296—Synchronisation thereof; Control thereof
Abstract
The present invention provides a kind of adaptive 3 D measuring device and relevant apparatus, wherein measuring device includes image collecting device, for acquiring one group of image of object with object relative motion by it；Adaptive unit makes it obtain the clear image of object for being adjusted at a distance from object to image collecting device in the relative movement according to image collecting device；Processing unit, for obtaining the 3D information of object according to the multiple images in one group of image；Measuring unit, for according to the size of calibration and the geometric dimension of object 3D information measurement object.Propose the solution using mobile camera, again zoom, auto-focusing in 3D fields of measurement for the first time, overcome in the prior art it is primary focus caused by the bad problem of 3D synthetic effect.
Description
Technical field
The present invention relates to object 3D field of measuring technique, in particular to carry out object 3D acquisition and length etc. using image
Geometric dimension field of measuring technique.
Background technique
3D acquisition at present/measuring device is mainly for a certain specific object, and after object determines, camera around object by turning
Dynamic acquisition object multiple pictures, thus the 3D rendering of synthetic body, and carry out object length, profile etc. using 3D point cloud data and survey
Amount.
However, there is no the possible camera focusings of the bumps of consideration contour of object to be not allowed in such a device, thus
Cause 3D rendering that can not synthesize, the problem of 3D measurement inaccuracy.Since existing equipment is needed with camera before measurement/acquisition to object
Body is focused, and is all shot in entire rotation process with the focal length, so if object is the cylindrical body of standard, and
Camera is rotated around the cylindrical body center of circle, then this shooting is desirable.However if start the position of focusing, object face phase
The region distance camera distance of machine is H, and during rotation, the region distance camera distance of object straight-on camera is h (x),
Wherein x is camera position.Since contour of object is not circle, or due to camera rotation center be difficult completely with object center
It is overlapped, then h (x) is difficult to be equal to H, will cause be difficult to focus during rotation accurately, to cause 3D rendering in this way
It can not synthesize, or synthesis has large error, lead to 3D measurement inaccuracy.The technical problem was not referred to mainly by the prior art
The reason is that usually mode can synthesize 3D model for display, but its precision is difficult to use in measurement.That is, above-mentioned use
Upper limitation hinders the discovery of the technical problem, also non-someone refer to the 3D synthetic effect that object irregular contour may cause and
The problem of measurement accuracy.More do not attempt to solve the technical problem.
Summary of the invention
In view of the above problems, it proposes on the present invention overcomes the above problem or at least be partially solved in order to provide one kind
State adaptive 3 D measurement and the information acquisition device of problem.
The invention proposes a kind of adaptive 3 D measuring devices, including
Image collecting device, for acquiring one group of image of object with object relative motion by it；
Adaptive unit, in the relative movement according to image collecting device at a distance from object to figure
As acquisition device is adjusted, it is made to obtain the clear image of object；
Processing unit, for obtaining the 3D information of object according to the multiple images in one group of image；
Measuring unit, for according to the size of calibration and the geometric dimension of object 3D information measurement object.
The invention also provides a kind of adaptive 3 D information acquisition devices, including
Image collecting device, for acquiring one group of image of object with object relative motion by it；
Adaptive unit, in the relative movement according to image collecting device at a distance from object to figure
As acquisition device is adjusted, it is made to obtain the clear image of object；
Processing unit, for obtaining the 3D information of object according to the multiple images in one group of image.
Optionally, the adaptive unit is the driving device for driving image collecting device movement.
Optionally, the driving device driving image collecting device makes the image collector in the relative movement
It sets with object apart from constant.
Optionally, the driving device is one of gearshift, rotating device or multiple combinations.
Optionally, the adaptive unit is the pH effect that optical path can be adjusted in real time in the relative movement
Device.
Optionally, the optical regulator is that the autozoom of Real time changing focus can fill in the relative movement
It sets.
It optionally, further include the automatic focusing mechanism that can be focused in real time.
It optionally, further include range unit.
Optionally, in the relative movement, two neighboring position when image acquisition device image is at least full
The following condition of foot:
H* (1-cosb)=L*sin2b；
A=m*b；
0<m<0.8
Wherein L is distance of the image collecting device to object, and H is object actual size in acquired image, and a is
Two neighboring location drawing picture acquisition device optical axis included angle, m are coefficient.
Optionally, in the relative movement, adjacent three positions when image acquisition device image, which meet, to exist
At least there is the part for indicating object the same area in three images acquired on corresponding position.
The invention also provides a kind of 3D information comparison devices, obtain including adaptive 3 D information described in any one
Take device.
The invention also provides a kind of mating object generating means of object, using adaptive described in any one
What the 3D information generation at least one region of the object that 3D information acquisition device obtains was matched with object corresponding region
Mating object.The present invention also provides a kind of adaptive 3 D information acquisition methods, obtain object using above-mentioned any one device
3D information.
Inventive point and technical effect
1, it notices for the first time and is proposed for the irregular object of profile, merely with single in camera relative movement
Focal length, which take pictures, will affect 3D synthetic effect and measurement, comparison accuracy.
2, cause focusing inaccurate to overcome the problems, such as irregularly to change caused by object irregular contour apart from camera distance,
The solution using mobile camera, again zoom, auto-focusing is proposed, is suggested for the first time in 3D acquisition and fields of measurement.
3, it is put forward for the first time and is focused in real time in camera moving process.It overcomes caused by primary focusing in the prior art
The bad problem of 3D synthetic effect.Simultaneously in order to cooperate real-time focusing, camera rotating manner is optimized: being suitable for taking pictures
Angle stops waiting focusing, is rotated again after shooting.
4, it using the focusing strategy of optimization, ensure that focusing speed, prevent due to bring acquisition speed drop of focusing in real time
It is low, time of measuring extend the problem of.This is all different with existing focusing strategy, and existing focusing strategy wants the real-time of focusing
Ask not high.
5, the prior art mainly passes through HardwareUpgring and stringent calibration for the promotion of synthetic effect, does not have in the prior art
Angle position when any enlightenment can be taken pictures by changing camera guarantees the effect and stability of 3D synthesis, more without specific excellent
The condition of change.Guarantee the effect and stability of 3D synthesis present invention firstly provides angle position when optimization camera is taken pictures,
And by repetition test, the best practices condition that camera position needs to meet is proposed, the effect of 3D synthesis is substantially increased
With composograph stability.
Detailed description of the invention
By reading the following detailed description of the preferred embodiment, various other advantages and benefits are common for this field
Technical staff will become clear.The drawings are only for the purpose of illustrating a preferred embodiment, and is not considered as to the present invention
Limitation.And throughout the drawings, the same reference numbers will be used to refer to the same parts.In the accompanying drawings:
Fig. 1 shows the schematic diagram of 3D measuring device/3D information acquisition device according to an embodiment of the invention；
Description of symbols:
Track 101, image collecting device 201, processing unit 100, rotating device 102, gearshift 202.
Specific embodiment
Exemplary embodiments of the present disclosure are described in more detail below with reference to accompanying drawings.Although showing the disclosure in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
It is limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
It is fully disclosed to those skilled in the art.
Embodiment 1
In order to solve the above technical problems, one embodiment of the invention provides a kind of adaptive 3 D acquisition of information/measurement dress
It sets.As shown in Figure 1, specifically including: track 101, image collecting device 201, processing unit 100, rotating device 102, displacement dress
Set 202.
Image collecting device 201 is mounted on gearshift 202, and gearshift 202 is mounted on rotating device 102, rotation
Rotary device 102 can be moved along track 101, so that 201 surrounding target object of image collecting device be driven to rotate.
Wherein image collecting device 201 can be camera, video camera, CCD, CMOS, and can arrange in pairs or groups various mirrors as needed
Head, such as infrared lens, visible light lens, remote zoom lens, wide-angle lens, Macro Lens head etc..
By taking image collector is set to camera as an example for example:
Since camera shooting apparent is to require object focusing accurate, but focus in traditional technology only when rotating beginning
It carries out, if that starting the position of focusing, the region distance camera distance of object straight-on camera is H, and during rotation,
The region distance camera distance of object straight-on camera is h (x), and wherein x is camera position.Since contour of object is not circle,
Or it since camera rotation center is difficult to be overlapped with object center completely, then h (x) is difficult to be equal to H, will cause in this way
It is accurate to be difficult to focus in rotation process, to cause 3D rendering that can not synthesize, or synthesis has large error, leads to 3D measurement not
Accurately.
Therefore, gearshift 202 can in the radially mobile image acquisition device 201 of image collecting device 201 so that
Image collecting device 201 can be close to or far from target object, to guarantee in entire rotation process, image collecting device
201 focusings always are accurate, i.e., drive image collecting device 201 to make the image in relative movement by gearshift 202
Acquisition device 201 is remained unchanged with object distance.Accordingly even when for camera lens be tight shot image collecting device 201 and
Speech can also guarantee that focusing is accurate in entire rotation process.
Further include range unit 203, the real-time range that image collecting device 201 arrives object can be measured.Range unit exists
The distance H that image collecting device 201 arrives target object, after rotation starts, range unit 203 are measured after the completion of focusing for the first time
Real-time measurement image collecting device 201 arrives the real-time range h (x) of object, and data H and h (x) are passed to processing unit 100.
Processing unit 100 judges h (x) > H, then command displacement device 202 radially moves h (x)-H distance to the direction close to object,
If judging h (x) < H, command displacement device 202 is radially to mobile H-h (x) distance in the direction far from object, if judging h
(x)=H, then be failure to actuate.
Wherein range unit 203 can be the various types such as laser range finder, image rangefinder.It can individually become one
A module is also possible to a part of image collecting device 201.
Preferably, although image collecting device 201 and object distance can be kept not by mobile image acquisition device 201
Become, but carry out mobile stepper motor with minimum step, it has impact on the mobile resolution ratio of image collecting device 201.To
So that can not strictly keep image collecting device 201 and object distance constant.The mobile same meeting of inaccuracy caused by ageing equipment
Lead to this problem.It therefore, can be in image collecting device in order to avoid the irretentive problem of distance caused by mechanical structure
201, which turn to each position shot, stops operating, then re-starts auto-focusing.
But frequently stop in this way, and auto-focusing needs the long period again, affects the real-time of 3D information collection,
Even in extreme circumstances, since shooting time is longer, shooting object movement or deformation in a long time causes 3D synthesis to be lost
It loses.Therefore, it is necessary to optimize auto-focusing speed.During rotation, range unit real-time measurement camera 201 arrives the distance of object
(object distance) h (x), and measurement result is sent to processing unit 100, processing unit 100 is looked into object distance-focal length table, is found corresponding
Focal length value, Xiang Xiangji 201 issue focusing signal, and control camera ultrasonic motor driving camera lens is mobile to carry out rapid focus.This
It is one of inventive point of the invention.It certainly, can also be using the side of picture contrast comparison in addition to distance measuring method is carried out to afocal
Formula is focused, referring specifically to embodiment 2.
Gearshift 202 can for an axis motion platform, two axle movement platform, triaxial movement platform, four axes motion platform,
5-axis movement platform or six axis motion platforms.Processing unit 100 is issued according to the distance signal of range unit 203 to servo motor
Driving signal, so that gearshift 202 drives image collecting device 201 to move.
Embodiment 2
In order to solve the above technical problems, one embodiment of the invention provides a kind of adaptive 3 D information acquisition device.Tool
Body includes: track 101, image collecting device 201, processing unit 100, rotating device 102.Since image collecting device 201 exists
Change in rotation process with the object distance of target object different zones, therefore will lead to and be difficult to focus during rotation accurately.It removes
Outside method using adaptively changing object distance in embodiment 1, the focal length of image collecting device 201 can also be adjusted, so that
It can accurately focus in the case of new object distance.
In a certain position A1, the measurement of range unit 203 obtains a certain face area of image collecting device 201 Yu object
Domain distance is H1, and lens focus is F1 at this time；When image collecting device 201 is located at another location A2 or object relative to figure
When having rotated certain angle as acquisition device 201, range unit 203, which measures, obtains the another of image collecting device 201 and object
One face region distance is H2, and processing unit 100 receives the data that range unit 203 is sent, and according to object distance-lens focus table
(measurement obtains in advance) judgement focal length F2 that camera lens should have at this time, controls lens motor, so as to adjust lens focus to F2.
Other than distance measuring method, in position A2, it is Q1 that image collecting device 201, which collects picture contrast, is handled at this time
Unit 100 controls lens motor rotation, and adjustment lens focus becomes larger or becomes smaller, so that after reaching a certain contrast Q2, it is no matter burnt
Away from increasing again or reducing, Q2 reduces, that is to say, that the contrast of Q2 is best.Focal length F2 is pinpointed focus at this time, with this
Focal length shoots this region apparent.
It is of course also possible to judge to readjust by the collected object size variation of image collecting device 201 burnt
Away from so that ratio of the object in 201 visual field of image collecting device remains unchanged.
Under special circumstances, it also may include in embodiment 1 gearshift 202, in such a case, it is possible to pass through position
Moving device 202 and zoom lens collective effect, so that image collecting device 201 obtains object clear image.
Furthermore it is also possible to include auto-focusing step, i.e., auto-focusing is carried out during aforesaid operations terminate or carry out,
Concrete mode is as described in Example 1.
Embodiment 3
Although object different zones exist concave-convex, concave-convex degree is lower, at this time if using embodiment 1 or 2 side
Formula, the time adaptively adjusted is longer, is unfavorable for Quick Acquisition and measurement.During rotation, 203 real-time measurement of range unit
Camera 201 arrives distance (object distance) h (x) of object, and measurement result is sent to processing unit 100, and processing unit 100 looks into object
Away from-focal length table, corresponding focal length value is found, Xiang Xiangji 201 issues focusing signal, and control camera ultrasonic motor driving camera lens moves
It is dynamic to carry out rapid focus.In this way, can significantly not adjust its camera lens coke in the position for not adjusting image collecting device 201 yet
Away from the case where, rapid focus is realized, guarantee that image collecting device 201 shoots apparent.This is also inventive point of the invention
One of.Certainly, it in addition to distance measuring method is carried out to afocal, can also be focused by the way of picture contrast comparison, specifically
Referring to embodiment 2.
Acquisition position in above-mentioned relative movement by image collecting device 201 when acquisition target object image position
It determines, the two neighboring position at least meets following condition:
H* (1-cosb)=L*sin2b；
A=m*b；
0<m<1.5
Wherein L is the distance that image collecting device 201 arrives object, and usually image collecting device 201 is in first position
When distance apart from object face collected region, m is coefficient.
H is object actual size in acquired image, and described image is usually image collecting device 201 at first
The picture shot when setting, the object in the picture have true geometric dimension (not being the size in picture), measure the ruler
Along the orientation measurement of first position to the second position when very little.Such as first position and the second position are the relationships moved horizontally,
So the size is measured along the horizontal cross of object.Such as the object left end that can show that in picture is A, it is most right
End is B, then measures the linear distance of A to B on object, is H.The measurement method can according to A, B distance in picture, in conjunction with
Camera lens focal length carries out actual distance calculation, and A, B can also be identified on object, is directly surveyed using other measurement means
Measure AB linear distance.
A is two neighboring location drawing picture acquisition device optical axis included angle.
M is coefficient
Since article size, concave-convex situation are different, the value of a can not be limited with strict formula, needs rule of thumb to carry out
It limits.According to many experiments, the value of m preferably can be within 0.8 within 1.5.Specific experiment data are referring to such as
Lower table:
| Object | M value | Synthetic effect | Synthetic ratio |
| Human body head | 0.1、0.2、0.3、0.4 | It is very good | > 90% |
| Human body head | 0.5、0.6 | It is good | > 85% |
| Human body head | 0.7、0.8 | It is relatively good | > 80% |
| Human body head | 0.9、1.0 | Generally | > 70% |
| Human body head | 1.0、1.1、1.2 | Generally | > 60% |
| Human body head | 1.2、1.3、1.4、1.5 | Synthesis reluctantly | > 50% |
| Human body head | 1.6、1.7 | It is difficult to synthesize | < 40% |
After object and image collecting device 201 determine, the value of a can be calculated according to above-mentioned empirical equation, according to a
Value is that can determine the parameter of virtual matrix, i.e. positional relationship between matrix dot.
In general, virtual matrix is one-dimensional matrix, such as along the multiple matrix dots of horizontal direction arrangement (acquisition position
It sets).But when some target objects are larger, two-dimensional matrix is needed, then two adjacent in vertical direction positions equally meet
Above-mentioned a value condition.
Under some cases, even from above-mentioned empirical equation, also it is not easy to determine a value under some occasions, needs basis at this time
Experiment adjustment matrix parameter, experimental method are as follows: calculating prediction matrix parameter a according to above-mentioned formula, and according to matrix parameter control
Camera processed is moved to corresponding matrix dot, such as camera shoots picture P1 in position W1, shoots picture P2 after being moved to position W2,
Whether in picture P1 and picture P2 have the part that indicates object the same area, i.e., P1 ∩ P2 non-empty is (such as simultaneously if comparing at this time
Comprising human eye angle part, but photograph taking angle is different), if readjusting a value without if, re-move to position W2 ', weight
Multiple above-mentioned comparison step.If P1 ∩ P2 non-empty, camera is continued to move to the position W3 according to a value (adjustment or unadjusted),
Picture P3 is shot, whether compare again has the part for indicating object the same area, i.e. P1 in picture P1, picture P2 and picture P3
∩ P2 ∩ P3 non-empty.It recycles plurality of pictures to synthesize 3D, tests 3D synthetic effect, meet 3D information collection and measurement request i.e.
It can.That is, the structure of matrix is determined by the position of image collecting device 201 when acquisition multiple images, adjacent three
Position meets three images acquired on corresponding position and at least there is the part for indicating object the same area.
3D rendering synthetic method
Image collecting device 201 rotation and shutter can carry out simultaneously, i.e., 201 rotation process of image collecting device not in
Shutter is controlled under the premise of disconnected to take pictures.
It can also stop after image collecting device 201 turns to some position, control shutter is taken pictures, and is taken pictures and is finished
After continue rotation process.Control shutter is constantly interrupted during rotation to take pictures.
Processing unit 100 receives one group of image of the transmission of image collecting device 201 respectively, and sieves from image group respectively
Select multiple images.
Multiple images are recycled to synthesize facial 3D rendering.Synthetic method, which can be used, carries out figure according to adjacent image characteristic point
As the method for splicing, other methods also can be used.
Described image splicing method include:
(1) multiple images are handled, extracts respective characteristic point；The feature of respective characteristic point can in multiple images
To be retouched using SIFT (Scale-Invariant Feature Transform, scale invariant feature conversion) Feature Descriptor
It states.SIFT feature description has 128 feature description vectors, and the 128 of any characteristic point can be described on direction and scale
The feature of a aspect significantly improves the precision to feature description, while Feature Descriptor has independence spatially.
(2) characteristic point of the multiple images based on extraction, feature point cloud data and the iris for generating face characteristic respectively are special
The feature point cloud data of sign.It specifically includes:
(2-1) carries out the spy of multiple images according to the feature of the respective characteristic point of each image in the multiple images of extraction
The matching for levying point, establishes matched facial feature points data set；According to the respective feature of each image in the multiple images of extraction
The feature of point, carries out the matching of the characteristic point of multiple images, establishes matched iris feature point data collection；
(2-2) according to the optical information of camera, obtain multiple images when camera different location, calculate each position phase
Relative position of the machine relative to characteristic point spatially, and the space of the characteristic point in multiple images is calculated depending on the relative position
Depth information.Similarly, the spatial depth information of the characteristic point in multiple images can be calculated.It is flat that light beam can be used in the calculating
Poor method.
The spatial depth information for calculating characteristic point may include: spatial positional information and colouring information, that is, can be feature
Point is in the X axis coordinate of spatial position, characteristic point in the Y axis coordinate of spatial position, characteristic point in the Z axis coordinate of spatial position, spy
Levy the channel B of the colouring information of the value in the channel R of the colouring information of point, the value in the channel G of the colouring information of characteristic point, characteristic point
Value, the value in the channel Alpha of colouring information of characteristic point etc..In this way, containing feature in the feature point cloud data generated
The spatial positional information and colouring information of point, the format of feature point cloud data can be as follows:
X1 Y1 Z1 R1 G1 B1 A1
X2 Y2 Z2 R2 G2 B2 A2
……
Xn Yn Zn Rn Gn Bn An
Wherein, Xn indicates characteristic point in the X axis coordinate of spatial position；Yn indicates characteristic point in the Y axis coordinate of spatial position；
Zn indicates characteristic point in the Z axis coordinate of spatial position；Rn indicates the value in the channel R of the colouring information of characteristic point；Gn indicates feature
The value in the channel G of the colouring information of point；Bn indicates the value of the channel B of the colouring information of characteristic point；The color of An expression characteristic point
The value in the channel Alpha of information.
(2-3) generates object according to the spatial depth information of multiple images matched characteristic point data collection and characteristic point
The feature point cloud data of feature.
(2-4) constructs object 3D model according to feature point cloud data, to realize the acquisition of object point cloud data.
Collected object color, texture are attached on point cloud data by (2-5), form object 3D rendering.
Wherein it is possible to 3D rendering is synthesized using all images in one group of image, it can also be higher from wherein selection quality
Image synthesized.
Above-mentioned joining method is limited citing, however it is not limited to which this, several with good grounds multi-angle two dimensional images of institute generate three
The method of dimension image can be used.
Embodiment 4
Some object different zones depth disparities are larger, such as the plait of schoolgirl, hence it is evident that protrusion head.If directly shot
Very high (applicant notices the problem for the first time) is required to the depth of field of camera.At this moment 100 command displacement device 202 of processing unit
Movement, when some region of object is protruded with respect to camera, gearshift 202 drives camera far from object；When object
When a region is recessed with respect to camera, gearshift 202 drives camera close to object, so that camera distance human body difference mesh
The distance in mark region is held essentially constant.
In existing system, the focusing of camera can only be carried out in the incipient stage, and camera is in entire rotation process with fixed burnt
Away from a series of take pictures.In this way in face of the concave-convex biggish situation of object, then it may cause the fogging image of acquisition.It is existing
System does not recognize this problem when acquiring for the larger object 3D of bumps, does not attempt to solve yet.Main cause exists
In the camera for capableing of automated optical focusing at present, focusing is completed before shooting, trips key realization automatically by void
Focusing, it is difficult to focus while rotating, this is determined by the intrinsic control method of camera.Current camera is for two
It ties up the shooting of image and designs, there is no the demands frequently focused, and auto-focusing is realized by shutter key, do not assist
View and/or interface can be realized external software control focusing.And existing focusing at present due to object it is uncertain, need
Focusing strategy that will be more complete, therefore its speed is also very slow, influences customer experience, is not suitable for 3D acquisition.Range unit is real
When measurement camera to distance (object distance) h (x) of object, and measurement result is sent to processing unit 100, processing unit 100 is looked into
Object distance-focal length table, finds corresponding focal length value, issues focusing signal to camera, control camera ultrasonic motor driving camera lens moves
It is dynamic to carry out rapid focus.In this way, can significantly not adjust its camera lens coke in the position for not adjusting image collecting device 201 yet
Away from the case where, rapid focus is realized, guarantee that image collecting device 201 shoots apparent.This is also inventive point of the invention
One of.Certainly, it in addition to distance measuring method is carried out to afocal, can also be focused by the way of picture contrast comparison.This is
System directly sends focusing enabling signal to camera processing unit 100 by external software, starts journey of focusing inside processing unit 100
Sequence, thus realize camera lens focus, can in camera rotation process multiple auto-focusing, thus guarantee shoot image it is clear
It is clear.This is also one of inventive point of the invention.Meanwhile the feature that the present invention is relatively determining according to object, optimization focusing strategy,
Focusing speed faster, can meet the needs of 3D acquisition.
Above-mentioned target object, object and object all indicate the object of pre-acquiring 3D information.
Above-mentioned target object, object and object all indicate the object of pre-acquiring 3D information.
Object can be a physical objects in the present invention, or multiple objects constituent.
The 3D information of object include 3D rendering, 3D point cloud, 3D grid, part 3D feature, 3D size and all with mesh
Mark the parameter of object 3D feature.
So-called 3D, three-dimensional refer to tri- directional informations of XYZ in the present invention, especially have depth information, and only
There is two-dimensional surface information that there is essential distinction.Also it is known as 3D, panorama, holography, three-dimensional with some, but actually only includes two-dimentional letter
Breath, does not especially include that the definition of depth information has essential distinction.
Pickup area described in the present invention refers to the range that image collecting device (such as camera) can be shot.
Image collecting device in the present invention can be CCD, CMOS, camera, video camera, industrial camera, monitor, camera shooting
Head, mobile phone, plate, notebook, mobile terminal, wearable device, smart glasses, smart watches, Intelligent bracelet and with figure
As acquisition function all devices.
The 3D information for the object multiple regions that above embodiments obtain can be used for being compared, such as identity
Identification.The 3D information of human body face and iris is obtained first with the solution of the present invention, and is stored it in server, as
Normal data.When in use, operating such as needing to carry out authentication and paid, opened the door, 3D acquisition device can be used
It is compared the 3D information for acquiring and obtaining human body face and iris again with normal data, compare successfully then allow into
Row acts in next step.It is appreciated that this compare the identification that can be used for the fixtures such as antique, the art work, i.e., first obtain
Antique, art work multiple regions 3D information as normal data, when needing to identify, again obtain multiple regions 3D letter
Breath, and be compared with normal data, it discerns the false from the genuine.
The 3D information for the object multiple regions that above embodiments obtain can be used for designing for the object, production, make
Make mating object.For example, obtaining human body head 3D data, it can be human design, manufacture more particularly suitable cap；Obtain human body head
Portion's data and eyes 3D data can be human design, the suitable glasses of manufacture.
Above embodiments obtain object 3D information can be used for the geometric dimension to the object, appearance profile into
Row measurement.
In the instructions provided here, numerous specific details are set forth.It is to be appreciated, however, that implementation of the invention
Example can be practiced without these specific details.In some instances, well known method, structure is not been shown in detail
And technology, so as not to obscure the understanding of this specification.
Similarly, it should be understood that in order to simplify the disclosure and help to understand one or more of the various inventive aspects,
Above in the description of exemplary embodiment of the present invention, each feature of the invention is grouped together into single implementation sometimes
In example, figure or descriptions thereof.However, the disclosed method should not be interpreted as reflecting the following intention: i.e. required to protect
Shield the present invention claims features more more than feature expressly recited in each claim.More precisely, as following
Claims reflect as, inventive aspect is all features less than single embodiment disclosed above.Therefore,
Thus the claims for following specific embodiment are expressly incorporated in the specific embodiment, wherein each claim itself
All as a separate embodiment of the present invention.
Those skilled in the art will understand that can be carried out adaptively to the module in the equipment in embodiment
Change and they are arranged in one or more devices different from this embodiment.It can be the module or list in embodiment
Member or component are combined into a module or unit or component, and furthermore they can be divided into multiple submodule or subelement or
Sub-component.Other than such feature and/or at least some of process or unit exclude each other, it can use any
Combination is to all features disclosed in this specification (including adjoint claim, abstract and attached drawing) and so disclosed
All process or units of what method or apparatus are combined.Unless expressly stated otherwise, this specification is (including adjoint power
Benefit require, abstract and attached drawing) disclosed in each feature can carry out generation with an alternative feature that provides the same, equivalent, or similar purpose
It replaces.
In addition, it will be appreciated by those of skill in the art that although some embodiments in this include institute in other embodiments
Including certain features rather than other feature, but the combination of the feature of different embodiment means in the scope of the present invention
Within and form different embodiments.For example, in detail in the claims, the one of any of embodiment claimed all may be used
Come in a manner of in any combination using.
Various component embodiments of the invention can be implemented in hardware, or to run on one or more processors
Software module realize, or be implemented in a combination thereof.It will be understood by those of skill in the art that can be used in practice
Microprocessor or digital signal processor (DSP) are according to an embodiment of the present invention based on some in apparatus of the present invention to realize
Or some or all functions of whole components.The present invention is also implemented as one for executing method as described herein
Partly or completely device or device program (for example, computer program and computer program product).Such realization is originally
The program of invention can store on a computer-readable medium, or may be in the form of one or more signals.In this way
Signal can be downloaded from an internet website to obtain, be perhaps provided on the carrier signal or be provided in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and ability
Field technique personnel can be designed alternative embodiment without departing from the scope of the appended claims.In the claims,
Any reference symbol between parentheses should not be configured to limitations on claims.Word "comprising" does not exclude the presence of not
Element or step listed in the claims.Word "a" or "an" located in front of the element does not exclude the presence of multiple such
Element.The present invention can be by means of including the hardware of several different elements and being come by means of properly programmed computer real
It is existing.In the unit claims listing several devices, several in these devices can be through the same hardware branch
To embody.The use of word first, second, and third does not indicate any sequence.These words can be explained and be run after fame
Claim.
So far, although those skilled in the art will appreciate that present invention has been shown and described in detail herein multiple shows
Example property embodiment still without departing from the spirit and scope of the present invention, still can according to the present disclosure directly
Determine or deduce out many other variations or modifications consistent with the principles of the invention.Therefore, the scope of the present invention is understood that and recognizes
It is set to and covers all such other variations or modifications.
Claims (24)
1. a kind of adaptive 3 D measuring device, it is characterised in that: including
Image collecting device, for acquiring one group of image of object with object relative motion by it；
Adaptive unit, for being adopted at a distance from object to image in the relative movement according to image collecting device
Acquisition means are adjusted, it is made to obtain the clear image of object；
Processing unit, for obtaining the 3D information of object according to the multiple images in one group of image；
Measuring unit, for according to the size of calibration and the geometric dimension of object 3D information measurement object；
In the relative movement, two neighboring position when image acquisition device image at least meets following condition:
H* (1-cosb)=L*sin2b；
A=m*b；
0<m<0.8；
Wherein L is distance of the image collecting device to object, and H is object actual size in acquired image, and a is adjacent
Two location drawing picture acquisition device optical axis included angles, m is coefficient.
2. adaptive 3 D measuring device as described in claim 1, it is characterised in that: the adaptive unit is that driving image is adopted
The driving device of acquisition means movement.
3. adaptive 3 D measuring device as claimed in claim 2, it is characterised in that: the driving device drives image collector
It sets so that image collecting device and object are apart from constant in the relative movement.
4. adaptive 3 D measuring device as claimed in claim 2, it is characterised in that: the driving device is gearshift, rotation
One of rotary device or multiple combinations.
5. adaptive 3 D measuring device as described in claim 1, it is characterised in that: the adaptive unit is can be described
The optical regulator of optical path is adjusted in relative movement in real time.
6. adaptive 3 D measuring device as claimed in claim 5, it is characterised in that: the optical regulator is can be in institute
State the Automatic zoom lens focusing device of Real time changing focus in relative movement.
7. adaptive 3 D measuring device as claimed in any one of claims 1 to 6, it is characterised in that: further include focusing in real time
Automatic focusing mechanism.
8. adaptive 3 D measuring device as described in claim 1, it is characterised in that: further include range unit.
9. adaptive 3 D measuring device as described in claim 1, it is characterised in that: in the relative movement, image is adopted
Adjacent three positions when acquisition means acquire image meet three images acquired on corresponding position and at least there is expression mesh
Mark the part of object the same area.
10. a kind of 3D information comparison device, it is characterised in that: surveyed including adaptive 3 D described in any one of claim 1-9
Measure device.
11. a kind of mating object generating means of object, it is characterised in that: using it is described in any one of claim 1-9 it is described from
What the 3D information generation at least one region of the object that adaptation 3D measuring device obtains was matched with object corresponding region
Mating object.
12. a kind of adaptive 3 D information acquisition method, which is characterized in that obtained using such as claim 1-9 any one device
The 3D information of object.
13. a kind of adaptive 3 D information acquisition device, it is characterised in that: including
Image collecting device, for acquiring one group of image of object with object relative motion by it；
Adaptive unit, for being adopted at a distance from object to image in the relative movement according to image collecting device
Acquisition means are adjusted, it is made to obtain the clear image of object；
Processing unit, for obtaining the 3D information of object according to the multiple images in one group of image；
In the relative movement, two neighboring position when image acquisition device image at least meets following condition:
H* (1-cosb)=L*sin2b；
A=m*b；
0<m<0.8；
Wherein L is distance of the image collecting device to object, and H is object actual size in acquired image, and a is adjacent
Two location drawing picture acquisition device optical axis included angles, m is coefficient.
14. adaptive 3 D information acquisition device as claimed in claim 13, it is characterised in that: the adaptive unit is driving
The driving device of image collecting device movement.
15. adaptive 3 D information acquisition device as claimed in claim 14, it is characterised in that: the driving device drives image
Acquisition device makes in the relative movement image collecting device and object apart from constant.
16. adaptive 3 D information acquisition device as claimed in claim 14, it is characterised in that: the driving device is displacement dress
It sets, one of rotating device or multiple combinations.
17. adaptive 3 D information acquisition device as claimed in claim 13, it is characterised in that: the adaptive unit is can
Adjust the optical regulator of optical path in real time in the relative movement.
18. adaptive 3 D information acquisition device as claimed in claim 17, it is characterised in that: the optical regulator is energy
The Automatic zoom lens focusing device of enough Real time changing focus in the relative movement.
19. such as the described in any item adaptive 3 D information acquisition devices of claim 13-18, it is characterised in that: further including can
The automatic focusing mechanism focused in real time.
20. adaptive 3 D information acquisition device as claimed in claim 13, it is characterised in that: further include range unit.
21. adaptive 3 D information acquisition device as claimed in claim 13, it is characterised in that: in the relative movement,
Adjacent three positions when image acquisition device image, which meet three images acquired on corresponding position, at least to be existed
Indicate the part of object the same area.
22. a kind of 3D information comparison device, it is characterised in that: including adaptive 3 D described in claim 13-21 any one
Measuring device.
23. a kind of mating object generating means of object, it is characterised in that: using described in claim 13-21 any one
The 3D information generation at least one region of the object that adaptive 3 D measuring device obtains is matched with object corresponding region
Mating object.
24. a kind of adaptive 3 D information acquisition method, which is characterized in that obtained using such as claim 13-21 any one device
Take the 3D information of object.
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| CN201811031412.6A CN109141240B (en) | 2018-09-05 | 2018-09-05 | A kind of measurement of adaptive 3 D and information acquisition device |
| CN201910862046.7A CN110567370B (en) | 2018-09-05 | 2018-09-05 | Variable-focus self-adaptive 3D information acquisition method |
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| CN109819169A (en) * | 2019-02-13 | 2019-05-28 | 上海闻泰信息技术有限公司 | Panorama shooting method, device, equipment and medium |
| WO2021115297A1 (en) * | 2019-12-12 | 2021-06-17 | 左忠斌 | 3d information collection apparatus and method |
| 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 |
| CN111649690A (en) * | 2019-12-12 | 2020-09-11 | 天目爱视（北京）科技有限公司 | Handheld 3D information acquisition equipment and method |
| CN111207690B (en) * | 2020-02-17 | 2021-03-12 | 天目爱视（北京）科技有限公司 | Adjustable iris 3D information acquisition measuring equipment |
| CN111445570B (en) * | 2020-03-09 | 2021-04-27 | 天目爱视（北京）科技有限公司 | Customized garment design production equipment and method |
| CN112465960B (en) * | 2020-12-18 | 2022-05-20 | 天目爱视（北京）科技有限公司 | Size calibration device and method for three-dimensional model |
| CN114689014B (en) * | 2022-05-31 | 2022-09-02 | 江西省医学科学院 | Monocular camera focusing and ranging device, monocular camera focusing and ranging method, storage medium and computer |
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| CN109141240A (en) | 2019-01-04 |
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