CN109816786A - Three-dimensional point cloud method for reconstructing, device and computer equipment - Google Patents
Three-dimensional point cloud method for reconstructing, device and computer equipment Download PDFInfo
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Abstract
The present invention provides a kind of three-dimensional point cloud method for reconstructing, device and computer equipment, which includes: the selection preset quantity structured light patterns from the structured light patterns library pre-established；Point Yun Chongjian is carried out to target scene using preset quantity structured light patterns, obtains preset quantity point cloud；Difference two-by-two is carried out to the pixel depth value of same position on preset quantity point cloud respectively, multiple depth differences are calculated；According to preset rules, judge whether the point cloud data of same position in some clouds reaches robustness requirement using multiple depth differences and preset threshold；When reaching robustness requirement, point Yun Chongjian is completed；When not up to robustness requirement, the point cloud data for giving up same position generates the masks area of same position；For masks area, above-mentioned all steps are repeated until executing number and reaching preset times and/or masks area disappears.The anti-natural light interference performance in a cloud reconstruction process can be improved in the present invention, to improve the precision of a cloud.
Description
Technical field
The present invention relates to computer systems technology field, in particular to a kind of three-dimensional point cloud method for reconstructing, device,
Computer equipment and computer storage medium.
Background technique
With becoming increasingly popular for intelligence manufacture, machine vision and its correlation are widely used, wherein are based on structure
Important component of the three-dimensional point cloud reconstruction technique of light as field of machine vision, receives highest attention in recent years.
Current three-dimensional point cloud method for reconstructing, using projection arrangement projective structure light, then by analysis target scene
Structure light related deformation completes decoding, and then realizes that three-dimensional point cloud is rebuild.Structure light will will receive during specific projection
The interference of natural light, so that the precision for rebuilding a cloud is lower.
Summary of the invention
In view of the above problems, the present invention provides a kind of three-dimensional point cloud method for reconstructing, device, computer equipment and computers
Storage medium, to improve the anti-natural light interference performance in point cloud reconstruction process, to improve the precision of a cloud.
To achieve the goals above, the present invention adopts the following technical scheme that:
A kind of three-dimensional point cloud method for reconstructing, comprising:
Preset quantity structured light patterns are chosen from the structured light patterns library pre-established；
Point Yun Chongjian is carried out to target scene using the preset quantity structured light patterns, obtains preset quantity point cloud；
To the pixel depth value of same position on the preset quantity point cloud carry out respectively difference two-by-two be calculated it is multiple
Depth difference；
According to preset rules, the point of same position described in the multiple depth difference and preset threshold judgement point cloud is utilized
Whether cloud data reach robustness requirement；
When all point cloud datas reach robustness requirement, the point Yun Chongjian to the target scene is completed；
When the point cloud data of the same position is not up to robustness requirement, give up the point cloud number of the same position
According to, and generate according to the point cloud data given up the masks area of the same position；
For the masks area, repeat above-mentioned all steps until executing number and reaching preset times and/
Or the masks area disappears.
Preferably, in the three-dimensional point cloud method for reconstructing, the structured light patterns include based on traditional Gray code pattern
The low frequency configuration light pattern and high-frequency structure light pattern that exclusive or processing generates.
Preferably, described " using the preset quantity structured light patterns to target in the three-dimensional point cloud method for reconstructing
Scene carries out point Yun Chongjian, obtains preset quantity point cloud " include:
The target scene is rebuild using the low frequency configuration light pattern of two different frequencies, obtains two low frequency points
Cloud；
The target scene is rebuild using the high-frequency structure light pattern of two different frequencies, obtains two high frequency points
Cloud.
Preferably, in the three-dimensional point cloud method for reconstructing, the preset rules include:
If all depth differences are respectively less than the preset threshold, reach robustness requirement；
If the depth difference between all low frequency point clouds is all larger than the preset threshold and all high frequency points
When depth value difference between cloud is respectively less than the preset threshold, reach robustness requirement；
If the depth difference between all low frequency point clouds is respectively less than the preset threshold and all high frequency points
When depth value difference between cloud is all larger than the preset threshold, reach robustness requirement.
The present invention also provides a kind of three-dimensional point cloud reconstructing devices, comprising:
Pattern chooses module, for choosing preset quantity structured light patterns from the structured light patterns library pre-established；
Point cloud is rebuild module and is obtained for carrying out point Yun Chongjian to target scene using the preset quantity structured light patterns
Obtain preset quantity point cloud；
Difference calculating module carries out two-by-two respectively for the pixel depth value to same position on the preset quantity point cloud
Multiple depth differences are calculated in difference；
Robustness judgment module, for being judged a little using the multiple depth difference and preset threshold according to preset rules
Whether the point cloud data of same position described in cloud reaches robustness requirement；
It rebuilds and completes module, for completing to the target scene when all point cloud datas reach robustness requirement
Point Yun Chongjian；
Mask generating module, it is described for giving up when the point cloud data of the same position is not up to robustness requirement
The point cloud data of same position, and generate according to the point cloud data given up the masks area of the same position；
Mask iteration module repeats above-mentioned all steps and reaches until executing number for being directed to the masks area
Until preset times and/or the masks area disappears.
Preferably, in the three-dimensional point cloud reconstructing device, the structured light patterns include based on traditional Gray code pattern
The low frequency configuration light pattern and high-frequency structure light pattern that exclusive or processing generates.
Preferably, in the three-dimensional point cloud reconstructing device, described cloud rebuilds module and includes:
Low frequency point cloud reconstruction unit, for using two different frequencies low frequency configuration light pattern to the target scene into
Row is rebuild, and two low frequency point clouds are obtained；
High frequency points cloud reconstruction unit, for using two different frequencies high-frequency structure light pattern to the target scene into
Row is rebuild, and two high frequency points clouds are obtained.
Preferably, in the three-dimensional point cloud reconstructing device, the preset rules include:
If all depth differences are respectively less than the preset threshold, reach robustness requirement；
If the depth difference between all low frequency point clouds is all larger than the preset threshold and all high frequency points
When depth value difference between cloud is respectively less than the preset threshold, reach robustness requirement；
If the depth difference between all low frequency point clouds is respectively less than the preset threshold and all high frequency points
When depth value difference between cloud is all larger than the preset threshold, reach robustness requirement.
The present invention also provides a kind of computer equipments, including memory and processor, and the memory is based on storing
Calculation machine program, the processor runs the computer program so that the computer equipment executes the three-dimensional point cloud and rebuilds
Method.
The present invention also provides a kind of computer storage medium, it is stored with calculating used in the computer equipment
Machine program.
The present invention provides a kind of three-dimensional point cloud method for reconstructing, which includes: from the knot pre-established
Preset quantity structured light patterns are chosen in structure light pattern library；Target scene is carried out a little using the preset quantity structured light patterns
Cloud is rebuild, and preset quantity point cloud is obtained；The pixel depth value of same position on the preset quantity point cloud is carried out two-by-two respectively
Multiple depth differences are calculated in difference；According to preset rules, the multiple depth difference and preset threshold judgement point cloud are utilized
Described in the point cloud data of same position whether reach robustness requirement；It is complete when all point cloud datas reach robustness requirement
The point Yun Chongjian of the pairs of target scene；When the point cloud data of the same position is not up to robustness requirement, give up institute
The point cloud data of same position is stated, and generates the masks area of the same position according to the point cloud data given up；For
The masks area, repeat above-mentioned all steps until execute number reach preset times until and/or the masked area
Domain disappears.The anti-natural light interference performance in a cloud reconstruction process can be improved in three-dimensional point cloud method for reconstructing provided by the invention,
To improve the precision of a cloud.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of the scope of the invention.
Fig. 1 is a kind of flow chart for three-dimensional point cloud method for reconstructing that the embodiment of the present invention 1 provides；
Fig. 2 is a kind of traditional Gray code pattern that the embodiment of the present invention 1 provides；
Fig. 3 is a kind of low frequency configuration light pattern that the embodiment of the present invention 1 provides；
Fig. 4 is another low frequency configuration light pattern that the embodiment of the present invention 1 provides；
Fig. 5 is a kind of high-frequency structure light pattern that the embodiment of the present invention 1 provides；
Fig. 6 is another high-frequency structure light pattern that the embodiment of the present invention 1 provides；
Fig. 7 is the flow chart that a kind of point cloud for three-dimensional point cloud method for reconstructing that the embodiment of the present invention 1 provides is rebuild；
Fig. 8 is a kind of structural schematic diagram for three-dimensional point cloud reconstructing device that the embodiment of the present invention 2 provides；
Fig. 9 is that a kind of point cloud for three-dimensional point cloud reconstructing device that the embodiment of the present invention 2 provides rebuilds the structural representation of module
Figure.
Specific embodiment
The embodiment of the present invention is described below in detail, in which the same or similar labels are throughly indicated same or like
Element or element with the same or similar functions.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more feature.In the description of the present invention, the meaning of " plurality " is two or more, remove
It is non-separately to have clearly specific restriction.
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
Embodiment 1
Fig. 1 is a kind of flow chart for three-dimensional point cloud method for reconstructing that the embodiment of the present invention 1 provides, and this method includes following step
It is rapid:
Step S11: preset quantity structured light patterns are chosen from the structured light patterns library pre-established.
In the embodiment of the present invention, structured light patterns include the low frequency configuration generated based on the processing of traditional Gray code pattern exclusive or
Light pattern and high-frequency structure light pattern.Wherein, the tradition Gray code pattern is as shown in Fig. 2, Gray code is cyclic binary code,
It is between any neighbouring two code values that it, which encodes maximum feature, and an only code difference changed above and below code value in this way
Cheng Zhong only changes a code every time, thus transmit, the error code rate that read will greatly reduce, and when carrying out patterning and encoding, symmetrically
Property be Gray code cryptoprinciple, following table is that binary system and Gray code are compared by taking 4 codes as an example:
The embodiment of the present invention can carry out patterning coding according to the structure of above-mentioned Gray's code table, including can be in pattern
With gray value for 255, namely the position that code value is 1 in the corresponding table of white, gray value 0 namely black correspond to the position in table for 0
It sets, then can produce one 4 Gray code patterns.And so on, then it can get Gray code pattern as shown in Figure 2.
It include based on above-mentioned figure in the structured light patterns in structured light patterns library that pre-establish in the embodiment of the present invention
The structured light patterns that 2 Gray code pattern is constructed, the structured light patterns can be chosen from several traditional Gray code patterns
One width Gray code pattern carries out exclusive or processing as benchmark, with other Gray code patterns, generates low frequency configuration light pattern or high frequency
Structured light patterns, and be stored in structured light patterns library to call.Such as it can use above-mentioned Gray code pattern shown in Fig. 2
Exclusive or processing is carried out, obtains low frequency configuration light pattern as shown in Figure 3, Figure 4, wherein low frequency configuration light pattern shown in Fig. 3
Frequency is encoded than shown in Fig. 4 low and Fig. 5, high-frequency structure light pattern shown in fig. 6.In the embodiment of the present invention, above-mentioned progress
The process of Gray code pattern exclusive or processing can use algorithm or application program to realize, such as can set in computer equipment
It is equipped with exclusive or application program, which carries out exclusive or processing using Gray code pattern, generates required structured light patterns.
Step S12: point Yun Chongjian is carried out to target scene using preset quantity structured light patterns, obtains preset quantity point
Cloud.
In the embodiment of the present invention, it can use projection device and project above structure light pattern to target scene, then lead to
The point data for crossing photographic equipment acquisition target scene under structured light patterns, so that carrying out a cloud to target scene rebuilds the cloud
Include three number of axle evidences after acquiring in structured light patterns in data, namely includes the depth value of pattern image vegetarian refreshments.It is wherein every
A structured light patterns can project according to demand repeatedly to be obtained the multiple groups point datas of the structured light patterns and carries out point Yun Chongjian, is obtained
Point cloud intensively is obtained, for example, four structured light patterns based on Gray code can be chosen, each structured light patterns are respectively projected ten times
To target scene, to obtain four intensive point clouds.
Step S13: difference two-by-two is carried out to the pixel depth value of same position on preset quantity point cloud respectively and is calculated
Multiple depth differences.
In the embodiment of the present invention, after obtaining preset quantity point cloud, by the pixel depth value to same position on cloud into
What difference two-by-two of going calculated arrives multiple depth differences, such as is getting four clouds using the different structured light patterns of four width
Afterwards, the depth difference for putting same position pixel depth value on cloud then has 6, three number of axle evidences in the depth value namely point cloud data
The value of Z axis.Wherein it is possible to which the pixel depth value for obtaining multiple same positions in a cloud is calculated, multiple groups depth difference is obtained,
Every group of depth difference is used to judge the anti-interference of the same position in some clouds.Wherein, the same position on the cloud can benefit
Determined with algorithm come random, can also the pre-set cloud same position, such as position is uniform on available cloud
The pixel depth value of the point of distribution is uniformly distributed including matrix distribution etc..
In the embodiment of the present invention, the above-mentioned progress process that difference calculates two-by-two can use algorithm or application program is come in fact
It is existing, such as the application program of difference calculating can be provided in computer equipment, which is obtaining preset quantity
Point cloud after, extract each cloud same position pixel depth value, then carry out two-by-two difference calculating, thus obtain at least one
Organize depth difference, a same position on every group of depth difference corresponding points cloud.
Step S14: according to preset rules, the point of same position in multiple depth differences and preset threshold judgement point cloud is utilized
Whether cloud data reach robustness requirement.
In the embodiment of the present invention, after obtaining multiple depth differences, multiple depth differences can be utilized according to preset rules
The robustness for carrying out a cloud corresponding position with preset threshold judges.By taking four clouds as an example, on the same position of cloud one
Group depth difference then has 6, carries out operation according to preset rules using this 6 depth differences and preset threshold, then can determine whether
Whether the point cloud data of the same position reaches robustness requirement, and so on, then a cloud can be carried out to multiple positions on cloud
The robustness of data judges.Wherein, the preset rules and preset threshold can be determined according to the quantity of depth difference, and
And in the structured light patterns based on Gray code pattern, low frequency configuration light pattern can fight short distance interference, while dry vulnerable to long-range
It disturbs, high-frequency structure light pattern can fight long-range interference and interfere simultaneously vulnerable to short distance, therefore the preset rules and preset threshold
It is determined according to the type of multiple structured light patterns of selection.Above-mentioned short distance interference refers to scattering of the target scene by natural light
And phenomena such as out of focus, long-range interference refer to that target scene is reflected and phenomena such as diffusing reflection by the mutual of natural light.And it is above-mentioned
Robustness is then to give directions cloud to the jamproof ability of natural light.
In the embodiment of the present invention, the robustness deterministic process of above-mentioned cloud has also been realized using algorithm or application program,
Such as the application program of the preset rules based on robustness judgement can be provided in computer equipment, obtaining multiple depth
Difference, or obtain correspond to point cloud on different location multiple groups depth difference, can use depth difference and preset threshold by
Robustness judgement is carried out according to preset rules, judge a cloud or puts the robustness of each position on cloud.
Step S15: when all point cloud datas reach robustness requirement, the point Yun Chongjian to target scene is completed.
In the embodiment of the present invention, when the corresponding position point cloud data of the cloud or cloud progress robustness judgement reaches Shandong
When stick requires, then achievable point Yun Chongjian.
Step S16: when the point cloud data of same position is not up to robustness requirement, give up the point cloud number of same position
According to, and according to the masks area for the point cloud data generation same position given up.
In the embodiment of the present invention, when the corresponding position that the cloud carries out robustness judgement is not up to robustness requirement, then
It can be not up to the point cloud data of robustness requirement position on cut-off point cloud, and generate the corresponding masks area in the position, so as to weight
The point cloud for newly obtaining the masks area eliminates interference.Wherein, the process of the masks area of above-mentioned generation same position can use
Algorithm or application program are realized, such as the application program for generating mask can be provided in computer equipment, this applies journey
Sequence can remove point Yun Shangwei and reach the point cloud data of robustness, and generate corresponding masks area.
Step S17: being directed to masks area, repeats above-mentioned all steps until executing number and reaching preset times
And/or masks area disappears.
In the embodiment of the present invention, preset times can be looked for be iteratively repeated above-mentioned step, Ye Jichong with that for masks area
New to choose mechanism light pattern, the point cloud data for only obtaining masks area corresponding position in above-mentioned target scene carries out sentencing for robustness
It is disconnected, to achieve the purpose that maximal end point cloud meets robustness requirement.The fortune of robustness judgement can be substantially reduced using masks area
Calculation amount keeps the flow path efficiency for entirely putting cloud reconstruction higher.
As shown in fig. 7, a kind of flow chart of the point cloud reconstruction for three-dimensional point cloud method for reconstructing, includes the following steps:
Step S71: rebuilding target scene using the low frequency configuration light pattern of two different frequencies, and acquisition two is low
Frequency point cloud.
Step S72: rebuilding target scene using the high-frequency structure light pattern of two different frequencies, obtains two height
Frequency point cloud.
It is then directed to above-mentioned low frequency point cloud and high frequency points cloud, the preset rules for carrying out robustness judgement include:
If all depth differences are respectively less than preset threshold, reach robustness requirement；
If the depth difference between all low frequency point clouds is all larger than the depth between preset threshold and all high frequency points clouds
When value difference value is respectively less than preset threshold, reach robustness requirement；
If the depth difference between all low frequency point clouds is respectively less than the depth between preset threshold and all high frequency points clouds
When value difference value is all larger than preset threshold, reach robustness requirement.
In the embodiment of the present invention, for example including following scheme:
Target scene is rebuild using the first low frequency configuration light pattern and the second low frequency configuration light pattern, obtains the
Some clouds and second point cloud.
Target scene is rebuild using the first high-frequency structure light pattern and the second high-frequency structure light pattern, obtains the
3 clouds and the 4th cloud.
Wherein, the first low frequency configuration light pattern, the second low frequency configuration light pattern, the first high-frequency structure light pattern and second
The gray encoding frequency of high-frequency structure light pattern is incremented by successively.
Four clouds obtained after rebuilding for above-mentioned cloud, the preset rules for carrying out robustness judgement include:
If △ Z12 < T, △ Z13 < T, △ Z14 < T, △ Z23 < T, △ Z24 < T and △ Z34 < T are set up, reach robust
Property require；
If △ Z12>T and △ Z34<T are set up, reach robustness requirement；
If △ Z12<when T and △ Z34>T is set up, reaches robustness requirement；
Wherein, △ Z12 is the depth difference of the pixel depth value of first cloud and second point cloud same position, and △ Z13 is
The depth difference of first cloud and the thirdly pixel depth value of cloud same position, △ Z14 are first 4 cloud phases of point Yun Yu
With the depth difference of the pixel depth value of position, △ Z23 is second point cloud and the thirdly pixel depth value of cloud same position
Depth difference, △ Z24 are the depth difference of the pixel depth value of second point cloud and the 4th cloud same position, and △ Z34 is third
The depth difference of the pixel depth value of point 4 cloud same positions of Yun Yu, T is preset threshold.
Embodiment 2
Fig. 8 is a kind of structural schematic diagram for three-dimensional point cloud reconstructing device that the embodiment of the present invention 2 provides.
The three-dimensional point cloud reconstructing device 800 includes:
Pattern chooses module 810, for choosing preset quantity structured light patterns from the structured light patterns library pre-established.
Point cloud rebuilds module 820, for carrying out point Yun Chongjian to target scene using the preset quantity structured light patterns,
Obtain preset quantity point cloud.
Difference calculating module 830 carries out respectively for the pixel depth value to same position on the preset quantity point cloud
Multiple depth differences are calculated in difference two-by-two.
Robustness judgment module 840, for being judged using the multiple depth difference and preset threshold according to preset rules
Whether the point cloud data of same position described in point cloud reaches robustness requirement.
It rebuilds and completes module 850, for completing to the target scene when all point cloud datas reach robustness requirement
Point Yun Chongjian.
Mask generating module 860, for giving up institute when the point cloud data of the same position is not up to robustness requirement
The point cloud data of same position is stated, and generates the masks area of the same position according to the point cloud data given up.
Mask iteration module 870 repeats above-mentioned all steps until executing number for being directed to the masks area
Until reaching preset times and/or the masks area disappears.
In the embodiment of the present invention, the structured light patterns include the low frequency generated based on the processing of traditional Gray code pattern exclusive or
Structured light patterns and high-frequency structure light pattern.
As shown in figure 9, cloud reconstruction module 820 includes:
Low frequency point cloud reconstruction unit 821, for the low frequency configuration light pattern using two different frequencies to the target field
Scape is rebuild, and two low frequency point clouds are obtained.
High frequency points cloud reconstruction unit 822, for the high-frequency structure light pattern using two different frequencies to the target field
Scape is rebuild, and two high frequency points clouds are obtained.
In the embodiment of the present invention, the preset rules include:
If all depth differences are respectively less than the preset threshold, reach robustness requirement；
If the depth difference between all low frequency point clouds is all larger than the preset threshold and all high frequency points
When depth value difference between cloud is respectively less than the preset threshold, reach robustness requirement；
If the depth difference between all low frequency point clouds is respectively less than the preset threshold and all high frequency points
When depth value difference between cloud is all larger than the preset threshold, reach robustness requirement.
In the embodiment of the present invention, above-mentioned modules and the more detailed function description of unit can refer to aforementioned implementation
The content of corresponding portion in example, details are not described herein.
In addition, the computer equipment includes memory and processor, storage the present invention also provides a kind of computer equipment
Device can be used for storing computer program, and processor is by running the computer program, so that it is above-mentioned to execute computer equipment
The function of method or the modules in above-mentioned three-dimensional point cloud reconstructing device.
Memory may include storing program area and storage data area, wherein storing program area can storage program area, at least
Application program needed for one function (such as sound-playing function, image player function etc.) etc.；Storage data area can store root
Created data (such as audio data, phone directory etc.) etc. are used according to computer equipment.In addition, memory may include height
Fast random access memory, can also include nonvolatile memory, a for example, at least disk memory, flush memory device,
Or other volatile solid-state parts.
The present embodiment additionally provides a kind of computer storage medium, for storing calculating used in above-mentioned computer equipment
Machine program.
In several embodiments provided herein, it should be understood that disclosed device and method can also pass through
Other modes are realized.The apparatus embodiments described above are merely exemplary, for example, flow chart and structure in attached drawing
Figure shows the system frame in the cards of the device of multiple embodiments according to the present invention, method and computer program product
Structure, function and operation.In this regard, each box in flowchart or block diagram can represent a module, section or code
A part, a part of the module, section or code includes one or more for implementing the specified logical function
Executable instruction.It should also be noted that function marked in the box can also be to be different from the implementation as replacement
The sequence marked in attached drawing occurs.For example, two continuous boxes can actually be basically executed in parallel, they are sometimes
It can execute in the opposite order, this depends on the function involved.It is also noted that in structure chart and/or flow chart
The combination of each box and the box in structure chart and/or flow chart, can function or movement as defined in executing it is dedicated
Hardware based system realize, or can realize using a combination of dedicated hardware and computer instructions.
In addition, each functional module or unit in each embodiment of the present invention can integrate one independence of formation together
Part, be also possible to modules individualism, an independent part can also be integrated to form with two or more modules.
It, can be with if the function is realized and when sold or used as an independent product in the form of software function module
It is stored in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be intelligence
Can mobile phone, personal computer, server or network equipment etc.) execute each embodiment the method for the present invention whole or
Part steps.And storage medium above-mentioned include: USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory),
Random access memory (RAM, Random Access Memory), magnetic or disk etc. be various to can store program code
Medium.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. a kind of three-dimensional point cloud method for reconstructing characterized by comprising
Preset quantity structured light patterns are chosen from the structured light patterns library pre-established；
Point Yun Chongjian is carried out to target scene using the preset quantity structured light patterns, obtains preset quantity point cloud；
Difference two-by-two is carried out to the pixel depth value of same position on the preset quantity point cloud respectively, multiple depth are calculated
Difference；
According to preset rules, the point cloud number of same position described in the multiple depth difference and preset threshold judgement point cloud is utilized
According to whether reaching robustness requirement；
When all point cloud datas reach robustness requirement, the point Yun Chongjian to the target scene is completed；
When the point cloud data of the same position is not up to robustness requirement, give up the point cloud data of the same position, and
The masks area of the same position is generated according to the point cloud data given up；
For the masks area, above-mentioned all steps are repeated until executing number and reaching preset times and/or institute
State masks area disappearance.
2. three-dimensional point cloud method for reconstructing according to claim 1, which is characterized in that the structured light patterns include based on biography
The low frequency configuration light pattern and high-frequency structure light pattern that Gray code pattern exclusive or of uniting processing generates.
3. three-dimensional point cloud method for reconstructing according to claim 2, which is characterized in that described " to utilize the preset quantity knot
Structure light pattern carries out point Yun Chongjian to target scene, obtains preset quantity point cloud " include:
The target scene is rebuild using the low frequency configuration light pattern of two different frequencies, obtains two low frequency point clouds；
The target scene is rebuild using the high-frequency structure light pattern of two different frequencies, obtains two high frequency points clouds.
4. three-dimensional point cloud method for reconstructing according to claim 3, which is characterized in that the preset rules include:
If all depth differences are respectively less than the preset threshold, reach robustness requirement；
If the depth difference between all low frequency point clouds be all larger than the preset threshold and all high frequency points clouds it
Between depth value difference when being respectively less than the preset threshold, reach robustness requirement；
If the depth difference between all low frequency point clouds be respectively less than the preset threshold and all high frequency points clouds it
Between depth value difference when being all larger than the preset threshold, reach robustness requirement.
5. a kind of three-dimensional point cloud reconstructing device characterized by comprising
Pattern chooses module, for choosing preset quantity structured light patterns from the structured light patterns library pre-established；
Point cloud rebuilds module, for carrying out point Yun Chongjian to target scene using the preset quantity structured light patterns, obtains pre-
If quantity point cloud；
Difference calculating module carries out difference two-by-two for the pixel depth value to same position on the preset quantity point cloud respectively
Multiple depth differences are calculated；
Robustness judgment module, for being judged in point cloud using the multiple depth difference and preset threshold according to preset rules
Whether the point cloud data of the same position reaches robustness requirement；
It rebuilds and completes module, for completing the point cloud to the target scene when all point cloud datas reach robustness requirement
It rebuilds；
Mask generating module, for giving up described identical when the point cloud data of the same position is not up to robustness requirement
The point cloud data of position, and generate according to the point cloud data given up the masks area of the same position；
Mask iteration module repeats above-mentioned all steps until executing number reaches pre- for being directed to the masks area
If until number and/or the masks area disappears.
6. three-dimensional point cloud reconstructing device according to claim 5, which is characterized in that the structured light patterns include based on biography
The low frequency configuration light pattern and high-frequency structure light pattern that Gray code pattern exclusive or of uniting processing generates.
7. three-dimensional point cloud reconstructing device according to claim 6, which is characterized in that described cloud rebuilds module and include:
Low frequency point cloud reconstruction unit carries out weight to the target scene for the low frequency configuration light pattern using two different frequencies
It builds, obtains two low frequency point clouds；
High frequency points cloud reconstruction unit carries out weight to the target scene for the high-frequency structure light pattern using two different frequencies
It builds, obtains two high frequency points clouds.
8. three-dimensional point cloud reconstructing device according to claim 7, which is characterized in that the preset rules include:
If all depth differences are respectively less than the preset threshold, reach robustness requirement；
If the depth difference between all low frequency point clouds be all larger than the preset threshold and all high frequency points clouds it
Between depth value difference when being respectively less than the preset threshold, reach robustness requirement；
If the depth difference between all low frequency point clouds be respectively less than the preset threshold and all high frequency points clouds it
Between depth value difference when being all larger than the preset threshold, reach robustness requirement.
9. a kind of computer equipment, which is characterized in that including memory and processor, the memory is for storing computer
Program, the processor runs the computer program so that the computer equipment executes according to claim 1 to any in 4
Three-dimensional point cloud method for reconstructing described in.
10. a kind of computer storage medium, which is characterized in that it, which is stored in computer equipment as claimed in claim 9, is made
Computer program.
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