CN110264558B - Model obtaining method and device based on laser projector - Google Patents
Model obtaining method and device based on laser projector Download PDFInfo
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- CN110264558B CN110264558B CN201910460863.XA CN201910460863A CN110264558B CN 110264558 B CN110264558 B CN 110264558B CN 201910460863 A CN201910460863 A CN 201910460863A CN 110264558 B CN110264558 B CN 110264558B
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T15/00—3D [Three Dimensional] image rendering
- G06T15/50—Lighting effects
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
Abstract
The invention discloses a model obtaining method and a device based on a laser projector, wherein the model obtaining method is realized through a model obtaining device, the model obtaining device comprises a camera, a projector and a processor, and the model obtaining method comprises the following steps: the processor calibrates the camera and the projector; the projector projects a preset image; shooting a preset image by a camera to obtain a mixed image; analyzing the mixed image to obtain sine wave structured light data and spatial coding data; the processor acquires the absolute phase shift of the sine wave structured light according to the corresponding relation of the sine wave structured light data and the spatial coding data; the projector projects the sine wave structured light on the target object; shooting an object image of a target object projected by sine wave structured light by a camera; and the processor acquires a three-dimensional model of the target object according to the absolute phase shift of the sine wave structured light and the object image. The method has the advantages of high operation speed, short time for obtaining the model of the object and high model precision.
Description
Technical Field
The invention relates to a model obtaining method and device based on a laser projector.
Background
Three-dimensional reconstruction refers to the establishment of a mathematical model suitable for computer representation and processing of a three-dimensional object, is the basis for processing, operating and analyzing the properties of the three-dimensional object in a computer environment, and is also a key technology for establishing virtual reality expressing an objective world in a computer.
The three-dimensional reconstruction of the grating projection is a three-dimensional reconstruction mode, the grating is respectively projected to a reference plane and the surface of a measured object, and the reference grating projected to the reference plane is not deformed because the reference plane is a horizontal plane; when the grating is projected on the surface of the measured object, the grating can generate deformation of different degrees because the projected grating is modulated by the height of the surface of the measured object. The heights of the placed measured objects are different, the phase change degrees of the gratings are different, and the phase change of the two-dimensional plane deformation stripes carries three-dimensional shape information of the surfaces of the objects. Therefore, by obtaining the phase change value, the height of the object at the corresponding point can be obtained, and the contour shape of the three-dimensional object can be obtained.
The existing grating projection has the defects of low modeling speed and low precision in three-dimensional reconstruction.
Disclosure of Invention
The invention aims to overcome the defects of low modeling speed and low precision in the three-dimensional reconstruction of the existing grating projection, and provides a model acquisition method and a model acquisition device based on a laser projector, which have the advantages of high calculation speed, short time for acquiring a model of an object and high model precision.
The invention solves the technical problems through the following technical scheme:
a model acquisition method based on a laser projector, the model acquisition method being implemented by a model acquisition apparatus, the model acquisition apparatus comprising a camera, a projector and a processor, the projector being a color laser projector, the model acquisition method comprising:
the processor calibrates the camera and the projector;
the projector projects a preset image, the preset image is a space coding image projected by a red laser in the projector, and a sine wave structured light is projected by a green laser;
shooting a preset image by a camera to obtain a mixed image;
analyzing the mixed image to obtain sine wave structured light data and spatial coding data;
the processor acquires the absolute phase shift of the sine wave structured light according to the corresponding relation between the sine wave structured light data and the spatial coding data;
the projector projects the sine wave structured light on the target object;
the camera shoots an object image of a target object projected by sine wave structured light;
and the processor acquires a three-dimensional model of the target object according to the absolute phase shift of the sine wave structured light and the object image.
Preferably, the default image includes a first default image and a second default image,
the first preset image is a space coding image projected by a red laser in the projector, the green laser projects sine wave structured light with a first period, and the blue laser projects a black image;
the second preset image is a space coding image projected by a red laser in the projector, the green laser projects sine wave structured light with a second period, the blue laser projects a black image, wherein the first period is greater than the second period, and the model obtaining method comprises the following steps:
the projector projects a first preset image;
the method comprises the steps that a camera shoots a first preset image to obtain a first mixed image, the first mixed image is analyzed to obtain a first period of sine wave structured light as a first image, and a space coding image is obtained as a second image;
the processor acquires the absolute phase shift of the first period sine wave structured light according to the corresponding relation of the first image and the second image;
the projector projects a second preset image;
acquiring the absolute phase shift of the sine wave structured light of the second period according to the proportional relation between the first period and the second period;
the projector projects the second periodic sine wave structured light on the target object;
the camera shoots an object image of a target object projected by the second periodic sine wave structured light;
and the processor acquires a three-dimensional model of the target object according to the absolute phase shift of the second periodic sine wave structured light and the object image.
Preferably, the processor is connected to the camera and the projector respectively, and the processor sends a trigger signal to the camera and the projector respectively;
the camera comprises a camera lens, the projector comprises a projection lens, and the shooting direction of the camera lens and the projection direction of the projection lens are both aligned with the plane area;
the model obtaining method comprises the following steps:
a removable calibration pattern is arranged on the plane area;
the camera shoots a plane area with only the calibration pattern as a calibration image;
the processor utilizes the calibration image to calibrate the camera and acquires camera calibration data;
the projector projects at least 2 calibration pictures with brightness to the plane area;
the camera shoots a calibration picture of each brightness on the plane area as a picture image;
and the processor utilizes the camera calibration data and the picture image to calibrate the projector and the camera.
Preferably, the projector projects at least 2 calibration pictures with brightness to the plane area, including:
the projector projects at least 2 gray scale calibration pictures to the plane area; or the like, or a combination thereof,
the projector projects a calibration picture to the plane area, and projects gray level images with at least 2 gray levels on the calibration picture.
Preferably, the removable calibration pattern disposed on the planar area comprises:
displaying a calibration pattern on the plane area, wherein the color of the calibration pattern is variable;
the camera transmits a calibration image of a calibration pattern of at least 2 colors to the processor;
the processor calibrates the camera through all calibration images.
Preferably, the planar area includes a power supply module and a display panel, the display panel is provided with electrochromic dye, and the power supply module is connected with the electrochromic dye.
Preferably, the plane area is a translucent white board, the calibration pattern is printed on the front surface of the translucent white board, a plurality of LED lamps are arranged on the back surface of the translucent white board, and the illumination direction of the LED lamps is aligned with the translucent white board;
the model acquisition method comprises the following steps:
the processor controls the brightness of the LED lamp;
the processor also sends a trigger signal to the camera after sending a brightness adjusting signal to the control chip.
Preferably, the planar area is a liquid crystal planar area, the liquid crystal planar area displays a preset pattern, the shape of the preset pattern is the same as that of the calibration pattern, and the color of the preset pattern is variable.
The invention also provides a model acquisition device based on a laser projector, which is characterized by comprising a camera, a projector and a processor, wherein the model acquisition device is used for realizing the model acquisition method as claimed in any one of claims 1 to 8.
Preferably, the processor includes a development board of DLP lightcraft 4500, model acquiring device includes a housing, the camera and the projector are both disposed in the housing, the camera includes a camera lens, and the projector includes a projection lens, and the camera lens and the projection lens are photographed on a front surface of the housing.
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 model acquisition device based on the laser projector has the advantages of high operation speed, short time for acquiring the model of the object and high model precision. .
Drawings
Fig. 1 is a flowchart of a model acquisition method according to embodiment 1 of the present invention.
Fig. 2 is another flowchart of the model obtaining method 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
The embodiment provides a model acquisition device based on a laser projector, which comprises a camera, a projector and a processor.
The projector is a color laser projector.
The processor includes a development board model DLP lightcraft 4500, texas instruments, usa.
The model acquisition device comprises a shell, the camera and the projector are arranged in the shell, the camera comprises a camera lens, the projector comprises a projection lens, and the camera lens and the projection lens shoot in the front of the shell.
In the present embodiment, the camera and the projector are of an integral structure, but the model acquisition apparatus of the present embodiment may be implemented by a separate camera and a separate projector, using a computer as a processor.
The processor is used for calibrating the camera and the projector;
the projector is used for projecting a preset image, the preset image is a space coding image projected by a red laser in the projector, and a sine wave structured light is projected by a green laser;
the camera is used for shooting a preset image to obtain a mixed image;
the processor is used for analyzing the mixed image to obtain sine wave structured light data and space coding data;
the processor is used for acquiring the absolute phase shift of the sine wave structured light according to the corresponding relation between the sine wave structured light data and the spatial coding data;
the projector is used for projecting the sine wave structured light on a target object;
the camera is used for shooting an object image of a target object projected by sine wave structured light;
the processor is used for acquiring a three-dimensional model of the target object according to the absolute phase shift of the sine wave structured light and the object image.
Specifically, the default image includes a first default image and a second default image,
the first preset image is a space coding image projected by a red laser in a projector, the green laser projects sine wave structured light with a first period, and the blue laser projects a black image;
the second preset image is a space coding image projected by a red laser in the projector, the green laser projects sine wave structured light with a second period, the blue laser projects a black image, and the first period is greater than the second period.
The projector is used for projecting a first preset image;
the camera is used for shooting a first preset image to obtain a first mixed image, analyzing the first mixed image to obtain a first period of sine wave structured light as a first image and obtaining a spatial coding image as a second image;
the processor is used for acquiring the absolute phase shift of the first periodic sine wave structured light according to the corresponding relation between the first image and the second image;
the projector is used for projecting a second preset image;
the processor is used for acquiring the absolute phase shift of the sine wave structured light of the second period according to the proportional relation between the first period and the second period;
the projector is used for projecting second periodic sine wave structured light on the target object;
the camera is used for shooting an object image of a target object projected by the second periodic sine wave structure light;
and the processor is used for acquiring a three-dimensional model of the target object according to the absolute phase shift of the second periodic sine wave structured light and the object image.
Since the sine wave structured light of the first period and the sine wave structured light of the second period and the spatial coding image are projected by respective colors, the first image, the second image and the third image can be obtained by analyzing the colors of the projected images.
In this embodiment, the spatial coding image is a stripe generated by the Debruijn sequence, and the absolute phase shift of the sinusoidal image is calculated by aligning the spatial coding image with the sinusoidal image.
The model acquisition device of the present embodiment includes functions of a specific calibration camera and a projector.
The processor is respectively connected with the camera and the projector, and respectively sends trigger signals to the camera and the projector;
the camera comprises a camera lens, the projector comprises a projection lens, and the shooting direction of the camera lens and the projection direction of the projection lens are both aligned with the plane area;
a removable calibration pattern is arranged on the plane area;
the camera is used for shooting a plane area only with the calibration pattern as a calibration image;
the processor is used for calibrating the camera by utilizing the calibration image and acquiring camera calibration data;
the projector is used for projecting at least 2 calibration pictures with brightness to the plane area;
the camera is used for shooting a calibration picture of each brightness on the plane area as a picture image;
the processor is used for calibrating the projector and the camera by using the camera calibration data and the picture image.
Specifically, the projector projects at least 2 calibration pictures with brightness to the plane area.
The calibration pictures of the two luminances can be obtained in one of two ways.
The projector projects at least 2 gray scale calibration pictures to the plane area; or the like, or, alternatively,
the projector projects a calibration picture to the plane area, and projects gray level images with at least 2 gray levels on the calibration picture.
The removable calibration pattern on the planar area comprises:
displaying a calibration pattern on the plane area, wherein the color of the calibration pattern is variable;
the camera is used for transmitting a calibration image of a calibration pattern of at least 2 colors to the processor;
the processor is used for calibrating the camera through all calibration images.
The function of calibrating the variable color of the pattern can be realized by the following 3 ways:
the display panel is provided with electrochromic dye, and the power supply module is connected with the electrochromic dye.
In a second mode, the plane area is a semitransparent white board, the calibration pattern is printed on the front surface of the semitransparent white board, a plurality of LED lamps are arranged on the back surface of the semitransparent white board, and the illumination directions of the LED lamps are aligned to the semitransparent white board;
the model acquisition method comprises the following steps:
the processor controls the brightness of the LED lamp;
the processor also sends a trigger signal to the camera after sending a brightness adjusting signal to the control chip.
In a third mode, the planar area is a liquid crystal planar area, the liquid crystal planar area displays a preset pattern, the shape of the preset pattern is the same as that of the calibration pattern, and the color of the preset pattern is changeable.
Fig. 1, with the above model obtaining apparatus, this embodiment further provides a model obtaining method, including:
since the green laser beam has the highest signal intensity and is most easily analyzed and identified, the green laser beam is used to record the sine wave structured light.
103, analyzing the mixed image to obtain sine wave structured light data and spatial coding data;
104, acquiring the absolute phase shift of the sine wave structured light by the processor according to the corresponding relation of the sine wave structured light data and the spatial coding data;
105, projecting the sine wave structured light on a target object by the projector;
and step 107, the processor acquires a three-dimensional model of the target object according to the absolute phase shift of the sine wave structured light and the object image.
Referring to fig. 2, further, the present embodiment provides a more specific model obtaining method, the model obtaining method has higher precision, the preset images include a first preset image and a second preset image,
the first preset image is a space coding image projected by a red laser in a projector, the green laser projects sine wave structured light with a first period, and the blue laser projects a black image;
the second preset image is a space coding image projected by a red laser in the projector, the green laser projects sine wave structured light with a second period, the blue laser projects a black image, wherein the first period is greater than the second period, and the model obtaining method comprises the following steps:
and step 208, the processor acquires a three-dimensional model of the target object according to the absolute phase shift of the second periodic sine wave structured light and the object image.
The calibration method of the camera and the projector in the steps 100 and 200 comprises the following steps:
a removable calibration pattern is arranged on the plane area;
the camera shoots a plane area with only the calibration pattern as a calibration image;
the processor utilizes the calibration image to calibrate the camera and acquires camera calibration data;
the projector projects at least 2 calibration pictures with brightness to the plane area;
the camera shoots a calibration picture of each brightness on the plane area to be a picture image;
and the processor utilizes the camera calibration data and the picture image to calibrate the projector and the camera.
The projector projects at least 2 calibration pictures with brightness to the plane area, and the calibration pictures comprise:
the projector projects at least 2 gray scale calibration pictures to the plane area;
in addition, a calibration picture can be projected to the plane area through the projector, and a gray image with at least 2 gray levels can be projected on the calibration picture. Namely, the calibration pictures with two brightness are obtained by the way of lighting on the calibration pictures.
The plane area is provided with a removable calibration pattern which comprises:
displaying a calibration pattern on the plane area, wherein the color of the calibration pattern is variable;
the camera transmits a calibration image of a calibration pattern of at least 2 colors to the processor;
the processor calibrates the camera through all calibration images.
The color of the calibration pattern can be changed by the following 3 implementation methods:
the planar area comprises a power supply module and a display panel, wherein electrochromic dye is arranged on the display panel, and the power supply module is connected with the electrochromic dye.
The plane area is a semitransparent white board, the calibration pattern is printed on the front surface of the semitransparent white board, a plurality of LED lamps are arranged on the back surface of the semitransparent white board, and the illumination directions of the LED lamps are aligned to the semitransparent white board;
the model obtaining method comprises the following steps:
the processor controls the brightness of the LED lamp;
and the processor also sends a trigger signal to the camera after sending a brightness adjusting signal to the control chip.
The planar area is a liquid crystal planar area, the liquid crystal planar area displays a preset pattern, the shape of the preset pattern is the same as that of the calibration pattern, and the color of the preset pattern is variable.
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 or modifications to these embodiments may be made by those skilled in the art without departing from the principle and spirit of this invention, and these changes and modifications are within the scope of this invention.
Claims (9)
1. A model acquisition method based on a laser projector, the model acquisition method being implemented by a model acquisition apparatus, the model acquisition apparatus comprising a camera, a projector and a processor, the projector being a color laser projector, the model acquisition method comprising:
the processor calibrates the camera and the projector;
the projector projects a preset image, the preset image is that a first laser projects a space coding image, a second laser projects sine wave structured light, a signal expression of the sine wave structured light is the sum of a constant and a sine wave expression, and a third laser projects an image of the intensity of the constant;
shooting a preset image by a camera to obtain a mixed image;
analyzing the mixed image to obtain sine wave structured light data and spatial coding data;
the processor acquires the absolute phase shift of the sine wave structured light according to the corresponding relation between the sine wave structured light data and the spatial coding data;
the projector projects the sine wave structured light on the target object;
the camera shoots an object image of a target object projected by sine wave structured light;
the processor acquires a three-dimensional model of a target object according to the absolute phase shift of the sine wave structured light and the object image;
the processor is respectively connected with the camera and the projector, and respectively sends trigger signals to the camera and the projector;
the camera comprises a camera lens, the projector comprises a projection lens, and the shooting direction of the camera lens and the projection direction of the projection lens are both aligned to a plane area;
the processor calibrating the camera and projector includes:
the plane area is provided with a removable calibration pattern;
the camera shoots a plane area with only the calibration pattern as a calibration image;
the processor utilizes the calibration image to calibrate the camera and acquires camera calibration data;
the projector projects at least 2 calibration pictures with brightness to the plane area;
the camera shoots a calibration picture of each brightness on the plane area as a picture image;
and the processor utilizes the camera calibration data and the picture image to calibrate the projector and the camera.
2. The model acquisition method of claim 1, wherein the model acquisition device comprises a digital filter, and the analyzing the hybrid image to acquire the sinusoidal structured light data and the spatially encoded data comprises:
the digital filter filters the low-frequency signal and the negative-frequency signal of the mixed image to obtain a filtered image.
3. The model acquisition method as claimed in claim 1, wherein said projector projects at least 2 calibration pictures of brightness to said planar region, comprising:
the projector projects at least 2 gray scale calibration pictures to the plane area; or the like, or, alternatively,
the projector projects a calibration picture to the plane area, and projects gray level images with at least 2 gray levels on the calibration picture.
4. The method of model acquisition as claimed in claim 1, wherein providing a removable calibration pattern on said planar area comprises:
displaying a calibration pattern on the plane area, wherein the color of the calibration pattern is variable;
the camera transmits a calibration image of a calibration pattern of at least 2 colors to the processor;
the processor calibrates the camera through all calibration images.
5. The model obtaining method of claim 4, wherein the planar area comprises a power supply module and a display panel, the display panel is provided with electrochromic dye, and the power supply module is connected with the electrochromic dye.
6. The model acquisition method as claimed in claim 4, wherein said planar area is a translucent white plate, the front surface of said translucent white plate is printed with said calibration pattern, the back surface of said translucent white plate is provided with a plurality of LED lamps, the illumination direction of said LED lamps is directed at said translucent white plate;
the model acquisition method comprises the following steps:
the processor controls the brightness of the LED lamp;
the processor also sends a trigger signal to the camera after sending the brightness adjusting signal to the control chip.
7. The model acquisition method as claimed in claim 4, wherein the planar area is a liquid crystal planar area, the liquid crystal planar area displays a predetermined pattern, the shape of the predetermined pattern is the same as the shape of the calibration pattern, and the color of the predetermined pattern is variable.
8. A model acquisition apparatus based on a laser projector, the model acquisition apparatus comprising a camera, a projector and a processor, the model acquisition apparatus being configured to implement the model acquisition method according to any one of claims 1 to 7.
9. The model acquisition device as claimed in claim 8, wherein the processor comprises a model DLP lightcraft 4500 development board, texas instruments, usa, the model acquisition device comprising a housing, the camera and the projector both disposed within the housing, the camera comprising a camera lens, and the projector comprising a projection lens, the camera lens and the projection lens captured on a front surface of the housing.
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