CN110276838A - Model acquisition methods and device based on laser-projector - Google Patents
Model acquisition methods and device based on laser-projector Download PDFInfo
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- CN110276838A CN110276838A CN201910460865.9A CN201910460865A CN110276838A CN 110276838 A CN110276838 A CN 110276838A CN 201910460865 A CN201910460865 A CN 201910460865A CN 110276838 A CN110276838 A CN 110276838A
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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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T19/00—Manipulating 3D models or images for computer graphics
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Abstract
The invention discloses a kind of model acquisition methods and device based on laser-projector, the model acquisition methods are realized by a model acquisition device, model acquisition device includes a camera, a projector and a processor, projector is color laser projector, and model acquisition methods include: calibration for cameras and projector；Project default image；Camera shoots default image capturing composite image；It parses the composite image and obtains sinusoidal configuration light data and spatial encoding data；Processor obtains the absolute phase-shift of sinusoidal configuration light according to the corresponding relationship of sinusoidal configuration light data and spatial encoding data；Projector projects sinusoidal configuration light on target object；The object image for the target object that camera shooting is projected by sinusoidal configuration light；Processor obtains the threedimensional model of target object according to the absolute phase-shift and object image of sinusoidal configuration light.The present invention has arithmetic speed fast, and the time for obtaining the model of object is short, the higher advantage of model accuracy.
Description
Technical field
The present invention relates to a kind of model acquisition methods and device based on laser-projector.
Background technique
Three-dimensional reconstruction refers to the mathematical model established to three-dimension object and be suitble to computer representation and processing, is in computer ring
The basis of its property is handled it, operated and analyzed under border, and establishes the virtual of expression objective world in a computer
The key technology of reality.
It is a kind of three-dimensional reconstruction mode that optical grating projection, which carries out three-dimensional reconstruction, and grating is projected to reference planes respectively and is tested
Body surface, what it is due to reference planes selection is horizontal plane, and the reference grating projected to above will not deform；Work as grating
When projecting to testee surface, grating can generate different degrees of deformation, be that measured object body surface is received due to projection grating
The modulation of face height.The testee height placed is different, and the phase change degree of grating is also different therewith, and two-dimensional surface becomes
The three-dimensional appearance information of body surface is carried in the phase change of shape striped.It therefore, can be with by seeking the changing value of phase
Height of the object at respective point is obtained, to obtain the chamfered shape of three-dimension object.
Slow, the low defect of precision that there are modeling speeds in existing optical grating projection progress three-dimensional reconstruction.
Summary of the invention
The technical problem to be solved by the present invention is to model to overcome existing optical grating projection exist in three-dimensional reconstruction
Speed is slow, the low defect of precision, provides fast with arithmetic speed, and the time for obtaining the model of object is short, and model accuracy is higher
The model acquisition methods and device based on laser-projector of advantage.
The present invention is to solve above-mentioned technical problem by following technical proposals:
A kind of model acquisition methods based on laser-projector, it is characterized in that, the model acquisition methods pass through a mould
Type acquisition device realizes that the model acquisition device includes a camera, a projector and a processor, and the projector is coloured silk
Color laser-projector, the model acquisition methods include:
The processor demarcates the camera and projector；
The projector projects preset image, and the default image is first laser device projecting space code pattern in projector
Picture, second laser project sinusoidal configuration light, and the signal expression of the sinusoidal configuration light is a constant and sine wave table
Up to the sum of formula, the third laser projects the image of the intensity of the constant；
Camera shoots default image capturing composite image；
It parses the composite image and obtains sinusoidal configuration light data and spatial encoding data；
The processor obtains sine wave knot according to the corresponding relationship of sinusoidal configuration light data and spatial encoding data
The absolute phase-shift of structure light；
The projector projects sinusoidal configuration light on target object；
The object image for the target object that the camera shooting is projected by sinusoidal configuration light；
The processor obtains the three-dimensional mould of target object according to the absolute phase-shift and object image of sinusoidal configuration light
Type.
Preferably, the model acquisition device includes a digital filter, parses the composite image and obtain sine wave knot
Structure light data and spatial encoding data include:
The low frequency signal and negative frequency signal that the digital filter filters the composite image are to obtain filtering image.
Preferably, the processor is separately connected the camera and the projector, the processor is to the camera
And the projector sends trigger signal respectively；
The camera includes a pick-up lens, and the projector includes a projection lens, the shooting side of the pick-up lens
The plane domain is directed to the projecting direction of the projection lens；
The model acquisition methods include:
The plane domain is equipped with a removable calibration pattern；
The plane domain of the camera shooting only calibration pattern is calibration image；
The processor demarcates the camera using the calibration image, and obtains camera calibration data；
The projector projects the calibration picture of at least two brightness to the plane domain；
The calibration picture that the camera shoots each brightness on the plane domain is picture images；
The processor carries out projector and the camera using the camera calibration data and the picture images
Between calibration.
Preferably, the projector projects the calibration picture of at least two brightness to the plane domain, comprising:
The projector projects the calibration picture of at least two gray scale to the plane domain；Or,
The projector projects at least two in the calibration maps on piece to one calibration picture of plane domain projection
The grayscale image of gray scale.
Preferably, the plane domain includes: equipped with a removable calibration pattern
Calibration pattern, the color changeable of the calibration pattern are shown on the plane domain；
The camera transmits the calibration image of the calibration pattern of at least two color to the processor；
The processor passes through whole calibration images and demarcates the camera.
Preferably, the plane domain includes a power supply module and a display panel, the display panel is equipped with electricity
Chromotropic dye is caused, the power supply module is connect with the electrochromic dyes.
Preferably, the plane domain is a translucent blank, the calibration maps are printed in the front of the translucent blank
Case, the back side of the translucent blank are equipped with several LED light, and the illumination direction of the LED light is directed at the translucent blank；
The model acquisition methods include:
The processor controls the brightness of the LED light；
After the processor also sends adjusting luminance signal to the control chip, Xiang Suoshu camera sends trigger signal.
Preferably, the plane domain is liquid crystal planer region, the liquid crystal planer region shows predetermined pattern, described pre-
If the shape of pattern is identical as the calibration shape of pattern, the color changeable of predetermined pattern.
The present invention also provides a kind of model acquisition device based on laser-projector, which is characterized in that the model obtains
Device includes a camera, a projector and a processor, and the model acquisition device is for realizing in such as claim 1 to 8
Model acquisition methods described in any one.
Preferably, the processor includes opening for the model DLP LightCrafter4500 of Texas Instruments
Plate is sent out, the model acquisition device includes a shell, and the camera and the projector are set in the shell, the phase
Machine includes a pick-up lens, and the projector includes a projection lens, the pick-up lens and the projection lens and shoots
In the front of the shell.
On the basis of common knowledge of the art, above-mentioned each optimum condition, can any combination to get each preferable reality of the present invention
Example.
The positive effect of the present invention is that:
Model acquisition device based on laser-projector of the invention have arithmetic speed it is fast, obtain the model of object when
Between short, the higher advantage of model accuracy.
Detailed description of the invention
Fig. 1 is the flow chart of the model acquisition methods of the embodiment of the present invention 1.
Specific embodiment
The present invention is further illustrated below by the mode of embodiment, but does not therefore limit the present invention to the reality
It applies among a range.
Embodiment 1
The present embodiment provides a kind of model acquisition device based on laser-projector, the model acquisition device include a phase
Machine, a projector and a processor.
The projector is color laser projector.
The processor includes the development board of the model DLP LightCrafter 4500 of Texas Instruments.
The model acquisition device includes a shell, and the camera and the projector are set in the shell, institute
Stating camera includes a pick-up lens, and the projector includes a projection lens, and the pick-up lens and the projection lens are simultaneously
It shoots in the front of the shell.
The camera and projector are integrated type structure in the present embodiment, but can also pass through independent camera and independence
Projector, the model acquisition device of the present embodiment is realized using computer as processor.
The processor is for demarcating the camera and projector；
The projector is that first laser device projecting space is compiled in projector for projecting default image, the default image
Code image, second laser project sinusoidal configuration light, and the signal expression of the sinusoidal configuration light is a constant and sine
The sum of wave expression formula, the third laser project the image of the intensity of the constant；
Camera is for shooting default image capturing composite image；
Processor obtains sinusoidal configuration light data and spatial encoding data for parsing the composite image；
The processor is used to be obtained according to the corresponding relationship of sinusoidal configuration light data and spatial encoding data sinusoidal
The absolute phase-shift of wave structure light；
The projector is used to project sinusoidal configuration light on target object；
The camera is used to shoot the object image of the target object projected by sinusoidal configuration light；
The processor is used to obtain the three of target object according to the absolute phase-shift and object image of sinusoidal configuration light
Dimension module.
Further, the model acquisition device includes a digital filter, parses the composite image and obtains sine wave
Structured light data and spatial encoding data include:
The low frequency signal and negative frequency signal that the digital filter filters the composite image are to obtain filtering image.
The signal expression of the sinusoidal configuration light is A+Bcos (f) in the present embodiment, and the constant is A, institute
The image that third laser projection intensity is A is stated, first laser device is red laser in the present embodiment, and second laser is
Green laser can be recorded preferably using green laser, identify the sinusoidal configuration light.Second laser and third
The image of laser can play the role of abatement, and more stable signal data can be being obtained using digital filter.
Sinusoidal configuration light and space encoding image are launched by respective color, pass through the parsing to projection image color
Sinusoidal configuration optical image and space encoding image can be obtained.
Space coded image is the striped that Debruijn sequence generates in the present embodiment, and the present embodiment utilizes space encoding figure
Absolute phase-shift as calculating sine wave image with sine wave image alignment.
The model acquisition device of the present embodiment includes the function of specific calibration for cameras and projector.
The processor is separately connected the camera and the projector, and the processor is to the camera and the throwing
Shadow instrument sends trigger signal respectively；
The camera includes a pick-up lens, and the projector includes a projection lens, the shooting side of the pick-up lens
The plane domain is directed to the projecting direction of the projection lens；
The plane domain is equipped with a removable calibration pattern；
The plane domain that the camera is used to shoot only calibration pattern is calibration image；
The processor is used to demarcate the camera using the calibration image, and obtains camera calibration data；
The projector is used to project the calibration picture of at least two brightness to the plane domain；
The calibration picture that the camera is used to shoot each brightness on the plane domain is picture images；
The processor is used to utilize the camera calibration data and picture images progress projector and described
Calibration between camera.
Specifically, the projector projects the calibration picture of at least two brightness to the plane domain.
The calibration picture of two brightness can by two ways one of obtain.
The projector projects the calibration picture of at least two gray scale to the plane domain；Or,
The projector projects at least two in the calibration maps on piece to one calibration picture of plane domain projection
The grayscale image of gray scale.
The plane domain is equipped with a removable calibration pattern
Calibration pattern, the color changeable of the calibration pattern are shown on the plane domain；
The camera is used to transmit the calibration image of the calibration pattern of at least two color to the processor；
The processor is used to demarcate the camera by whole calibration images.
The function of the calibration pattern variable color can be realized by following 3 kinds of modes:
Mode one, the plane domain include a power supply module and a display panel, and the display panel is equipped with electricity
Chromotropic dye is caused, the power supply module is connect with the electrochromic dyes.
Mode two, the plane domain are a translucent blank, and the calibration maps are printed in the front of the translucent blank
Case, the back side of the translucent blank are equipped with several LED light, and the illumination direction of the LED light is directed at the translucent blank；
The model acquisition methods include:
The processor controls the brightness of the LED light；
After the processor also sends adjusting luminance signal to the control chip, Xiang Suoshu camera sends trigger signal.
Mode three, the plane domain are liquid crystal planer region, and the liquid crystal planer region shows predetermined pattern, described pre-
If the shape of pattern is identical as the calibration shape of pattern, the color changeable of predetermined pattern.
Fig. 1, using above-mentioned model acquisition device, the present embodiment also provides a kind of model acquisition methods, comprising:
Step 100, the processor demarcate the camera and projector；
Step 101, the projector projects preset image, and the default image is that first laser device projection is empty in projector
Between coded image, second laser projects sinusoidal configuration light, the signal expression of the sinusoidal configuration light be a constant with
The sum of sine wave expression formula, the third laser project the image of the intensity of the constant；
Step 102, camera shoot default image capturing composite image；
Step 103, processor parse the composite image and obtain sinusoidal configuration light data and spatial encoding data；
Step 104, the processor are obtained according to the corresponding relationship of sinusoidal configuration light data and spatial encoding data
The absolute phase-shift of sinusoidal configuration light；
Step 105, the projector project sinusoidal configuration light on target object；
The object image for the target object that step 106, camera shooting are projected by sinusoidal configuration light；
Step 107, the processor obtain target object according to the absolute phase-shift and object image of sinusoidal configuration light
Threedimensional model.
Further, the model acquisition device includes a digital filter, and step 103 includes:
The low frequency signal and negative frequency signal that the digital filter filters the composite image are to obtain filtering image.
Wherein the camera of step 100 and the scaling method of projector include:
Plane domain is equipped with a removable calibration pattern；
The plane domain of the camera shooting only calibration pattern is calibration image；
The processor demarcates the camera using the calibration image, and obtains camera calibration data；
The projector projects the calibration picture of at least two brightness to the plane domain；
The calibration picture that the camera shoots each brightness on the plane domain is picture images；
The processor carries out projector and the camera using the camera calibration data and the picture images
Between calibration.
The projector projects the calibration picture of at least two brightness to the plane domain, comprising:
The projector projects the calibration picture of at least two gray scale to the plane domain；
Furthermore it is also possible to by the projector to one calibration picture of plane domain projection, and in the calibration maps
On piece projects the grayscale image of at least two gray scale.Namely think that the mode of calibration maps on piece polishing obtains the calibration of two brightness
Picture.
The plane domain is equipped with a removable calibration pattern
Calibration pattern, the color changeable of the calibration pattern are shown on the plane domain；
The camera transmits the calibration image of the calibration pattern of at least two color to the processor；
The processor passes through whole calibration images and demarcates the camera.
The color changeable of the calibration pattern may include by following 3 kinds of implementation methods:
The plane domain includes a power supply module and a display panel, and the display panel is contaminated equipped with electrochromism
Material, the power supply module are connect with the electrochromic dyes.
The plane domain is a translucent blank, and the calibration pattern is printed in the front of the translucent blank, described
The back side of translucent blank is equipped with several LED light, and the illumination direction of the LED light is directed at the translucent blank；
The model acquisition methods include:
The processor controls the brightness of the LED light；
After the processor also sends adjusting luminance signal to the control chip, Xiang Suoshu camera sends trigger signal.
Stating plane domain is liquid crystal planer region, and the liquid crystal planer region shows predetermined pattern, the predetermined pattern
Shape is identical as the calibration shape of pattern, the color changeable of predetermined pattern.
Although specific embodiments of the present invention have been described above, it will be appreciated by those of skill in the art that these
It is merely illustrative of, protection scope of the present invention is defined by the appended claims.Those skilled in the art is not carrying on the back
Under the premise of from the principle and substance of the present invention, many changes and modifications may be made, but these are changed
Protection scope of the present invention is each fallen with modification.
Claims (10)
1. a kind of model acquisition methods based on laser-projector, which is characterized in that the model acquisition methods pass through a model
Acquisition device realizes that the model acquisition device includes a camera, a projector and a processor, and the projector is colour
Laser-projector, the model acquisition methods include:
The processor demarcates the camera and projector；
The projector projects preset image, and the default image is first laser device projecting space coded image in projector,
Second laser projects sinusoidal configuration light, and the signal expression of the sinusoidal configuration light is a constant and sine wave expression formula
The sum of, the third laser projects the image of the intensity of the constant；
Camera shoots default image capturing composite image；
It parses the composite image and obtains sinusoidal configuration light data and spatial encoding data；
The processor obtains sinusoidal configuration light according to the corresponding relationship of sinusoidal configuration light data and spatial encoding data
Absolute phase-shift；
The projector projects sinusoidal configuration light on target object；
The object image for the target object that the camera shooting is projected by sinusoidal configuration light；
The processor obtains the threedimensional model of target object according to the absolute phase-shift and object image of sinusoidal configuration light.
2. model acquisition methods as described in claim 1, which is characterized in that the model acquisition device includes a digital filtering
Device, parses the composite image acquisition sinusoidal configuration light data and spatial encoding data includes:
The low frequency signal and negative frequency signal that the digital filter filters the composite image are to obtain filtering image.
3. model acquisition methods as described in claim 1, which is characterized in that the processor be separately connected the camera and
The projector, the processor send trigger signal to the camera and the projector respectively；
The camera include a pick-up lens, the projector include a projection lens, the shooting direction of the pick-up lens with
The projecting direction of the projection lens is directed at the plane domain；
The model acquisition methods include:
The plane domain is equipped with a removable calibration pattern；
The plane domain of the camera shooting only calibration pattern is calibration image；
The processor demarcates the camera using the calibration image, and obtains camera calibration data；
The projector projects the calibration picture of at least two brightness to the plane domain；
The calibration picture that the camera shoots each brightness on the plane domain is picture images；
The processor is carried out between projector and the camera using the camera calibration data and the picture images
Calibration.
4. model acquisition methods as claimed in claim 3, which is characterized in that the projector is projected to the plane domain
The calibration picture of few 2 brightness, comprising:
The projector projects the calibration picture of at least two gray scale to the plane domain；Or,
The projector projects at least two gray scale in the calibration maps on piece to one calibration picture of plane domain projection
Grayscale image.
5. model acquisition methods as claimed in claim 3, which is characterized in that the plane domain is equipped with a removable mark
Determining pattern includes:
Calibration pattern, the color changeable of the calibration pattern are shown on the plane domain；
The camera transmits the calibration image of the calibration pattern of at least two color to the processor；
The processor passes through whole calibration images and demarcates the camera.
6. model acquisition methods as claimed in claim 5, which is characterized in that the plane domain include a power supply module and
One display panel, the display panel are equipped with electrochromic dyes, and the power supply module is connect with the electrochromic dyes.
7. model acquisition methods as claimed in claim 5, which is characterized in that the plane domain is a translucent blank, institute
The calibration pattern is printed in the front for stating translucent blank, and the back side of the translucent blank is equipped with several LED light, the LED
The illumination direction of lamp is directed at the translucent blank；
The model acquisition methods include:
The processor controls the brightness of the LED light；
After the processor also sends adjusting luminance signal to the control chip, Xiang Suoshu camera sends trigger signal.
8. model acquisition methods as claimed in claim 5, which is characterized in that the plane domain is liquid crystal planer region, institute
It states liquid crystal planer region and shows predetermined pattern, the shape of the predetermined pattern is identical as the calibration shape of pattern, presets figure
The color changeable of case.
9. a kind of model acquisition device based on laser-projector, which is characterized in that the model acquisition device include a camera,
One projector and a processor, the model acquisition device is for realizing mould as claimed in any of claims 1 to 8 in one of claims
Type acquisition methods.
10. model acquisition device as claimed in claim 9, which is characterized in that the processor includes Texas Instruments's public affairs
The development board of the model DLP LightCrafter 4500 of department, the model acquisition device include a shell, the camera with
And the projector is set in the shell, the camera includes a pick-up lens, and the projector includes a projection lens,
The pick-up lens and the projection lens are simultaneously shot in the front of the shell.
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| CN111986154A (en) * | 2020-07-20 | 2020-11-24 | 深圳奥比中光科技有限公司 | Optical information detection method, device and equipment |
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