CN111273439A - Full scene three-dimensional optical scanning system and optimization method - Google Patents
Full scene three-dimensional optical scanning system and optimization method Download PDFInfo
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- CN111273439A CN111273439A CN202010080196.5A CN202010080196A CN111273439A CN 111273439 A CN111273439 A CN 111273439A CN 202010080196 A CN202010080196 A CN 202010080196A CN 111273439 A CN111273439 A CN 111273439A
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/0012—Optical design, e.g. procedures, algorithms, optimisation routines
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
Abstract
The embodiment of the invention provides a full-scene three-dimensional optical scanning system and an optimization method thereof, the full-scene three-dimensional optical scanning system comprises acquisition devices, a transparent flat plate, a support and a control system, a target object to be scanned is arranged on the transparent flat plate, the acquisition devices are controlled by the control system to scan the target object on the transparent flat plate, at least two acquisition devices are respectively arranged above and below the side of the transparent flat plate and respectively acquire images of the target object, the acquisition devices above the side of the transparent flat plate are not influenced by optical refraction caused by the transparent flat plate, the target object is scanned by combining the acquisition devices below the side of the transparent flat plate to acquire the image caused by the optical refraction caused by the transparent flat plate, complete three-dimensional data of the target object can be acquired, and images which are subjected to multiple scanning without specific marking or manual characteristic selection are spliced, and directly acquiring three-dimensional data of the whole scene and the whole field of view.
Description
Technical Field
The invention relates to the technical field of optical three-dimensional scanning systems, in particular to a full-scene three-dimensional optical scanning system and an optimization method.
Background
A Surface three-dimensional scanning system (Surface 3D scanner), hereinafter referred to as a three-dimensional scanning system or a three-dimensional scanning system for simplicity, is used to detect and analyze the external shape (geometric configuration) of a target object and perform three-dimensional reconstruction, and in some cases, simultaneously acquire information such as Surface texture and color of the object. The three-dimensional scanning system has wide application in the fields of industrial design and reverse engineering, defect detection, robot guidance, digital cultural relic collection, medical diagnosis, animation, game creation and the like. The conventional automatic three-dimensional scanning system mostly adopts a mode of combining a three-dimensional camera and a rotating platform. During scanning, the computer controls the rotating platform to drive an object placed on the rotating platform to rotate at a certain speed, and simultaneously controls the three-dimensional camera to acquire and process images to obtain three-dimensional information (depth or point cloud data) and/or texture information of the surface of the object so as to realize three-dimensional reconstruction of the target object. There are also automatic three-dimensional scanning systems that use robots instead of human hands (i.e., robots instead of humans) to achieve motion around a target object to capture images and perform corresponding processing.
The traditional turntable type three-dimensional scanning system benefits from the unique structure, the distance between a lens and a target object is less in change when equipment runs, the image acquisition angle of the target object is stable, and the image background noise is low, so that the precision of processed three-dimensional data is high. However, such scanning systems cannot realize a true full-automatic scanning mode, because the position of the object needs to be manually adjusted in the process of acquiring complete three-dimensional data of the object, or else, an image of a surface of the target object, which is placed on the turntable and is blocked, cannot be acquired, which increases the time and labor cost of three-dimensional scanning; in addition, the manual change of the position of the target object in the scanning process sometimes results in that automatic stitching of two or more scanning results cannot be realized, and a specific mark or a manually selected feature point is needed to assist stitching of a model and an image of multiple scanning.
Disclosure of Invention
The embodiment of the invention discloses a full-scene three-dimensional optical scanning system and an optimization method, which solve the technical problems that the position of an object needs to be manually adjusted and images needing to be subjected to multiple scanning assisted by using a specific mark or manually selected feature points are spliced in the process of acquiring complete three-dimensional data of the object.
The embodiment of the invention provides a full scene three-dimensional optical scanning system,
including collection system, transparent dull and stereotyped, support and control system, transparent dull and stereotyped arranging in the support, collection system with the control system electricity is connected, collection system installs on the support, at least one collection system is installed respectively to transparent dull and stereotyped side below and side top.
The bracket comprises a mounting bracket and a rotating bracket, the transparent flat plate is arranged in the rotating bracket, and the rotating bracket can rotate relative to the mounting bracket, so that the acquisition device and the transparent flat plate rotate relatively.
The full-scene three-dimensional optical scanning system further comprises a rotary motor, wherein the rotary motor is installed on the installation support, the installation support is connected with the rotary support through the rotary motor, the rotary support is arranged in the installation support, and the rotary motor is electrically connected with the control system.
The full-scene three-dimensional optical scanning system further comprises a first base, the mounting support comprises an isolation support, the isolation support and the transparent flat plate are mounted on the first base, and the acquisition device is mounted on the rotating support.
The mounting bracket comprises a first fixing bracket and a first isolation bracket, the rotary motor is mounted on the first fixing bracket, the first fixing bracket is connected with the rotary bracket through the rotary motor, the acquisition device is mounted on the first fixing bracket, the first fixing bracket is connected with the first isolation bracket, the bottom surface of the transparent flat plate is connected with the top surface of the rotary bracket, and the rotary motor is arranged below the rotary bracket.
The full-scene three-dimensional optical scanning system further comprises a second base, the mounting support comprises a second fixing support and a second isolation support, the second fixing support and the second isolation support are both mounted on the base, the rotary motor is mounted on the second fixing support and connected with the rotary support, the rotary support is connected with the top surface of the transparent flat plate, and the acquisition device is mounted on the second fixing support.
The collecting devices are annularly distributed around the transparent flat plate, the collecting devices are installed on the support, the collecting devices are all RGB-D cameras, and the control system is a host.
The embodiment of the invention also provides a method for optimizing a three-dimensional scanning system based on the offset generated after light rays pass through a transparent flat plate, which comprises the following steps:
acquiring calculation parameters of an incident angle in air;
acquiring an incident angle a in the air according to the calculation parameters of the incident angle in the air;
obtaining a calculation parameter of the internal refraction angle of the transparent flat plate;
obtaining a refraction angle b in the transparent flat plate according to the calculation parameters of the refraction angle in the transparent flat plate;
acquiring calculation parameters of the travel of light rays in the transparent flat plate;
acquiring the travel L of the light in the transparent flat plate according to the calculation parameters of the travel of the light in the transparent flat plate;
acquiring offset D of an imaging point in the direction vertical to the light ray according to the incident angle a in the air, the refraction angle b in the transparent flat plate and the stroke L of the light ray in the transparent flat plate;
and obtaining an optimized three-dimensional scanning system according to the offset D of the imaging point in the direction vertical to the light ray.
Acquiring the imaging offset D of the offset D in the camera lens according to the offset D of the imaging point in the vertical direction of the light and the magnification M of the camera lensi；
According to the imaging offset DiAnd obtaining the optimized three-dimensional scanning system.
The method for acquiring the magnification M of the camera lens comprises the following steps:
and acquiring the magnification M of the camera lens according to the object distance u of the target object and the focal length f of the camera lens.
Wherein, the calculation parameters of the internal refraction angle of the transparent flat plate comprise the incident angle a in the air and the refractive index n of the transparent flat plate;
the calculation parameters of the incidence angle in the air comprise the height H from the upper vertex of the target object to the upper surface of the transparent flat platetThickness H of the transparent plategHeight H from collection point to lower surface of transparent flat platecAnd the lateral distance X between the imaging point and the target object;
the calculation parameters of the light ray stroke in the transparent flat plate comprise the refraction angle b in the transparent flat plate and the thickness H of the transparent flat plateg。
According to the technical scheme, the embodiment of the invention has the following advantages:
the embodiment of the invention provides a full-scene three-dimensional optical scanning system, which comprises an acquisition device, a transparent flat plate, a bracket and a control system, wherein a target object to be scanned is arranged on the transparent flat plate, the control system controls the acquisition devices to scan a target object on the transparent flat plate, at least two acquisition devices are respectively arranged above and below the transparent flat plate and respectively acquire images of the target object, the collecting device above the transparent flat plate side is not affected by the optical refraction caused by the transparent flat plate, and the collecting device below the transparent flat plate side is combined to scan the target object to obtain the image of the optical refraction caused by the transparent flat plate, so that the complete three-dimensional data of the target object can be obtained, and the three-dimensional data of the full scene and the full field of view can be directly obtained without special marks or splicing of images obtained by manually selecting features and scanning for multiple times.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.
Fig. 1 is a schematic structural diagram of a first embodiment of a full-scene three-dimensional optical scanning system according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a second embodiment of a full-scene three-dimensional optical scanning system according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a third embodiment of a full-scene three-dimensional optical scanning system according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a fourth embodiment of a full-scene three-dimensional optical scanning system according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a method for optimizing a three-dimensional scanner based on an offset generated after light passes through a transparent flat plate according to an embodiment of the present invention;
fig. 6 is a block diagram of a method for optimizing a three-dimensional scanner based on an offset generated after light passes through a transparent flat plate according to an embodiment of the present invention.
Detailed Description
The embodiment of the invention discloses a full-scene three-dimensional optical scanning system, which solves the technical problems that the position of an object needs to be manually adjusted and images needing to be scanned for multiple times by using a specific mark or manually selecting a characteristic point for assisting in splicing in the process of acquiring complete three-dimensional data of the object.
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the embodiments described below are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 4, an embodiment of a full-scene three-dimensional optical scanning system provided in an embodiment of the present invention includes an acquisition device 1, a transparent flat plate 2, a bracket 3, and a control system 4, where the transparent flat plate 2 is disposed in the bracket 3, the acquisition device 1 is electrically connected to the control system 4, the acquisition device 1 is mounted on the bracket 3, and at least one acquisition device 1 is respectively mounted below and above a side of the transparent flat plate 2.
The collecting device 1 is annularly distributed around the transparent flat plate 2, the collecting device 1 is installed on the support 3, the collecting device 1 is an RGB-D camera, and the control system 4 is a host. The control system converts the acquired image data into three-dimensional data for processing, thereby achieving the purpose of three-dimensional reconstruction. The target object is placed on the transparent flat plate 2, the image of the target object shot by the acquisition device 1 above the side of the transparent flat plate 2 from the side upper part is not affected by the optical refraction caused by the transparent flat plate 2, the accuracy is higher, the image acquired by the acquisition device 1 above the side can be preferentially used in the three-dimensional reconstruction process, so that the three-dimensional reconstruction of more surfaces (except the surface facing the transparent flat plate 2) of the target object is more accurate, the acquisition device 1 below the side of the transparent flat plate 2 is shifted under the action of the optical refraction, and after processing, the complete three-dimensional reconstruction can be accurately carried out together with the acquisition device 1 above the side of the transparent flat plate 2, the image of each angle of the target object can be better acquired through the acquisition devices 1 arranged at each angle, and more accurate three-dimensional reconstruction can be carried out according to the acquired image, the splicing of images which are scanned for multiple times by specific marks or manually selected features is avoided, and the collected three-dimensional data of the full scene and the full view angle can be directly reconstructed in a three-dimensional mode again.
As shown in fig. 1, the first embodiment:
the support 3 is an isolation support 31, and the isolation support 31 is used for isolating light so that the illumination of the whole scene three-dimensional optical scanning system is not affected by the surrounding environment, or an even light source for supplementing light by an RGB camera is arranged so that the illumination of a target object in all directions is very close. The full-scene three-dimensional optical scanning system further comprises a base 5, and the base 5 can be a ground or a fixed desktop. The isolation support 31 and the transparent flat plate 2 are arranged on the base 5, the transparent flat plate 2 can also be arranged on the isolation support 31, all the acquisition devices 1 are arranged on the isolation support 31, the acquisition devices 1 are respectively arranged above and below the side of the transparent flat plate 2, and also comprise other acquisition devices 1 which are arranged above, below and around the transparent flat plate 2 and are arranged on the isolation support 31 at various angles, the acquisition devices 1 are circularly arranged around the transparent flat plate 2 to acquire images of the transparent flat plate 2 at three hundred and sixty degrees in the transverse direction and acquire images in the vertical direction, and then the acquisition devices 1 above and below the side are combined to scan the target object on the transparent flat plate 2, the transparent flat plate is transparent, so that the target object can be prevented from being shielded, and the position of the target object can be prevented from being manually adjusted, accurate scanning of the target object is achieved.
As shown in fig. 2, the second embodiment:
the same as the first embodiment, compared with the first embodiment, the difference is that the bracket 3 includes a mounting bracket and a rotating bracket 34, the rotating bracket 34 is connected with the mounting bracket, the transparent plate 2 is placed in the rotating bracket 34, and the rotating bracket 34 can rotate relative to the mounting bracket, so that the collecting device 1 and the transparent plate 2 rotate relatively. The use of the collecting device 1 can be reduced by rotating the holder 34. When the rotating support 34 is not used, more acquisition devices 1 are needed to acquire three hundred sixty degrees of images of the target object. By adopting the rotating bracket 34, the acquisition device 1 can rotate relative to the transparent flat plate 2, so that the target object above the transparent flat plate 2 can be subjected to image acquisition of three hundred and sixty degrees, and the acquisition device 1 is saved. Compared with the mode of adopting the rotating bracket 34 and not adopting the rotating bracket 34, the method has the advantages that the requirement on the acquisition device 1 is lower, the shaking generated in the rotating process does not need to be considered, the accuracy is higher, and the acquired image effect is more excellent.
The full-scene three-dimensional optical scanning system further comprises a rotating motor 33, wherein the rotating motor 33 is installed on the installation support, the installation support is connected with the rotating support 34 through the rotating motor 33, the rotating support 34 is arranged in the installation support, and the rotating motor 33 is electrically connected with the control system 4. The rotation of the rotary motor 33 is controlled by the control system 4, and the rotary motor 33 drives the rotary bracket 34 to rotate. The method realizes the change from a manual control mode to automatic control, places the target object on the transparent flat plate 2, and can automatically complete the scanning and three-dimensional reconstruction of the target object under the control of the control system 4.
The full-scene three-dimensional scanning system comprises a first base 51, the mounting bracket and the transparent flat plate 2 are mounted on the first base 51, the first base 51 is the same as the base 5 in the first embodiment, and the acquisition device 1 is mounted on the rotating bracket 34. The mounting bracket includes an isolation bracket 31, the isolation bracket 31 in this embodiment is the same as the isolation bracket 31 in the first embodiment, and the control system 4 controls the rotating motor 33 to drive the rotating bracket 34 and the collecting device 1 on the rotating bracket 34 to rotate, so as to collect an image of a target object placed on the transparent flat plate 2. The rotating bracket 34 is driven by a rotating motor 33 connected with the rotating bracket 34 to realize the rotation of the acquisition device 1 around the target object, and when the acquisition device 1 stops rotating for a certain angle, the acquisition device 1 synchronously acquires N groups of shape and texture images (namely depth/point cloud images and RGB images) of the target object. The synchronous acquisition refers to that images acquired by a plurality of RGB-D cameras are acquired at the same rotation angle (view field angle), and if the used 3D cameras are not interfered with each other, such as a binocular 3D camera, the plurality of 3D cameras can acquire the images at the same time completely; if the 3D cameras used may interfere with each other, such as structured light 3D or time of flight (TOF)3D cameras, multiple cameras cannot capture images at the same time, and they capture images in a sequential order, requiring both the target object and the cameras to remain stationary. The rotating bracket 34 rotates three hundred sixty degrees to complete the full view scan of the target object, for example, each time the rotating angle is ten degrees, a total of thirty-five rotations are required and thirty-six sets of RGB-D images are acquired. Generally, to avoid or minimize occlusion, the more complex the shape of the target object surface, the more RGB-D cameras are needed at the same viewing angle, and the smaller the angle of each rotation, and thus the larger the number of images captured.
As shown in fig. 3, the third embodiment:
the second embodiment is different in that: the rotating support 34 is connected with the transparent flat plate 2, and the acquisition device 1 is installed on the installation support. Specifically, the rotating bracket 34 drives the transparent flat plate 2 to rotate, the collecting device 1 is mounted on the mounting bracket, and the mounting bracket does not rotate. The mounting bracket comprises a first fixing bracket 321 and a first isolating bracket 311, the first isolating bracket 311 is functionally equivalent to the isolating bracket of the first embodiment and the second embodiment, the first isolating bracket 311 is mounted on the first base 51, the first fixing bracket 321 is arranged in the first isolating bracket 311, the first fixing bracket 321 can be mounted on the first base 51 or the first isolating bracket 311, the rotating motor 33 is mounted on the first fixing bracket 321, the first fixing bracket 321 is connected with the rotating bracket 34 through the rotating motor 33, the collecting device 1 is mounted on the first fixing bracket 321, and the transparent plate 2 is connected with the rotating bracket 34. The transparent plate 2 is placed above the rotating bracket 34. The first fixing bracket 321 is connected to the isolating bracket 31, and the rotary motor 33 is disposed below the rotary bracket 34.
The rotating motor 33 is arranged below the rotating support 34, the acquisition device 1 above the transparent flat plate 2 is not shielded by any support, images can be acquired at more visual angles, the images acquired by the acquisition device 1 above the transparent flat plate 2 can be preferentially used in the three-dimensional reconstruction process, so that the three-dimensional reconstruction of more surfaces (except the surface facing the transparent flat plate 2) of the target object is more accurate, in addition, the rotating motor 33 is arranged below and close to the base 5, the bearing requirement on the support is lower, and the rotating support 34 is more stable during rotation.
As shown in fig. 4, the fourth embodiment:
the fourth embodiment is different from the third embodiment in that: the full-scene three-dimensional optical scanning system further comprises a second base 52, the mounting bracket comprises a second fixing bracket 322 and a second isolation bracket 312, the second fixing bracket 322 and the second isolation bracket 312 are both mounted on the second base 52, the rotating motor 33 is mounted on the second fixing bracket 322, the rotating motor 33 is connected with the rotating bracket 34, the rotating bracket 34 is connected with the top surface of the transparent flat plate 2, and the acquisition device 1 is mounted on the second fixing bracket 322. The rotating frame 34 partially blocks the target object, so that more acquisition devices 1 on the upper side and the lower side of the transparent flat plate 2 are required to acquire and process the image of the target object, so as to accurately reconstruct the three-dimensional image.
The inventor finds that the target object is placed on the transparent flat plate, and the acquisition devices above and below the target object are used for acquiring the whole scene of the target object, so that the target object does not need to be adjusted manually, errors caused by manual adjustment are avoided, and at the moment, because the light can be refracted in the transparent flat plate, when the collecting device arranged below the object side of the target collects the light, the deviation can be generated due to the refraction of the light in the transparent flat plate, the deviation can cause errors in acquired three-dimensional data, errors can occur in the restoration of a target object in the three-dimensional reconstruction process, and the inventor further provides a method for optimizing the three-dimensional scanner based on the offset generated after light passes through the transparent flat plate.
The embodiment of the invention provides a method for optimizing a three-dimensional scanner based on offset generated after light rays pass through a transparent flat plate, which is used for solving the technical problems that acquired data are deviated due to the fact that scanning is carried out by manually adjusting an object, the target object can not be restored with high precision after three-dimensional reconstruction is carried out, and errors exist after the three-dimensional reconstruction.
Referring to fig. 1 and 2, a method for optimizing a three-dimensional scanner based on an offset generated after light passes through a transparent flat plate according to an embodiment of the present invention includes the following steps:
101: acquiring calculation parameters of an incident angle in air; wherein the incidence angle calculation parameter comprises the height H from the top point of the target object to the upper surface of the transparent flat platetThickness H of the transparent plategHeight H from collection point to lower surface of transparent flat platecAnd the imaging point to target object lateral distance X.
Obtaining the thickness H of the transparent flat plate by measuring the thickness of the transparent flat plateg；
The height H from the top point of the target object to the upper surface of the transparent flat plate is obtained by measuring the height from the top point of the target object to the upper surface of the transparent flat platet。
And the transverse distance X between the imaging point and the target object is obtained by measuring the transverse distance between the acquisition device and the target object.
According to the height H from the upper vertex of the target object to the upper surface of the transparent flat platetThickness H of the transparent plategHeight H from collection point to lower surface of transparent flat platecAcquiring the vertical distance H from the imaging point to a target object; namely, it is
H＝Ht+Hc+Hg；
102: acquiring an incident angle a in the air according to the calculation parameters of the incident angle in the air;
the air incident angle a is calculated as follows:
X＝(Ht+Hg+Hc)tan(a) (1)
the formula (1) is subjected to inverse trigonometric function calculation to obtain
103: obtaining a calculation parameter of the internal refraction angle of the transparent flat plate;
the refraction angle calculation parameters comprise an incidence angle a in the air and a refractive index n of the transparent flat plate. The refractive index n of the transparent plate is a fixed constant determined according to the selected transparent plate.
104: obtaining a refraction angle b in the transparent flat plate according to the calculation parameters of the refraction angle in the transparent flat plate;
the angle of refraction b within the transparent plate is calculated as follows:
sin(a)＝nsin(b) (2)
the formula (2) is subjected to inverse trigonometric function calculation to obtain
105: acquiring calculation parameters of the travel of light rays in the transparent flat plate;
the calculation parameters of the light ray stroke in the transparent flat plate comprise the refraction angle b in the transparent flat plate and the thickness H of the transparent flat plateg。
106: acquiring the travel L of the light in the transparent flat plate according to the calculation parameters of the travel of the light in the transparent flat plate;
the calculation for obtaining the travel L of the light in the transparent flat plate is as follows:
Hg＝Lcos(b) (3)
by transforming the formula (3), the method is obtained
107: acquiring offset D of an imaging point in the direction vertical to the light ray according to the incident angle a in the air, the refraction angle b in the transparent flat plate and the stroke L of the light ray in the transparent flat plate;
the offset D is obtained by calculation as follows:
D＝Lsin(a-b) (4)
by transforming equation (4), we obtain:
108: and obtaining the optimized three-dimensional scanner according to the offset D of the imaging point in the direction vertical to the light.
The key of optimizing the three-dimensional scanner is to reduce offset D, thereby the three-dimensional scanner is because the deviation that light passed transparent dull and stereotyped back refraction caused, and the system error that leads to through reducing offset D, can effectual control because the error that light passed transparent dull and stereotyped back and arouses has promoted the accurate nature of collection system to the data of gathering, has realized the accurate collection to three-dimensional data, makes three-dimensional reconstruction can the reduction target object itself of high accuracy.
From the equation (5), the offset D is determined by the thickness H of the transparent plategThe vertical distance H from the imaging point to the target object, the refractive index n of the transparent flat plate, the transverse distance X from the imaging point to the target object and the height H from the target object point to the upper surface of the transparent flat platetDetermining the height H of the target object point to the upper surface of the transparent platetThe vertical distance H between the imaging point and the target object can be changed according to the actual target object, and the vertical distance H between the imaging point and the target object can be adjusted by adjusting the thickness H of the transparent flat plategOr adjusting the height H from the collection point to the lower surface of the transparent flat platecAdjusting the transverse distance X from the imaging point to the target object and the height H from the acquisition point to the lower surface of the transparent flat platecAdjusting, namely adjusting the position of the acquisition device of the three-dimensional scanner relative to the target object directly to reduce the offset D; the refractive index n and the transparent flat plate thickness HgThe offset D can be adjusted as small as possible by selecting a thinner transparent flat plate, and the offset D can be better controlled to be reduced by adjusting that the transverse distance X from an imaging point to a target object and the vertical distance H from the imaging point to the target object are approximately the same, namely the incident angle a is approximately 45 degrees.
Wherein, the three-dimensional scanner generally acquires images of a target object through a camera, and after the offset D is acquired, the three-dimensional scanner is optimized by controlling the numerical value of the offset D to be as small as possible,in addition, the offset D of the imaging in the camera can be usediFurther reducing the error.
According to the offset D of the imaging point in the vertical direction of the light and the magnification M of the camera lens, the imaging offset D of the offset D in the camera lens is obtainedi；
The method for acquiring the magnification M of the camera lens comprises the following steps:
and acquiring the magnification M of the camera lens according to the object distance u of the target object and the focal length f of the camera lens.
The magnification M of the camera lens is calculated as follows:
the imaging offset DiThe acquisition mode is as follows:
according to the imaging offset DiAnd obtaining the optimized three-dimensional scanner.
As can be seen from equation (6), in addition to the above-mentioned influence factor of the offset D, the error caused by the refraction of the camera as the collecting device due to the light passing through the transparent flat plate can be further reduced by adjusting the focal length f of the camera lens. According to imaging offset DiIn practice, the same is the minimum value Opt [ D ] of the required imaging offset Di]Adjusting to the minimum value of the imaging offset Opt [ D ] according to the influencing factor offset D and the focal length f of the camera in the formula (6)i]。
After optimization of the three-dimensional scanner, the imaging offset DiAnd is typically relatively small. Such as: x is 50cm, Ht＝25cm，Hg＝0.5cm，HcWhen n is 1.4, 50 cm. As determined by equation (5), D is 0.577mm, and the magnitude of the above-described imaging shift amount on the image sensor is about D for a lens having a focal length of 12mm according to equation (6)i＝0.005mm. For a large pixel image sensor (e.g., 0.003mm pixel), this imaging offset D isi1-2 pixels. The method realizes high-precision image acquisition, and can achieve high-precision reduction of the target object after three-dimensional reconstruction.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. The utility model provides a three-dimensional optical scanning system of full scene, its characterized in that includes collection system, transparent flat board, support and control system, transparent flat board is arranged in the support, collection system with the control system electricity is connected, collection system installs on the support, at least one collection system is installed respectively to the side below and the side top of transparent flat board.
2. The system of claim 1, wherein the frame comprises a mounting frame and a rotating frame, the transparent plate is disposed in the rotating frame, and the rotating frame is rotatable relative to the mounting frame to allow the collection device to rotate relative to the transparent plate.
3. The system according to claim 2, further comprising a rotation motor, wherein the rotation motor is mounted on the mounting bracket, the mounting bracket is connected to the rotation bracket via the rotation motor, the rotation bracket is disposed in the mounting bracket, and the rotation motor is electrically connected to the control system.
4. The system of claim 3, wherein the system further comprises a first base, the mounting bracket comprises an isolation bracket, the isolation bracket and the transparent plate are mounted on the first base, and the capturing device is mounted on the rotating bracket.
5. The system according to claim 3, wherein the mounting bracket comprises a first fixing bracket and a first isolation bracket, the rotating motor is mounted on the first fixing bracket, the first fixing bracket is connected with the rotating bracket through the rotating motor, the collecting device is mounted on the first fixing bracket, the first fixing bracket is connected with the first isolation bracket, the bottom surface of the transparent plate is connected with the top surface of the rotating bracket, and the rotating motor is disposed below the rotating bracket.
6. The system according to claim 3, wherein the system further comprises a second base, the mounting bracket comprises a second fixing bracket and a second isolation bracket, the second fixing bracket and the second isolation bracket are both mounted on the base, the rotating motor is mounted on the second fixing bracket, the rotating motor is connected to the rotating bracket, the rotating bracket is connected to the top surface of the transparent plate, and the collecting device is mounted on the second fixing bracket.
7. A method for optimizing a three-dimensional scanning system based on the amount of deflection produced by light passing through a transparent plate, the method comprising the steps of:
acquiring calculation parameters of an incident angle in air;
acquiring an incident angle a in the air according to the calculation parameters of the incident angle in the air;
obtaining a calculation parameter of the internal refraction angle of the transparent flat plate;
obtaining a refraction angle b in the transparent flat plate according to the calculation parameters of the refraction angle in the transparent flat plate;
acquiring calculation parameters of the travel of light rays in the transparent flat plate;
acquiring the travel L of the light in the transparent flat plate according to the calculation parameters of the travel of the light in the transparent flat plate;
acquiring offset D of an imaging point in the direction vertical to the light ray according to the incident angle a in the air, the refraction angle b in the transparent flat plate and the stroke L of the light ray in the transparent flat plate;
and obtaining an optimized three-dimensional scanning system according to the offset D of the imaging point in the direction vertical to the light ray.
8. The method of claim 7, wherein the step of optimizing the three-dimensional scanning system based on the amount of light passing through the transparent plate,
according to the offset D of the imaging point in the vertical direction of the light and the magnification M of the camera lens, the imaging offset D of the offset D in the camera lens is obtainedi；
According to the imaging offset DiAnd obtaining the optimized three-dimensional scanning system.
9. The method of claim 8, wherein the step of optimizing the three-dimensional scanning system based on the amount of light passing through the transparent plate,
the method for acquiring the magnification M of the camera lens comprises the following steps:
and acquiring the magnification M of the camera lens according to the object distance u of the target object and the focal length f of the camera lens.
10. The method of claim 9, wherein the step of optimizing the three-dimensional scanning system based on the amount of light passing through the transparent plate,
the calculation parameters of the internal refraction angle of the transparent flat plate comprise an incidence angle a in the air and a refractive index n of the transparent flat plate;
the calculation parameters of the incidence angle in the air comprise the height H from the upper vertex of the target object to the upper surface of the transparent flat platetThickness H of the transparent plategHeight H from collection point to lower surface of transparent flat platecAnd the lateral distance X between the imaging point and the target object;
the calculation parameters of the light ray stroke in the transparent flat plate comprise the refraction angle b in the transparent flat plate and the thickness H of the transparent flat plateg。
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