CN112747822A - Three-dimensional imaging system and method - Google Patents
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J3/00—Spectrometry; Spectrophotometry; Monochromators; Measuring colours
- G01J3/28—Investigating the spectrum
- G01J3/2823—Imaging spectrometer
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- G—PHYSICS
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J3/00—Spectrometry; Spectrophotometry; Monochromators; Measuring colours
- G01J3/28—Investigating the spectrum
- G01J3/2823—Imaging spectrometer
- G01J2003/2826—Multispectral imaging, e.g. filter imaging
Abstract
A three-dimensional imaging system comprises an object to be detected and a light field camera, wherein the light field camera is used for shooting the object to be detected, obtaining a light field image of the object to be detected and carrying out three-dimensional imaging processing on the object to be detected; the light field camera is used for shooting the object to be detected, and the light sources with different spectrums are used for irradiating the object to be detected so that the light field camera can obtain a required light field image.
Description
Technical Field
The invention belongs to the technical field of measurement, and particularly relates to a three-dimensional imaging system and a three-dimensional imaging method.
Background
The multispectral imaging technology is a new generation of photoelectric detection technology, is rising in the 80 s of the 20 th century, forms a development trend after the 90 s, and is still rapidly developing so far. Different from the traditional single broadband imaging technology and the multispectral imaging technology, the spectral technology and the imaging technology are combined, one-dimensional spectral information is added on the basis of the original two-dimensional space imaging, and the remote sensing technology integrates optics, spectroscopy, precision machinery, electronic technology and computer technology. The multispectral imaging technology greatly improves the accuracy and sensitivity of target detection, expands the detection capability of the traditional imaging system, is a great leap in the field of photoelectric detection, and is widely applied to numerous fields such as geological exploration, target detection, life state observation, environmental monitoring and the like.
Disclosure of Invention
The embodiment of the invention provides a three-dimensional imaging system, and aims to solve the problem that the existing spectral imaging field cannot be used for the three-dimensional imaging system.
In one embodiment of the present invention, a three-dimensional imaging system includes an object to be measured, a plurality of light sources with different spectrums and a light field camera,
and respectively irradiating different spectrum light rays to the object to be detected, respectively shooting and acquiring images of the object to be detected under different spectrums by using a light field camera, and simultaneously fusing the images under different spectrums for carrying out depth calculation on the object to be detected. The detecting step includes: shooting a plurality of defocusing soft light plates by using the light field camera after the light rings are matched, calibrating the white image of the light field, and completing the center calibration of the micro lens; calibrating the scale of the light field camera, and setting up a multispectral light source; shooting an image of an object to be detected under a multispectral light source by using a light field camera, and processing to obtain a multi-view angle and depth image; and finally obtaining a three-dimensional point cloud image of the object to be detected.
One of the benefits of the embodiment of the invention is that the multispectral light field imaging system can obtain more comprehensive target spectral information compared with the traditional single-waveband light field imaging system.
Drawings
The above and other objects, features and advantages of exemplary embodiments of the present invention will become readily apparent from the following detailed description read in conjunction with the accompanying drawings. Several embodiments of the invention are illustrated by way of example, and not by way of limitation, in the figures of the accompanying drawings and in which:
fig. 1 is a flow chart of a three-dimensional imaging method according to one embodiment of the invention.
Fig. 2 is a schematic diagram of a light field camera shooting a measured object under irradiation of a multispectral light source in a three-dimensional imaging system according to an embodiment of the present invention.
FIG. 3 is an exemplary diagram of three-dimensional imaging of a workpiece in accordance with one embodiment of the invention, wherein
3a is an original image of a workpiece according to an embodiment of the present invention, and 3b is a light field center view angle image of the workpiece;
3c is the corresponding depth image; and 3d is the corresponding three-dimensional point cloud image.
FIG. 4 is a three-dimensional imaging illustration of connector pins according to one embodiment of the invention, wherein
4a is a stitch original image according to the embodiment of the invention, and 4b is a light field center view angle image of the workpiece;
4c is the corresponding depth image; 4d is the corresponding three-dimensional point cloud image.
Of these, 100-a light field camera,
201-a first light source, 202-a second light source, 203-a third light source,
300-the analyte.
Detailed Description
The light field camera is a novel camera appearing in recent years, and the light field camera is additionally provided with a micro lens array in the middle of a sensor and a main lens of a conventional camera, so that the propagation direction of light rays is recorded, a unique light field image coded by the lens array is formed, the light field image is processed and rendered, and then three-dimensional information can be obtained. Under multispectral light, on one hand, compared with the traditional single-waveband light field imaging system, the multispectral light field imaging system can obtain more comprehensive target spectral information; on the other hand, the multispectral light field three-dimensional imaging system exchanges larger spatial resolution with relatively fewer wave bands. Compared with a single-waveband light field imaging system, the multispectral light field three-dimensional imaging system can achieve better three-dimensional imaging.
In accordance with one or more embodiments, a three-dimensional imaging system includes an object to be measured, a light field camera, a light field image processor, and one or more light sources having different spectral light rays.
The light field camera is used for shooting the object to be detected to obtain a light field image of the object to be detected; the light field image processor is coupled with the light field camera, receives the light field image of the object to be detected obtained by the light field camera, and processes the light field image to perform three-dimensional imaging on the object to be detected; the light field camera is used for shooting the object to be detected, and the light sources with different spectrums are used for irradiating the object to be detected so that the light field camera can obtain a required light field image.
The three-dimensional imaging process of the system for the object to be measured comprises the following steps:
shooting a plurality of defocusing soft light plates by using the light field camera after the light rings are matched, calibrating the white image of the light field, and completing the center calibration of the micro lens; calibrating the scale of the light field camera, and setting up a multispectral light source; the method comprises the steps of shooting a measured object under different spectral light rays by using a light field camera to obtain a plurality of images, fusing the plurality of different spectral images, processing to obtain multi-view and depth images, and finally obtaining three-dimensional information of the measured object.
In accordance with one or more embodiments, as shown in FIG. 2, a multi-spectral light-field three-dimensional imaging system. The system comprises: an object to be detected; the multispectral light source is used for irradiating light rays to the object to be detected; and the light field camera is used for shooting and acquiring the image of the object to be detected and reconstructing the three-dimensional appearance of the object to be detected. The multispectral light source may be one or more light sources with different spectrums, such as a first light source using red light, a second light source using green light, and a third light source using blue light.
The three-dimensional imaging step of the system comprises: shooting a plurality of defocusing soft light plates by using the light field camera after the light rings are matched, calibrating the white image of the light field, and completing the center calibration of the micro lens; calibrating the scale of the light field camera, and setting up a multispectral light source; and shooting the object to be detected by using a light field camera, processing to obtain multi-view and depth images, and finally obtaining the three-dimensional information of the object to be detected.
In accordance with one or more embodiments, a three-dimensional imaging method includes the steps of,
one or more light sources with different spectrum light rays are arranged to irradiate the object to be measured for three-dimensional imaging,
shooting the object to be measured under the irradiation of the set light sources with different spectrums by using a light field camera to obtain a light field image of the object to be measured,
and processing the light field image to obtain a light field multi-view image and a light field depth image of the object to be detected, calculating to obtain three-dimensional shape data of the object to be detected, and finishing three-dimensional imaging of the object to be detected.
Preferably, the multispectral measurement method of the object to be measured specifically includes the following steps:
a1, adjusting the focal length and the aperture of the light field camera, shooting a plurality of defocusing soft light pure color calibration plates, acquiring a white image of the light field camera,
calculating according to the white image of the light field camera to obtain a vignetting removing matrix and a light field camera micro-lens sub-pixel level central coordinate matrix;
a2, shooting a plurality of dot calibration plates with known spatial three-dimensional positions by using the light field camera, establishing a light field mathematical model from three-dimensional coordinates to parallax, and completing the scale calibration of the light field camera;
a3, irradiating the multispectral light source on an object to be detected to obtain a shot image of the object to be detected under the multispectral light source;
a4, shooting the object to be detected by using the light field camera, and performing light field multi-view rendering and depth calculation to obtain a light field multi-view image and a light field depth image;
and A5, calculating to obtain the three-dimensional shape information of the object to be measured.
Further, step a1 also includes,
adjusting a main lens and an aperture of the light field camera to ensure that the micro-lens array of the original light field white image of the light field camera is just or approximately tangent;
making the light field camera shoot a plurality of defocusing soft light pure color calibration plate images, wherein the calibration plate is positioned on a pure color background plate with uniform light intensity at the defocusing position of the light field camera, wherein,
the vignetting removing matrix is a matrix obtained by averaging and normalizing a plurality of original light field white images W (u, v)
The microlens subpixel level central coordinate matrix of the light field camera is used for white image of light field
And after the local maximum value of each micro lens is processed, performing iterative optimization to obtain the center coordinate of the sub-pixel micro lens.
Further, the three-dimensional coordinates of each dot on the dot calibration plate in step a2 are known, and the dispersion degree and the corresponding parallax value of the dots on the calibration plate are obtained after the calibration plate is photographed by the light field camera, and then the relationship between the parallax value and the three-dimensional coordinates is obtained by fitting and calibrating.
Further, the angle of the multispectral light source in the step a3 is set, so that the multispectral light source can clearly irradiate the object to be detected, and it is ensured that the light field camera can image the object to be detected under the multispectral light.
Further, in the step a4, the light field camera shoots an object to be detected, then light field multi-view rendering is performed to obtain a light field multi-view image and a light field parallax image, and the parallax image is converted into a depth image through the conversion relationship between the parallax and the three-dimensional coordinate obtained through calibration in the step a 2.
Further, step a5 performs three-dimensional mapping on the depth image based on the scale calibration result to obtain three-dimensional point cloud information of the object to be measured.
In accordance with one or more embodiments, as shown in fig. 1, a multispectral three-dimensional imaging system based on a light field camera comprises the following steps:
and A1, selecting an optical lens suitable for the focal length and the magnification according to the area size and the measurement depth range of the object to be measured. Adjusting the lens aperture to match the aperture of the light field camera, i.e. the micro lens aperture matches the main lens aperture, is embodied in that the light field camera shoots a defocused soft light solid color calibration plate image in which the micro lens array is just or nearly tangent. The light field white image or the light field camera white image refers to a pure white background image shot by the light field camera, and the shape of the micro lens array is particularly obvious on the image. The aperture can thus be adjusted based on the image, ensuring that the microlens image is exactly tangential.
After the adjustment is finished, a plurality of pure-color background plates with uniform light intensity at the defocusing position of the light field camera are shot, namely the defocusing soft light pure-color calibration plate. Averaging and normalizing a plurality of light field white images to obtain a vignetting removing matrix
All the light field original images shot subsequently need to be point-divided by the vignetting removing matrix, and therefore light field white image calibration is completed. The light field original image refers to a light field image which is not processed by the light field multi-view image algorithm.
After the light field packet image calibration step is completed, processing the light field white image by using a filter, removing noise of the light field white image, and performing non-maximum value suppression on the filtered light field image; then, according to the processed image, taking a local maximum value, wherein the maximum value is just the integer-level center of the light field camera micro-lens; and (3) taking the center of the integer level microlens as an initial iteration value, iteratively optimizing the arrangement grid of the microlenses, finally obtaining the arrangement angle and the arrangement distance of the microlenses, and obtaining the center of the subpixel level microlens.
A2, the light field camera scale calibration step needs to assemble a displacement table and a scale calibration plate: firstly, fixing a scale calibration plate in the focal plane area of the light field camera, continuously moving the calibration plate to a fixed spatial distance from the focal plane, and shooting, wherein the spatial position of a point on the calibration plate is known, so that the spatial position of the point on the calibration plate in the whole moving process can be obtained. And the dot calibration points form a diffusion circle on the light field image, the diameter of the diffusion circle is obtained through processing, the parallax value of the diffusion circle and the pixel coordinate of the diffusion circle are further obtained through calculation, and the relation between the three-dimensional coordinate in the space and the pixel coordinate and the parallax value of the light field camera is obtained through fitting according to the light field camera scale calibration model.
A3, as shown in fig. 2, the multispectral light source irradiates the object to be measured from different angles, and the camera can shoot the object to be measured under different spectrums.
And A4, performing conventional light field rendering and depth estimation based on the fused multispectral original light field image. Firstly, performing light field multi-view rendering to obtain a light field multi-view image of an object to be detected; and then further calculating to obtain a light field parallax image, converting the light field parallax image into a light field depth image according to a light field camera scale calibration result, wherein the depth information of the object to be measured is the same in the depth image, so that the object to be measured can be measured in three dimensions.
The invention is attached with 2 different types of implementation examples, namely a workpiece measurement implementation example and a connector pin measurement implementation example.
The first embodiment example is as follows:
according to the size and the height of the workpiece, a light field camera is adopted to match with a lens with 1 time of magnification to shoot; the light field camera is matched with a lens with a proper diaphragm and a proper focal length to shoot a defocusing soft light pure color calibration plate, and light field white image calibration and micro-lens center calibration are carried out; the light field camera shoots a plurality of scale calibration plates with different spatial positions to calibrate the light field camera scale; the multispectral light sources are matched and arranged above the workpiece from different angles, so that the workpiece can be well imaged on the light field camera under each spectral light source; fusing the multispectral images, and performing light field multi-view rendering and depth calculation to obtain a central view image (figure 3b) and a corresponding depth image (figure 3c) of the corresponding workpiece; finally, point cloud information and size information of the workpiece are obtained (fig. 3 d).
The second embodiment example is as follows:
according to the size and the height of the pins, the light field camera is matched with a lens with 1 time of magnification to shoot; the light field camera is matched with a lens with a proper diaphragm and a proper focal length to shoot a defocusing soft light pure color calibration plate, and light field white image calibration and micro-lens center calibration are carried out; the light field camera shoots a plurality of scale calibration plates with different spatial positions to calibrate the light field camera scale; the pin is arranged above the pin from different angles by matching with the multispectral light source, so that the pin can well form images on the light field camera under each spectral light source; fusing the multispectral images, and performing light field multi-view rendering and depth calculation to obtain a central view image (figure 4b) corresponding to the stitch and a corresponding depth image (figure 4 c); finally, point cloud information and size information of the workpiece are obtained (fig. 4 d).
The embodiment of the invention has the beneficial effects that:
1. the light field camera simultaneously performs light field imaging comparison on a plurality of wave bands of the same observation target under a multispectral light source so as to realize observation and analysis on characteristics such as component composition, distribution state and the like. Compared with the traditional single-waveband light field imaging system, the multispectral light field imaging system can obtain more comprehensive target spectrum information.
2. The multispectral light field three-dimensional imaging system has the advantages of high spectral resolution and strong ground object identification capability of the hyperspectral imaging system, and has the characteristics of high spatial resolution and small distortion of a single-waveband area array camera, and better three-dimensional imaging results can be obtained compared with the conventional single light source.
It should be noted that while the foregoing has described the spirit and principles of the invention with reference to several specific embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, nor is the division of aspects, which is for convenience only as the features in these aspects cannot be combined. The invention is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.
Claims (10)
1. A three-dimensional imaging system, comprising,
an object to be measured is provided,
the light field camera is used for shooting the object to be detected, obtaining a light field image of the object to be detected and carrying out three-dimensional imaging processing on the object to be detected;
the light field camera is used for shooting the object to be detected, and the light sources with different spectrums are used for irradiating the object to be detected so that the light field camera can obtain a required light field image.
2. The three-dimensional imaging system of claim 1, wherein the light field camera three-dimensional imaging of the object comprises,
shooting a plurality of defocusing soft light plates by using the light field camera, calibrating light field white images, and completing the center calibration of the micro lens;
carrying out scale calibration of a light field camera, and setting up one or more different spectrum light sources;
shooting the object to be detected under different spectral light rays by using a light field camera, acquiring a plurality of images, fusing the plurality of different spectral images, processing to obtain multi-view and depth images, and finally obtaining three-dimensional data of the object to be detected.
3. The multispectral light-field three-dimensional imaging system according to claim 2, wherein the three-dimensional imaging method for the object to be measured specifically comprises the steps of:
a1, adjusting the focal length and the aperture of the light field camera, shooting a plurality of defocusing soft light pure color calibration plates, acquiring a white image of the light field camera,
calculating according to the white image of the light field camera to obtain a vignetting removing matrix and a light field camera micro-lens sub-pixel level central coordinate matrix;
a2, shooting a plurality of dot calibration plates with known spatial three-dimensional positions by using the light field camera, establishing a light field mathematical model from three-dimensional coordinates to parallax, and completing the scale calibration of the light field camera;
a3, irradiating the multispectral light source on an object to be detected to obtain a shot image of the object to be detected under the multispectral light source;
a4, shooting the object to be detected by using the light field camera, and performing light field multi-view rendering and depth calculation to obtain a light field multi-view image and a light field depth image;
and A5, calculating to obtain the three-dimensional shape information of the object to be measured.
4. The multispectral light-field three-dimensional imaging system according to claim 3, wherein step A1 further comprises,
adjusting a main lens and an aperture of the light field camera to ensure that the micro-lens array of the original light field white image of the light field camera is just or approximately tangent;
making the light field camera shoot a plurality of defocusing soft light pure color calibration plate images, wherein the calibration plate is positioned on a pure color background plate with uniform light intensity at the defocusing position of the light field camera, wherein,
the vignetting removing matrix is a matrix obtained by averaging and normalizing a plurality of original light field white images W (u, v)
The microlens subpixel level central coordinate matrix of the light field camera is used for white image of light field
And after the local maximum value of each micro lens is processed, performing iterative optimization to obtain the center coordinate of the sub-pixel micro lens.
5. The multispectral light field three-dimensional imaging system according to claim 3, wherein the three-dimensional coordinates of each dot on the dot calibration plate in step A2 are known, and the dispersion degree and the corresponding parallax value of the dots on the calibration plate are obtained after the calibration plate is photographed by a light field camera, so as to obtain the relationship between the parallax value and the three-dimensional coordinates through fitting and calibration.
6. The system according to claim 3, wherein the angle of the multispectral light source in step A3 is set so that the multispectral light source can illuminate the object to be tested clearly, thereby ensuring that the light field camera can image the object to be tested under the multispectral light.
7. The multispectral light field three-dimensional imaging system according to claim 3, wherein in the step A4, the light field camera shoots an object to be detected, then the light field multi-view rendering is performed to obtain a light field multi-view image and a light field parallax image, and the parallax image is converted into the depth image through the conversion relationship between the parallax obtained through calibration in the step A2 and the three-dimensional coordinate.
8. The multispectral light-field three-dimensional imaging system according to claim 3, wherein the step A5 is implemented by three-dimensionally mapping the depth image based on the scale calibration result to obtain the three-dimensional point cloud information of the object to be measured.
9. A three-dimensional imaging system, comprising,
an object to be tested;
the light field camera is used for shooting the object to be detected to obtain a light field image of the object to be detected;
the light field image processor is coupled with the light field camera, receives the light field image of the object to be detected obtained by the light field camera, and processes the light field image to perform three-dimensional imaging on the object to be detected;
the light field camera is used for shooting the object to be detected, and the light sources with different spectrums are used for irradiating the object to be detected so that the light field camera can obtain a required light field image.
10. A three-dimensional imaging method comprising the steps of,
one or more light sources with different spectrum light rays are arranged to irradiate the object to be measured for three-dimensional imaging,
shooting the object to be measured under the irradiation of the set light sources with different spectrums by using a light field camera to obtain a light field image of the object to be measured,
and processing the light field image to obtain a light field multi-view image and a light field depth image of the object to be detected, calculating to obtain three-dimensional shape data of the object to be detected, and finishing three-dimensional imaging of the object to be detected.
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| CN113905164A (en) * | 2021-10-09 | 2022-01-07 | 奕目(上海)科技有限公司 | Light field imaging system and method for acquiring light field information through light field imaging system |
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