CN112815875A - Color three-dimensional point cloud sensor device for three-dimensional human body scanning and working method - Google Patents
Color three-dimensional point cloud sensor device for three-dimensional human body scanning and working method Download PDFInfo
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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
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Abstract
The invention discloses a color three-dimensional point cloud sensor device for three-dimensional human body scanning and a working method thereof.A black-and-white industrial camera and a color industrial camera are arranged at one end of a base, and a line laser is arranged at the other end of the base; the black-and-white industrial camera is provided with a black-and-white camera lens, and the narrow-band optical filter is arranged between the black-and-white industrial camera and the black-and-white camera lens; the color industrial camera is provided with a color camera lens, and a short-pass filter is arranged between the color industrial camera and the color camera lens; the black-white industrial camera and the color industrial camera are respectively electrically connected with the microcomputer. The effect is as follows: the color industrial camera is added on the basis of the black and white industrial camera, the coordinate systems of the color industrial camera and the black and white industrial camera are unified through synchronous calibration of the color industrial camera and the black and white industrial camera, and after the black and white industrial camera obtains the three-dimensional coordinates of the point cloud, the color industrial camera can be mapped to obtain color information, so that the three-dimensional coordinate information of the point cloud can be obtained, and the color texture information of the point cloud can also be obtained.
Description
Technical Field
The invention relates to the technical field of laser sensors, in particular to a colored three-dimensional point cloud sensor device for three-dimensional human body scanning and a working method of the colored three-dimensional point cloud sensor device for three-dimensional human body scanning.
Background
Chinese patent publication No. CN111595268A discloses "a high-precision multi-dimensional line laser sensor based on microcomputer and its working method" comprising: bottom plate, line laser emitter, camera, microcomputer and shell, line laser emitter passes through the laser mount and installs the one end at the bottom plate, the other end at the bottom plate is installed in the camera rotation, microcomputer installs on the bottom plate, is located between line laser emitter and the camera, the shell covers whole bottom plate, has all seted up the square hole to the transmitting terminal of line laser emitter and the camera lens department of camera in the side of shell, has solved the problem that current line laser sensor visual angle is little, the cost is high.
But there are also drawbacks: the prior art scheme can only be used for point cloud, only three-dimensional coordinate collection and no texture and color information.
Disclosure of Invention
Therefore, the present invention provides a color three-dimensional point cloud sensor device for three-dimensional human body scanning, so as to solve the above problems in the prior art.
In order to achieve the above purpose, the invention provides the following technical scheme:
according to a first aspect of the present invention, a color three-dimensional point cloud sensor device for three-dimensional human body scanning includes a black-and-white industrial camera, a narrow band filter, a color industrial camera, a short pass filter, a microcomputer, a line laser, and a base; the black-and-white industrial camera and the color industrial camera are arranged at one end of the base, and the line laser is arranged at the other end of the base; the black-and-white industrial camera is provided with a black-and-white camera lens, and the narrow-band optical filter is arranged between the black-and-white industrial camera and the black-and-white camera lens; the color industrial camera is provided with a color camera lens, and the short-pass filter is arranged between the color industrial camera and the color camera lens; the black and white industrial camera and the color industrial camera are electrically connected with the microcomputer respectively.
Further, the microcomputer is located at a position between the common side of the black-and-white industrial camera and the color industrial camera and the line laser.
Further, the wavelength of the narrow-band filter is 830nm, and the half wavelength is +/-15 nm.
Further, the wavelength of the short-pass filter is less than 800 nm.
Further, the wavelength of the line laser is 830 nm.
Further, still include the laser mount, install on the laser mount line laser, line laser is by the laser mount is pushed down.
Further, still include the dust cover, install on the base the dust cover, black and white industry camera, colored industry camera, microcomputer and line laser setting are in the dust cover.
Further, still include black and white camera mounting bracket and color camera mounting bracket, black and white camera mounting bracket and color camera mounting bracket are all installed on the base, black and white industry camera rotates to be connected on the black and white camera mounting bracket, color industry camera rotates to be connected on the color camera mounting bracket.
Further, the black-and-white industrial camera can rotate in the range of 0 ° to 60 ° on the black-and-white camera mounting frame, and the color industrial camera can rotate in the range of 0 ° to 60 ° on the color camera mounting frame.
According to a second aspect of the present invention, a method of operating a colored three-dimensional point cloud sensor device for three-dimensional body scanning using a colored three-dimensional point cloud sensor device for three-dimensional body scanning as in any one of the first aspects of the present invention comprises the steps of:
step 1, respectively establishing a transformation relation between a black and white industrial camera coordinate system and a world coordinate system, a transformation relation between a color industrial camera coordinate system and a world coordinate system and a pixel mapping relation between the black and white industrial camera and the color industrial camera, and performing mutual conversion through the world coordinate system:
the black and white industrial camera (coordinate system) is f0 (world coordinate system),
color industrial camera (coordinate system) ═ f1 (world coordinate system),
the black and white industrial camera (coordinate system) is f3[ color industrial camera (coordinate system) ],
wherein f0 represents the transformation relationship between the black-and-white industrial camera coordinate system and the world coordinate system, f1 represents the transformation relationship between the color industrial camera coordinate system and the world coordinate system, and f3 represents the transformation relationship between the black-and-white industrial camera coordinate system and the color industrial camera;
f3 can be obtained by f0 and f1 calculation;
step 2, distortion correction of the camera is carried out, and the relation between the camera and a world coordinate system is established: the black-white industrial camera and the color industrial camera are fixed on the base and are arranged and fixed up and down in parallel, a world coordinate system device is placed in the public visual field of the black-white industrial camera and the color industrial camera, a mark point can appear at a certain distance, the coordinate position of the mark point in the world coordinate system is recorded, the black-white industrial camera collects an image once, the color industrial camera collects an image once, the pixel value of the mark point is extracted and identified through image processing, the mapping relation between the world coordinate system and the black-white industrial camera coordinate system and the mapping relation between the world coordinate system and the color industrial camera coordinate system are established at the point until the mark point is filled in the public area of the black-white industrial camera and the color industrial camera, the transformation relation between the black-white industrial camera and the world coordinate system and the transformation relation between the color industrial camera and the world coordinate system are established in the whole public area, the coordinate mapping relation between the black-white industrial camera and the color industrial camera can be obtained through calculation;
and 3, after the laser of the line laser irradiates the object, the black-and-white industrial camera obtains the three-dimensional coordinate of the line by extracting the central coordinate of the line laser, and the color texture information is obtained through the mapping relation between the black-and-white industrial camera and the color industrial camera.
The invention has the following advantages: according to the color three-dimensional point cloud sensor device for three-dimensional human body scanning, the color industrial camera is added on the basis of the black and white industrial camera, the coordinate systems of the color industrial camera and the black and white industrial camera are unified through synchronous calibration of the color industrial camera and the black and white industrial camera, and after the black and white industrial camera obtains the three-dimensional coordinates of the point cloud, the color industrial camera can be mapped to obtain color information, so that the three-dimensional coordinate information of the point cloud can be obtained, and the color texture information of the point cloud can also be obtained.
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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. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
The structures, ratios, sizes, and the like shown in the present specification are only used for matching with the contents disclosed in the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions that the present invention can be implemented, so that the present invention has no technical significance, and any structural modifications, changes in the ratio relationship, or adjustments of the sizes, without affecting the effects and the achievable by the present invention, should still fall within the range that the technical contents disclosed in the present invention can cover.
Fig. 1 is a block diagram of a color three-dimensional point cloud sensor device for three-dimensional human body scanning according to some embodiments of the present invention.
In the figure: 1. the system comprises a black-and-white industrial camera, 2, a narrow-band filter, 3, a black-and-white camera lens, 4, a color industrial camera, 5, a color camera lens, 6, a short-pass filter, 7, a microcomputer, 8, a laser fixing frame, 9, a line laser, 10 and a base.
Detailed Description
The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. 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.
As shown in fig. 1, a color three-dimensional point cloud sensor device for three-dimensional human body scanning in an embodiment of a first aspect of the present invention includes a black-and-white industrial camera 1, a narrow band filter 2, a color industrial camera 4, a short pass filter 6, a microcomputer 7, a line laser 9, and a base 10; a black-and-white industrial camera 1 and a color industrial camera 4 are arranged at one end of a base 10, and a line laser 9 is arranged at the other end of the base 10; the black-and-white industrial camera 1 is provided with a black-and-white camera lens 3, and the narrow-band filter 2 is arranged between the black-and-white industrial camera 1 and the black-and-white camera lens 3; the color industrial camera 4 is provided with a color camera lens 5, and a short-pass filter 6 is arranged between the color industrial camera 4 and the color camera lens 5; the black-and-white industrial camera 1 and the color industrial camera 4 are electrically connected to the microcomputer 7, respectively, in the embodiment, the electrical connection is a USB data line connection, a bluetooth communication connection, a wireless communication connection, and the like.
In the above embodiment, it should be noted that the black-and-white industrial camera 1 is on the top, the color industrial camera 4 is arranged in parallel on the bottom, and if the color industrial camera 4 is on the top and the black-and-white industrial camera 1 is on the bottom; the black-and-white industrial camera 1 and the color industrial camera 4 are arranged in the left and right direction, or the black-and-white industrial camera 1 and the color industrial camera 4 are arranged at a certain angle, which belong to the same replacement, but the installation positions are different, the arrangement of the positions is within the protection scope of the application, in addition, the storage battery is also included, and the storage battery is a lithium battery.
The technical effects achieved by the above embodiment are as follows: according to the color three-dimensional point cloud sensor device for three-dimensional human body scanning, the color industrial camera 4 is added on the basis of the black and white industrial camera 1, the color industrial camera 4 and the black and white industrial camera 1 are unified in coordinate systems through synchronous calibration of the color industrial camera 4 and the black and white industrial camera 1, and after the black and white industrial camera 1 obtains the three-dimensional coordinates of the point cloud, the color industrial camera 4 can be mapped to obtain color information, so that the three-dimensional coordinate information of the point cloud can be obtained and the color texture information of the point cloud can also be obtained; by skillfully arranging the narrow-band filter 2 used by the black-and-white industrial camera 1 and the short-pass filter 6 used by the color industrial camera 4, the device ensures that the black-and-white industrial camera 1 is not interfered by ambient light and the color industrial camera 4 is not interfered by laser.
Alternatively, as shown in fig. 1, in some embodiments, the microcomputer 7 is located at a position between the line laser 9 and the common side of the black and white industrial camera 1 and the color industrial camera 4.
In the above alternative embodiment, it should be noted that the microcomputer 7 may be disposed at other positions on the base 10.
The beneficial effects of the above alternative embodiment are: by arranging the microcomputer 7 at a position between the line laser 9 and the common side of the monochrome industrial camera 1 and the color industrial camera 4, the occupied space is small and the manufacturing cost is low.
Alternatively, as shown in FIG. 1, in some embodiments, the narrowband filter 2 has a wavelength of 830nm and a half wavelength of 15 nm.
In the above optional embodiment, it should be noted that the wavelength band of the light that can be transmitted by the narrowband filter 2 is between 815nm and 845nm, and the line laser 9 with a wavelength of 830nm is adopted, and since the narrowband filter 2 is between the black-and-white industrial camera 1 and the black-and-white camera lens 3, the black-and-white industrial camera 1 can only receive the light with a wavelength of 815nm to 845nm, and most of the reflected light is the reflected light with a wavelength of 830nm of the line laser, so that the ambient interference light is effectively filtered.
The beneficial effects of the above alternative embodiment are: by setting the wavelength of the narrowband filter 2 to 830nm, the half wavelength is ± 15nm, interference with the color industry camera 4 is avoided.
Optionally, as shown in fig. 1, in some embodiments, the short-pass filter 6 has a wavelength of less than 800 nm.
In the above optional embodiment, it should be noted that the short-pass filter allows light with wavelength less than 800nm to pass through, the color industrial camera 4 can only receive light with wavelength less than 800nm, that is, ambient light, so as to avoid interference of 830nm, and the color industrial camera 4 can collect the color and texture of the object through the ambient light; similarly, the lasers in other wave bands, the narrow-band filter 2 and the short-pass filter 6 are replaced in the same way and are within the protection range.
The beneficial effects of the above alternative embodiment are: through the arrangement, the black-and-white industrial camera 1 can acquire the information of the line laser 9 and filter the interference of ambient light, and the color industrial camera 4 acquires the ambient light reflected by an object but is not interfered by the 830nm line laser 9, so that the purposes of acquiring coordinate information and texture information are achieved.
Alternatively, as shown in FIG. 1, in some embodiments, the line laser 9 has a wavelength of 830 nm.
In the above alternative embodiment, it should be noted that the wavelength of the line laser 9 may also have other values.
The beneficial effects of the above alternative embodiment are: by setting the wavelength of the line laser 9 to 830nm, which only acts on the black and white industrial camera 1, interference of ambient light to the color industrial camera 4 is avoided.
Optionally, as shown in fig. 1, in some embodiments, a laser fixing frame 8 is further included, a line laser 9 is mounted on the laser fixing frame 8, and the line laser 9 is pressed by the laser fixing frame 8.
In the above alternative embodiment, it should be noted that the laser fixing frame 8 is mounted on the base 10 by bolts.
The beneficial effects of the above alternative embodiment are: through setting up laser mount 8, realized installing fast and maintaining to line laser 9.
Optionally, as shown in fig. 1, in some embodiments, a dust cover is further included, the dust cover is mounted on the base 10, and the black-and-white industrial camera 1, the color industrial camera 4, the microcomputer 7 and the line laser 9 are disposed in the dust cover.
In the above alternative embodiment, it should be noted that the dust cover is provided with openings at the ends of the black-and-white industrial camera 1, the color industrial camera 4 and the line laser 9.
The beneficial effects of the above alternative embodiment are: through setting up the dust cover, avoided above-mentioned electronic components to receive the miscellaneous dirt interference.
Optionally, as shown in fig. 1, in some embodiments, the system further includes a black-and-white camera mounting bracket and a color camera mounting bracket, both of which are mounted on the base 10, the black-and-white industrial camera 1 is rotatably connected to the black-and-white camera mounting bracket, and the color industrial camera 4 is rotatably connected to the color camera mounting bracket.
In the above optional embodiment, it should be noted that the rotational connection in this embodiment means that the black-and-white industrial camera 1 can be adjusted in the tilt angle on the black-and-white camera mounting bracket, and the color industrial camera 4 can be adjusted in the tilt angle on the color camera mounting bracket.
The beneficial effects of the above alternative embodiment are: the adjustment of the inclination angles of the black-and-white industrial camera 1 and the color industrial camera 4 is realized by arranging the black-and-white camera mounting frame and the color camera mounting frame.
Alternatively, as shown in fig. 1, in some embodiments, the black-and-white industrial camera 1 can rotate in the range of 0 ° to 60 ° on the black-and-white camera mount, and the color industrial camera 4 can rotate in the range of 0 ° to 60 ° on the color camera mount.
The beneficial effects of the above alternative embodiment are: the locking of the inclination angles of the black-and-white industrial camera 1 and the color industrial camera 4 is realized by the angle locking device.
Further, the black-and-white industrial camera 1 and the color industrial camera 4 are connected with the microcomputer 7 through USB3.0 data lines, so that power is supplied to the cameras while data transmission is achieved, a power supply control terminal is installed on the base 10 adjacent to the line laser 9, a power supply part of the power supply control terminal is connected with a power supply to supply power to the line laser 9 and the microcomputer 7, a control part of the power supply control terminal is connected with a pulse signal and is connected with the black-and-white industrial camera 1 and the color industrial camera 4 through the power supply control terminal, and on-off control over collection of the black-and-white industrial camera 1 and the color industrial camera 4 is achieved; the line laser 9 emits linear laser outwards, the laser is not limited to line laser, but also can be point laser or other texture laser, and is only a light-emitting device, and 3D information is generated by calculation after emitted light projected on an object is captured by a black-and-white industrial camera; the microcomputer 7 processes the laser image and extracts the laser stripes, converts the pixel coordinates into physical coordinates and sends the physical coordinates to the upper computer processor, and the microcomputer 7 is a processor with an X86 structure and can be replaced by a single chip microcomputer, an FPGA, an embedded device and the like; the microcomputer 7 is connected with a wireless communication device, the wireless communication device sends physical coordinate information to the upper computer processor, the wireless communication device can conduct 5G wireless breakpoint continuous transmission, the local area Network is established through 5G Wifi in the embodiment, a TCP protocol is adopted in the bottom layer, and in order to achieve the breakpoint continuous transmission function, a Network Steams communication protocol is adopted for transmission. If the data of the black and white industrial camera 1 and the color industrial camera 4 are directly uploaded to an upper computer for processing through USB 3.0/network cable data, the transmission line is too long and the high-speed transmission is unstable, and the near-end acquisition and processing are realized through a wireless transmission technology, so that the equipment is more stable.
In an embodiment of the second aspect of the present invention, a working method of a color three-dimensional point cloud sensor device for three-dimensional human body scanning is used, wherein the color three-dimensional point cloud sensor device for three-dimensional human body scanning as any one embodiment of the first aspect of the present invention comprises the following steps:
step 1, respectively establishing a transformation relation between a black-and-white industrial camera 1 coordinate system and a world coordinate system, a color industrial camera 4 coordinate system and a world coordinate, and a pixel mapping relation between the black-and-white industrial camera 1 and the color industrial camera 4, and performing mutual conversion through the world coordinate system: the black-and-white industrial camera 1 coordinate system is f0 world coordinate system, the color industrial camera 4 coordinate system is f1 world coordinate system, and the black-and-white industrial camera 1 coordinate system is f3[ color industrial camera 4 coordinate system ], wherein f0 represents a transformation relation between the black-and-white industrial camera 1 coordinate system and the world coordinate system, f1 represents a transformation relation between the color industrial camera 4 coordinate system and the world coordinate system, and f3 represents a transformation relation between the black-and-white industrial camera 1 coordinate system and the color industrial camera 4; f3 can be obtained by f0 and f1 calculation.
Step 2, distortion correction of the camera is carried out, and the relation between the camera and a world coordinate system is established: the black-white industrial camera 1 and the color industrial camera 4 are fixed on a base 10 and are arranged and fixed in parallel up and down, a world coordinate system device is placed in the public visual field of the black-white industrial camera 1 and the color industrial camera 4, a mark point can appear at intervals, the coordinate position of the mark point in the world coordinate system is recorded, the black-white industrial camera 1 collects a primary image, the color industrial camera 4 collects a primary image, the pixel value of the mark point is extracted and identified through image processing, the mapping relation between the world coordinate system and the black-white industrial camera 1 coordinate system and the mapping relation between the world coordinate system and the color industrial camera 4 coordinate are established at the point until the mark point is filled in the public area of the black-white industrial camera 1 and the color industrial camera 4, the transformation relation between the black-white industrial camera 1 and the world coordinate system and the transformation relation between the color industrial camera 4 and the world coordinate system are established in the whole public area, the coordinate mapping relation between the black-and-white industrial camera 1 and the color industrial camera 4 can be obtained through calculation.
And 3, after the laser of the line laser 9 irradiates the object, the black-and-white industrial camera 1 obtains the three-dimensional coordinate of the line by extracting the central coordinate of the line laser, and the color texture information is obtained through the mapping relation between the black-and-white industrial camera 1 and the color industrial camera 4.
In the above optional embodiment, it should be noted that, in the above method for unifying coordinate systems between the black-and-white industrial camera 1 and the color industrial camera 3, the black-and-white industrial camera 1 and the color industrial camera 4 each have their own coordinate system, and the coordinate system is the coordinate of the camera CCD array, but due to the CCD installation and the lens, the acquired image is distorted, that is, the image acquired by the black-and-white industrial camera 1 is distorted, and the image acquired by the color industrial camera 4 is also distorted; the method for establishing the transformation relation between the black-and-white industrial camera 1 and the world coordinate system by adopting the black-and-white industrial camera 1 and the transformation relation between the world coordinates by adopting the color industrial camera 4 are further deduced, and the method for establishing the transformation relation between the black-and-white industrial camera 1 and the color industrial camera 4 by adopting other methods also belongs to the same substitution.
The beneficial effects of the above alternative embodiment are: establishing a mapping relation between the black and white industrial camera 1 and a world coordinate system, and establishing a mapping relation between the color industrial camera 4 and the world coordinate system, so as to establish a transformation relation between the black and white industrial camera 1 and the color industrial camera 4; by the method, three-dimensional coordinate collection is effectively realized, and texture and color information are carried.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
In the present specification, the terms "upper", "lower", "left", "right", "middle", and the like are used for clarity of description, and are not intended to limit the scope of the present invention, and changes or modifications in the relative relationship may be made without substantial changes in the technical content.
Claims (10)
1. A color three-dimensional point cloud sensor device for three-dimensional human body scanning is characterized by comprising a black and white industrial camera (1), a narrow band filter (2), a color industrial camera (4), a short-pass filter (6), a microcomputer (7), a line laser (9) and a base (10); one end of the base (10) is provided with the black and white industrial camera (1) and the color industrial camera (4), and the other end of the base (10) is provided with the line laser (9); the black-and-white industrial camera (1) is provided with a black-and-white camera lens (3), and the narrow-band filter (2) is arranged between the black-and-white industrial camera (1) and the black-and-white camera lens (3); the color industrial camera (4) is provided with a color camera lens (5), and the short-pass filter (6) is arranged between the color industrial camera (4) and the color camera lens (5); the black and white industrial camera (1) and the color industrial camera (4) are respectively electrically connected with the microcomputer (7).
2. The device according to claim 1, characterized in that the microcomputer (7) is located between the line laser (9) and the common side of the black and white industrial camera (1) and the color industrial camera (4).
3. The colored three-dimensional point cloud sensor device for three-dimensional body scanning according to claim 1, characterized in that the wavelength of the narrow band filter (2) is 830nm and the half wavelength is ± 15 nm.
4. A colored three-dimensional point cloud sensor arrangement for three-dimensional body scanning according to claim 3, characterized in that the short-pass filter (6) has a wavelength of less than 800 nm.
5. A colored three-dimensional point cloud sensor arrangement for three-dimensional body scanning according to claim 4, characterized in that the wavelength of the line laser (9) is 830 nm.
6. The colored three-dimensional point cloud sensor device for three-dimensional human body scanning according to claim 1, further comprising a laser mount (8), wherein the line laser (9) is mounted on the laser mount (8), and the line laser (9) is pressed by the laser mount (8).
7. The color three-dimensional point cloud sensor device for three-dimensional human body scanning according to claim 1, further comprising a dust cover mounted on the base (10), the black and white industrial camera (1), the color industrial camera (4), the microcomputer (7) and the line laser (9) being disposed within the dust cover.
8. The color three-dimensional point cloud sensor device for three-dimensional human body scanning according to claim 1, further comprising a black and white camera mounting bracket and a color camera mounting bracket, both of which are mounted on the base (10), wherein the black and white industrial camera (1) is rotatably connected to the black and white camera mounting bracket, and the color industrial camera (4) is rotatably connected to the color camera mounting bracket.
9. The color three-dimensional point cloud sensor device for three-dimensional body scanning according to claim 8, characterized in that the black-and-white industrial camera (1) is rotatable in the range of 0 ° to 60 ° on the black-and-white camera mount, and the color industrial camera (4) is rotatable in the range of 0 ° to 60 ° on the color camera mount.
10. A method of operating a colored three-dimensional point cloud sensor device for three-dimensional body scanning, characterized in that a colored three-dimensional point cloud sensor device for three-dimensional body scanning according to any one of claims 1 to 9 is used, comprising the following steps:
step 1, respectively establishing a transformation relation between a coordinate system of a black and white industrial camera (1) and a world coordinate system, a transformation relation between a coordinate system of a color industrial camera (4) and a world coordinate, and a pixel mapping relation between the black and white industrial camera (1) and the color industrial camera (4), and performing mutual conversion through the world coordinate system:
the black-and-white industrial camera (1) (coordinate system) is f0 (world coordinate system),
the color industrial camera (4) (coordinate system) is f1 (world coordinate system),
the black-and-white industrial camera (1) (coordinate system) is f3[ color industrial camera (4) (coordinate system) ],
wherein f0 represents the transformation relation between the coordinate system of the black-and-white industrial camera (1) and the world coordinate system, f1 represents the transformation relation between the coordinate system of the color industrial camera (4) and the world coordinate system, and f3 represents the transformation relation between the coordinate system of the black-and-white industrial camera (1) and the color industrial camera (4);
f3 can be obtained by f0 and f1 calculation;
step 2, distortion correction of the camera is carried out, and the relation between the camera and a world coordinate system is established: the black-and-white industrial camera (1) and the color industrial camera (4) are fixed on a base (10) and are arranged and fixed in parallel up and down, a world coordinate system device is placed in a public view of the black-and-white industrial camera (1) and the color industrial camera (4), a mark point appears at intervals, the mark point is recorded at the coordinate position of the world coordinate system, the black-and-white industrial camera (1) acquires an image once, the color industrial camera (4) acquires an image once, the pixel value of the mark point is extracted and identified through image processing, the mapping relation between the world coordinate system and the black-and-white industrial camera (1) and the mapping relation between the world coordinate system and the color industrial camera (4) are established at the point until the mark point is filled in the public area of the black-and-white industrial camera (1) and the color industrial camera (4), the transformation relation between the black-and-white industrial camera (1) and the world coordinate system is established in the whole public area, the transformation relation between the color industrial camera (4) and the world coordinate system can be calculated to obtain the coordinate mapping relation between the black and white industrial camera (1) and the color industrial camera (4);
and 3, after the laser of the line laser (9) irradiates the object, the black and white industrial camera (1) obtains the three-dimensional coordinate of the line by extracting the central coordinate of the line laser, and the color texture information is obtained through the mapping relation between the black and white industrial camera (1) and the color industrial camera (4).
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| CN114092447A (en) * | 2021-11-23 | 2022-02-25 | 北京阿尔法三维科技有限公司 | Method, device and equipment for measuring scoliosis based on human body three-dimensional image |
| CN114092447B (en) * | 2021-11-23 | 2022-07-22 | 北京阿尔法三维科技有限公司 | Method, device and equipment for measuring scoliosis based on human body three-dimensional image |
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