CN113566734B - High-precision three-dimensional imaging device based on coaxial translation speckle projector - Google Patents
High-precision three-dimensional imaging device based on coaxial translation speckle projector Download PDFInfo
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Abstract
The invention relates to the field of optical three-dimensional imaging, and particularly discloses a high-precision three-dimensional imaging device based on a coaxial translation speckle projector. Compared with the traditional digital speckle projection technology, the automatic control system saves the time for replacing speckle patterns, ensures the translation distance parameter with the maximum pattern uncorrelation according to experiments, is more beneficial to realizing the real-time of three-dimensional reconstruction on the premise of ensuring higher precision compared with the traditional scheme, and realizes a novel high-speed high-precision three-dimensional reconstruction system.
Description
Technical Field
The invention relates to the field of optical three-dimensional imaging, in particular to a high-precision three-dimensional imaging device based on a coaxial translation speckle projector.
Background
In recent years, binocular three-dimensional reconstruction techniques based on structured light encoding are widely used in various fields. The three-dimensional reconstruction technology based on matching has the problems that the weak texture area is easy to be mismatched and the reconstruction effect is poor, and the active stereoscopic vision can enrich or increase the surface texture of the measured object by means of projecting, transferring and the like the carefully designed pattern on the measured object, so that the matching ambiguity is overcome, the mismatching rate is reduced, and a more accurate and reliable three-dimensional reconstruction result can be obtained. The structured light coding modes are various, wherein the structured light based on sinusoidal stripe coding and the structured light based on speckle pattern coding are most widely used, and the basic principle of the three-dimensional reconstruction method adopting the structured light coding based on the speckle pattern is as follows: in the calibrated system, a plurality of frames of speckle patterns are projected to the surface of a measured object, the speckle patterns which are modulated and deformed are shot through a binocular camera, distortion correction and baseline correction are completed, depth information calculation is carried out by using a space-time stereo matching correlation algorithm, and finally three-dimensional data of the surface of the measured object are obtained.
Most of the existing three-dimensional reconstruction methods based on speckle structure optical coding adopt digital projection equipment, and have the characteristics of high price and huge volume, and are not suitable for flexible scene requirements. And the rapid switching of the patterns cannot be realized under the experimental scene of multi-frame projection, so that the real-time requirement is difficult to meet. Therefore, the three-dimensional reconstruction device is required to be lighter and more flexible and cheaper from the aspect of industrial demand or commercial demand.
Disclosure of Invention
Aiming at the problems that the equipment of the existing three-dimensional reconstruction method is not suitable for flexible scene requirements, rapid switching of patterns cannot be achieved under the experimental scene of multi-frame projection, and real-time requirements are difficult to meet, a novel speckle projector which is driven by a motor to perform speckle pattern translation switching is constructed, a mechanical structure assembled with a speckle template can be driven by the motor to perform translation according to a set distance, and the rapid switching of the translation of the speckle patterns is completed, wherein the switching time is less than or equal to 10ms, and a high-precision three-dimensional imaging device based on the coaxial translation speckle projector is provided. The device can be used for determining the acquisition frame number according to the actual research or production task requirements and reconstructing the three-dimensional object to be detected with high speed and high precision.
In order to achieve the above object, the present invention provides the following technical solutions:
a high-precision three-dimensional imaging device based on a coaxial translation speckle projector comprises a control module (6), a driving circuit (7), a motor (8), chromed glass (9) carved with speckle patterns, an LED illumination light source (11) and a Kohler illumination system (12) consisting of a compound lens array;
the control module (6) outputs a motor control signal to the driving circuit (7), and the driving circuit (7) enables the chrome-plated glass (9) carved with the speckle pattern to translate by controlling the motor (8) according to the motor control signal; the control module (6) also outputs illumination control signals to the LED illumination light source (11) at the same time, and the LED illumination light source (11) emits light sources to a Kohler illumination system (12) formed by the compound lens array; the Kohler illumination system (12) formed by the composite lens array optically amplifies the light source and provides shadowless uniform illumination; the enlarged light source is used for projecting the light source to the chromed glass (9) engraved with the speckle pattern in translation to form a speckle projection graph; and after the object to be measured receives the speckle projection image, forming a modulated speckle image.
As a preferable scheme of the invention, the main shaft of the control motor (8) drives the gear-rack transmission part (19) to rotate, the rotated gear-rack transmission part (19) enables the chromed glass (9) carved with the speckle pattern to translate, the gear-rack transmission part (19) comprises a driving gear (27), a transmission gear (28) and a rack part (29), the driving gear (27) is meshed with the transmission gear (28), and the transmission gear (28) is meshed with the rack part (29).
As a preferable scheme of the invention, the chromed glass (9) carved with the speckle pattern is placed on the speckle piece mounting bracket (30), a gear is arranged outside the speckle piece mounting bracket (30), the gear outside the speckle piece mounting bracket (30) is meshed with the rack part (29), and the rack part (29) drives the speckle piece mounting bracket to move, so that the chromed glass (9) carved with the speckle pattern translates.
As a preferable scheme of the invention, the chromed glass (9) carved with the speckle pattern translates at intervals of 3mm, and the interval period is less than or equal to 10ms.
As a preferable scheme of the invention, the speckle patch mounting bracket (30) is arranged on the main body structural part (15), the middle of the main body structural part (15) is of a hollow structure, the LED illumination light source projects the amplified light source to the chromed glass (9) carved with speckle patterns in translation through the hollow structure in the middle of the main body structural part (15) to form a speckle projection graph; the main body structure part (15) is provided with a double-chute structure (16), and the chromed glass (9) carved with speckle patterns is horizontally moved along the double-chute structure (16) under the driving of the speckle patch mounting bracket (30).
As the preferable scheme of the invention, the invention further comprises a main structure upper cover, wherein the main structure upper cover (22) and the main structure component (15) form an accommodating space, the chromed glass (9) of the speckle pattern, the speckle piece mounting bracket (30), the gear rack transmission component (19), the driving circuit (7) and the motor (8) are accommodated in the accommodating space, the main structure upper cover (22) is of a hollow structure, and the speckle projection image is projected out through the hollow structure of the main structure upper cover (22).
As a preferable scheme of the invention, the speckle projection image is projected to an object to be measured through a projection lens component, the projection lens component comprises a projection lens (24) and a lens locking ring (23), and the projection lens (24) is fixed above the upper cover (22) of the main body structure through the lens locking ring (23).
As a preferred embodiment of the invention, the device further comprises a binocular camera (10);
the control module (6) also outputs a photographing signal to the binocular camera (10), and in the process of translating the chromeplated glass (9) carved with the speckle patterns, the binocular camera (10) synchronously photographs the modulated speckle patterns to generate a 2N Zhang Sanban chart, wherein the left camera and the right camera in the binocular camera (10) are respectively N pieces.
Based on the same conception, the invention also provides a method for reconstructing three dimensions by using the high-precision three-dimensional imaging device based on the coaxial translation speckle projector, which comprises the following steps:
s1, constructing the high-precision three-dimensional imaging device according to any one of claims 1-8, controlling the translation of a speckle projection picture through a control module (6), and acquiring N speckle image pairs irrelevant to time space, wherein the speckle image pairs comprise a left camera shooting picture sequence and a right camera shooting picture sequence;
s2, using a function interface provided by an image processing open source library opencv4.0 to carry out distortion correction and polar correction on the obtained N time-space uncorrelated speckle image pairs;
s3, matching the corrected pictures line by using an ST-ZNCC algorithm, and setting the areas with low cross correlation values and failed left-right consistency test as invalid parallaxes;
s4, converting the parallax of the pixel level into the parallax of the sub-pixel level by utilizing a three-point fitting method;
s5, performing parallax post-processing;
s6, filling an ineffective parallax region by an interpolation method to obtain a sub-pixel level precision parallax map;
s7, obtaining calibration substitution data;
and S8, reconstructing the three-dimensional object to be detected based on the parallax map obtained in the step S6 by using calibration substituted data to obtain the point cloud data of the three-dimensional object to be detected.
As a preferred scheme of the present invention, in step S1, the control module (6) controls the shift of the speckle pattern, specifically includes the following steps:
s11, a control module (6) outputs a motor control signal to a driving circuit (7), and the driving circuit (7) controls a motor (8) to rotate by a preset angle according to the motor control signal;
s12, the motor (8) rotates forward or reversely to drive the chromed glass (9) carved with the speckle pattern to linearly translate in a reciprocating manner.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention provides a high-precision three-dimensional imaging device based on a coaxial translation speckle projector, which is characterized in that a control module is used for transmitting signals to a driving circuit to control a translation mechanism, so that a designed speckle pattern translates according to a specified distance to obtain a speckle pattern which is irrelevant to space time, then a Kohler illumination system is used for illumination and projection, and the obtained speckle pattern is projected on an object to be measured. Compared with the traditional digital speckle projection technology, the automatic control system saves the time for replacing speckle patterns, ensures the translation distance parameter with the maximum pattern uncorrelation according to experiments, is more beneficial to realizing the real-time of three-dimensional reconstruction on the premise of ensuring higher precision compared with the traditional scheme, and realizes a novel high-speed high-precision three-dimensional reconstruction system.
2. The complexity and the assembly difficulty of the system are reduced, the whole device is compact in structure, easy to assemble and low in cost. The chromed glass carved with the speckle patterns can be replaced according to the needs, and the speckle patterns can be personalized designed, so that the experiment research is convenient.
Description of the drawings:
FIG. 1 is a block diagram of an embodiment of a high-precision three-dimensional imaging device based on a coaxial translational speckle projector according to embodiment 1 of the present invention;
FIG. 2 is a schematic diagram of a high-precision three-dimensional imaging apparatus based on a coaxial translational speckle projector according to embodiment 1 of the invention;
FIG. 3 is an optical block diagram of an in-line translating speckle projector in embodiment 1 of the invention;
FIG. 4-1 is a schematic three-dimensional structure of a high-precision three-dimensional imaging device based on a coaxial translational speckle projector according to embodiment 1 of the present invention;
FIG. 4-2 is a side view of a high precision three-dimensional imaging apparatus based on an on-axis translational speckle projector according to embodiment 1 of the invention;
FIGS. 4-3 are top views of a high-precision three-dimensional imaging device based on an on-axis translational speckle projector according to embodiment 1 of the invention;
FIG. 5 is a schematic diagram of an illumination system of an in-line translating speckle projector employed in embodiment 1 of the invention;
FIG. 6-1 is an exploded view of the in-line translating speckle projector employed in embodiment 1 of the invention;
FIG. 6-2 is an enlarged view of a portion of the translation mechanism of FIG. 4-1;
FIGS. 6-3 are self-contained views (including front and top views) of an in-line translating speckle projector employed in embodiment 1 of the invention;
FIGS. 6-4 are exploded views of the translation mechanism and drive mechanism in the coaxial translating speckle projector employed in embodiment 1 of the invention;
FIGS. 6-5 are complete views of the optical and drive portions of the in-line translating speckle projector employed in embodiment 1 of the invention;
FIG. 7 is a schematic diagram of the control flow of the mechanical translation mechanism of the in-line translating speckle projector employed in example 1 of this invention;
fig. 8 is a flowchart of the steps for three-dimensional reconstruction by the high-precision three-dimensional imaging device based on the on-axis translational speckle projector in embodiment 1 of the invention.
Reference numerals: the high-precision three-dimensional imaging device based on the coaxial translation speckle projector comprises a 2-object to be detected, a 3-three-dimensional reconstruction algorithm module, 4-reconstructed object three-dimensional data, a 5-high-speed high-precision speckle structure light field three-dimensional imaging system, a 6-control module, a 7-driving circuit, an 8-motor, 9-chromed glass carved with speckle patterns, a 10-binocular camera, an 11-LED illumination light source, a 12-kohler illumination system, a 13-LED light source chip, a 14-kohler illumination system component, a 15-main body structure component, a 16-double chute structure, a 17-rack frame, 18-speckle piece components, a 19-rack and pinion transmission component, a 20-motor driving system, a 21-transmission bin sealing piece, a 22-main body structure upper cover, a 23-lens locking ring, a 24-projection lens, a 25-motor controller, a 26-motor spindle, a 27-driving gear, a 28-transmission gear, a 29-rack component, a 30-speckle piece mounting bracket, a 31-random speckle piece component, a 32-LED chip, a 33-kohler illumination component and a 34-projection component.
Detailed Description
The present invention will be described in further detail with reference to test examples and specific embodiments. It should not be construed that the scope of the above subject matter of the present invention is limited to the following embodiments, and all techniques realized based on the present invention are within the scope of the present invention.
Example 1
Fig. 1 shows a block diagram of an embodiment of a high-precision three-dimensional imaging device based on a coaxial translational speckle projector, which takes an object (2) to be measured as a measurement target, and illustrates the construction and working principle of a three-dimensional imaging system (5) in an exemplary manner. In fig. 1, a high-speed high-precision speckle structure light field three-dimensional imaging system (5) mainly comprises a high-precision three-dimensional imaging device (1) based on a coaxial translation speckle projector and a three-dimensional reconstruction algorithm module (3), wherein the three-dimensional imaging device (1) is used for carrying out projection and shooting of space-time uncorrelated speckle patterns on an object (2) to be detected, and the three-dimensional reconstruction algorithm module (3) is used for carrying out polar correction and three-dimensional reconstruction on images shot by the three-dimensional imaging device to obtain reconstructed three-dimensional data (4) of the object.
The three-dimensional imaging device (1) comprises a control module (6), a driving circuit (7), a motor (8) (mainly comprising a gear rack mechanism, a motor, a driving circuit and a control system), chromed glass (9) carved with speckle patterns, an LED illumination light source (11), a Kohler illumination system (12) comprising a compound lens array and a binocular camera (10). The control module controls the driving circuit (7) to enable the motor (8) to operate at a certain time interval, so that the chromed glass (9) which is connected with the motor and is carved with the speckle pattern can translate at a certain distance. The distance of each translation pattern is not too small to meet the requirements of high speed and high precision of experiments, and the distance of each translation is not too large to meet the requirements of a system on quick imaging, the translation distance is preferably about 3mm, the translation of the speckle pattern is quickly switched by a driving circuit through control of a translation mechanism, the switching time is less than or equal to 10ms, the switching time refers to the time period of the speckle pattern from one position to the next position, and the time period comprises the time of translation and the time of suspension. And in the translation pause time, the control module (6) synchronously controls the binocular camera (10) to shoot images. After N shifts, N pairs of spatio-temporal uncorrelated image sequences are obtained.
A schematic diagram of the principle of a high-precision three-dimensional imaging device (1) based on a coaxial translational speckle projector is shown in fig. 2. The high-precision three-dimensional imaging device (200) based on the coaxial translation speckle projector comprises a control module (201), a driving circuit (202), a motor (203), an LED illumination light source (204), a Kohler illumination system (207) consisting of a compound lens array, a binocular camera (206) and chromed glass (205) carved with speckle patterns. Because the imaging device and the projection device are assembled on one module, the translation and the snapshot of the pattern can be conveniently and simultaneously realized by combining the SDK matched with the module, and the requirements of automation and instantaneity in partial experimental scenes are met.
Fig. 3 is an optical block diagram of an on-axis translational speckle projector, showing a scene in which light (300) from an LED point source is homogenized by a kohler illumination system (301) composed of a compound lens array, and then a chromed glass (302) engraved with a speckle pattern is illuminated, and the speckle pattern (303) is projected.
In particular, to ensure the stability of the system, the three-dimensional imaging device (1) in fig. 1 is integrated onto a combined module comprising a speckle projector and a camera. A schematic three-dimensional structure of a high-precision three-dimensional imaging device based on a coaxial translation speckle projector is shown in fig. 4-1; a front view of a high-precision three-dimensional imaging device based on a coaxial translational speckle projector is shown in fig. 4-2; a top view of a high precision three-dimensional imaging device based on an on-axis translational speckle projector is shown in fig. 4-3. The button gives corresponding instructions, the upper computer control system drives the motor to return to an initial position (usually an installed marker position), then the motor is controlled to rotate clockwise (anticlockwise) through a certain pulse sequence, the driven wheel (transmission gear) turns opposite to the driving wheel (driving gear), so that rack parts on the speckle pattern-engraved chrome-plated glass is driven to translate, the speckle pattern-engraved chrome-plated glass is placed above the speckle pattern-engraved mounting bracket, the speckle pattern-engraved mounting bracket drives the chrome-plated glass engraved with the speckle pattern to correspond to a plurality of groups of pulse sequences according to the picture-picking frame number set in a program, and corresponding uniform translation is carried out for a plurality of groups of micro displacements. The next image acquisition measurement is reverse to the movement process. After the measurement is completed, the initial bit homing of the mark is automatically carried out.
FIG. 5 is a schematic illustration of an illumination system of an on-axis translating speckle projector, showing an optical configuration of the present invention, wherein the speckle projection system comprises an LED illumination source and a dual lens assembly comprising a Kohler illumination system, and the focal plane projection system comprises: speckle projection + projection lens group. The speckle illumination system is a description system of the angle of light emitted from the light source, while the focal plane projection system describes the light condition on the speckle sheet from the angle of lens projection imaging, namely, the two parts are described in detail as two parts of an optical system, which are connected with the speckle sheet element in sequence, and the speckle projection system is integrally formed.
Fig. 6-1 is an exploded view of an in-line translating speckle projector. As can be seen from the figure, the structure of the coaxial translational speckle projector sequentially comprises, from bottom to top, an LED light source chip 13, a kohler illumination system assembly 14, a main body structural member 15, a rack frame 16 (internally mounted glass speckle-removing sheet element), a speckle-removing sheet element 18 (chrome-plated glass engraved with speckle patterns), a rack-and-pinion transmission member 19 (electrode main wheel+driven wheel+rack frame), a motor drive system 20 (electrode+drive circuit+control module), a transmission bin seal 21, a main body structural upper cover 22, a lens locking ring 23, and a projection lens 24, wherein the main body structural member 15 is provided with a double-chute structure 16.
FIG. 6-2 is an enlarged view of a portion of the translation mechanism of the in-line translating speckle projector of FIG. 6-1; 6-3 are self-contained views (including front and top views) of an in-line translating speckle projector; FIGS. 6-4 are exploded views of a translation mechanism and drive mechanism in an in-line translating speckle projector; the device comprises a motor controller 25, a motor main shaft 26, a driving gear 27 (motor main wheel), a transmission gear 28 (driven wheel), a rack part 29, a speckle piece mounting bracket 30, a random speckle element 31 (chrome-plated glass carved with speckle patterns), an LED chip 32, a Kohler illumination assembly 33, a projection lens assembly 34, the rack part 29 and the speckle piece mounting bracket 30. FIGS. 6-5 are complete views of the optical and drive portions of the in-line translating speckle projector;
fig. 7 is a schematic diagram of a control flow of a mechanical translation mechanism of an in-line translating speckle projector employed. The upper computer system sends a control signal to the control system, so that the control system outputs a motor control signal and an illumination control signal for driving the illumination system; and the driving motor receives the motor control signal and then controls the rack and pinion transmission system to drive the speckle image to displace, and meanwhile, under the control of the illumination control signal, the illumination system controls the speckle projection system to project a speckle image of image shift and projects the moving speckle image through the speckle projection lens. The image acquisition imaging system synchronously acquires images modulated by the object to be detected, and three-dimensional modeling is realized based on the images.
The three-dimensional imaging device in fig. 4-1 acquires a speckle image modulated by the three-dimensional geometry of the object to be measured in real time: a 2N Zhang Sanban chart was obtained with the binocular camera configuration, and each of the left and right cameras was N.
The flow chart of the steps for three-dimensional reconstruction by the high-precision three-dimensional imaging device based on the coaxial translation speckle projector is shown in fig. 8, and the specific steps include:
s1, synchronously acquiring N speckle image pairs irrelevant to time and space by controlling a coaxial translation speckle projector and a binocular camera through a control module, wherein the speckle image pairs comprise a left camera shooting picture sequence and a right camera shooting picture sequence;
s2, using a function interface provided by an image processing open source library opencv4.0 to carry out distortion correction and polar correction on the obtained N time-space uncorrelated speckle image pairs;
s3, matching the corrected pictures line by using an ST-ZNCC algorithm, and setting the areas with lower cross correlation values and failed left-right consistency test as invalid parallaxes;
s4, converting the parallax of the pixel level into the parallax of the sub-pixel level by utilizing a three-point fitting method;
s5, performing parallax post-processing;
s6, filling an ineffective parallax region by an interpolation method to obtain a sub-pixel level precision parallax map;
s7, obtaining calibration substitution data;
and S8, reconstructing the three-dimensional object to be detected based on the parallax map obtained in the step S6 by utilizing the system calibration parameters, and obtaining the point cloud data of the three-dimensional object to be detected.
While the fundamental principles and principal features of the invention and advantages thereof have been shown and described, it will be apparent to those skilled in the art that the invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present disclosure describes embodiments, the embodiments do not include only a single embodiment, and this description is for clarity only, and those skilled in the art should consider the disclosure as a whole, and embodiments may be suitably combined to form other embodiments that will be understood by those skilled in the art.
Claims (5)
1. The high-precision three-dimensional imaging device based on the coaxial translation speckle projector is characterized by comprising a control module (6), a driving circuit (7), a motor (8), chromed glass (9) carved with speckle patterns, an LED illumination light source (11) and a Kohler illumination system (12) formed by a compound lens array;
the control module (6) outputs a motor control signal to the driving circuit (7), and the driving circuit (7) enables the chrome-plated glass (9) carved with the speckle pattern to translate by controlling the motor (8) according to the motor control signal; the control module (6) also outputs illumination control signals to the LED illumination light source (11) at the same time, and the LED illumination light source (11) emits light sources to a Kohler illumination system (12) formed by the compound lens array; the Kohler illumination system (12) formed by the composite lens array optically amplifies the light source and provides shadowless uniform illumination; the enlarged light source is used for projecting the light source to the chromed glass (9) engraved with the speckle pattern in translation to form a speckle projection graph; after receiving the speckle projection image, the object to be measured forms a modulated speckle image; the main shaft of the control motor (8) drives a gear-rack transmission part (19) to rotate, the rotating gear-rack transmission part (19) enables the chromed glass (9) engraved with speckle patterns to translate, the gear-rack transmission part (19) comprises a driving gear (27), a transmission gear (28) and a rack part (29), the driving gear (27) is meshed with the transmission gear (28), and the transmission gear (28) is meshed with the rack part (29); the chromed glass (9) carved with the speckle patterns is placed on a speckle piece mounting bracket (30), a gear is arranged outside the speckle piece mounting bracket (30), the gear outside the speckle piece mounting bracket (30) is meshed with a rack part (29), and the rack part (29) drives the speckle piece mounting bracket to move, so that the chromed glass (9) carved with the speckle patterns is translated;
the speckle patch mounting bracket (30) is arranged on the main body structural component (15), a hollow structure is arranged in the middle of the main body structural component (15), and the LED illumination light source projects the amplified light source to the chromeplated glass (9) engraved with speckle patterns in translation through the hollow structure in the middle of the main body structural component (15) to form a speckle projection graph; a double-chute structure (16) is arranged above the main body structure part (15), and the chromed glass (9) carved with speckle patterns is horizontally moved along the double-chute structure (16) under the drive of the speckle patch mounting bracket (30);
the novel speckle pattern lens is characterized by further comprising a main body structure upper cover, wherein the main body structure upper cover (22) and a main body structure part (15) form an accommodating space, the chromeplated glass (9) of the speckle pattern, a speckle pattern mounting bracket (30), a gear rack transmission part (19), a driving circuit (7) and a motor (8) are accommodated in the accommodating space, the main body structure upper cover (22) is of a hollow structure, and the speckle projection image is projected out through the hollow structure of the main body structure upper cover (22);
also comprises a binocular camera (10);
the control module (6) also outputs a photographing signal to the binocular camera (10), and in the process of translating the chromeplate glass (9) carved with the speckle patterns, the binocular camera (10) synchronously photographs the modulated speckle patterns to generate a 2N Zhang Sanban chart, wherein the left camera and the right camera in the binocular camera (10) are respectively N pieces;
the main body structure upper cover (22), the main body structure part (15), the speckle piece mounting bracket (30), the LED illumination light source (11) and the geometric center of the Kohler illumination system (12) formed by the compound lens array are coaxial, and the chromed glass (9) of the speckle pattern moves in a plane perpendicular to the coaxial line.
2. The high-precision three-dimensional imaging device based on the coaxial translation speckle projector according to claim 1, wherein the chromed glass (9) carved with the speckle pattern translates at time interval periods, the translation distance in each period is 3mm, and the time interval period is less than or equal to 10ms.
3. A high precision three-dimensional imaging apparatus based on an on-axis translational speckle projector as set forth in claim 1, wherein the speckle pattern is projected onto the object under test by a projection lens assembly comprising a projection lens (24) and a lens locking ring (23), the projection lens (24) being secured above the body structure upper cover (22) by the lens locking ring (23).
4. The method for three-dimensional reconstruction by using the high-precision three-dimensional imaging device based on the coaxial translation speckle projector is characterized by comprising the following steps of:
s1, constructing the high-precision three-dimensional imaging device according to any one of claims 1-3, controlling the translation of a speckle projection picture through a control module (6), and acquiring N speckle image pairs irrelevant to time space, wherein the speckle image pairs comprise a left camera shooting picture sequence and a right camera shooting picture sequence;
s2, using a function interface provided by an image processing open source library opencv4.0 to carry out distortion correction and polar correction on the obtained N time-space uncorrelated speckle image pairs;
s3, matching the corrected pictures line by using an ST-ZNCC algorithm, and setting the areas with low cross correlation values and failed left-right consistency test as invalid parallaxes;
s4, converting the parallax of the pixel level into the parallax of the sub-pixel level by utilizing a three-point fitting method;
s5, performing parallax post-processing;
s6, filling an ineffective parallax region by an interpolation method to obtain a sub-pixel level precision parallax map;
s7, obtaining calibration substitution data;
and S8, reconstructing the three-dimensional object to be detected based on the parallax map obtained in the step S6 by using calibration substituted data to obtain the point cloud data of the three-dimensional object to be detected.
5. The method for three-dimensional reconstruction of a high-precision three-dimensional imaging apparatus based on an on-axis translational speckle projector according to claim 4, wherein in step S1, the control module (6) controls the translation of the speckle pattern, specifically comprising the steps of:
s11, a control module (6) outputs a motor control signal to a driving circuit (7), and the driving circuit (7) controls a motor (8) to rotate by a preset angle according to the motor control signal;
s12, the motor (8) rotates forward or reversely to drive the chromed glass (9) carved with the speckle pattern to linearly translate in a reciprocating manner.
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