CN114681089A - Three-dimensional scanning device and method - Google Patents
Three-dimensional scanning device and method Download PDFInfo
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- CN114681089A CN114681089A CN202011642145.3A CN202011642145A CN114681089A CN 114681089 A CN114681089 A CN 114681089A CN 202011642145 A CN202011642145 A CN 202011642145A CN 114681089 A CN114681089 A CN 114681089A
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Abstract
The invention discloses a three-dimensional scanning device and a method. Wherein, the device includes: the projection equipment is used for projecting projection stripes to an object to be scanned, and the projection stripes comprise a first stripe group; the camera is used for collecting an object to be scanned to obtain a camera image, wherein the camera image is an image of the object to be scanned on an image plane of the camera, the image plane comprises a first imaging interval, when the object to be scanned is located within an effective depth of field range of the three-dimensional scanning device, an image of the first stripe group on the image plane is located in the first imaging interval, and only the first stripe group is located in the first imaging interval. The invention solves the technical problem that the structured light coding pattern in the prior art needs a plurality of image sequences to carry out complex coding.
Description
Technical Field
The invention relates to the field of three-dimensional scanning, in particular to a three-dimensional scanning device and a three-dimensional scanning method.
Background
At present, internationally, the means for acquiring dental model data in the field of dental diagnosis and treatment has gradually shifted from impression three-dimensional scanning to intraoral three-dimensional scanning technology. The advent of this technology can be said to be a further revolution in the digital processing of teeth. The technology abandons the mode of obtaining dental model data from impression, impression and three-dimensional scanning, and can directly obtain the three-dimensional data of teeth by entrance scanning. The method saves two steps of impression and turnover in process time, saves materials, labor cost and model express fee required by the processes in cost, and can avoid uncomfortable feeling in impression making in customer experience. It can be seen from the above advantages that the technology is certainly greatly developed. Significant benefits are obtained in the market.
An oral digital impression apparatus, also called an intraoral three-dimensional scanner, is a device which directly scans the oral cavity of a patient by using a probe-in optical scanning head to obtain the three-dimensional shape and color texture information of the surfaces of soft and hard tissues such as teeth, gums, mucous membranes and the like in the oral cavity. One method of the device is to adopt an active structured light triangulation imaging principle, project active light patterns by using a digital projection system, and perform three-dimensional reconstruction and splicing by algorithm processing after a camera acquisition system acquires the patterns.
In the design of the structured light coding pattern, decoding of the whole image is usually considered, such as methods of time phase expansion, space phase expansion and the like, and the phase expansion is required to obtain a real absolute phase on the basis of obtaining the folding phase, so that the problem of periodicity of the folding phase is solved. To globally unwrappe the phase, typically a larger sequence of images or a more complex spatial codec process is required.
In view of the above-mentioned problem that the structured light coding pattern in the prior art requires multiple image sequences for complex coding, no effective solution has been proposed at present.
Disclosure of Invention
The embodiment of the invention provides a three-dimensional scanning device and a three-dimensional scanning method, which at least solve the technical problem that a structured light coding pattern in the prior art needs a plurality of image sequences to carry out complex coding.
According to an aspect of an embodiment of the present invention, there is provided a three-dimensional scanning apparatus including: the projection equipment is used for projecting projection stripes to an object to be scanned, and the projection stripes comprise a first stripe group; the camera is used for collecting the object to be scanned to obtain a camera image, wherein the camera image is an image of the object to be scanned on an image plane of the camera, the image plane comprises a first imaging interval, when the object to be scanned is located within an effective depth of field range of the three-dimensional scanning device, the first stripe group is located in the first imaging interval in the image of the image plane, and only the first stripe group is located in the first imaging interval.
Optionally, a projection optical axis of the projection device and an acquisition optical axis of the camera are formed therebetweenThe system angle α, the optical parameters of the camera include: a lens magnification k1, an effective depth of field of the three-dimensional scanning device is represented by Delta L, and the first imaging interval is represented by d1Is represented by d1＝ΔL×tgα÷k1。
Optionally, the projection device comprises: an image display element, the image display element comprising: the first display interval is provided with the first fringe group; the optical parameters of the projection device include: lens magnification k2 of the projection device, D for the first display interval1Is represented by1＝ΔL×tgα÷k2。
Optionally, the projecting stripes further comprise: a second group of stripes disposed adjacent to the first group of stripes; the image plane includes: a second imaging interval, the second imaging interval being disposed adjacent to the first imaging interval; when the object to be scanned is located within the effective depth of field range of the three-dimensional scanning device, the imaging of the second texture group in the image plane is located in the second imaging interval, and only the second texture group is located in the second imaging interval.
Optionally, the projected fringe comprises: the first stripe group and the second stripe group are respectively a periodic stripe group.
Optionally, a system included angle α is formed between a projection optical axis of the projection apparatus and a collection optical axis of the camera, and the optical parameters of the camera include: lens magnification k1The effective depth of field of the three-dimensional scanning device is represented by Delta L, and the second imaging interval is represented by d2Is represented by d2＝ΔL×tgα÷k1。
Optionally, the projection device comprises: an image display element, the image display element comprising: the second display interval is provided with the second stripe group; the optical parameters of the projection device include: lens magnification k of the projection device2And D is used for the second display interval2Is represented by2＝ΔL×tgα÷k2。
Optionally, the apparatus further comprises: a processor for performing a three-dimensional reconstruction of the object to be scanned based on the camera image.
Optionally, the processor is preset with the first imaging interval coordinates; the processor determines the pixel coordinates of the center of the stripe in the camera image based on the camera image; the processor determines the number of each stripe in the camera image based on the pixel coordinates of the stripe and the coordinates of the first imaging interval; and the processor performs three-dimensional reconstruction based on the pixel coordinate of the center of the stripe and the serial number to obtain a three-dimensional digital model of the object to be scanned.
Optionally, the processor is preset with a light plane and a corresponding number of each stripe in the projected stripes; the processor determines a light plane corresponding to the pixel coordinate where the center of each stripe is located based on the consistency of the serial number of each stripe in the camera image and the corresponding serial number of the light plane of each stripe; and the processor performs triangular calculation based on the pixel coordinate of the center of the stripe and the corresponding light plane, and reconstructs a three-dimensional digital model of the object to be scanned.
According to another aspect of the embodiments of the present invention, there is also provided a three-dimensional scanning method, based on the three-dimensional scanning apparatus described above, the following steps are performed: projecting projection stripes to an object to be scanned through projection equipment; acquiring the object to be scanned by a camera to obtain a camera image, wherein the camera image is an image of the object to be scanned on an image plane of the camera, the image plane comprises a first imaging interval, when the object to be scanned is located in an effective depth of field range of the three-dimensional scanning device, the image of the first stripe group on the image plane is located in the first imaging interval, and only the first stripe group is located in the first imaging interval; and performing three-dimensional reconstruction on the object to be scanned based on the camera image through a processor.
Optionally, the method further comprises: determining the pixel coordinates of the centers of the stripes in the camera image based on the camera image; the processor is preset with coordinates of a first imaging interval, and the number of each stripe is determined based on the pixel coordinates of the stripe and the coordinates of the first imaging interval; and performing three-dimensional reconstruction on the pixel coordinate of the center of the stripe based on the serial number to obtain a three-dimensional digital model of the object to be scanned.
In an embodiment of the present invention, a projection device, configured to project projection stripes towards an object to be scanned, where the projection stripes include a first stripe group; the camera is used for collecting the object to be scanned to obtain a camera image, wherein the camera image is an image of the object to be scanned on an image plane of the camera, the image plane includes a first imaging interval, when the object to be scanned is located within an effective depth of field range of the three-dimensional scanning device, the image of the first stripe group on the image plane is located in the first imaging interval, and only the first stripe is located in the first imaging interval, the three-dimensional scanning device enables the projection stripe not to exceed the first imaging interval defined by a hardware result of the three-dimensional scanning device according to a linear propagation characteristic of light, so that the first imaging interval is used as a coding period, and the uniqueness of the projection stripe coding is ensured in the coding period, and the uniqueness of the coding information (namely, a few sequence images or a few space codes) of a few projection stripes can be utilized to ensure the uniqueness of the coding information, therefore, the method can be used under the condition of combining optical characteristics without depending on high-difficulty hardware level, can also utilize a few image sequences or a simpler space coding and decoding method to improve the speed of dynamic scanning, realizes the technical effect of improving the scanning efficiency, and further solves the technical problem that the structured light coding pattern in the prior art needs a plurality of image sequences to carry out complex coding.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a schematic diagram of a three-dimensional scanning apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of optical parameters of a lens according to an embodiment of the invention;
FIG. 3a is a first schematic diagram of a first time-projected fringe according to an embodiment of the present invention;
FIG. 3b is a second schematic diagram of a second time-projected fringe according to an embodiment of the present invention;
FIG. 3c is a third schematic diagram of a third time projected fringe according to an embodiment of the present invention;
FIG. 3d is a diagram of a time-projected fringe coding table according to an embodiment of the present invention;
FIG. 4a is a schematic diagram of a color projection stripe according to an embodiment of the present invention;
FIG. 4b is a diagram of a color projection stripe code table according to an embodiment of the present invention;
fig. 5 is a flowchart of a three-dimensional scanning method according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in other sequences than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In accordance with an embodiment of the present invention, there is provided a three-dimensional scanning-based projection ray migration method, where the steps illustrated in the flowchart of the accompanying drawings may be implemented in a computer system such as a set of computer-executable instructions, and where a logical order is illustrated in the flowchart, in some cases, the steps illustrated or described may be performed in an order different than that illustrated.
Fig. 1 is a schematic diagram of a three-dimensional scanning apparatus according to an embodiment of the present invention, as shown in fig. 1, the apparatus including: a projection device 10 for projecting projection stripes towards an object to be scanned, the projection stripes including a first stripe group; the camera 12 is configured to collect an object to be scanned to obtain a camera image, where the camera image is an image of the object to be scanned on an image plane of the camera, the image plane includes a first imaging section, and when the object to be scanned is located within an effective depth of field range of the three-dimensional scanning device, an image of the first stripe group on the image plane is located in the first imaging section, and only the first stripe group is located in the first imaging section.
In an embodiment of the present invention, a projection device is configured to project projection stripes to an object to be scanned, where the projection stripes include a first stripe group; the camera is used for collecting the object to be scanned to obtain a camera image, wherein the camera image is an image of the object to be scanned on an image plane of the camera, the image plane includes a first imaging interval, when the object to be scanned is located within an effective depth of field range of the three-dimensional scanning device, the image of the first fringe group on the image plane is located in the first imaging interval, and only the first fringe is located in the first imaging interval, the three-dimensional scanning device enables the projection fringe not to exceed the first imaging interval defined by a hardware result of the three-dimensional scanning device according to a linear propagation characteristic of light, so that the first imaging interval is used as a coding period, and the uniqueness of the coding of the projection fringe in the coding period is ensured, and the uniqueness of the coding information (namely, a few sequence images or a few space codes) of a small number of projection fringes can be utilized to ensure the uniqueness of the coding, therefore, the method can be used under the condition of combining optical characteristics without depending on high-difficulty hardware level, can also utilize a few image sequences or a simpler space coding and decoding method to improve the speed of dynamic scanning, realizes the technical effect of improving the scanning efficiency, and further solves the technical problem that the structured light coding pattern in the prior art needs a plurality of image sequences to carry out complex coding.
Alternatively, as shown in fig. 1, the effective depth of field Δ L is a distance from Z0 to Z2, where Z0 is a near point position and Z2 is a far point position, and a sharp image of the object to be scanned can be acquired by the camera in the case where the object to be scanned is located between Z0 to Z2.
That is, the effective depth of field Δ L is front depth of field Δ L1+ rear depth of field Δ L2, where Δ L1+ Δ L2 range from 10mm to 20 mm.
Alternatively, the magnification of the optical system of the camera is usually about 3:1, and the imaging interval (e.g., the first imaging interval or the second imaging interval) of the fixed projection light on the camera image is d, i.e., the single period range.
The technical solution claimed in this application, in the scanning scene for a small field range, generally within an effective depth of field range, due to an included angle of a binocular system and a magnification of an optical lens, inevitably causes a stripe pattern of the same code value of structured light to move within a breadth of a camera or a projection apparatus, and this movement range depends on three aspects: effective depth of field, optical system angle and lens magnification.
Optionally, the range of motion comprises: after the optical parameters of the projection equipment and the camera in the three-dimensional scanning device are determined, the moving range is determined, and the uniqueness of the stripe codes in the moving range is designed, so that the uniqueness of the code value of the whole global area can be ensured. Because of the straight-line propagation property of light, light rays in the display region cannot jump out of the imaging region.
Optionally, the imaging movement range is used as a coding period, the uniqueness of the coding is guaranteed in the coding period, and the coding uniqueness can be guaranteed by using a small amount of coding information (fewer sequence images or fewer spatial codes) because the period can guarantee a smaller range according to the optical design.
Fig. 2 is a schematic diagram of optical parameters of a lens according to an embodiment of the present invention, as shown in fig. 2, the optical parameters include: obtaining a front focal depth and a rear focal depth by a focal plane of the lens and positions of the dispersion circles in front of and behind the focal plane; an effective depth of field of the lens, wherein the effective depth of field of the lens comprises: determining a front depth of field based on the front focal depth, and determining a rear depth of field based on the rear focal depth, wherein the object point (namely the object to be scanned) is located at a photographing distance between the lenses, and the photographing distance comprises: the distance between the lens and the object to be scanned, the distance between the near point of the depth of field and the lens, and the distance between the far point of the depth of field and the lens.
Alternatively, the lens shown in fig. 2 may be a lens of a camera, and may also be a lens of a projection device.
Alternatively, in the case that the lens shown in fig. 2 is a lens of a camera, the object to be scanned may be set within an effective depth range of the camera, the camera image acquired by the object to be scanned may be set within a depth of focus range, and an imaging interval (e.g., a first imaging interval or a second imaging interval) may be calculated based on the optical parameters determined by the lens of the camera.
Alternatively, in the case that the lens shown in fig. 2 is a lens of a projection apparatus, a negative film (or a negative phase) for projecting stripes may be set within a focal depth range of the projection apparatus, an object to be scanned may be set within an effective depth range of the projection apparatus, and a display section (e.g., a first display section or a second display section) may be calculated based on optical parameters determined by the lens of the projection apparatus.
As an alternative embodiment, a system included angle α is formed between a projection optical axis of the projection apparatus and an acquisition optical axis of the camera, and the optical parameters of the camera include: lens magnification k1The effective depth of field of the three-dimensional scanning device is expressed by Delta L, and the first imaging interval is expressed by d1Is represented by d1＝ΔL×tgα÷k1。
As an alternative embodiment, the projection device comprises: an image display element, the image display element comprising: the display device comprises a first display interval, a second display interval and a display unit, wherein the first display interval is provided with a first stripe group; the optical parameters of the projection device include: lens magnification k of projection equipment2First display interval D1Is represented by1＝ΔL×tgα÷k2。
As an alternative embodiment, the projecting stripes further comprise: a second stripe group, the second stripe group being disposed adjacent to the first stripe group; the image plane includes: a second imaging interval which is arranged adjacent to the first imaging interval; when the object to be scanned is located within the effective depth of field range of the three-dimensional scanning device, the imaging of the second streak group in the image plane is located in the second imaging interval, and only the second streak group is located in the second imaging interval.
Optionally, projecting the first stripe group on a near point of depth of field of the projection device, and projecting the second stripe group on a far point of depth of field of the projection device; or the first stripe group is projected at the far point of the depth of field of the projection equipment, and the second stripe group is projected at the near point of the depth of field of the projection equipment.
As an alternative embodiment, the projecting stripes comprise: the first stripe group and the second stripe group are respectively a periodic stripe group.
As an alternative embodiment, a system included angle α is formed between a projection optical axis of the projection apparatus and an acquisition optical axis of the camera, and the optical parameters of the camera include: lens magnification k1The effective depth of field of the three-dimensional scanning device is expressed by Delta L, and the second imaging interval is expressed by d2Is represented by d2＝ΔL×tgα÷k1。
As an alternative embodiment, the projection device comprises: an image display element, the image display element comprising: the second display interval is provided with a second stripe group; the optical parameters of the projection device include: lens magnification k of projection device2Second display interval D2Is represented by2＝ΔL×tgα÷k2。
Optionally, the included angle α of the system ranges between 6 ° and 10 °.
As an alternative embodiment, the processor is configured to perform three-dimensional reconstruction of the object to be scanned based on the camera image.
As an alternative embodiment, the processor is preset with a first imaging interval coordinate; the processor determines the pixel coordinates of the center of the stripes in the camera image based on the camera image; the processor determines the number of each stripe in the camera image based on the pixel coordinates of the stripe and the coordinates of the first imaging interval; and the processor performs three-dimensional reconstruction based on the pixel coordinate where the center of the stripe is located and the serial number to obtain a three-dimensional digital model of the object to be scanned.
As an alternative embodiment, the processor is preset with second imaging interval coordinates; the processor determines the pixel coordinates of the center of the stripes in the camera image based on the camera image; the processor determines the number of each stripe in the camera image based on the pixel coordinate of the stripe, the coordinate of the first imaging interval and the coordinate of the second imaging interval; and the processor performs three-dimensional reconstruction based on the pixel coordinate where the center of the stripe is located and the serial number to obtain a three-dimensional digital model of the object to be scanned.
As an alternative embodiment, the processor is preset with the light planes and corresponding numbers of each stripe in the projected stripes; the processor determines a light plane corresponding to the pixel coordinate where the center of each stripe is located based on the consistency of the serial number of each stripe in the camera image and the corresponding serial number of the light plane of each stripe; the processor carries out triangular calculation based on the pixel coordinate of the center of the stripe and the corresponding light plane, and reconstructs a three-dimensional digital model of the object to be scanned.
Optionally, the projected stripes include temporal projected stripes and color projected stripes.
FIG. 3a is a first schematic diagram of a first time-projected fringe, as shown in FIG. 3a, according to an embodiment of the present invention; FIG. 3b is a second schematic diagram of a second time-projected fringe according to the embodiment of the invention, as shown in FIG. 3 b; FIG. 3c is a third schematic diagram of a third time-projected fringe, as shown in FIG. 3c, according to an embodiment of the present invention; the three time projection stripes shown in fig. 3 a-3 c correspond to a coding cycle, and a time image coding table can be obtained by decoding each stripe in the three time projection stripes in the coding cycle, and the coding table can determine the sequence of each projection stripe.
Fig. 3d is a schematic diagram of a time projection stripe encoding table according to an embodiment of the present invention, as shown in fig. 3d, values are sequentially taken at the same pixel position in the time projection stripes shown in fig. 3a to 3c ( binary encoding 0 or 1 is adopted), and the binary stripe encoding shown in fig. 3d is obtained according to the acquisition time sequence of the three time projection stripes.
Wherein a single period stripe of the first time projection stripes is encoded as: 10101000, 10101000 can be periodically repeatedly arranged in the first time projection stripe, and the single period stripe of the second time projection stripe is coded as: 10001010, 10001010 can be periodically repeatedly arranged in the second time projection stripe, and a single period stripe of the third time projection stripe is encoded as: 11111111 and 11111111 can be periodically and repeatedly arranged in the third time projection stripe, of course, the repetition periods of 10101000, 10001010 and 11111111 are the same; during projection, the three time-projected stripes are projected in time sequence, such as projecting the first time-projected stripe at a first projection time, projecting the second time-projected stripe at a second projection time, and projecting the third time-stripe pattern at a third projection time.
Optionally, when the projection stripes of the camera image are acquired before three-dimensional reconstruction, the projection stripes can be identified by the codes no matter the projection stripes are damaged by various severe environments such as object boundaries, shielding, reflection and the like, so that the problem of coding ambiguity is avoided.
It should be noted that the three time projection stripes shown in fig. 3a to 3c are designed as a reconstruction cycle, and the decoding reconstruction can be completed based on 3 time projection stripes, so that the time required for continuously acquiring the time projection stripes during dynamic scanning is greatly shortened, and the problems of image dislocation, image blur, decoding error and the like caused by fast movement are avoided.
Fig. 4a is a schematic diagram of a color projection stripe according to an embodiment of the present invention, as shown in fig. 4a, color coding is performed on each stripe in the coding period, the more the color types are, the easier the uniqueness of the code is designed, but at the same time, the difficulty of identifying the color codes is brought, because the more the color types are, the more difficult the difference between the colors is to distinguish. The number of stripes is controlled to be 8, namely, coding and distinguishing can be carried out through three colors, and the complexity of coding and decoding is greatly reduced.
Fig. 4b is a schematic diagram of a color projection stripe encoding table according to an embodiment of the present invention, and as shown in fig. 4b, based on the encoding values of the projection stripes with different colors ( binary encoding 0 or 1 is used to express the information of three color channels), the result of obtaining a three-bit binary number is stripe encoding.
For example, the projected stripes shown in FIG. 4a include three colors, with stripes of each color corresponding to a coded sequence; the coding sequence corresponding to the red stripe (R) is as follows: 100, the coding sequence corresponding to the blue stripe (B) is: 001, the coding sequence corresponding to the green stripe (G) is: 010. of course, the projection stripes may also be a color stripe sequence arranged based on the de-bruton sequence, or a plurality of stripe sequences may be repeatedly arranged with the color stripe sequence arranged based on the de-bruton sequence as a single period.
Optionally, when the projection stripes in the camera image are acquired before three-dimensional reconstruction, the stripes can be identified by the above codes no matter the stripes are damaged by various severe environments such as object boundaries, shielding, reflection and the like, so that the problem of stripe coding ambiguity is avoided.
It should be noted that, with the projection stripes with different colors as shown in fig. 4a as one period, 1 simple color projection stripe based on color coding can be implemented, and the decoding and reconstruction can be completed, thereby greatly shortening the image sequence acquisition duration required by single-frame three-dimensional data during dynamic scanning, reducing the complexity and calculation consumption of encoding and decoding, and avoiding the problems of algorithm complexity and time consumption, decoding errors, and the like caused by excessive color types.
Fig. 5 is a flowchart of a three-dimensional scanning method according to an embodiment of the present invention, as shown in fig. 5, based on the three-dimensional scanning apparatus, the following steps are performed:
step S502, projecting projection stripes to an object to be scanned through projection equipment;
step S504, collecting an object to be scanned through a camera to obtain a camera image, wherein the camera image is an image of the object to be scanned on an image plane of the camera, the image plane comprises a first imaging interval, when the object to be scanned is located within an effective depth of field range of the three-dimensional scanning device, the image of a first stripe group on the image plane is located in the first imaging interval, and only a first stripe group is located in the first imaging interval; step S506, the processor carries out three-dimensional reconstruction on the object to be scanned based on the camera image.
In an embodiment of the present invention, a projection device, configured to project projection stripes towards an object to be scanned, where the projection stripes include a first stripe group; the camera is used for collecting the object to be scanned to obtain a camera image, wherein the camera image is an image of the object to be scanned on an image plane of the camera, the image plane includes a first imaging interval, when the object to be scanned is located within an effective depth of field range of the three-dimensional scanning device, the image of the first stripe group on the image plane is located in the first imaging interval, and only the first stripe is located in the first imaging interval, the three-dimensional scanning device enables the projection stripe not to exceed the first imaging interval defined by a hardware result of the three-dimensional scanning device according to a linear propagation characteristic of light, so that the first imaging interval is used as a coding period, and the uniqueness of the projection stripe coding is ensured in the coding period, and the uniqueness of the coding information (namely, a few sequence images or a few space codes) of a few projection stripes can be utilized to ensure the uniqueness of the coding information, therefore, the method can be used under the condition of combining optical characteristics without depending on high-difficulty hardware level, can also utilize a few image sequences or a simpler space coding and decoding method to improve the speed of dynamic scanning, realizes the technical effect of improving the scanning efficiency, and further solves the technical problem that the structured light coding pattern in the prior art needs a plurality of image sequences to carry out complex coding. As an alternative embodiment, the method further comprises: determining the pixel coordinates of the centers of the stripes in the camera image based on the camera image; the processor is preset with coordinates of a first imaging interval, and the number of each stripe is determined based on the pixel coordinates of the stripe and the coordinates of the first imaging interval; and carrying out three-dimensional reconstruction on the pixel coordinate of the center of the stripe based on the serial number to obtain a three-dimensional digital model of the object to be scanned.
As an optional embodiment, the object to be scanned is acquired by a camera to obtain a camera image, where the camera image is an image of the object to be scanned on an image plane of the camera, the image plane includes a first imaging section and a second imaging section, when the object to be scanned is located within an effective depth range of the three-dimensional scanning device, an image of the first texture group on the image plane is located in the first imaging section, and only the first texture group is located in the first imaging section, and an image of the second texture group on the image plane is located in the second imaging section, and only the second texture group is located in the second imaging section. It should be noted that, when the object to be scanned moves within the effective depth of field range, the first stripe group moves within the first imaging interval but does not always exceed the first imaging interval, and the second stripe group moves within the second imaging interval but does not always exceed the second imaging interval.
As an alternative embodiment, the projection apparatus is configured to project projection stripes onto an object to be scanned, where the projection stripes include a first stripe group and a second stripe group; the camera is used for collecting the object to be scanned to obtain a camera image, wherein the camera image is an image of the object to be scanned on an image plane of the camera, the image plane comprises a first imaging interval and a second imaging interval, when the object to be scanned is located in an effective depth range of the three-dimensional scanning device, an image of the first fringe group on the image plane is located in the first imaging interval, only the first fringe is located in the first imaging interval, an image of the second fringe group on the image plane is located in the second imaging interval, only the second fringe group is located in the second imaging interval, and the three-dimensional scanning device enables the projection fringe not to exceed the first imaging interval and the second imaging interval defined by a hardware result of the three-dimensional scanning device according to a straight-line propagation characteristic of light, so that only one coding period is imaged in the first imaging interval, The second imaging interval only has another coding period, and the uniqueness of the projection stripe codes is ensured in each coding period, so that the uniqueness of the codes can be ensured by using a small amount of coding information of the projection stripes (namely, fewer sequence images or fewer space codes), the method can be used in combination with optical characteristics without depending on high-difficulty hardware level, the speed of dynamic scanning can be increased by using fewer image sequences or a simpler space coding and decoding method, the technical effect of improving the scanning efficiency is realized, and the technical problem that the structured light coding pattern in the prior art needs a plurality of image sequences to carry out complex coding is solved. The unique sequence stripes of the codes can be repeatedly arranged in the same projection pattern, so that the coding difficulty is reduced.
As an alternative embodiment, the method further comprises: determining the pixel coordinates of the centers of the stripes in the camera image based on the camera image; the processor is preset with coordinates of a first imaging interval and a second imaging interval, and determines the number of each stripe based on the pixel coordinates of the stripe, the coordinates of the first imaging interval and the coordinates of the second imaging interval; and carrying out three-dimensional reconstruction on the pixel coordinate of the center of the stripe based on the serial number to obtain a three-dimensional digital model of the object to be scanned.
As an alternative embodiment, the first imaging interval and the second imaging interval are arranged at equal intervals.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the description of each embodiment has its own emphasis, and reference may be made to the related description of other embodiments for parts that are not described in detail in a certain embodiment.
In the embodiments provided in the present application, it should be understood that the disclosed technical content can be implemented in other manners. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed coupling or direct coupling or communication connection between each other may be an indirect coupling or communication connection through some interfaces, units or modules, and may be electrical or in other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one position, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (12)
1. A three-dimensional scanning device, comprising:
the projection equipment is used for projecting projection stripes to an object to be scanned, and the projection stripes comprise a first stripe group;
the camera is used for collecting the object to be scanned to obtain a camera image, wherein the camera image is an image of the object to be scanned on an image plane of the camera, the image plane comprises a first imaging interval, when the object to be scanned is located within an effective depth of field range of the three-dimensional scanning device, the first stripe group is located in the first imaging interval in the image of the image plane, and only the first stripe group is located in the first imaging interval.
2. The apparatus of claim 1,
a system included angle α is formed between a projection optical axis of the projection device and a collection optical axis of the camera, and optical parameters of the camera include: lens magnification k1The effective depth of field of the three-dimensional scanning device is represented by Delta L, and the first imaging interval is represented by d1Is represented by d1＝ΔL×tgα÷k1。
3. The apparatus of claim 1,
the projection apparatus includes: an image display element, the image display element comprising: the first display interval is provided with the first fringe group;
the optical parameters of the projection device include: lens magnification k of the projection device2D for the first display interval1Is represented by1＝ΔL×tgα÷k2。
4. The apparatus of claim 1,
the projected fringe further comprises: a second group of stripes disposed adjacent to the first group of stripes;
the image plane includes: a second imaging interval, the second imaging interval being disposed adjacent to the first imaging interval;
when the object to be scanned is located within the effective depth of field range of the three-dimensional scanning device, the imaging of the second texture group in the image plane is located in the second imaging interval, and only the second texture group is located in the second imaging interval.
5. The apparatus of claim 4,
the projected fringe comprises: the first stripe group and the second stripe group are respectively a periodic stripe group.
6. The apparatus of claim 4,
a system included angle α is formed between a projection optical axis of the projection device and a collection optical axis of the camera, and optical parameters of the camera include: lens magnification k1The effective depth of field of the three-dimensional scanning device is represented by Delta L, and the second imaging interval is represented by d2Is represented by d2＝ΔL×tgα÷k1。
7. The apparatus of claim 4,
the projection apparatus includes: an image display element, the image display element comprising: the second display interval is provided with the second stripe group;
the optical parameters of the projection device include: lens magnification k of the projection device2And D is used for the second display interval2Is represented by2＝ΔL×tgα÷k2。
8. The apparatus of claim 1, further comprising:
and the processor is used for carrying out three-dimensional reconstruction on the object to be scanned based on the camera image.
9. The apparatus of claim 8,
the processor is preset with the first imaging interval coordinate;
the processor determines the pixel coordinates of the center of the stripe in the camera image based on the camera image;
the processor determines the number of each stripe in the camera image based on the pixel coordinates of the stripe and the coordinates of the first imaging interval;
and the processor performs three-dimensional reconstruction based on the pixel coordinate of the center of the stripe and the serial number to obtain a three-dimensional digital model of the object to be scanned.
10. The apparatus of claim 8,
the processor is preset with light planes and corresponding numbers of all the projected stripes;
the processor determines a light plane corresponding to the pixel coordinate where the center of each stripe is located based on the consistency of the serial number of each stripe in the camera image and the corresponding serial number of the light plane of each stripe;
and the processor performs triangular calculation based on the pixel coordinate of the center of the stripe and the corresponding light plane, and reconstructs a three-dimensional digital model of the object to be scanned.
11. A three-dimensional scanning method, characterized in that the following steps are performed based on the three-dimensional scanning device of any one of claims 1-7:
projecting projection stripes to an object to be scanned through projection equipment;
acquiring the object to be scanned by a camera to obtain a camera image, wherein the camera image is an image of the object to be scanned on an image plane of the camera, the image plane comprises a first imaging interval, when the object to be scanned is located in an effective depth of field range of the three-dimensional scanning device, the first stripe group is located in the first imaging interval in the image plane, and only the first stripe group is located in the first imaging interval;
and performing three-dimensional reconstruction on the object to be scanned based on the camera image through a processor.
12. The method of claim 11, further comprising:
determining the pixel coordinates of the centers of the stripes in the camera image based on the camera image;
the processor is preset with coordinates of a first imaging interval, and the number of each stripe is determined based on the pixel coordinates of the stripe and the coordinates of the first imaging interval;
and performing three-dimensional reconstruction on the pixel coordinate of the center of the stripe based on the serial number to obtain a three-dimensional digital model of the object to be scanned.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011642145.3A CN114681089B (en) | 2020-12-31 | 2020-12-31 | Three-dimensional scanning device and method |
| KR1020237026221A KR20230128521A (en) | 2020-12-31 | 2021-12-31 | 3D scanning device, method and apparatus, storage medium and processor |
| EP21914721.2A EP4272697A4 (en) | 2020-12-31 | 2021-12-31 | Three-dimensional scanning device, method and apparatus, storage medium and processor |
| US18/270,497 US20240058106A1 (en) | 2020-12-31 | 2021-12-31 | Three-dimensional Scanning Device, Method and Apparatus, Storage Medium and Processor |
| JP2023540479A JP2024502065A (en) | 2020-12-31 | 2021-12-31 | Three-dimensional scanning equipment, methods, devices, storage media and processors |
| PCT/CN2021/143723 WO2022143992A1 (en) | 2020-12-31 | 2021-12-31 | Three-dimensional scanning device, method and apparatus, storage medium and processor |
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