CN201725140U - Foot type three-dimensional reconstruction multi-view imaging device - Google Patents

Abstract

The utility model relates to a foot type three-dimensional reconstruction multi-view imaging device. The device is provided with a foot type calibration module having load carrying functions, a camera support frame, at least six cameras and a computer. The foot type calibration module is arranged in the camera support frame by a support, the cameras are marked toward the center of the foot type calibration module, the cameras are connected with the computer by USB data transmission interfaces, and three-dimensional reconstruction is conducted for data images collected on a software system running on the computer. The utility model has the characteristics of low cost, simple installation, accurate imaging, rapid three-dimensional reconstruction, etc.

Description

Pin type three-dimensional reconstruction look imaging device more

Technical field

The utility model relates to a kind of imaging device, particularly at a kind of imaging device of looking of pin type three-dimensional reconstruction more.

Background technology

Object being carried out demarcate in the process of three-dimensional reconstruction is a very important step, scaling method of the prior art need be placed the object (being called calibrated reference) of a known form and size before camera, calculate the position of camera, take away calibrated reference then, again the object that needs three-dimensional reconstruction is taken pictures, carry out three-dimensional reconstruction by the corresponding relation between spatial point and the picture point, Zhang Zhengyou as Microsoft Research adopts two to three mutually orthogonal planes to form calibrating template, because simple and practical being widely accepted, but the method for Zhang Zhengyou needs earlier the calibrated reference imaging, take away calibrated reference then once more to object image-forming, need be divided into two steps demarcating imaging and reestablishment imaging, and, can not be applicable to that many apparent weights of multi-faceted imaging of full week are built owing to adopted opaque calibrating template; Research object of the present utility model is a pin, pin need be placed on a certain stilt, and stilt must influence the image acquisition of sole portion, and the scaling method of Zhang Zhengyou can not use.If with the unsettled imaging of pin, certainly exist the inconsistent problem of different object placement locations, influence imaging effect.

Summary of the invention

The technical problems to be solved in the utility model is, provide a kind of and can provide the imaging device of looking of sufficient image information more more for looking three-dimensional reconstruction, have suitable pin type three-dimensional reconstruction, simple in structure, calibration process simple, have can carrying leg heavy calibrating template, scene not needs demarcating characteristics such as switch between imaging and the reestablishment imaging.

For solving the problems of the technologies described above, the utility model is by the following technical solutions: a kind of pin type three-dimensional reconstruction look imaging device more, pin type calibrating template with load-carrying function, the camera support frame, at least six cameras, computing machine, described pin type calibrating template is transparent poly (methyl methacrylate) plate, have multiple lines and multiple rows and phase graticule across a certain distance on the described pin type calibrating template, described pin type calibrating template center is provided with the center sign, sign periphery, described center also is provided with the bearing mark group, described camera support frame has the camera strong point of a plurality of different visual angles, described at least six cameras are with the different visual angles three-dimensional reconstruction image information that provides as much as possible, movably mode is distributed on the camera support frame, described pin type calibrating template is arranged in the camera support frame by support, described at least six cameras identify towards pin type calibrating template center, described at least six cameras link by usb data transmission interface and computing machine, and the digital image that is collected carries out three-dimensional reconstruction by operation software systems on computers.

As a kind of improvement, described graticule is orthogonal co-ordination, described center is designated the stack body of " O " word and " ten " word, described bearing mark group is at least three groups of different pattern, described bearing mark group is positioned on the different levels with respect to the center sign, described every stack orientations identified group is roughly equally distributed four patterns on same level, the stack body of " O " word and " ten " word has made things convenient for the foundation of determining of true origin and coordinate system, at least three groups and four patterns that are positioned on the different levels can be determined the orientation, and after when the pin type covers the part bearing mark still can easily the identification orientation, reduce the calculated amount of three-dimensional reconstruction.

The utility model is provided with pin type calibrating template, have multiple lines and multiple rows and phase graticule across a certain distance on the pin type calibrating template, described pin type calibrating template center is provided with the center sign, the setting of center sign makes camera and lamp source towards clearly, the center sign can be as the initial point of three-dimensional system of coordinate simultaneously, for the computerized three-dimensional reconstruction computed in software provides reference point, mutually its point of crossing of graticule across a certain distance can calculate the position of each camera in each magazine imaging, has solved the demarcation problem of camera; Pin type calibrating template is transparent poly (methyl methacrylate) plate, and sound construction can be as the carrying platform of pin type, and transparent poly (methyl methacrylate) plate does not influence poly (methyl methacrylate) plate below camera images acquired simultaneously, need not to remove the image that pin type calibrating template is gathered pin type bottom again; The camera support frame has the camera strong point of a plurality of different visual angles, helps camera to from different angle acquisition images.

Description of drawings

Fig. 1 is the structural representation of looking imaging device of the utility model pin type three-dimensional reconstruction more;

Fig. 2 is the structural representation of pin type calibrating template;

Fig. 3 be in the sole position the view picture concern schematic model;

Fig. 4 is Cartesian coordinates of the present utility model and spherical coordinates synoptic diagram.

Embodiment

As Fig. 1, Fig. 2, Fig. 3, shown in Figure 4, a kind of embodiment of looking imaging device of pin type three-dimensional reconstruction includes more:

1) the camera support frame 1: as shown in Figure 1, described camera support frame 1 is provided with four and is parallel to each other, the longeron 11 that spacing is identical and contour, described four longeron that is parallel to each other 11 upper ends are fixed by two cross one another crossbeams 12, described four be parallel to each other and longeron 11 middle and lower parts that spacing is identical between be provided with four brace summers 13, the support beam 13 that is oppositely arranged in described four brace summers 13 is provided with two template brace summers 14, described calibrating template 2 is arranged in the camera support frame 1 by two template brace summers 14, described camera 3 is arranged on the camera support frame 1 by clip, a kind of preferred version, described longeron 11 is 1.7m, crossbeam 12 length are 2.1m, article four, longeron 11 and 12 square steel bars of two crossbeams are made the framework of a rectangular parallelepiped, surround square, the square then middle two template brace summers 14 of placing spacing 0.7m with four brace summers 13 in the place of height 0.7m.

2) pin type calibrating template 2: as shown in Figure 2, described pin type calibrating template 2 is transparent poly (methyl methacrylate) plate, have multiple lines and multiple rows and phase graticule across a certain distance on the described pin type calibrating template 2, described pin type calibrating template 2 centers are provided with the center sign, sign periphery, described center also is provided with the bearing mark group, described pin type calibrating template 2 is arranged in the camera support frame 1 by support, a kind of preferred version, described pin type calibrating template 2 is the wide 0.5m * 0.7m of a block length, the poly (methyl methacrylate) plate of thick 5cm, form by polymethylmethacrylate, highly transparent, transmittance reaches 90%-92%, refractive index n is 1.49, tack milling cutter blaze on poly (methyl methacrylate) plate with diameter 1cm is known, and single face has as shown in Figure 2, totally 16 * 16 co-ordinations, line is asked apart from 3cm, the center is designated " O " word and " tens' " stack body, is initial point with pin type calibrating template 2, and the horizontal line in the co-ordination is an X-axis, the ordinate of co-ordination is a Y-axis, and the position and the layout of bearing mark group are as follows:

Coordinate is in the grid of [(10.5,1.5) (7.5 ,-1.5)] 0 word to be arranged; Coordinate is in the grid of [(10.5,10.5) (7.5,7.5)] 1 word to be arranged; Coordinate is in the grid of [(7.5,10.5) (10.5,7.5)] 2 words to be arranged; Coordinate is in the grid of [(7.5 ,-7.5) (10.5 ,-10.5)] 4 words to be arranged; Coordinate is in the grid of [(10.5 ,-7.5) (7.5 ,-10.5)] 3 words to be arranged; Coordinate is in the grid of [(16.5,16.5) (13.5,13.5)] 6 words to be arranged; Coordinate is in the grid of [(13.5,16.5) (16.5,13.5)] 7 words to be arranged; Coordinate is in the grid of [(13.5 ,-13.5) (16.5 ,-16.5)] 8 words to be arranged; Coordinate is in the grid of [(16.5 ,-13.5) (13.5 ,-16.5)] 9 words to be arranged; Coordinate is to have in the grid of [(19.5,19.5) (16.5,16.5)] "/" word; Coordinate is to have in the grid of [(16.5,19.5) (19.5,16.5)] " * " word; Coordinate is to have in the grid of [(16.5 ,-16.5) (19.5 ,-19.5)] " * " word; Coordinate is to have in the grid of [(19.5 ,-16.5) (16.5 ,-19.5)] " ten " word; Coordinate is to have in the grid of [(22.5,22.5) (19.5,19.5)] " O " word; Coordinate is to have in the grid of [(19.5,22.5) (22.5,19.5)] " OO " word; Coordinate is to have in the grid of [(19.5 ,-19.5) (22.5 ,-22.5)] " OOO " word; Coordinate is to have in the grid of [(22.5 ,-19.5) (19.5 ,-22.5)] " OOOO " word.

Above-mentioned bearing mark group is four groups of different pattern, and every stack orientations identified group is provided with the bearing mark group and helps the identification orientation for be positioned at four patterns on the different levels with respect to the center sign, reduces the calculated amount in the modeling; Taking at least three prescription formulas signs, is in order to prevent the still identification orientation easily after pin covers the part bearing mark, and bearing mark designs three groups or five groups or other group number also can.

3) compensation of sole image.As shown in Figure 1, there are three cameras 3 to be in the position of pin type calibrating template 2 belows, must see through the poly (methyl methacrylate) plate imaging, because light has laterally offset when passing poly (methyl methacrylate) plate, therefore just can be used for many apparent weights after the image that camera 3 becomes of below must calculate through compensation and build, what be in the sole position looks imaging model as shown in Figure 3.Compensation method: as shown in Figure 3, each pixel is according to known parameters in the image that pin type calibrating template 2 below cameras 3 collect, comprise that pin type calibrating template thickness D, camera 3 coordinates, camera 3 are from pin type calibrating template height H, pixel coordinate, refractive index n, calculate pixel offset distance du and dv on camera plane, reimaging.The place of camera 3 high H under glass plate is by the principle of geometrical optics, the some P (X on the template _P, Y _P, 0) and be imaged as p, compare the situation that does not have glass plate, be displaced sideways apart from d

$d=D\sin {\mathrm{\&alpha;}}_1(1-\frac{\cos {\mathrm{\&alpha;}}_1}{\sqrt{n^2-{\mathrm{<figure-callout\; id="2"\; label="sin"\; filenames="DEST\_PATH\_HSB00000323451500011.png"\; state="\{\{state\}\}">sin</figure-callout>}}^2{\mathrm{\&alpha;}}_1}})$

If camera photocentre coordinate (X _C, Y _C, Z _C), following relation is arranged

Z _C＝-(D+H)

Through calculating, offset d is 2.2193mm on the camera of on the throne being changed to of true origin (600 ,-200 ,-440) of coordinate (0,0).As can be seen from the above equation, can replace d with du and dv, u, v direction can separate processes, calculate du and dv.

4) camera 3 is arranged.

In order to analyze the problem of camera arrangements, the observation mechanism of human eye is summarized, only need positive photo during normal condition during the observer, just can learn whom this person is; Even but the acquaintance, if the unconspicuous side of feature photo is only arranged, whose content so just is difficult to guess this person is; If back side photo, more difficult learning, this illustrates the different quantity of information of looking different, can obtain more three-dimensional reconstruction clue from abundant the looking of quantity of information, therefore, the main task of looking layout is exactly to allow each look the information that comprises as much as possible, and it is few as far as possible to look the information of asking repetition.

The statistics distorted pattern of sample shoe tree is

${\mathrm{SP}}_i=\stackrel{\&OverBar;}{{\mathrm{SP}}_0}+{\mathrm{pb}}_{3D}$

P is the dominant shape shape factor in the formula, b _3DBe dominant shape shape factor vector, SP ₀Be average shoe tree, SP _iBe the sample shoe tree.The shape of every shoe tree is divided into general character and individual character two parts, SP ₀Represent the general character part, pb _3DRepresent the individual character part.The dominant shape shape factor is that each sample obtains the individual character changing unit factor partly after getting rid of general character from the shoe tree sample set, and the dominant shape shape factor is by dominant shape shape factor vector b _3DCarry out linear combination and obtain individual character shape part.Dominant shape shape factor vector b _3DChange, the individual character of corresponding model partly changes, and adding the general character part just becomes a shoe tree.Dominant shape shape factor vector b in the statistics distorted pattern _3DThe permission variation range is arranged, and this variation range defines the shape that model also has shoe tree.One group of dominant shape shape factor vector b _3DTherefore corresponding unique shape, can reflect landlord's form factor vector b as far as possible _3DTo look be exactly big the looking of information content.Camera arrangements is exactly that the breath content of winning the confidence is as far as possible big and look an information redundancy few camera position of trying one's best.

$P_{\mathrm{Proj}}{\mathrm{SP}}_i=P_{\mathrm{Proj}}\stackrel{\&OverBar;}{{\mathrm{SP}}_0}+P_{\mathrm{Proj}}p{b}_{3D}=P_{\mathrm{Proj}}\stackrel{\&OverBar;}{{\mathrm{SP}}_0}+p(P_{\mathrm{pp}}\&times;b)$

P in the formula _ProjBe projection matrix, SP _iBe the sample shoe tree, P _Pp* b is the form factor vector on plane.Can think form factor vector P _Pp* b is big more, to the form factor vector b in space _3DShow fully more.

Produce following method according to above principle: the layout of camera 3 positions includes following steps:

A. calculate the statistics distorted pattern of pin type;

B. according to the radius R of known parameters (comprising camera focus, target sizes) computing camera distribution ball;

C. on camera distribution ball, calculate the maximum camera position of dominant shape shape factor information amount in the pin type statistics distorted pattern;

D. determine the camera position point of output, increase under this camera position the quantity of information of model points on the visible model points and profile, and deletion in profile on image-forming information amount, the profile image-forming information amount respectively greater than the model points of setting threshold;

E. the new pin type statistics distorted pattern after recomputating model points and reducing;

F. repeating step c, d, e, all model points can both rebuild out all by abundant imaging according to image information in the statistics distorted pattern;

G. export the coordinate of camera position point, coordinate is arranged camera in view of the above.

According to the method described above, under perfect condition, six location points can satisfy the requirement of three-dimensional reconstruction, but for making the reconstruction better effects if, present embodiment provides certain redundancy, adopt eight location points.If the center with pin type calibrating template 2 is an initial point, be the Y direction with the direction of template brace summer 14, with the vertical direction Z direction, define Cartesian coordinates thus, adopt identical initial point and X-axis, the definition spherical coordinates, as shown in Figure 4.8 a kind of schemes of camera arrangements that calculated by the statistics distorted pattern of pin type are shown in Fig. 1 and table 1 so, camera 3 resolution 640 * 480 wherein, focal length 40mm.Camera 3 usefulness clip are in the relevant position, and camera 3 can two directions rotations, and angle [alpha], β are spherical coordinates in the table, and camera all is on the sphere of radius 746mm.

Table 1 is respectively looked physical location (r=746mm, angular unit radian, coordinate unit mm)

5) the lamp source is arranged: the lamp source of having adopted 8 50W, with the identical elements of a fix of camera 3 is down, the extended line of each camera 3 place radius is provided with identical lamp source, described eight lamp sources are positioned on the same sphere, the position is as shown in table 2, described lamp source spherical radius is greater than described camera 3 spherical radius, and lamp source spherical radius is 10m.

Each daylight lamp position of table 2 (r=10m, angular unit radian)

Claims (2)

1. a pin type three-dimensional reconstruction looks imaging device more, it is characterized in that including: pin type calibrating template (2) with load-carrying function, camera support frame (1), at least six cameras (3), computing machine, described pin type calibrating template (2) is transparent poly (methyl methacrylate) plate, have multiple lines and multiple rows and phase graticule across a certain distance on the described pin type calibrating template (2), described pin type calibrating template (2) center is provided with the center sign, sign periphery, described center also is provided with the bearing mark group, described camera support frame (1) has the camera strong point of a plurality of different visual angles, described at least six cameras (3) are with the different visual angles three-dimensional reconstruction image information that provides as much as possible, movably mode is distributed on the camera support frame (1), described pin type calibrating template (2) is arranged in the camera support frame (1) by support, described at least six cameras (3) identify towards pin type calibrating template (2) center, described at least six cameras (3) link by usb data transmission interface and computing machine, and the digital image that is collected carries out three-dimensional reconstruction by operation software systems on computers.

2. pin type three-dimensional reconstruction according to claim 1 look imaging device more, it is characterized in that described graticule is orthogonal co-ordination, described center is designated the stack body of " O " word and " ten " word, described bearing mark group is at least three groups of different pattern combination, described bearing mark group is positioned on the different levels with respect to the center sign, and described every stack orientations identified group is roughly equally distributed four patterns on same level.

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