CN207587003U - A kind of three-dimensional reconstruction apparatus based on depth camera module - Google Patents
A kind of three-dimensional reconstruction apparatus based on depth camera module Download PDFInfo
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Abstract
Technical solutions of the utility model provide a kind of three-dimensional reconstruction apparatus based on depth camera module, are related to three-dimensional acquisition, reconstruction field.Including：It obtains the reference point information of subject simultaneously by least one set of depth camera module, shot according to reference point information and then obtains three dimensional point cloud set；Processor obtains the 3 d measurement data of subject, and then obtains three-dimensional data model.The compound textures point cloud reconstruction model for obtaining subject is carried out, and be carried out at the same time display to three dimensional point cloud set and three-dimensional data model.Technical solutions of the utility model build restoration model to solve the problem of efficient can not in real time obtain.
Description
Technical field
The utility model is related to three-dimensional acquisition, rebuild field more particularly to a kind of Three-dimensional Gravity based on depth camera module
Build device.
Background technology
Ancient building experienced thousands of years of development, form building system that is unique and stablizing.In the work of protection ancient building
In, it be unable to do without the repairerment and reconstruction to ancient building.Chinese ancient architecture, shape is simple and unsophisticated, magnificent, but shape structure is very multiple
It is miscellaneous.One single building is often made of thousands of a components, is typically Tenon handing-over between wooden component；Its roofing curve
Except mostly parabolically in addition to, also often there are many kinds of zoomorphic gadget, this just makes to have from the reconstructing three-dimensional model that is plotted to of ancient architecture drawing
Very big difficulty.
The conventional method of ancient building repair reconstruction is to utilize two-dimentional drawing, after entity building is by technical staff by hand measurement,
The various information of ancient building are drawn, record, are generalized into collection.This method not only takes time and effort, but also accuracy is relatively low, lacks
The ability that the architecture information of record is intuitively expressed.
Ancient building repair is rebuild, and is exactly to need firsthand information first, so ancient building mapping is as in the weight of building protection
Weight.At present, in repairerment and reconstruction also with some advanced surveying and mapping technologies quick, high quality original is provided for conservation of historic buildings
Beginning data, such as：Close-range photogrammetry and three-dimensional laser scanning technique.
The operating type of close range photogrammetric system is：The ambient enviroment of subject is investigated, using high score
The dual digital camera parallel coaxial shooting of resolution under the conditions of degree of overlapping and intersection angle etc. is ensured, shoots measurement object a large amount of
Image.Using the photo control point of photographic measuring apparatus systematic survey only a few, as with the photogrammetric primary data of image progress.Through
After crossing the outdoor work measured, also image data is handled by office operation, by being obtained to the data analysis of great amount of images
Build restoration model.
Three-dimensional laser scanning system is mainly made of three-dimensional laser scanner and system software, and three-dimensional laser scanner obtains
The closely 3 d space coordinate of stationary body, establishes three-dimensional stereo model.Meanwhile digital camera is carried out at the same time continuously in scanning
With clapping, its corresponding system software is further analyzed three-dimensional stereo model and digital photograph, data processing, obtains
Build restoration model.
Above method is required to first carry out outdoor work acquisition data, then carry out office operation and handle data, leads to
It crosses a large amount of post-job arrive and builds restoration model, during this, very more manpower and materials of consuming, and meanwhile it is inefficient.
Since whether the data for being unable to real-time verification acquisition are effective, it often will appear digital photograph or scan data be underproof asks
Topic, model result can not once be obtained by resulting in, the problem of needing secondary or even repeated work three times.
So can not be efficient, obtaining building restoration model in real time becomes urgent problem to be solved.
Utility model content
The utility model provides a kind of three-dimensional reconstruction apparatus based on depth camera module, real to solve can not be efficient
When acquisition building restoration model the problem of.
To achieve the above object, technical solutions of the utility model provide a kind of three-dimensional reconstruction based on depth camera module
Device, described device include：Three dimensional point cloud set acquiring unit obtains quilt simultaneously at least one set of depth camera module
The reference point information of object is taken the photograph, subject is shot according to reference point information, subject information is obtained, to object
Body information carries out data processing and obtains the three dimensional point cloud set of subject；Three-dimensional data model acquiring unit, for
The corresponding processor of at least one set of depth camera module obtains the 3 d measurement data of subject, and to three-dimensional measurement number
The three-dimensional data model of subject is obtained according to data processing is carried out；Reconstruction model acquiring unit, for stating three dimensional point cloud
Gather acquiring unit obtain three dimensional point cloud set and three-dimensional data model acquiring unit obtain three-dimensional data model into
The compound textures point cloud reconstruction model for obtaining subject of row data；Display unit is used for, when reconstruction model acquiring unit obtains
Textures point cloud reconstruction models, while on the screen textures point cloud reconstruction model is shown；Wherein, one group of depth is taken the photograph
As module contains at least two image acquiring devices.
As a preferred embodiment of the above technical solution, before the three dimensional point cloud set acquiring unit, including：Baseline is true
Order member, for choosing subject, baseline length is determined according to the feature of subject；Setting unit, for according to baseline
The baseline length setting subject reference point that determination unit determines, is shot according to reference point subject, is clapped
It takes the photograph as a result, scanning result is reference point information；Wherein, the subject is characterized in what is obtained when choosing subject.
As a preferred embodiment of the above technical solution, described device, including：Initial object establishes module, for subject
3 d measurement data carry out data foundation, obtain the initial object of subject；Three-dimensional data model module, for initial
Object establishes the initial object that module is established and carries out duration data tracking, so as to obtain the three-dimensional data mould of subject
Type.
As a preferred embodiment of the above technical solution, described device, including：Track thread module, for the first of subject
Beginning object carries out track thread data processing, obtains track thread data result；Build figure threading models, for track thread mould
Block carries out initial object to build the processing of figure thread-data simultaneously, obtains building figure thread-data result；Model integration module, for inciting somebody to action
Track thread data result that track thread module tracks obtain and that builds that figure threading models build that figure obtains build figure thread-data knot
Fruit carries out model integration, obtains the three-dimensional data model of subject.
As a preferred embodiment of the above technical solution, described device further includes：Matching module, for three dimensional point cloud collection
Acquiring unit the three dimensional point cloud set obtained and the three-dimensional data model that three-dimensional data model acquiring unit obtains is closed to carry out
Matching, obtains matching result；Data respective modules, for the matching result obtained according to matching module, by three dimensional point cloud
Set is corresponding with three-dimensional data model progress data, obtains corresponding result；Data post molds block, for according to data respective modules
Obtained correspondence obtains subject as a result, the data in three dimensional point cloud set are fitted on three-dimensional data model
Textures point cloud reconstruction model.
Technical solutions of the utility model provide a kind of three-dimensional reconstruction apparatus based on depth camera module, including：It is three-dimensional
Point cloud data set acquiring unit obtains the reference point information of subject, root at least one set of depth camera module simultaneously
Subject is shot according to reference point information and data processing is carried out to shooting result and obtains the three-dimensional point cloud of subject
Data acquisition system；Three-dimensional data model acquiring unit, for obtaining the 3 d measurement data of subject, and to 3 d measurement data
It carries out data processing and obtains three-dimensional data model；Reconstruction model acquiring unit, for the three dimensional point cloud collection that will be obtained before
It closes and three-dimensional data model carries out the compound textures point cloud reconstruction model for obtaining subject of data；Display unit is used for, when weight
Established model acquiring unit obtains textures point cloud reconstruction model, while it is shown on the screen.
The utility model has the advantages that：Subject information is obtained by depth camera module, processor is to subject
Information is handled, and the reconstruction model of the subject of acquisition is shown in real time.Due to that can see reconstruction model, institute in real time
With when shooting go wrong the reconstruction model that causes to obtain for the first time it is unqualified when, can timely be corrected, be changed, and be repeated
Modeling process, until obtaining qualified reconstruction model.In this way, under normal circumstances, the restoration model of target structures is obtained
It takes and can be completed in an outdoor work, substantially increase the efficiency for obtaining building restoration model.It solves in the prior art
Can not be efficient, the problem of building restoration model is obtained in real time.
Description of the drawings
It in order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is made one and is simply introduced, it should be apparent that, the accompanying drawings in the following description is this
Some embodiments of utility model, for those of ordinary skill in the art, without creative efforts, also
Other attached drawings can be obtained according to these attached drawings.
Fig. 1 is the flow of a kind of three-dimensional reconstruction apparatus based on depth camera module that the utility model embodiment one provides
Figure；
Fig. 2 is the flow of a kind of three-dimensional reconstruction apparatus based on depth camera module that the utility model embodiment two provides
Figure one；
Fig. 3 is the flow of a kind of three-dimensional reconstruction apparatus based on depth camera module that the utility model embodiment two provides
Figure two；
Fig. 4 is the flow chart of LoG-PTAMM algorithms used in the utility model embodiment two；
Fig. 5 is the flow chart of track thread data handling procedure used in the utility model embodiment two；
Fig. 6 is the flow chart for building figure thread-data processing procedure used in the utility model embodiment two；
Fig. 7 is the structure of a kind of three-dimensional reconstruction apparatus based on depth camera module that the utility model embodiment three provides
Schematic diagram；
Fig. 8 is the structure of a kind of three-dimensional reconstruction apparatus based on depth camera module that the utility model embodiment three provides
Schematic diagram two；
Fig. 9 is the structure diagram of three-dimensional data model acquiring unit 72 shown in Fig. 7；
Figure 10 is the structure diagram of three-dimensional data model module 92 shown in Fig. 9；
Figure 11 is the structure diagram of reconstruction model acquiring unit 73 shown in Fig. 7.
Specific embodiment
Purpose, technical scheme and advantage to make the utility model embodiment are clearer, new below in conjunction with this practicality
Attached drawing in type embodiment carries out the technical scheme in the embodiment of the utility model clear, complete description, it is clear that retouched
The embodiment stated is the utility model part of the embodiment, instead of all the embodiments.Based on the implementation in the utility model
Example, those of ordinary skill in the art's all other embodiments obtained under the premise of creative work is not made all belong to
In the range of the utility model protection.
Fig. 1 is the flow of a kind of three-dimensional reconstruction apparatus based on depth camera module that the utility model embodiment one provides
Figure, as shown in Figure 1, including：
Step 101：Subject is chosen, baseline length is determined according to its feature.
Step 102：The reference point of subject according to baseline length is set, and is shot, obtains reference point information.
Wherein, subject is characterized in what is obtained when choosing subject.
Step 103：At least one set of depth camera module obtains the reference point information of subject simultaneously, is believed according to reference point
Breath obtains three dimensional point cloud set.
Specifically, this group of depth camera module carries out subject shooting according to reference point information obtains subject letter
Breath, processor corresponding with this group of depth camera module carries out data processing to subject information, so as to obtain three-dimensional point cloud
Data acquisition system.
Wherein, one group of depth camera module contains at least two image acquiring devices.
Step 104：Processor corresponding at least one set of depth camera module obtains the three-dimensional of the subject
Measurement data.
Step 105：Processor carries out data foundation to 3 d measurement data, obtains initial object.
Step 106：Duration data tracking is carried out to initial object, obtains three-dimensional data model.
Specifically, processor carries out track thread data processing to initial object, track thread data result is obtained.With this
Meanwhile the initial object is carried out to build the processing of figure thread-data, it obtains building figure thread-data result.By track thread data knot
It fruit and builds figure thread-data result and is integrated, obtain three-dimensional data model.
Step 107：Three dimensional point cloud set and three-dimensional data model are carried out that data are compound to obtain object by processor
The textures point cloud reconstruction model of body.
Step 108：Textures point cloud reconstruction model is shown.
Technical solutions of the utility model provide a kind of three-dimensional reconstruction apparatus based on depth camera module, pass through at least one
Group depth camera module obtains the reference point information of subject simultaneously, and subject is scanned according to reference point information,
Progress data processing is carried out to scanning result and obtains three dimensional point cloud set；It is meanwhile corresponding with depth camera module
Processor obtains the 3 d measurement data of subject, and carries out data processing to it and obtain three-dimensional data model.Processor will
The three dimensional point cloud set and the three-dimensional data model carry out the compound textures point cloud for obtaining the subject of data
Reconstruction model, and the textures point cloud reconstruction model is carried out at the same time display.Solving in the prior art can not be efficient, in real time
The problem of obtaining building restoration model.
A current specific embodiment describes technical solutions of the utility model, in the present embodiment, with one group of depth camera mould
Group, one group of depth camera module illustrate for including two individual cameras.Not to the group to depth camera module
Number is limited, and the individual also not included to each group of depth camera module is taken the photograph quantity and limited.In the present embodiment
In, it is taken the photograph for head is individually positioned in the monosymmetric position of glasses and is said by two individuals in this group of depth camera module
It is bright.Not limited to the placement location to depth camera module.In the present embodiment, pasted the eyeglass of glasses as display
The screen of figure point cloud reconstruction model, illustrates technical solutions of the utility model.
Fig. 2 is the flow of a kind of three-dimensional reconstruction apparatus based on depth camera module that the utility model embodiment two provides
Figure, as shown in Figure 2：
Step 201：Building is chosen, depth camera module identifies its construction characteristic.
Wherein, one group of depth camera module contains at least two image acquiring devices.Specifically, implement in the utility model
In example two, utility model scheme is described in detail so that depth camera module contains camera one and camera two as an example, but
Not limiting the specific equipment representated by least two image acquiring device.
Further, in order to keep the stabilization of shooting, depth camera module can also include measuring three axis appearance of object
The device IMU of state angle (or angular speed) and acceleration (Inertial measurement unit, Inertial Measurement Unit).
The building of selection is ancient architecture, generally chooses its roofing curve, ridge, trouble ridge, beam column etc. and is used as its feature.If
The building of selection is modern architecture, generally chooses its frame structure as its feature.
Step 202：Data handler determines baseline length according to construction characteristic, and sets reference point.
Wherein, data handler includes：GPU (Graphic Processing Unit, graphics processor), CPU
(Central Processing Unit, central processing unit), and EMMC (Embedded Multi Media Card, it is embedded more
Media storage card), DDR (Double Data Rate, Double Data Rate synchronous DRAM).Fig. 3 is at data information
The flow chart of device setting reference point is managed, as shown in Fig. 3：
Step 301：GPU obtains the construction characteristic of identification.
Step 302：Construction characteristic is transferred to CPU by GPU.
Step 303：CPU copied from EMMC pre-input baseline length algorithm and reference point setting rule in DDR into
Row processing.
Wherein, construction characteristic is also sent to DDR by CPU.
Step 304：DDR obtains baseline length and sets rule setting reference point according to reference point, and result is fed back to
CPU。
Step 203：Camera one and camera two are built according to reference point carries out 3-dimensional image shooting, obtains view one
With view two.
3-dimensional image is shot, and mainly sweeps the image that all directions are built in shooting.Wherein, include two of depth camera module
Body camera is respectively camera one, camera two.The action of shooting is camera one, what camera two was carried out at the same time.Due to
Camera one is individually positioned in the monosymmetric position of glasses with camera two, and scanning process " sees " that this is dynamic similar to human eye
Make, it is well known that the right and left eyes of people have parallax, so in scanning process, camera one and camera two scan
It is also to have parallax difference to go out image.
Wherein, parallax is the direction difference caused by same target from two points for having certain distance.
Step 204：Data handler carries out data processing to view one and view two and is regarded according to Parallax Algorithm
Figure three.
Specifically, the GPU in data handler obtains view one and view two, CPU copies disparity map from EMMC
As Processing Algorithm is to DDR, while view one and view two are also sent to DDR by GPU.DDR is according to algorithm to view one and view
Two carry out data processing, and integration obtains view three.
Wherein, the Parallax Algorithm in step 204 is realized by TOF (Time of flight, flight time telemetry).
Step 205：Data handler obtains building three dimensional point cloud set according to view three.
With step 203 simultaneously, step 206：Camera one and camera two carry out multi-angle scanning to building, are swept
Retouch result.
Wherein, scanning result is a three-dimensional coordinate data set, and the central point of building is the zero of three-dimensional coordinate.
Step 207：According to scanning result, Data Integration is carried out, obtains building 3 d measurement data.
Wherein, Data Integration This move is that the CPU in data handler is carried out.
Step 208：Data handler obtains building three-dimensional data model according to three-dimensionalreconstruction algorithm model.
Specifically, the specifically used LoG-PTAMM algorithms of three-dimensionalreconstruction algorithm model in the present embodiment.Fig. 4 is new for this practicality
The flow chart of LoG-PTAMM algorithms used in type embodiment two, it should be noted that the utility model embodiment two only with
The utility model is illustrated for LoG-PTAMM algorithms, it is not limited to LoG-PTAMM algorithms or with
This algorithm can reach other algorithms of identical purpose, as shown in the figure：
Step 401：Data foundation is carried out according to three-dimensional coordinate to 3 d measurement data, obtains initial object.
Step 402：Track thread data processing is carried out to initial object, obtains track thread data result.Specifically, figure
5 flow chart of track thread data handling procedure to be used in the utility model embodiment two, as shown in the figure：
Step 501：Initial map structuring is waited for arrive with new key frame.
Step 502：The image pyramid converted using the Optimized model structure in algorithm based on LoG.
Step 503：The each layer of detection FAST characteristic point to image pyramid.
Step 504：By map spot projection to image coordinate system.
Step 505：The Patches match method based on AFAS and ASL is called to obtain matched feature point set.
Step 506：It calculates and updates and take the photograph a posture.
Step 507：Judgement takes the photograph whether posture meets key frame generation standard, performs step 509 if meeting, otherwise performs
Step 508.
Step 508：A posture or switching object are taken the photograph in repositioning.
Step 509：Present frame is supplied to and builds figure threading building key frame, and a new round recycles since step 501.
Step 403：Initial object is carried out to build the processing of figure thread-data, obtains building figure thread-data result.
Fig. 6 is the flow chart for building figure thread-data processing procedure used in the utility model embodiment two, as shown in the figure：
Step 601：Stereo matching, which is performed, from the visual angle of camera one and camera two establishes initial object figure.
Step 602：It waits for track thread activation or establishes another object figure.
Step 603：Judge whether the candidate key-frames that track thread is sent are received, step 604 performed if not receiving,
Otherwise step 607 is performed.
Step 604：Update existing data correlation.
Step 605：New three-dimension object figure point is calculated in adjacent 2 visual angles from keyframe sequence.
Step 606：Ils is generated using the method for relocating of LoG Optimized models.
Step 607：Processor judges that re-projection error is global convergence or local convergence, if local convergence step
608, otherwise perform step 609.
Step 608：Local bundle adjustment is performed, performs step 602 later.
Step 609：Global bundle adjustment is performed, performs step 602 later.
Step 404：It thread-data result and builds figure thread-data result and is integrated, obtain three-dimensional data model.
Step 209：DDR in data handler is to building three dimensional point cloud set and building three-dimensional data model
Data Matching is carried out, obtains matching result.
Specifically, Data Matching is carried out according to three-dimensional coordinate.
Step 210, DDR carry out that data are compound to be obtained building reconstruction model and be sent to CPU according to matching result.
CPU copies anaglyph Processing Algorithm to DDR from EMMC
Step 211：CPU shows the building reconstruction model received on eyeglass in real time.
Specifically, building reconstruction model can be shown on electronic curtain, can also be projected on curtain, even
It is projected on the retina of people and is shown.
Technical solutions of the utility model provide a kind of three-dimensional reconstruction apparatus based on depth camera module, are contained by one group
Depth camera module there are two individual camera obtains the feature of building simultaneously, shoots view one and view two respectively.Number
Reference point is set according to construction characteristic, and data processing is carried out to view one and view two according to Parallax Algorithm according to message handler
Obtain view three.Data handler carries out view three data processing and ultimately generates building reconstruction model and shown in real time
Show.Solving in the prior art can not be efficient, obtains the problem of building restoration model in real time.
Technical solutions of the utility model additionally provide a kind of three-dimensional reconstruction apparatus based on depth camera module, comprising at least
One group of depth camera module, one group of depth camera module contain at least two figure acquisition device.Fig. 7 is implemented for the utility model
A kind of structure diagram for three-dimensional reconstruction apparatus based on depth camera module that example three provides, as shown in the figure：
Three dimensional point cloud set acquiring unit 71：Subject is obtained simultaneously at least one set of depth camera module
Reference point information, according to reference point information to subject carry out shooting obtain subject information, to subject information into
Row data processing obtains the three dimensional point cloud set of subject.
Three-dimensional data model acquiring unit 72 obtains for processor corresponding at least one set of depth camera module
The 3 d measurement data of the subject, and data processing is carried out to 3 d measurement data and obtains the three-dimensional data of subject
Model.
Reconstruction model acquiring unit 73, for the three dimensional point cloud for obtaining three dimensional point cloud set acquiring unit 71
The three-dimensional data model that set and three-dimensional data model acquiring unit 72 obtain carries out that data are compound obtains the textures of subject
Point cloud reconstruction model.
Display unit 74, is used for, the textures point cloud reconstruction model that real-time display reconstruction model acquiring unit 73 obtains.
As shown in figure 8, in three dimensional point cloud set acquiring unit 71, before, including：
For choosing subject, baseline length is determined according to the feature of subject for baseline determination unit 81.
Setting unit 82, the baseline length for being determined according to baseline determination unit 81 set subject reference point, root
It is shot according to reference point subject, obtains shooting result, the shooting result is the reference point information.
Wherein, subject is characterized in what is obtained when choosing subject.
As shown in figure 9, three-dimensional data model acquiring unit 72, including：
Initial object establishes module 91, for the 3 d measurement data of subject carry out data foundation, obtain and its
Corresponding initial object.
Three-dimensional data model module 92 continues for establishing the initial object that the foundation of module 91 obtains to initial object
Data tracking, so as to obtain the three-dimensional data model of subject.
As shown in Figure 10, three-dimensional data model module 92, including：
Track thread module 1001, the initial object obtained for module 91 to be established to establish to initial object carry out tracker wire
Journey data processing obtains track thread data result.
Figure threading models 1002 are built, are established for establishing module 91 to initial object simultaneously with track thread module 1001
To initial object build the processing of figure thread-data, obtain building figure thread-data result.
Model integration module 1003, for the track thread data result obtained to the track thread module 1001 tracking
Model integration is carried out with building figure threading models 1002 and building the figure thread-data result of building that figure obtains, obtains three dimensions of subject
According to model.
As shown in figure 11, reconstruction model acquiring unit 73, including：
Matching module 1101, for the three dimensional point cloud set that obtains three dimensional point cloud set acquiring unit 71 with
The three-dimensional data model that the three-dimensional data model acquiring unit 72 obtains is matched, and obtains matching result.
Data respective modules 1102, for the matching result obtained according to matching module 1101, by three dimensional point cloud collection
Conjunction is corresponding with three-dimensional data model progress data, obtains corresponding result.
Data post molds block 1103, for the correspondence that is obtained according to data respective modules 1102 as a result, by three-dimensional point cloud number
It is fitted on three-dimensional data model according to the data in set, obtains the textures point cloud reconstruction model of subject.
In conclusion the utility model embodiment additionally provides a kind of three-dimensional reconstruction apparatus based on depth camera module.
Three dimensional point cloud set acquiring unit shoots subject by depth camera module, obtains object
Body information further obtains three dimensional point cloud set corresponding with object according to this information.Three-dimensional data model obtains single
Member obtains the 3 d measurement data of the subject by processor corresponding with depth camera module, and carries out data to it
Processing obtains corresponding three-dimensional data model.Further, reconstruction model acquiring unit by three dimensional point cloud set with it is three-dimensional
Data model carries out the compound textures point cloud reconstruction model for obtaining subject of data, and display unit is to this textures point cloud weight later
Established model carries out real-time display.Solving in the prior art can not be efficient, obtains the problem of building restoration model in real time.
In technical solution provided by the utility model, depth camera module can only obtain image to take the photograph head,
The infrared ray that can be equipped with infrared facility takes the photograph head, can also be the image acquiring device equipped with other auxiliary devices.It is obtaining
After building restoration model, decide whether this model being uploaded to cloud database by user or be merely stored in local.It uploads
Can be wireless transmission can also be wire transmission to the transmission mode of cloud database This move.The utility model provides
Technical solution can be applied to HMD (Head Mount Display, head-mounted display apparatus), such as：VR equipment
(Virtual Reality, virtual reality), AR (Augmented Reality, augmented reality) equipment, MR (Mixed
Reality, mixed reality) equipment etc., but the quantity of HMD is not limited.
Finally it should be noted that：The above various embodiments is only to illustrate the technical solution of the utility model rather than it is limited
System；Although the utility model is described in detail with reference to foregoing embodiments, those of ordinary skill in the art should
Understand：It can still modify to the technical solution recorded in foregoing embodiments either to which part or whole
Technical characteristic carries out equivalent replacement；And these modifications or replacement, this practicality that it does not separate the essence of the corresponding technical solution are new
The range of each embodiment technical solution of type.
Claims (5)
1. a kind of three-dimensional reconstruction apparatus based on depth camera module, which is characterized in that described device includes：
Three dimensional point cloud set acquiring unit obtains the reference point of subject at least one set of depth camera module simultaneously
Information shoots the subject according to the reference point information, subject information is obtained, to the subject
Information carries out data processing and obtains the three dimensional point cloud set of the subject；
Three-dimensional data model acquiring unit obtains institute for processor corresponding at least one set depth camera module
The 3 d measurement data of subject is stated, and data processing is carried out to the 3 d measurement data and obtains the three of the subject
D Data Model；
Reconstruction model acquiring unit, for the three dimensional point cloud for obtaining the three dimensional point cloud set acquiring unit
The three-dimensional data model that set and the three-dimensional data model acquiring unit obtain carry out data it is compound obtain it is described shot
The textures point cloud reconstruction model of object；
Display unit is used for, when the reconstruction model acquiring unit obtains textures point cloud reconstruction model, while right on the screen
The textures point cloud reconstruction model is shown；
Wherein, one group of depth camera module contains at least two image acquiring devices.
2. the apparatus according to claim 1, which is characterized in that in the three dimensional point cloud set acquiring unit, before,
Including：
For choosing subject, baseline length is determined according to the feature of the subject for baseline determination unit；
Setting unit, the baseline length for being determined according to the baseline determination unit set subject reference point, root
It is shot according to subject described in the reference point, obtains shooting result, the shooting result is the reference point information；
Wherein, the subject is characterized in what is obtained when choosing subject.
3. the apparatus according to claim 1, which is characterized in that the three-dimensional data model acquiring unit, including：
Initial object establishes module, for carrying out data foundation to the 3 d measurement data of the subject, obtains the quilt
Take the photograph the initial object of object；
Three-dimensional data model module continues for establishing the initial object that module is established to the initial object
Data tracking, so as to obtain the three-dimensional data model of the subject.
4. device according to claim 3, which is characterized in that the three-dimensional data model module, including：
Track thread module for carrying out track thread data processing to the initial object of the subject, obtains tracker wire
Journey data result；
Figure threading models are built, for the initial object build at figure thread-data simultaneously with the track thread module
Reason, obtains building figure thread-data result；
Model integration module for the track thread data result that obtains the track thread module tracks and described builds figure line
Journey module builds the figure thread-data result of building that figure obtains and carries out model integration, obtains the three-dimensional data mould of the subject
Type.
5. the apparatus according to claim 1, which is characterized in that the reconstruction model acquiring unit, including：
Matching module, for the three dimensional point cloud set obtained to the three dimensional point cloud set acquiring unit and institute
The three-dimensional data model for stating the acquisition of three-dimensional data model acquiring unit is matched, and obtains matching result；
Data respective modules, for the matching result obtained according to the matching module, by the three dimensional point cloud collection
Conjunction is corresponding with three-dimensional data model progress data, obtains corresponding result；
Data post molds block, for the correspondence that is obtained according to the data respective modules as a result, by the three-dimensional point cloud number
It is fitted on the three-dimensional data model according to the data in set, obtains the textures point cloud reconstruction model of the subject.
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| CN111369678A (en) * | 2018-12-25 | 2020-07-03 | 浙江舜宇智能光学技术有限公司 | Three-dimensional scene reconstruction method and system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111369678A (en) * | 2018-12-25 | 2020-07-03 | 浙江舜宇智能光学技术有限公司 | Three-dimensional scene reconstruction method and system |
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