201124940 六、發明說明： 【發明所屬之技術領域】 [0001] 本發明涉及一種三維模型建立系統及方法，還涉及—種 包括前述三雒模型建立系統的建模裝置。 【先前技術】 [0002] 在數位顯示技術如此蓬勃發展的今天，數位化的二維才莫 型曰益重要，在產品設計、機械、電子、模具、玩具 醫療等領域中時常需要三維模型。習知建立三維模型的 0 方法主要有三大類，第一種是使用三維模型製作軟體， 第二種是使用三維掃描器，第三種是執物體的二維影像 來還原三絲面m種方式的_是必須熟練 具有經驗的人才能製作，第二種方,切缺點是三維掃描 器的價格較為昂貴’第三種方式的缺點是精細度較低。田 【發明内容】 [_鑒於以上内容，有必要提供—種操作簡單'精細度較高 且成本較低的三維模型建立系統及方法，豸有必:提: Q 一種包括前述三維模型建立系統的建模裝置。 八 [0004] 一種三維模型建立系統，包括： 第-座標計算模塊’用於接收來自複數贿攝像機對一 物體進行拍攝所得到的圖像，並對應得到圖像中各點在X 轴及Y轴上的座標值； 剛4二座標計算模塊，料接收複數m攝像機所得到的 圖像中各點與對應的攝像機之間的距離資訊，並據此 得到圖像中每一點在z軸上的座標值； 099100774 表單編號A0101 第3頁/共20頁 0992001573-0 201124940 [0007] —座標存儲模塊，用於存儲由第一及第二座標計算模塊 得到的每一點在X軸、Y轴及Z轴上的座標值，以得到複數 組座標值； [0008] 一曲面方程計算模塊，用於根據存儲的複數組座標值計 算得到一曲面方程；以及 [0009] 一曲面生成模塊，用於根據前述曲面方程生成一曲面， 以得到物體的三維模型。 [0010] 一種三維模型建立方法，包括： [0011] 第一座標取得步驟：接收來自複數TOF攝像機對一物體進 行拍攝所得到的圖像，並對應得到圖像中各點在X軸及Y 轴上的座標值； [0012] 第二座標取得步驟：接收複數TOF攝像機所得到的圖像中 各點與對應的TOF攝像機之間的距離資訊，並據此得到圖 像中每一點在Z軸上的座標值； [0013] 座標存儲步驟：存儲由第一及第二座標計算模塊得到的 每一點在X軸、Y軸及Z軸上的座標值，以得到複數組座標 值； [0014] 曲面方程取得步驟：根據存儲的複數座標值計算得到一 曲面方程；以及 [0015] 曲面生成步驟：根據前述曲面方程生成一曲面，以得到 物體的三維模型。 [0016] 一種建模裝置，包括： 099100774 表單編號A0101 第4頁/共20頁 0992001573-0 201124940 [0017]至少一TOF攝像機，用於對物體進行拍攝以得到至少一圖 像及圖像上各點與對應的T0F攝像機之間的距離資訊；以 及 [0018] 一三維模型建立系統，用於接收來自T0F攝像機的圖像及 圖像上各點與對應的T0F攝像機之間的距離資訊以得到圖 像中各點在X轴、Y軸及Z軸上的座標值，並根據複數座標 值得到一曲面方程’還用於根據該曲面方程生成一曲面 ，以得到物體的三維模型。 [0019] 操作簡201124940 VI. Description of the Invention: [Technical Field] [0001] The present invention relates to a three-dimensional model building system and method, and to a modeling apparatus including the aforementioned three-dimensional model building system. [Prior Art] [0002] Today, digital display technology is so prosperous, digital two-dimensional models are important, and three-dimensional models are often needed in product design, machinery, electronics, molds, and toy medical fields. There are three main methods for establishing a three-dimensional model. The first one is to use a three-dimensional model to make software, the second is to use a three-dimensional scanner, and the third is to use a two-dimensional image of the object to restore the three-filament surface. _ is a person who must be skilled and experienced to make, the second side, the shortcoming is that the price of the three-dimensional scanner is more expensive. The third way has the disadvantage of lower fineness. Tian [Invention] [_In view of the above, it is necessary to provide a three-dimensional model building system and method with simple operation and high cost and low cost. It is necessary to: Q: A system including the aforementioned three-dimensional model building system Modeling device. [0004] A three-dimensional model establishing system, comprising: a first-coordinate calculation module for receiving an image obtained by capturing an object from a plurality of bribe cameras, and correspondingly obtaining points in the image on the X-axis and the Y-axis Coordinate value on the front; just 4 coordinate calculation module, receiving the distance information between each point in the image obtained by the complex m camera and the corresponding camera, and obtaining the coordinates of each point in the image on the z-axis Value; 099100774 Form No. A0101 Page 3 / Total 20 Pages 0992001573-0 201124940 [0007] - Coordinate storage module for storing each point obtained by the first and second coordinate calculation modules in the X-axis, Y-axis and Z-axis a coordinate value on the basis to obtain a complex array coordinate value; [0008] a surface equation calculation module for calculating a surface equation according to the stored complex array coordinate value; and [0009] a surface generation module for using the surface The equation generates a surface to obtain a three-dimensional model of the object. [0010] A three-dimensional model establishing method, comprising: [0011] a first target obtaining step: receiving an image obtained by capturing an object from a plurality of TOF cameras, and correspondingly obtaining points in the image on the X-axis and the Y-axis Coordinate value on the second coordinate acquisition step: receiving the distance information between each point in the image obtained by the plurality of TOF cameras and the corresponding TOF camera, and obtaining each point in the image on the Z axis accordingly Coordinate value storage step: [0013] coordinate storage step: storing coordinate values of each point obtained by the first and second coordinate calculation modules on the X-axis, the Y-axis, and the Z-axis to obtain a complex array coordinate value; [0014] Equation acquisition step: calculating a surface equation according to the stored complex coordinate value; and [0015] a surface generation step: generating a surface according to the surface equation to obtain a three-dimensional model of the object. [0016] A modeling apparatus comprising: 099100774 Form No. A0101 Page 4 / Total 20 pages 0992001573-0 201124940 [0017] At least one TOF camera for photographing an object to obtain at least one image and image Distance information between the point and the corresponding TOF camera; and [0018] a three-dimensional model establishing system for receiving the image from the TO camera and the distance information between the points on the image and the corresponding TO camera to obtain a map The coordinate values of the points in the X-axis, the Y-axis, and the Z-axis, and a surface equation based on the complex coordinate values are also used to generate a surface based on the surface equation to obtain a three-dimensional model of the object. [0019] Operational simplicity
前述三維模型建立系統及方法透過1*(^攝像機得到物體上 各點與對應的T0F攝像機之間的距離資訊，並一併透過第 一座標計算模塊、第二座標計算模塊釋到物體上各點在X 轴、Y軸及Z軸上的座標值，之後透過得到的複數座桿值 得到一曲面方程。利用該曲面方程即可得到該物體的一 維模型。該三維模型建立系統、方法及建棋裝置 單、精細度較高且成本較低1 JU 〇 [0020] k實施方式】 請參閱圖1，本發明建模裝置的較佳實施方式包括 TOF (Time-of-Flight)攝像機及一三維模型建立系統 20。該建模裝置用於對一物體，如一圓球5〇進行拍攝'、 以得到該圓球50的立體模型 [0021] 099100774 本實施方式包括兩T0F攝像機l〇a及i〇b，其中T〇F攝 10a及10b在拍攝圓球50時，將發射一定波長 。 κ的訊號，當 訊號遇到圓球50時即會反射至T0F攝像機 说發射與接收之間的時間差即表示了圓球5 〇上各 攝像機10a及10b之間的距離資訊，故該T〇F 、 表單編號Αοιοι 第5頁/共2〇頁 機10a及 0992001573-0 201124940 l〇b即可得到圓球5G上每_點與醫攝像機心及咖之間 的距離資4。3，其他實施方式可包括更多的·攝像機 ’該等卿攝像機組成陣列式攝像機系統如呈環形排列 於該圓球50的· ’以從複數角度對該圓球5Q進行拍攝 〇 [0022] [0023] [0024] [0025] 明參閱圖2 ’該二維模财立系統2()包括—啟動模塊2ι〇 、-第-座標計算㈣22G、—第二輯計算模塊23〇、 —座標存職塊25G —曲面方程計算模塊及一曲面 生成模塊270。 該啟動模塊21Q用於啟動該T〇F攝像機1〇&及1〇b ，以使得 該TOF攝像機1〇&及1〇1)同時從不同角度對圓球5〇進行拍 攝在拍攝的同時，該T〇F攝像機1〇a及1〇b還同時發射 定波長的訊號，當訊號遇到圓球5〇時則會反射至T〇F攝 像機10a及l〇b，從而得知圓球5〇上各點與對應的7〇1?攝 像機10a或l〇b之間的距離資訊。: . ： ： . : :. - : : :: k 該第一座標計算模塊220用於計奪由TOF攝像機10a及10b 所拍攝的圓球5〇的圖像上各點在义軸及γ軸上的座標值。 本實施方式中，以圓球50的圖像的中心點為座標原點計 算圓球50的圖像上各點在X軸及Y軸上的座標值，具體將 在後面舉例進行說明。 该第二座標計算模塊230用於計算圓球50的圖像上各點與 對應的T0F攝像機l〇a及10b之間的距離，並根據每一點 與TOF攝像機1〇 &或1 〇b之間的距離得到該點在z軸的座標 值。其中’在計算每一點在Z軸的座標值時可設定一參考 099100774 表單編號A0101 第6頁/共20頁 0992001573-0 201124940 [0026] [0027] Ο [0028] ο [0029] 點為Ζ軸的座標原點，具體將在後面舉例進行說明。 該座標存儲模塊25〇用於存儲由第一座標計算模塊22〇及 第二座標計算模塊23G所得到的每-點在X轴、Υ軸及2軸 上的座標值，如此即可得到複數組座標值（X，y，Z)。 該曲面方程計算模塊26㈣於根據存储的複數座標值（x y ’ ζ)得到一曲面方程。根據曲面方程的定義曲面s 上的任-點的座標皆滿足三元方程F (χ，y，Z) ，且 不在曲面S上的任一點的座標皆不滿足三元方程F (χ，y ，ζ) =〇，那麼方程F (x，y，z) =〇就叫作曲面§的方程 。故’曲面方程計算模塊260可在得知丧面8上每一點與 某一參考點，即座標原點之間的距離資訊時，即可計算 出三元方程F (x，y，z) =〇，該三元方程即被看作是曲 面方程。 該曲面生成模塊270用於根據前述曲面方程1? (X，y =〇生成曲面@形，該曲面_即可被看戰圓球5〇的立 體模型。 請參閱圖3，該·攝像卿a及⑽分別位於圓球5〇的正 右方和正左方’其中該圓球50的半徑-。該圓球5〇上標 示有第-點Α至第五點Ε。其他實施方式中可根據物體的 形狀複雜程度增加更多的TOF攝像機1〇，、， ’以從更多角度對 物體進行拍攝。 [0030] 該啟動模塊210啟動1'(^攝像機1(^及1〇1)後 ’該TOF攝像 機10a及10b分別對圓球50進行拍攝，並，曰 _ n手到如圖4所示 的圖像53。由於本實施方式中物體為〜 圓球50，故，該 099100774 表單編號A010I 第7頁/共20頁 0992001573-0 201124940 T0F攝像機l〇a及10b所拍攝得到的圖像相同。 [0031] 假設以圖像5 3的中心作為座標原點’則該第一座標計算 模塊220可計算得到圖像53中第一點A在X軸及γ軸上的座 標值為（0，R)、第二點B在X軸及Y軸上的座標值為 ，〇)、第三點C在X軸及Y軸上的座標值為（〇，-r)、第 四點在X軸及Y軸上D的座標值為（R，〇)、第五點e在X軸 及Y軸上的座標值為（0，0)。本實施方式僅以該五點進 行舉例說明，其他實施方式中第一座標計算模塊220可得 到圖像53中更多點的座標值。同理，該第一座標計算模 塊22 0同樣得到由..T_0:F.攝像機1 〇b所.拍攝得..到的圖像中各 點在X轴及Y轴上的座標值。 [0〇32] 6玄T0F攝像機1 〇a在拍攝圓球50的同時發射一定波長的訊 號至圓球50 ’當訊號遇到圓球5〇時即會反射回至T〇F攝像 機l〇a。根據訊號發射與反射的時間差即可得出圓球5〇上 各點與T0F攝像機l〇a之間的距離。本實施方式中，假設 圓球50的球心與T0F攝像機i〇a之間的垂直距離為L ,則 可得知第一點A至第四點])與1«〇1?攝像機1〇a之間的距離均The foregoing three-dimensional model establishing system and method obtains the distance information between each point on the object and the corresponding T0F camera through the camera, and simultaneously releases the points on the object through the first coordinate calculation module and the second coordinate calculation module. The coordinate values on the X-axis, the Y-axis, and the Z-axis are then obtained by the obtained complex seatpost values. A one-dimensional model of the object can be obtained by using the surface equation. The three-dimensional model building system, method and construction Chess device single, high precision and low cost 1 JU 〇 [0020] k implementation mode] Referring to FIG. 1, a preferred embodiment of the modeling device of the present invention includes a TOF (Time-of-Flight) camera and a three-dimensional The model establishing system 20. The modeling device is used for photographing an object, such as a sphere 5', to obtain a stereo model of the sphere 50 [0021] 099100774 This embodiment includes two TOF cameras l〇a and i〇 b, where T〇F shots 10a and 10b will emit a certain wavelength when shooting the sphere 50. The signal of κ will be reflected to the T0F camera when the signal encounters the sphere 50, indicating that the time difference between transmission and reception means Round ball 5距离The distance information between each camera 10a and 10b, so the T〇F, the form number Αοιοι page 5 / total 2 page machine 10a and 0992001573-0 201124940 l〇b can get every point on the ball 5G The distance from the medical camera heart and the coffee is 4. 3, other embodiments may include more · cameras 'these cameras constitute an array camera system, such as in a circle arranged on the ball 50 · from the plural The angle of the ball 5Q is taken [0022] [0024] [0025] [0025] See FIG. 2 'The two-dimensional model financial system 2 () includes - start module 2 〇, - coordinate - calculation (four) 22G, a second calculation module 23〇, a coordinate storage block 25G, a surface equation calculation module, and a surface generation module 270. The startup module 21Q is used to activate the T〇F cameras 1〇& and 1〇b to make The TOF camera 1〇& and 1〇1) simultaneously shoots the ball 5〇 from different angles. At the same time of shooting, the T〇F cameras 1〇a and 1〇b also emit a fixed-wavelength signal at the same time. When the ball is 5 〇, it will be reflected to the T〇F cameras 10a and l〇b, so that the ball 5 is known. The distance information between each point and the corresponding 7〇1? camera 10a or l〇b. : . : : . : :. - : : :: k The first coordinate calculation module 220 is used to count the points on the image of the sphere 5 拍摄 taken by the TOF cameras 10a and 10b on the sense axis and the γ axis. Coordinate value on. In the present embodiment, the coordinate value of each point on the image of the sphere 50 on the X-axis and the Y-axis is calculated by taking the center point of the image of the sphere 50 as the coordinate origin, and will be specifically described later. The second coordinate calculation module 230 is configured to calculate the distance between each point on the image of the sphere 50 and the corresponding TO camera 1a and 10b, and according to each point and the TOF camera 1 〇 & or 1 〇 b The distance between the points gives the coordinate value of the point on the z-axis. Where 'A reference can be set when calculating the coordinate value of each point in the Z axis 099100774 Form No. A0101 Page 6 / Total 20 Page 0992001573-0 201124940 [0026] [0027] ο [0029] Point is the axis The origin of the coordinates will be exemplified later. The coordinate storage module 25 is configured to store coordinates values of the X-axis, the Υ-axis, and the 2-axis obtained by the first coordinate calculation module 22 and the second coordinate calculation module 23G, so that a complex array can be obtained. Coordinate value (X, y, Z). The surface equation calculation module 26 (4) obtains a surface equation from the stored complex coordinate values (x y ' ζ). According to the definition of the surface equation, the coordinates of any point on the surface s satisfy the ternary equation F (χ, y, Z), and the coordinates of any point not on the surface S do not satisfy the ternary equation F (χ, y, ζ) = 〇, then the equation F (x, y, z) = 〇 is called the equation of the surface §. Therefore, the surface equation calculation module 260 can calculate the ternary equation F (x, y, z) when the distance information between each point on the facet 8 and a reference point, that is, the coordinate origin, is known. Well, the ternary equation is considered to be a surface equation. The surface generating module 270 is configured to generate a curved surface @shape according to the aforementioned surface equation 1? (X, y = ,, the curved surface can be viewed as a three-dimensional model of the sphere 5 请. See Figure 3, the camera a And (10) respectively located on the right and left sides of the sphere 5', wherein the radius of the sphere 50. The sphere 5 is marked with a first point to a fifth point. In other embodiments, the object may be based on The shape complexity increases the number of TOF cameras 1〇,,, 'to shoot objects from more angles. [0030] The startup module 210 activates 1' (^camera 1 (^ and 1〇1)' The TOF cameras 10a and 10b respectively photograph the sphere 50, and then apply the image to the image 53 as shown in Fig. 4. Since the object in the present embodiment is the sphere 50, the 099100774 form number A010I 7 pages/total 20 pages 0992001573-0 201124940 The images captured by the T0F cameras l〇a and 10b are the same. [0031] Assuming that the center of the image 53 is used as the coordinate origin, the first coordinate calculation module 220 can It is calculated that the coordinate value of the first point A in the image 53 on the X-axis and the γ-axis is (0, R), and the second point B is on the X-axis and Y. The coordinate value on the top, 〇), the coordinate value of the third point C on the X and Y axes (〇, -r), and the coordinate value of D on the X and Y axes of the fourth point (R, 〇 The fifth point e has a coordinate value of (0, 0) on the X-axis and the Y-axis. The present embodiment is exemplified only by the five points. In other embodiments, the first coordinate calculation module 220 can obtain an image 53. In the same way, the first coordinate calculation module 22 0 is also obtained by the ..T_0:F.camera 1 〇b. The image is in the X-axis and Y. Coordinate value on the axis [0〇32] 6 Xuan T0F camera 1 〇a emits a certain wavelength of signal to the ball 50 while shooting the ball 50 'When the signal encounters the ball 5 〇, it will reflect back to T 〇F camera l〇a. According to the time difference between signal transmission and reflection, the distance between each point on the sphere 5〇 and the T0F camera l〇a can be obtained. In the present embodiment, the spherical center and the T0F of the sphere 50 are assumed. The vertical distance between the camera i〇a is L, then the distance between the first point A to the fourth point]) and the 1«〇1 camera 1〇a is known.
的距離為（L-R)。 [0033]該第二座標計算單元230根據該五點A-E與T0F攝像機1〇a 之間的距離得知該五點A_E之間的位置關係，從而計算得 到該五點A-E的Z軸的座標值。本實施方式中以圓球5〇的 球心作為座標原點，則第一點至第四點八_1)在2軸的座標 099100774 表單編號A0101 第8頁/共20頁 0992001573-0 201124940 [0034] Ο [0035] ο [0036] [0037] 值均為（〇)、第五點£在2軸的座標值為（R)。當然， '、實把方式中第二座標計算模塊2 3 0可得到圖像5 3中更 多點的座標值。 該座標存儲模塊25()存儲由第_座標計算模塊22G以及第 一座標计算模塊23〇得到的座標值。由於該圖像53為一二 維平面，故可將該圖像53的中心移至圓球5〇的球心處， 故，别述X軸、γ軸及2軸的座標原點均為圓球5〇的球心。 如此，該座標存儲模塊250中存儲有五組座標值（〇，R， 〇)、（-R ’ 0，0)、（0 ’ -R，0)、（R，〇，〇)、（ 0 〇，R)。當然，其他實施方式中座標存儲模塊25〇中 可存儲有更多組的座標值。 該曲面方程計算模塊260根據存儲的複數座標值（χ，y， z)得到一曲面方程1? (x，y，z) =x*x+y*y + z*z_R*R=〇 。其中，利用複數座標值（X，y，z)得到曲面方程F (χ ，y，ζ) =0屬於習知技術，習知之大量炎體即可 該 3 ： : II 功能，如Mat lab le，在此不再贅述。 該曲面生成模塊270根據前述曲面方程F (X，y，z) -Xh + yJlcy + zk-RJkR =〇生成曲面圖形，該曲面圖形即可 被看作是圓球50的立體模型。顯然，該立體模型為一圓 球。 請參閱圖5，本發明三維模型建立方法的較佳實施方式包 括以下步驟： 步驟S51 :啟動模塊210啟動兩TOF攝像機l〇a及1〇b後， 該兩T0F攝像機10a及l〇b分別對圓球50進行拍攝，並得 099100774 表單編號A0101 第9頁/共20頁 0992001573-0 [0038] 201124940 到如圖4所示的圖像53。該T0F攝像機10a在拍攝圓球50 的同時還得到第一點A至第四點D與T0F攝像機10a之間的 距離均為（The distance is (L-R). [0033] The second coordinate calculation unit 230 knows the positional relationship between the five points A_E according to the distance between the five-point AE and the TOF camera 1A, thereby calculating the coordinate value of the Z-axis of the five-point AE. . In the present embodiment, the spherical center of the ball 5 作为 is used as the coordinate origin, and the first point to the fourth point 八_1) is in the coordinate of the 2 axis 099100774. Form No. A0101 Page 8 / Total 20 pages 0992001573-0 201124940 [ 0034] ο [0036] [0037] The values are all (〇), and the fifth point is the coordinate value of the two axes (R). Of course, 'the second coordinate calculation module 2 3 0 in the real mode can obtain the coordinate value of more points in the image 53. The coordinate storage module 25() stores the coordinate values obtained by the _ coordinate calculation module 22G and the first landmark calculation module 23 。. Since the image 53 is a two-dimensional plane, the center of the image 53 can be moved to the center of the sphere 5〇, so that the coordinate origins of the X-axis, the γ-axis, and the 2-axis are all round. The ball is 5 feet in the center of the ball. Thus, the coordinate storage module 250 stores five sets of coordinate values (〇, R, 〇), (-R '0, 0), (0 '-R, 0), (R, 〇, 〇), (0). Hey, R). Of course, in other embodiments, more sets of coordinate values can be stored in the coordinate storage module 25A. The surface equation calculation module 260 obtains a surface equation 1 based on the stored complex coordinate values (χ, y, z)? (x, y, z) = x * x + y * y + z * z_R * R = 〇 . Among them, the use of complex coordinate values (X, y, z) to obtain the surface equation F (χ, y, ζ) =0 is a well-known technique, a large number of conventional body can be 3 : : II functions, such as Mat lab le, I will not repeat them here. The surface generation module 270 generates a surface pattern according to the aforementioned surface equation F (X, y, z) - Xh + yJlcy + zk - RJkR = ,, which can be regarded as a three-dimensional model of the sphere 50. Obviously, the three-dimensional model is a sphere. Referring to FIG. 5, a preferred embodiment of the method for establishing a three-dimensional model of the present invention includes the following steps: Step S51: After the startup module 210 starts two TOF cameras l〇a and 1〇b, the two TOF cameras 10a and 10b respectively The ball 50 is photographed and has 099100774 form number A0101 page 9/20 pages 0992001573-0 [0038] 201124940 to image 53 as shown in FIG. The TOF camera 10a also obtains the distance between the first point A to the fourth point D and the TO camera 10a while photographing the ball 50 (
10a之間的距離為（L-R)。 [0039] 步驟S52 :該第一座標計算模塊220計算得到圖像53中第 一點A在X軸及Y軸上的座標值為（〇，R)、第二點B在X轴 及Y軸上的座標值為（-R，〇)、第三點C在X軸及Y轴上的 座標值為（0 ’ -R)、：第四點在X轴及Y袖上D的座標值為 (R ’ 0)、第五點E在X轴及Y轴上的座標值為（〇，〇)。 本實施方式僅以該五點進行舉例說明，其他實施方式中 第一座標計算模塊22可得到周像53中更多點的座標值。 同理，該第一座標計算模塊22同樣得到由T0F攝像機10b 所拍攝得到的圖像中各點在X軸及Y軸上的座標值。The distance between 10a is (L-R). [0039] Step S52: The first coordinate calculation module 220 calculates that the coordinate value of the first point A in the image 53 on the X-axis and the Y-axis is (〇, R), and the second point B is on the X-axis and the Y-axis. The coordinate value on the (-R, 〇), the coordinate value of the third point C on the X and Y axes is (0 ' -R), and the coordinate value of the fourth point on the X axis and the Y sleeve is D. (R ' 0), the coordinate value of the fifth point E on the X-axis and the Y-axis is (〇, 〇). This embodiment is exemplified only by the five points. In other embodiments, the first landmark calculation module 22 can obtain coordinate values of more points in the peripheral image 53. Similarly, the first coordinate calculation module 22 also obtains the coordinate values of the points on the X-axis and the Y-axis of the image captured by the TO camera 10b.
[麵]步驟S53 :該第二座標計算丨單元23〇根據雜五點A-E與T0F 攝像機10 a之間的距離得知該五點A - E之間的位置關係， 從而計算得到該五點A-E的Z軸的座標值。本實施方式中 以圓球5 0的球心作為座標原點’則第一點至第四點a — d在 Z軸的座標值均為（〇)、第五點E在Z軸的座標值為（-R )。當然，其他實施方式中第二座標計算模塊23〇可得到 圖像5 3中更多點的座標值。 [0041] 步驟S54 :該座標存儲模塊250存儲由第一座標計算模塊 220以及第·一座標§十鼻模塊230得到的座標值。由於該圖 像53為一二維平面，故可將該圖像53的中心移至圓球5〇 099100774 表單编號A0101 第10頁/共20頁 0992001573-0 201124940 [0042] 的壞心處，故’前述X軸、Υ轴及Ζ軸的座標原點均為圓球的球心。如此，該座標存儲模塊25〇中存儲有五組座標 值（O’R’O)、（-R，0’0)、（〇，_R，〇)、（r，〇’0) 、（0，0，R)。當缺，立妙眚故+上丄 .......他貫鼽方式中座標存儲 模埯250中可存儲有更多組的座標值。 步嵊S55 :該曲面方程計算模塊260根據存儲的複數座標 值（x，y，z)得到曲面方程f (x，y，z) =x*x+y*y+z*z-R*R =〇 〇 Ο [0043] 步褲S56 :該曲面生成模塊270根據前述曲面方程F (χ， P Z) =x*X+y*y_z-_ 生成曲面圖形，該曲面圖 形即可被看作是圓球50的立體模型。 [0044] 前迷三維模型建立系統及方法透過雨攝像機得到物體上 各點與對應的T0F攝像機之間的距離資訊，並一併透過第 Ο 座標計算模塊220、第：座標計算模塊咖得到物體上 各點在X軸、Y轴及Z轴上的座標值’之魏過得到的複數 座襟值得到-曲面方程。利用該曲祕程即可得到該物 體的三維模型。該三維模型建立系統及方法操作簡單、 精細度較高且成本較低。 [0045] 综上所述’本發明符合發明專利要件，爰依法提出專利 申明u上所述者僅為本發明之較佳實施例，舉凡 熟悉本案技藝之人士 ’在爰依本發明精神所作之等效修 挪或變化’皆應涵蓋於以下之巾請專利範圍内。 【圖式簡單說明】 圖1是本發明建模裝置的較佳實施方式的示意圖。 099100774 表單编號A0101 第11頁/共20頁 0992001573-0 [0046] 201124940 [0047] 圖2是圖1中三維模型建立系統的較佳實施方式的示意圖 〇 [0048] 圖3是利用圖1中建模裝置對圓球進行拍攝的示意圖。 [0049] 圖4是圖3中TOF攝像機所拍攝得到的圖像。 [0050] 圖5是本發明三維模型建立方法的較佳實施方式的示意圖 〇 【主要元件符號說明】 [0051] TOF攝像機：10a、10b [0052] 三維模型建立系統： 20 [0053] 啟動模塊：210 [0054] 第一座標計算模塊： 220 [0055] 第二座標計算模塊： 230 [0056] 座標存儲模塊：250 [0057] 曲面方程計算模塊： 260 [0058] 曲面生成模塊：270 [0059] 圓球：50 [0060] 圖像：53 099100774 表單編號A0101 第12頁/共20頁 0992001573-0[Surface] Step S53: The second coordinate calculation unit 23 determines the positional relationship between the five points A - E based on the distance between the five-point AE and the TO camera 10 a, thereby calculating the five-point AE The coordinate value of the Z axis. In the present embodiment, the spherical center of the sphere 50 is used as the coordinate origin', and the coordinate values of the first point to the fourth point a-d in the Z-axis are both (〇) and the fifth point E is in the coordinate value of the Z-axis. Is (-R). Of course, in other embodiments, the second coordinate calculation module 23 can obtain coordinate values of more points in the image 53. [0041] Step S54: The coordinate storage module 250 stores the coordinate values obtained by the first coordinate calculation module 220 and the first one of the ten nose modules 230. Since the image 53 is a two-dimensional plane, the center of the image 53 can be moved to the center of the ball 5〇099100774 Form No. A0101 Page 10 / Total 20 Page 0992001573-0 201124940 [0042] Therefore, the origin of the coordinates of the aforementioned X-axis, Υ-axis and Ζ-axis is the center of the sphere. Thus, the coordinate storage module 25A stores five sets of coordinate values (O'R'O), (-R, 0'0), (〇, _R, 〇), (r, 〇 '0), (0). , 0, R). When it is missing, it is very good. It is superordinated.... The coordinates of the coordinate storage in the mode 250 can store more sets of coordinate values. Step S55: The surface equation calculation module 260 obtains the surface equation f (x, y, z) = x * x + y * y + z * zR * R = 根据 according to the stored complex coordinate value (x, y, z) 〇Ο [0043] Step pants S56: The surface generating module 270 generates a surface pattern according to the aforementioned surface equation F (χ, PZ) = x * X + y * y_z - _, which can be regarded as a sphere 50 Stereoscopic model. [0044] The previous three-dimensional model building system and method obtains the distance information between each point on the object and the corresponding TO camera through the rain camera, and obtains the object through the third coordinate calculation module 220 and the coordinate calculation module. The coordinate value of each point on the X-axis, the Y-axis, and the Z-axis is obtained as a complex surface 襟 value obtained by the surface equation. A three-dimensional model of the object can be obtained by using the melody process. The three-dimensional model building system and method are simple in operation, high in fineness, and low in cost. [0045] In summary, the present invention meets the requirements of the invention patent, and the above-mentioned patent application is only a preferred embodiment of the present invention, and those skilled in the art of the present invention are made in accordance with the spirit of the present invention. Equivalent repairs or changes shall be covered by the following patents. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a schematic view of a preferred embodiment of a modeling apparatus of the present invention. 099100774 Form No. A0101 Page 11 / Total 20 Page 0992001573-0 [0046] FIG. 2 is a schematic diagram of a preferred embodiment of the three-dimensional model building system of FIG. 1 [0048] FIG. 3 is a diagram of FIG. A schematic diagram of a modeling device that photographs a sphere. 4 is an image taken by the TOF camera of FIG. 3. 5 is a schematic diagram of a preferred embodiment of a method for establishing a three-dimensional model according to the present invention. [Key element symbol description] [0051] TOF camera: 10a, 10b [0052] Three-dimensional model building system: 20 [0053] Startup module: 210 [0054] The first standard calculation module: 220 [0055] The second coordinate calculation module: 230 [0056] coordinate storage module: 250 [0057] Surface equation calculation module: 260 [0058] Surface generation module: 270 [0059] Ball: 50 [0060] Image: 53 099100774 Form No. A0101 Page 12 / Total 20 Page 0992001573-0