TWI680276B - Method and system for generating structured-light images, digital program product and digital computing device for 3d scanning - Google Patents

Abstract

A structured light image generating system is suitable for a stationary target object and includes a projection unit, a driving unit, a photographing unit and a processing unit. The processing unit controls the driving unit to drive the projection unit to move to a plurality of predetermined positions respectively corresponding to a plurality of projection areas, the target object is located in at least two of the projection areas, and the processing unit controls the projection unit to each A predetermined position projects a structured light to the corresponding projection area and controls the shooting unit to shoot a predetermined shooting range covering the projection areas to generate a pair of corresponding projection areas and a target portion showing the structured light The processing unit generates a structured light image showing the target object which is projected by the structured light according to the target parts, so as to use the structured light image to establish a three-dimensional point cloud model, so that the three-dimensional point cloud model is fine. The degree is no longer limited by the performance of the projection unit.

Description

Method and system for generating structured light image for 3D scanning, digital program product and digital computing device

The invention relates to a method for generating a structured light image, in particular to a method for generating a structured light image related to the establishment of a three-dimensional point cloud model. The invention also relates to a structured light image generating system, a digital program product, and a digital computing device capable of implementing the structured light image generating method.

"Structured light" (structured light in English) generally refers to the way of presenting light information in a specific pattern, and is often used to create three-dimensional point cloud models of various three-dimensional objects.

An existing structured light image generating method uses a projector to project structured light onto a target object, and then uses a camera to shoot the target object to be projected structured light to obtain a structured light image.

The structured light image can be used for analysis by a three-dimensional modeling system. Specifically, when the structured light is projected on the target object, the structured light pattern will be The target object's surface changes in depth to cause distortion, and the three-dimensional modeling system can calculate the depth data of the target object at each position in the structured light image according to the distortion of the structured light pattern, and then based on the The depth data is used to establish a 3D point cloud model of the target object.

From the above description, it can be known that the fineness of the 3D point cloud model is closely related to the image quality of the structured light image, that is, the projection performance of the projector and the camera's shooting performance will directly affect the quality of the 3D point cloud model, but Existing high-resolution projectors are not only expensive, but their resolution is still much lower than the image resolution of high-pixel cameras, resulting in the fineness of the 3D point cloud model being limited by the performance of the projector. Therefore, there is still room for improvement in the prior art.

Therefore, one object of the present invention is to provide a structured light image generating method which can improve the prior art.

Therefore, the structured light image generating method of the present invention is implemented by a structured light image generating system on a stationary target object. The structured light image generating system includes a projection unit, a driving unit for driving the activity of the projection unit, and a photographing unit. And a processing unit, the structured light image generating method includes the following steps: (A) the processing unit controls the driving unit to drive the projection unit to move to a plurality of predetermined positions respectively corresponding to a plurality of projection areas, wherein the target object is located at Of these projection areas Less than two; (B) the processing unit controls the projection unit to project a structured light to the corresponding projection area at each predetermined position; (C) the processing unit projects the structured light to each of the projection units at the projection unit When projecting an area, controlling the shooting unit to shoot a predetermined shooting range covering the projection areas to generate an original image corresponding to the projection area projected by the projection unit. Each original image has a structured light. (D) The processing unit generates a structured light image according to the target portions of the original images, and the structured light image presents the target object projected by the structured light.

In some embodiments of the structured light image generating method of the present invention, in step (A), the projection areas are arranged in a matrix with each other, and every two adjacent projection areas are partially overlapped, so that In step (C), the two target portions of the two original images corresponding to the two projection areas have two common areas that coincide with each other, and in step (D), the processing unit is based on the target portions. The common areas are merged with the target parts to generate the structured light image.

In some implementation aspects of the structured light image generating method of the present invention, in step (D), the processing unit first captures the target portion of each original image as a substructured light image, and then The structured light images are merged in a stitching manner to produce the structured light images.

In some embodiments of the structured light image generating method of the present invention, the The structured light image generation system further includes a storage unit that stores N patterns, where N is an integer greater than 1. In step (B), the processing unit controls the projection unit to sequentially project the N types of structured light representing the N patterns to the projection area corresponding to the predetermined position at each predetermined position according to the N patterns. In step (C), when the projection unit projects each of the N types of structured light onto the projection area, the processing unit controls the shooting unit to shoot the predetermined shooting range to generate a corresponding receiving area. The projection area projected by the projection unit corresponds to N original images of N patterns. In step (D), the processing unit generates N structured light images corresponding to N patterns, and each structured light image is corresponding to the N patterns in the processing unit according to the original images. Generated by the target portions of the original images of the same pattern.

Another object of the present invention is to provide a structured light image generation system capable of implementing the structured light image generation method.

The structured light image generation system of the present invention is suitable for a stationary target object. The structured light image generation system includes a projection unit, a driving unit for driving the projection unit, a photographing unit, and an electrical connection to the projection unit. The driving unit and the processing unit of the photographing unit. The processing unit controls the driving unit to drive the projection unit to move to a plurality of predetermined positions respectively corresponding to a plurality of projection areas, wherein the target object is located in at least two of the projection areas, and the processing unit controls the projection unit. Project a structured light at each predetermined position to the corresponding projection area And when the projection unit projects the structured light onto each projection area, control the shooting unit to shoot a predetermined shooting range covering the projection areas to generate a corresponding projection area projected by the projection unit Each original image has a target portion showing the structured light, the processing unit generates a structured light image according to the target portions of the original image, and the structured light image appears to be subject to the structured light projection The target object.

In some embodiments of the structured light image generation system of the present invention, the projection areas are arranged in a matrix with each other, and each two adjacent projection areas are partially overlapped, so that the corresponding projection areas correspond to the two projection areas. The two target parts of the two original images each have two common areas that coincide with each other, and the processing unit combines the target parts in a stitching manner to generate the structured light image according to the common areas of the target parts. .

In some embodiments of the structured light image generation system of the present invention, the processing unit first captures the target portion of each original image as a sub-structured light image, and then stitches the sub-structured light images in a stitching manner. Combined to produce the structured light image.

In some implementation forms of the structured light image generation system of the present invention, the structured light image generation system further includes a storage unit storing N patterns, and N is an integer greater than 1, wherein the projection is controlled according to the N patterns. At each predetermined position, the unit sequentially projects the N kinds of structured lights that show the N patterns to the corresponding predetermined positions. The projected area, and when the projection unit projects each of the N types of structured light onto the projection area, controlling the shooting unit to shoot the predetermined shooting range to generate a corresponding projection by the projection unit The projection area corresponds to N original images of N patterns, and the processing unit generates N structured light images corresponding to N patterns, and each structured light image is processed by the processing unit according to In the original image, the target portions of the original images corresponding to the same pattern in the N patterns are generated.

Another object of the present invention is to provide a digital program product that enables the structured light image generation system to implement the structured light image generation method.

The digital program product of the present invention includes a specific algorithm. When the specific algorithm is loaded and executed by a digital computing device, the digital computing device can complete the structured light image generating method described in any one of the foregoing aspects.

Another object of the present invention is to provide a digital computing device in the structured light image generating system.

The digital computing device of the present invention includes a processing unit, which is suitable for electrically connecting a projection unit, a driving unit for driving the activity of the projection unit, and a photographing unit, and the processing unit can complete any of the foregoing aspects. Structured light image generation method as described in.

The effect of the present invention is that the processing unit can control the projection unit to project the structured light to the projection areas respectively, and then control the shooting unit to correspondingly shoot The original images of the projection areas, and the structured light image is generated based on the target portions of the original images. In this way, even if the projection resolution of the projection unit itself is low, in the structured light image, the resolution of the structured light projection received by the target object is several times the original resolution of the projection unit. This can greatly improve the image quality of the structured light image compared with the prior art, so that the fineness of the three-dimensional point cloud model created by using the structured light image can also be significantly improved, which makes the three-dimensional point cloud model The fineness is no longer limited by the performance of the projection unit.

1‧‧‧ Structured Light Image Generation System

11‧‧‧Digital Computing Equipment

111‧‧‧Storage unit

112‧‧‧Processing unit

12‧‧‧ Projection Unit

121‧‧‧ projection lens

13‧‧‧Drive unit

14‧‧‧ filming unit

141‧‧‧ shooting lens

5‧‧‧ target object

51‧‧‧First Object Part

52‧‧‧Second Object Section

53‧‧‧Third Object Section

54‧‧‧ Fourth Object Section

P‧‧‧ Scheduled shooting range

A1‧‧‧first projection area

A2‧‧‧Second Projection Area

A3‧‧‧ third projection area

A4‧‧‧Fourth projection area

R12‧‧‧ Overlap

R13‧‧‧ Overlap

R14‧‧‧ Overlap

S1 ~ S10‧‧‧step

Other features and effects of the present invention will be clearly presented in the embodiment with reference to the drawings, wherein: FIG. 1 is a block diagram of an embodiment of the structured light image generation system of the present invention and a target object; FIG. 2 It is a schematic diagram of the use state of the embodiment for the target object; and FIG. 3 is a flowchart illustrating how the embodiment implements a structured light image generating method for the target object.

Before the present invention is described in detail, it should be noted that "electrical connection" as referred to in this patent specification refers to the use of conductive materials between electronic devices or electronic components. Wired connections that are connected to transmit voltage or current signals to each other, and wireless connections that perform wireless communication with each other through wireless communication protocols.

Referring to FIG. 1, an embodiment of the structured light image generation system 1 of the present invention is suitable for cooperation with a three-dimensional target object 5. The structured light image generation system 1 includes a digital computing device 11, a projection unit 12, A driving unit 13 for driving the projection unit 12 and a photographing unit 14.

The digital computing device 11 is implemented as, for example, a notebook computer, and includes a storage unit 111 and a processing unit 112 electrically connected to the storage unit 111, the projection unit 12, the driving unit 13, and the photographing unit 14. In other embodiments, the digital computing device 11 may also be implemented as a desktop computer, a tablet computer, or a special industrial computer, without being limited to this embodiment.

The projection unit 12 is implemented as, for example, a single-gun projector, the driving unit 13 is implemented as, for example, a remote-controlled three-axis head, and the shooting unit 14 is implemented, for example, as a digital camera. In this embodiment, the driving unit 13 is connected to the projection unit 12 in a load-bearing manner, for example, and can be controlled by the processing unit 112 to drive the projection unit 12 to rotate around the X axis, Y axis, or Z axis. . It is added that, in other embodiments, the driving unit 13 can also be implemented as a sliding track head, and can be controlled by the processing unit 112 to drive the projection unit 12 to move in a translational manner, or The driving unit 13 can also be implemented as a robot arm holding the projection unit 12, and can be controlled by the processing unit 112 to drive the projection unit 12 to rotate and translate. Mode activities, but not limited to this embodiment.

The storage unit 111 of the digital computing device 11 stores a plurality of patterns and a piece of driving data. In more detail, in this embodiment, the patterns are used for the processing unit 112 to control the projection unit 12 to project a plurality of structured lights that respectively present the patterns. For example, the patterns may include, for example, a point structured light pattern, a single-line structured light pattern, a multi-line structured light pattern, a circle structured light pattern, a grid structured light pattern, a gray-coded structured light, and a color structured light pattern. The combination of aspects, but not limited to this. In addition, since the greater the number of these patterns, the higher the precision of the three-dimensional point cloud model established for the target object 5, so in this embodiment, the number of such patterns may be, for example, 42 but in other In the embodiment, the number of the patterns may also be N, and N may be implemented as long as it is an integer greater than or equal to 1, and is not limited to this embodiment.

The pen driving data is set by a user, for example, and includes four predetermined positions arranged in a predetermined order, and the processing unit 112 can control the driving unit 13 according to the pen driving data, so that the driving unit 13 drives the projection unit 12 to sequentially move to the four predetermined positions in a rotating manner, and causes a projection lens 121 of the projection unit 12 to be sequentially aligned in a matrix arrangement with each other and corresponding to the four predetermined positions. Four projection areas. In this way, by the driving unit 13, the projection unit 12 can project the four projection areas. Referring to FIG. 1 and FIG. 2 at the same time, for convenience of explanation, the four predetermined positions are defined here as a first predetermined position, a second predetermined position, a third predetermined position, and A fourth predetermined position, and as shown in FIG. 2, the four projection areas are a pair of first projection areas A1 corresponding to the first predetermined position, and a pair of second projection areas A2 corresponding to the second predetermined position. A pair of third projection areas A3 corresponding to the third predetermined position and a pair of fourth projection areas A4 corresponding to the fourth predetermined position, and the first projection area A1, the second projection area A2, and the third projection area A3 and the fourth projection area A4 are, for example, a two-by-two matrix arrangement, but are not limited thereto. Incidentally, FIG. 2 exemplarily illustrates a case where the projection unit 12 projects (shown by an imaginary line) the fourth projection area A4.

It is worth noting that, in this embodiment, each of the two projection areas adjacent to each other partially overlaps. It is specifically noted that the "adjacent" mentioned here includes the left-right relationship and the up-down relationship. Adjacent and diagonally adjacent. More specifically, as shown in FIG. 2 and taking the first projection area A1 as an example, an overlapping portion R12 is formed between the first projection area A1 and the second projection area A2 due to left and right adjacent. An overlapping portion R13 is formed between the first projection area A1 and the third projection area A3 due to diagonally adjacent, and the first projection area A1 and the fourth projection area A4 are formed due to the adjacent adjacent areas. An overlapping portion R14 is generated.

In this embodiment, the photographing unit 14 is adapted to be set statically, and a photographing lens 141 of the photographing unit 14 is directed toward the first projection area A1 to the fourth projection area A4, so that the A predetermined shooting range P of the shooting unit 14 covers the first projection area A1 and the second projection area as shown in FIG. 2. A2, the third projection area A3 and the fourth projection area A4. It is particularly noted that the target object 5 is suitable for being statically set within the predetermined shooting range P of the photographing unit 14 as shown in FIG. 2, and preferably, a first The object part 51, a second object part 52, a third object part 53, and a fourth object part 54 are respectively located in the first projection area A1, the second projection area A2, the third projection area A3, and the first Within four projection areas A4. However, in other embodiments, depending on the shape of the target object 5, the target object 5 may also be placed in two or three of the first projection area A1 to the fourth projection area A4, and It is not necessary to be covered by all such projection areas, so it is not limited to this embodiment. It is added that the target object 5 may be, for example, the whole or a part of a three-dimensional object. For example, the target object 5 may be, for example, a humanoid statue, or a head of the humanoid statue, but Not limited to this.

In this embodiment, when the processing unit 112 of the digital computing device 11 loads and executes a specific algorithm included in a digital program product, the processing unit 112 can control the projection unit 12, the driving unit 13 and The shooting unit 14 collectively implements a structured light image generating method for the target object 5. The digital program product may be, for example, a CD-ROM or a pen drive storing the specific algorithm, or may be a set of program software stored in the network space and available for download and installation, but is not limited thereto.

Referring to FIG. 1 to FIG. 3 at the same time, the following exemplarily illustrates how the structured light image generation system 1 implements the structured light image generation method on the target object 5.

First, in step S1, the processing unit 112 controls the driving unit 13 according to the pen driving data, so that the driving unit 13 drives the projection unit 12 to move to the first predetermined position, and enables the projection of the projection unit 12. The lens 121 is aligned with the first projection area A1. Next, step S2 is performed.

In step S2, the processing unit 112 controls the projection unit 12 to perform a first projection program, and controls the photographing unit 14 to perform a first photographing program. Specifically, in the first projection program, based on the 42 patterns stored in the storage unit 111, the processing unit 112 controls the projection unit 12 to sequentially project 42 types of structured light representing the 42 patterns. To the first projection area A1. In the first shooting program, whenever the projection unit 12 projects one of the 42 patterns to the first projection area A1, the processing unit 112 controls the shooting unit 14 to the predetermined shooting range P Shooting is performed to generate a pair of original images corresponding to the first projection area A1 and corresponding to 42 of the patterns, and the processing unit 112 stores each original image to the storage unit 111.

In other words, each time the projection unit 12 projects a kind of structured light onto the first projection area A1, the photographing unit 14 captures a corresponding original image, that is, the first projection program and the first The shooting process is performed in an interlaced manner. As a result, when step S2 is completed, the storage unit 111 stores 42 original images corresponding to the first projection area A1 and corresponding to 42 patterns. For convenience of explanation, the 42 original images corresponding to the first projection area A1 are used as 42 first original images. Each first original image has a target portion showing structured light corresponding to the image, and in this embodiment, the target portion of each first original image is, for example, located in the first original image It is biased toward the upper left corner (that is, corresponding to the projection area A1), and the target portion presents the structured light of the image corresponding to the first original image, and the target object 5 is projected by the structured light projection. One object part 51.

Next, step S3 is performed.

In step S3, the processing unit 112 controls the driving unit 13 according to the pen driving data, so that the driving unit 13 drives the projection unit 12 to move to the second predetermined position, and makes the projection lens 121 of the projection unit 12 The second projection area A2 is aligned. Next, step S4 is performed.

In step S4, the processing unit 112 controls the projection unit 12 to perform a second projection program, and controls the photographing unit 14 to perform a second photographing program interleaved with the second projection program. Similar to step S2, in the second projection program, the processing unit 112 controls the projection unit 12 to sequentially project the 42 kinds of structured light onto the second projection area according to the 42 patterns stored in the storage unit 111. A2, and in the second shooting procedure, whenever the projection unit 12 projects one of the 42 patterns to the second projection area A2, the processing unit 112 controls the shooting unit 14 to the predetermined shooting range P performs shooting to generate a pair of original images corresponding to the second projection area A2 and corresponding to one of the 42 patterns. That is, in step S4, the shooting list Yuan 14 will generate another 42 original images that should be the second projection area A2 and corresponding to 42 patterns. For convenience of explanation, the 42 original images corresponding to the second projection area A2 are used as 42 second original images, respectively. The processing unit 112 stores the 42 second original images into the storage unit 111.

Each second original image also has a target portion showing structured light corresponding to the image, and the second original images differ from the first original images in that each second original image The target portion of the image is, for example, an area located at the upper right corner of the second original image (that is, corresponding to the projection area A2), and the target portion presents the structured light of the image corresponding to the second original image, and presents The second object portion 52 where the target object 5 is projected by structured light is shown.

Then, step S5 is performed.

In step S5, the processing unit 112 controls the driving unit 13 according to the pen driving data, so that the driving unit 13 drives the projection unit 12 to move to the third predetermined position, and makes the projection lens 121 of the projection unit 12 The third projection area A3 is aligned. Then, step S6 is performed.

In step S6, the processing unit 112 controls the projection unit 12 to perform a third projection program, and controls the photographing unit 14 to perform a third photographing program interleaved with the third projection program. In the third projection program, the processing unit 112 controls the projection unit 12 to sequentially project the 42 types of structured light onto the third projection area A3 according to the 42 patterns stored in the storage unit 111, and in the first projection area, Three shooting programs, each When the projection unit 12 projects one of the 42 patterns to the third projection area A3, the processing unit 112 controls the shooting unit 14 to shoot the predetermined shooting range P to generate a pair of corresponding third projections. Region A3 corresponds to the original image of the 42 patterns. That is, in step S6, the photographing unit 14 generates another 42 original images corresponding to the third projection area A3 and corresponding to 42 patterns. For convenience of explanation, the 42 original images corresponding to the third projection area A3 are used as 42 third original images, respectively. The processing unit 112 stores the 42 third original images into the storage unit 111.

Each third original image also has a target portion showing structured light corresponding to the image, and the target portion of each third original image is, for example, a region located in the lower right corner of the third original image (also That is, it corresponds to the projection area A3), and the target portion presents the structured light of the image corresponding to the third original image, and the third object portion 53 where the target object 5 is projected by the structured light.

Next, step S7 is performed.

In step S7, the processing unit 112 controls the driving unit 13 according to the pen driving data, so that the driving unit 13 drives the projection unit 12 to move to the fourth predetermined position, and causes the projection lens 121 of the projection unit 12 to move. The fourth projection area A4 is aligned. Then, step S8 is performed.

In step S8, the processing unit 112 controls the projection unit 12 to perform a fourth projection program, and controls the photographing unit 14 to perform an interaction with the fourth projection program. Wrong fourth shooting procedure. In the fourth projection program, the processing unit 112 controls the projection unit 12 according to the 42 patterns stored in the storage unit 111 to sequentially project the 42 kinds of structured light onto the fourth projection area A4, and in the first projection area A4, In the four shooting procedures, whenever the projection unit 12 projects one of the 42 patterns to the fourth projection area A4, the processing unit 112 controls the shooting unit 14 to shoot the predetermined shooting range P to generate One pair corresponds to the fourth projection area A4 and corresponds to the original image of the 42 patterns. For convenience of explanation, the 42 original images generated in step S8 are used as 42 fourth original images, respectively. The processing unit 112 stores the 42 fourth original images in the storage unit 111.

Each fourth original image also has a target portion showing structured light corresponding to the image, and the target portion of each fourth original image is, for example, a region located in the lower left corner of the fourth original image (also That is, corresponding to the projection area A4), and the target portion presents the structured light of the image corresponding to the fourth original image, and the fourth object portion 54 of the target object 5 subjected to the structured light projection.

After step S8 is completed, the storage unit 111 has stored the 42 first original images corresponding to the first projection area A1, the 42 second original images corresponding to the second projection area A2, and the third The 42 third original images in the projection area A3 and the 42 fourth original images corresponding to the fourth projection area A4.

Next, step S9 is performed.

In step S9, the processing unit 112 captures the 42 first original images. Images, the 42 second original images, the 42 third original images, and the 42 fourth original images, and a total of 168 of these target portions are used as 168 sub-structured light images. More specifically, the processing unit 112 is to use the 42 target parts of the 42 first original images as 42 first sub-structured light images corresponding to the first projection area A1 and 42 patterns, respectively. 2. The 42 target parts of the 42 second original images are respectively 42 second sub-structured light images corresponding to the second projection area A2 and 42 patterns, and the 42 third original images. The 42 target parts corresponding to the 42 third sub-structured light images corresponding to the third projection area A3 and 42 patterns, respectively, and the 42 target parts corresponding to the 42 fourth original images, respectively Forty-two fourth sub-structured light images corresponding to the fourth projection area A4 and corresponding to 42 patterns. Next, step S10 is performed.

In step S10, the processing unit 112 corresponds to the first sub-structured light image, the second sub-structured light image, the third sub-structured light image, and the fourth sub-structured light image. The first sub-structured light image to the fourth sub-structured light image of the same pattern are merged by Image Stitching to generate a pair of structured light images of the same pattern, in other words, , The processing unit 112 will generate 42 structured light images corresponding to 42 patterns according to the first substructured light image to the fourth substructured light image, and the 42 structured light images will be subjected to The target object 5 projected by the 42 types of structured light can be used to build a three-dimensional point cloud model of the target object 5.

More specifically, assuming that the 42 patterns are a first pattern to a forty-second pattern, taking the first pattern as an example, the processing unit 112 is the first sub-pattern that will also correspond to the first pattern. The structured light image, the second sub-structured light image, the third sub-structured light image, and the fourth sub-structured light image are merged in a stitching manner, and one of the 42 structured light images corresponding to the first pattern is generated. The first structured light image, and the first structured light image, for example, presents all of the target object 5 that is projected by the structured light of the first pattern.

It is worth noting that since the first projection area A1 and the second projection area A2, the third projection area A3, and the fourth projection area A4 exist respectively the overlap portion R12, the overlap portion R13, and the overlap portion R14. Therefore, in terms of the first sub-structured light image to the fourth sub-structured light image corresponding to the first pattern, each of the two will have two common areas corresponding to each other.

More specifically, for example, for the first sub-structured light image corresponding to the first pattern, the rightmost region thereof corresponds to the leftmost region of the second sub-structured light image corresponding to the first pattern. The area at the bottom right corner will correspond to the area at the upper left corner of the third sub-structured light image corresponding to the first pattern, and the area at the bottom right corner will correspond to the fourth sub-structured light image corresponding to the first pattern. The top area matches. That is, each of the first sub-structured light image to the fourth sub-structured light image corresponding to the first pattern will have three common areas respectively corresponding to the other three, thereby, the processing The unit 112 can be in the common areas according to the target object 5 And executes an existing image alignment program and an image blending program to convert the first sub-structured light image corresponding to the first pattern to the fourth sub-structured light The image stitching is combined into the first structured light image corresponding to the first pattern.

The manner in which the processing unit 112 generates the remaining 41 structured light images is the same as the manner in which the first structured light image is generated, so it will not be repeated here.

It is added that, in another embodiment, if the volume of the target object 5 is relatively large, the driving data may also include, for example, nine predetermined positions and nine projection areas corresponding to the nine predetermined positions. For example, the target object 5 is arranged in a nine-grid manner and collectively covers the target object 5, and the projection area located in the center is, for example, an overlapping portion with each of the other eight projection areas, and is not limited to this embodiment. Or, in another embodiment, if the volume of the target object 5 is relatively narrow and long, the number of projection areas may also be three, and the three projection areas may be, for example, left to right or top to bottom. Arranged in such a manner that every two adjacent projection areas partially overlap each other. Or, in another embodiment, the number of the projection areas is, for example, M (M is an integer greater than 1), and the M projection areas are not limited to being aligned in a matrix arrangement with each other, but may be For example, the distribution is oblique, curved, or irregularly arranged. In short, as long as the number of such projection areas is multiple and there is an overlapping portion between each other, the implementation can be implemented without being limited to this embodiment.

In summary, the structured light image generation system 1 of this embodiment is implemented by Applying the structured light image generating method, the processing unit 112 can control the projection unit 12 to project the structured light corresponding to different patterns to the first projection area A1 to the fourth projection area A4 respectively. Then, the processing unit 112 controls The shooting unit 14 captures an original image corresponding to each of the projection areas and each pattern. Then, the processing unit 112 can further capture the target portion of each original image and use it as a sub-structured light image. The sub-structured light images of the same pattern are combined in a stitching manner to generate the structured light images corresponding to each of the patterns. As such, according to this embodiment, even if the projection resolution of the projection unit 12 itself is low, for example, only 800 by 600, the structured light projection received by the target object 5 in the structured light images The resolution is approximately four times the original resolution of the projection unit 12, for example, approximately 3200 by 2400. Thus, even if a low-resolution single-gun projector is used as the projection unit 12, these structures can still be used. The image quality of light images is greatly improved compared to the prior art, so that the fineness of the three-dimensional point cloud model established by using these structured light images can also be significantly improved. In addition, even if the target object 5 is large or narrow in shape, the user can still use the setting of the driving data to cover the target object 5 in different numbers and / or different arrangements of the projection areas. In order to ensure the image quality of these structured light images, so that the precision of the three-dimensional point cloud model is no longer limited by the performance of the projection unit 12, it can indeed achieve the purpose of the invention.

However, the above are only examples of the present invention. When the scope of implementation of the present invention cannot be limited by this, any scope of patent application and patent description according to the present invention The simple equivalent changes and modifications made in the content of the book are still within the scope of the present invention patent.

Claims (10)

A structured light image generation method implemented by a structured light image generation system on a stationary target object. The structured light image generation system includes a projection unit, a driving unit for driving the projection unit activity, a photographing unit, and A processing unit, the structured light image generating method includes the following steps: (A) the processing unit controls the driving unit to drive the projection unit to move to a plurality of predetermined positions respectively corresponding to a plurality of projection areas, wherein the target object is located in the Within at least two of the projection areas; (B) the processing unit controls the projection unit to project a structured light to the corresponding projection area at each predetermined position; (C) the processing unit controls the structured light at the projection unit When projecting onto each projection area, controlling the shooting unit to shoot a predetermined shooting range covering the projection areas to generate an original image corresponding to the projection area projected by the projection unit, each original image has a presentation Out the target portion of the structured light; and (D) the processing unit based on the target portion of the original images to Contact manner to produce a structured light image, showing the structured light image of the target object by the projection of structured light. The method for generating a structured light image according to claim 1, wherein in step (A), the projection areas are arranged in a matrix with each other, and every two adjacent projection areas are partially overlapped so that In step (C), the two target portions of the two original images corresponding to the two projection areas have two common areas that coincide with each other, and in step (D), the processing unit is based on the target portions. The common areas are merged with the target parts to generate the structured light image. The method for generating a structured light image according to claim 1, wherein in step (D), the processing unit first captures the target portion of each original image as a substructured light image, and then The structured light images are merged in a stitching manner to produce the structured light images. The structured light image generating method according to claim 1, wherein: the structured light image generating system further includes a storage unit storing N patterns, where N is an integer greater than 1; in step (B), the processing The unit controls the projection unit according to the N patterns to sequentially project the N types of structured light representing the N patterns to the projection area corresponding to the predetermined position at each predetermined position; in step (C), the processing When the projection unit projects each of the N types of structured light onto the projection area, the unit controls the shooting unit to shoot the predetermined shooting range to generate the projection area corresponding to the projection area projected by the projection unit and respectively N original images corresponding to N patterns; and in step (D), the processing unit generates N structured light images corresponding to N patterns, and each structured light image is processed by the processing unit according to In the original image, the target portions of the original images corresponding to the same pattern in the N patterns are generated. A structured light image generation system suitable for a stationary target object. The structured light image generation system includes: a projection unit; a driving unit for driving the projection unit to move; a photographing unit; and a processing unit, electrically connected The projection unit, the driving unit and the photographing unit, the processing unit controls the driving unit to drive the projection unit to move to a plurality of predetermined positions respectively corresponding to a plurality of projection areas, wherein the target object is located in at least one of the projection areas. Within both, the processing unit controls the projection unit to project a structured light to the corresponding projection area at each predetermined position, and controls the photographing unit when the projection unit projects the structured light to each projection area. Shooting a predetermined shooting range covering the projection areas to generate an original image corresponding to the projection area projected by the projection unit, each original image having a target portion showing the structured light, the processing unit and Generate a structured light image based on the target portions of the original images by stitching, Structured light image of the target object by showing the structured light projection. The structured light image generation system according to claim 5, wherein the projection areas are arranged in a matrix with each other, and every two adjacent projection areas are partially overlapped, so that the corresponding projection areas correspond to the two projection areas. The two target parts of the two original images each have two common areas that coincide with each other, and the processing unit combines the target parts in a stitching manner to generate the structured light image according to the common areas of the target parts. . The structured light image generation system according to claim 5, wherein the processing unit first captures the target portion of each original image as a sub-structured light image, and then stitches the sub-structured light images in a stitching manner. Combined to produce the structured light image. The structured light image generating system according to claim 5, further comprising a storage unit storing N patterns, where N is an integer greater than 1, wherein controlling the projection unit at each predetermined position according to the N patterns will be separately The N kinds of structured light showing the N patterns are sequentially projected onto the projection area corresponding to a predetermined position, and when the projection unit projects each of the N kinds of structured light onto the projection area, the The shooting unit shoots the predetermined shooting range to generate N original images corresponding to the projection area projected by the projection unit and corresponding to N patterns, respectively, and the processing unit generates N corresponding to N patterns respectively The structured light image, and each structured light image is generated by the processing unit according to the target portions of the original images corresponding to the same pattern in the N patterns among the original images. A digital program product includes a specific algorithm, and when the specific algorithm is loaded and executed by a digital computing device, the digital computing device can complete the structured light image according to any one of claims 1 to 4 Generate method. A digital computing device includes a processing unit, which is suitable for electrically connecting a projection unit, a driving unit for driving the activity of the projection unit, and a photographing unit, and the processing unit can complete as requested items 1 to 4 The method for generating a structured light image according to any one of the above.