WO2022143992A1 - 三维扫描设备、方法、装置、存储介质及处理器 - Google Patents
三维扫描设备、方法、装置、存储介质及处理器 Download PDFInfo
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- Embodiments of the present invention provide a three-dimensional scanning device, method, device, storage medium, and processor to at least solve the technical problem that the structured light coding pattern in the prior art requires multiple image sequences for complex coding.
- the processor is preset with the light plane and corresponding number of each stripe in the stripe-coded image; the processor is based on the number of each stripe in the camera image and the corresponding number of the light plane of each stripe. Consistency determines the light plane corresponding to the pixel coordinates where the center of the stripe is located; the processor performs triangulation based on the pixel coordinates where the center of the stripe is located and the corresponding light plane, and reconstructs a three-dimensional digital model of the object to be scanned.
- a three-dimensional scanning method is also provided. Based on the above-mentioned three-dimensional scanning device, the following steps are performed: project a fringe-coded image to an object to be scanned by a projection device; The object is collected to obtain a camera image, wherein the camera image is the imaging of the object to be scanned on the image plane of the camera, and the image plane includes a first imaging interval.
- the imaging of the first fringe group on the image plane is located in the first imaging interval, and only the first fringe group is in the first imaging interval;
- the camera image performs three-dimensional reconstruction of the object to be scanned.
- FIG. 7 is a schematic diagram of a situation where a code is blocked according to an embodiment of the present invention.
- the device includes: a projection device 10 configured to project a fringe-encoded image to an object to be scanned, and the fringe-encoded image includes a first fringe
- the camera 12 is set to collect the object to be scanned to obtain a camera image, wherein the camera image is the imaging of the object to be scanned on the image plane of the camera, and the image plane includes the first imaging interval.
- the imaging of the first fringe group on the image plane is located in the first imaging interval, and there is only the first fringe group in the first imaging interval.
- the fringe coded image is projected to the object to be scanned, and the fringe coded image is modulated and deformed by the scanning object, and the obtained three-dimensional reconstructed image of the object to be scanned is the surface imaging of the scanning object, and the imaging includes the deformed fringe coded image.
- the coding table adopts binary coding, the coding value corresponding to the pixels with stripes in the time-coded image is 1, and the coding value corresponding to the pixels without stripes in the time-coded image is 0.
- the effective depth of field of the projection system, the lens magnification of the camera, the projection optical axis of the projection system and the imaging light of the camera are determined by the physical properties of each hardware in the 3D scanning device.
- Equipment parameters such as the optical angle between the axes, based on the above equipment parameters, make the fringe-coded image move within the frame of the camera.
- the first color stripe image and the second color stripe image are formed by multiple color stripes in the same color stripe pattern obtained from corresponding color channels.
- a color stripe pattern includes a combination of red stripes and green stripes. Arranged, the red stripes obtained by the camera red channel form a red stripe image, and the green stripes obtained by the camera green channel form a green stripe image.
- determining the first color coding table based on the first color fringe image includes: correspondingly obtaining a first coding sequence for pixels of the first color in the first color fringe image, The pixel without the first color corresponds to a fourth coding sequence, and a first color coding table is constructed based on the first coding sequence and the four coding sequences of the pixel position distribution of the first color stripe image; the second color coding table is determined based on the second color stripe image.
- the second encoding table; the third encoding module is set to take the first encoding value corresponding to the pixels with stripes in the third time fringe image, and take the second encoding value corresponding to the pixels without stripes in the third time fringe image, based on The first encoding value and the second encoding value of the pixel position distribution of the third time fringe image construct a third encoding table; the fourth encoding module is set to be the same in the first encoding table, the second encoding table and the third encoding table
- the encoded values of the pixel positions are arranged according to the acquisition sequence of the first time fringe image, the second time fringe image and the third time fringe image as an encoding sequence of corresponding pixels, and a time image encoding table is formed based on the encoding sequence.
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Abstract
Description
Claims (27)
- 一种三维扫描设备,包括:投影设备,被设置为向待扫描对象投射条纹编码图像,所述条纹编码图像包括第一条纹组;相机,被设置为对所述待扫描对象进行采集,得到相机图像,其中,所述相机图像为所述待扫描对象在所述相机的像平面的成像,所述像平面包括第一成像区间,当所述待扫描对象位于所述三维扫描设备的有效景深范围内,所述第一条纹组在所述像平面的成像位于所述第一成像区间内且所述第一成像区间内仅有所述第一条纹组。
- 根据权利要求1所述的设备,其中,所述投影设备的投影光轴和所述相机的采集光轴之间形成有系统夹角α,所述相机的光学参数包括:镜头放大倍率k 1,所述三维扫描设备的有效景深用ΔL表示,所述第一成像区间用d 1表示,d 1=ΔL×tgα÷k 1。
- 根据权利要求1所述的设备,其中,所述投影设备包括:图像显示元件,所述图像显示元件包括:第一显示区间,所述第一显示区间设有所述第一条纹组;所述投影设备的光学参数包括:所述投影设备的镜头放大倍率k 2,所述第一显示区间用D 1表示,D 1=ΔL×tgα÷k 2。
- 根据权利要求1所述的设备,其中,所述条纹编码图像还包括:第二条纹组,所述第二条纹组与所述第一条纹组相邻设置;所述像平面包括:第二成像区间,所述第二成像区间与所述第一成像区间相邻设置;当所述待扫描对象位于所述三维扫描设备的有效景深范围内,所述第二条纹组在所述像平面的成像位于所述第二成像区间内且所述第二成像区间内仅有所述第二条纹组。
- 根据权利要求4所述的设备,其中,所述条纹编码图像包括:多个呈周期性排布的条纹组,所述第一条纹组与所述第二条纹组分别为一个周期的条纹组。
- 根据权利要求4所述的设备,其中,所述投影设备的投影光轴和所述相机的采集光轴之间形成有系统夹角α,所述相机的光学参数包括:镜头放大倍率k 1,所述三维扫描设备的有效景深用ΔL表示,所述第二成像区间用d 2表示,d 2=ΔL×tgα÷k 1。
- 根据权利要求4所述的设备,其中,所述投影设备包括:图像显示元件,所述图像显示元件包括:第二显示区间,所述第二显示区间设有所述第二条纹组;所述投影设备的光学参数包括:所述投影设备的镜头放大倍率k 2,所述第二显示区间用D 2表示,D 2=ΔL×tgα÷k 2。
- 根据权利要求1所述的设备,其中,所述设备还包括:处理器,被设置为基于所述相机图像对所述待扫描对象进行三维重建。
- 根据权利要求8所述的设备,其中,所述处理器预设有所述第一成像区间坐标;所述处理器基于所述相机图像确定所述相机图像中条纹的中心所在像素坐标;所述处理器基于所述条纹的像素坐标及所述第一成像区间的坐标,确定所述相机图像中各条纹的编号;所述处理器基于所述条纹的中心所在像素坐标及所述编号进行三维重建,获取待扫描对象的三维数字模型。
- 根据权利要求8所述的设备,其中,所述处理器预设有条纹编码图像中各条纹的光平面及对应编号;所述处理器基于所述相机图像中各条纹的编号与所述各条纹的光平面的对应编号的一致性确定所述条纹的中心所在像素坐标所对应的光平面;所述处理器基于所述条纹的中心所在像素坐标及对应的光平面进行三角计算,重建待扫描对象的三维数字模型。
- 一种三维扫描方法,基于权利要求1-7中任一项所述的三维扫描设备执行以下步骤:通过投影设备向待扫描对象投射条纹编码图像;通过相机对所述待扫描对象进行采集,得到相机图像,其中,所述相机图像为所述待扫描对象在所述相机的像平面的成像,所述像平面包括第一成像区间, 当所述待扫描对象位于所述三维扫描设备的有效景深范围内,所述第一条纹组在所述像平面的成像位于所述第一成像区间内且所述第一成像区间内仅有所述第一条纹组;通过处理器基于所述相机图像对所述待扫描对象进行三维重建。
- 根据权利要求11所述的方法,其中,所述方法还包括:基于所述相机图像,确定所述相机图像中条纹的中心所在像素坐标;所述处理器预设有第一成像区间的坐标,基于所述条纹的像素坐标及所述第一成像区间的坐标,确定各条纹的编号;所述条纹的中心所在像素坐标基于所述编号进行三维重建,获取待扫描对象的三维数字模型。
- 一种三维扫描方法,包括:向待扫描对象投影条纹编码图像,其中,所述条纹编码图像包括:时间编码图像或颜色编码图像,所述时间编码图像包括多个基于时间排列的时间条纹图案,所述颜色编码图像中包括使用多个颜色进行编码的颜色条纹图案;采集所述待扫描对象的三维重建图像,其中,所述三维重建图像中所述待扫描对象的表面带有所述条纹编码图像;基于所述三维重建图像,重建所述待扫描对象的三维模型。
- 根据权利要求13所述的方法,其中,在所述条纹编码图像为时间编码图像的情况下,所述三维扫描方法包括:在第一时间向所述待扫描对象表面投影第一时间条纹图案;获取所述待扫描对象表面的第一时间条纹图像;在第二时间向所述待扫描对象表面投影第二时间条纹图案;获取所述待扫描对象表面的第二时间条纹图像;基于所述第一时间条纹图像与所述第二时间条纹图像确定时间图像编码表。
- 根据权利要求14所述的方法,其中,基于所述第一时间条纹图像与所述第二时间条纹图像确定时间图像编码表包括:基于所述第一时间条纹图像确定第一编码表;基于所述第二时间条纹图像确定第二编码表;基于所述第一编码表与所述第二编码表构建所述时间图像编码表。
- 根据权利要求15所述的方法,其中,基于所述第一时间条纹图像确定第一编码表包括:将所述第一时间条纹图像中有条纹的像素对应取第一编码值,将所述第一时间条纹图像中无条纹的像素对应取第二编码值,基于所述第一时间条纹图像的像素位置分布的所述第一编码值与所述第二编码值构建第一编码表;基于所述第二时间条纹图像确定第二编码表包括:将所述第二时间条纹图像中有条纹的像素对应取第一编码值,将所述第二时间条纹图像中无条纹的像素对应取第二编码值,基于所述第二时间条纹图像的像素位置分布的所述第一编码值与所述第二编码值构建第二编码表;基于所述第一编码表与所述第二编码表构建所述时间图像编码表包括:将所述第一编码表与所述第二编码表中相同像素位置的编码值依据所述第一时间条纹图像与所述第二时间条纹图像的获取顺序排列作为对应像素的编码序列,基于所述编码序列构成时间图像编码表。
- 根据权利要求14所述的方法,其中,在获取所述待扫描对象表面的所述第二时间条纹图像之后,所述方法还包括:在第三时间向所述待扫描对象表面投影第三时间条纹图案;获取所述待扫描对象表面的第三时间条纹图像;基于所述第一时间条纹图像、所述第二时间条纹图像及所述第三时间条纹图像确定时间图像编码表。
- 根据权利要求18所述的方法,其中,基于所述第一时间条纹图像、所述第二时间条纹图像及所述第三时间条纹图像确定时间图像编码表包括:将所述第一时间条纹图像中有条纹的像素对应取第一编码值,将所述第一时间条纹图像中无条纹的像素对应取第二编码值,基于所述第一时间条纹图像的像素位置分布的第一编码值与第二编码值构建第一编码表;将所述第二时间条纹图像中有条纹的像素对应取第一编码值,将所述第二时间条纹图像中无条纹的像素对应取第二编码值,基于所述第二时间条纹图像的像素位置分布的第一编码值与第二编码值构建第二编码表;将所述第三时间条纹图像中有条纹的像素对应取第一编码值,将所述第三时间条纹图案中无条纹的像素对应取第二编码值,基于所述第三时间条纹图像的像素位置分布的第一编码值与第二编码值构建第三编码表;将所述第一编码表、所述第二编码表及所述第三编码表中相同像素位置的编码值依据所述第一时间条纹图像、所述第二时间条纹图像与所述第三时间条纹图像的获取顺序排列作为对应像素的编码序列,并基于所述编码序列构成时间图像编码表。
- 根据权利要求13-18中任意一项所述的方法,其中,所述编码表采用二进制编码,所述时间编码图像中有条纹的像素对应的编码值为1,所述时间编码图像中无条纹的像素对应的编码值为0。
- 根据权利要求14所述的方法,其中,在基于所述第一时间条纹图像与所述第二时间条纹图像确定时间图像编码表之后,所述方法还包括:向所述待扫描对象表面投影第四时间条纹图案,获取所述待扫描对象表面的第四时间条纹图像,并基于所述时间图像编码表确定所述第四时间条纹图像中各条纹的序列;向所述待扫描对象表面投影第五时间条纹图案,获取所述待扫描对象表面的第五时间条纹图像,并基于所述时间图像编码表确定所述第五时间条纹图像中各条纹的序列;其中,所述第五时间条纹图案基于所述第四时间条纹图案中各条纹往相同方向偏移距离d得到。
- 根据权利要求13所述的方法,其中,在所述条纹编码图像为颜色编码图像的情况下,所述三维扫描方法包括:向所述待扫描对象表面投影所述颜色编码图像,其中,所述颜色编码图像包括:第一颜色条纹图案和第二颜色条纹图案;获取所述待扫描对象表面的颜色条纹图像,其中,所述颜色条纹图像包括:第一颜色条纹图像和第二颜色条纹图像;基于所述第一颜色条纹图像与所述第二颜色条纹图像确定颜色图像编码表。
- 根据权利要求21所述的方法,其中,基于所述颜色条纹图像确定颜色图像编码表,包括:基于所述第一颜色条纹图像确定第一颜色编码表;基于所述第二颜色条纹图像确定第二颜色编码表;基于第一颜色编码表和第二颜色编码表构建所述颜色图像编码表。
- 根据权利要求22所述的方法,其中,基于所述第一颜色条纹图像确定第一颜色编码表包括:将所述第一颜色条纹图像中有第一颜色的像素对应取第一编码序列,将所述第一颜色条纹图像中无第一颜色的像素对应取第四编码序列,基于所述第一颜色条纹图像的像素位置分布的第一编码序列与四编码序列构建第一颜色编码表;基于所述第二颜色条纹图像确定第二颜色编码表包括:将所述第二颜色条纹图像中有第二颜色的像素对应取第二编码序列,将所述第二颜色条纹图像中无第二颜色的像素对应取第四编码序列,基于所述第二颜色条纹图像的像素位置分布的第二编码序列与四编码序列构建第二颜色编码表;基于第一颜色编码表和第二颜色编码表构建所述颜色图像编码表包括:将所述第一颜色编码表和所述第二颜色编码表中相同像素位置的编码序列叠加作为对应像素的编码序列,对应各像素分布的所述叠加的编码序列构成颜色图像编码表。
- 根据权利要求21-23中任意一项所述的方法,其中,所述编码表采用二进制编码,所述颜色编码图像中有第一颜色的像素对应的第一编码序列为(0,0,1),所述颜色编码图像中有第二颜色的像素对应的第二编码序列为(0,1,0),所述颜色编码图像中无颜色的像素对应的第四编码序列为(0,0,0)。
- 一种三维扫描装置,包括:投影单元,被设置为向待扫描对象投影条纹编码图像,其中,所述条纹编码图像包括:时间编码图像或颜色编码图像,所述时间编码图像包括多个基于时间排列的时间条纹图案,所述颜色编码图像中包括使用多个颜色进行编码的颜色条纹图案;采集单元,被设置为采集所述待扫描对象的三维重建图像,其中,所述三维重建图像中所述待扫描对象的表面带有所述条纹编码图像;重建单元,被设置为基于所述三维重建图像,重建所述待扫描对象的三维模型。
- 一种计算机可读存储介质或非易失性存储介质,其中,所述计算机可读存储介质或非易失性存储介质包括存储的程序,其中,在所述程序运行时控制所述计算机 可读存储介质或非易失性存储介质所在设备执行权利要求13至24中任意一项所述三维扫描方法。
- 一种处理器,其中,所述处理器被设置为运行程序,其中,所述程序运行时执行权利要求13至24中任意一项所述三维扫描方法。
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