CN104596444B - Three-dimensional photographic system and three-dimensional photographic method based on coding pattern projection - Google Patents
Three-dimensional photographic system and three-dimensional photographic method based on coding pattern projection Download PDFInfo
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Abstract
The invention relates to the field of three-dimensional measurement, in particular to a three-dimensional photographic system and a three-dimensional photographic method based on coding pattern projection. By the three-dimensional photographic system and the three-dimensional photographic method based coding pattern projection, three-dimensional data of a single-frame image are quickly resolved in a coding pattern projection mode, and a formed three-dimensional measured object point cloud has the characteristics of easiness in computing, high speed, high resolution ration and high measurement data precision. Moreover, the three-dimensional photographic system can be reused in follow-up three-dimensional photography by once calibration when components are not detached or changed, and is easy and convenient to operate.
Description
Technical field
The present invention relates to three-dimensional measurement field, more particularly to a kind of tri-dimensional photographing system and side based on encoded pattern projection
Method.
Background technology
The focus that object Shape ' three-dimensional data is that optical triangle method field studies for a long period of time is calculated from image, and has height
The focus that the optical three-dimensional measurement technology of speed, high accuracy and noncontact advantage is always studied.Recently, in commercial measurement, reverse
The fields such as engineering, vision guided navigation, Aero-Space, video display amusement, virtual reality, shaping and beauty, are especially in use in national security protection neck
The 3D Three-dimension object recognitions in domain and 3D printing industry receive the concern and research of extreme.
The research of the optical three-dimensional measurement technology existing decades based on principle of triangulation, from many images of needs to only
Piece image is only needed to carry out the three-dimensional reconstruction of object Shape '.Researcher has been used different in design triangle measuring system
Projected image, such as stripe pattern, gray code map picture, that coding pattern image waits until that body surface is realized is position encoded.In this need
Ask under background, how to realize the difficult problem and choose that 3 d shape data are that current research faces quickly being obtained using minimum image
War, stronger to obtaining the demand of 3 d shape data acquisition using piece image in some cases, we are called list
Frame is measured.This single frames three-dimensional vision information technology realizes the real-time measurement of mobile testee.
With the needs that single frames is measured, Caspi (Caspi, D., Kiryati, N., and Shamir, J., " Range
imaging with adaptive color structured light,”Pattern Analysis and Machine
Intelligence, IEEE Transactions on, 1998,20 (5), 470-480.) bat is reduced using colored Gray code
Take the photograph picture number.Boyer and Kak(Boyer,K.L.,and Kak,A.C.,“Color-Encoded Structured
Light for Rapid Active Ranging,”IEEE Transactions on Pattern Analysis and
Machine Intelligence, 1987, PAMI-9 (1), 14-28.) figure is reduced by projecting the color fringe image of unique encodings
As number.Fourier transform profilometry is also conventional method for real-time measurement, but it is difficult to there is phase place to complicated and separating objects
With expansion problems.Mikaeland Per Synnergren(M.and Synnergren,P.,"
Measurement of Shape by Using Projected Random Patterns and Temporal Digital
Speckle Photography, " Appl.Opt.1999,38 (10), 1990-1997.) coding pattern measuring method is incorporated into
In three-dimensional measurement, but it still falls within the related method of plane, and calculating takes very much.
The kinect of Microsoft is also to realize single-frame images by laser code pattern image to obtain the depth information of object,
But which is designed mainly for the large scene required for body-sensing, certainty of measurement is poor, it is impossible to enough adapt to three-dimensional body fields of measurement pair
The requirement of certainty of measurement.
The content of the invention
It is an object of the invention in overcoming the existing acquiring three-dimensional images technology based on single frames coding pattern, certainty of measurement
Difference, it is impossible to enough adapt to the problem of three-dimensional body fields of measurement, there is provided a kind of certainty of measurement is high, it is adaptable to which three-dimensional body measurement is (outstanding
It is three-dimensional face measurement) the tri-dimensional photographing method based on encoded pattern projection：Which includes demarcating the setting stage and bat in real time
According to the stage；The demarcation setting stage comprises the steps：
(1-1) photographic means intrinsic parameter is demarcated using plane reference method, photographic means intrinsic parameter includes photographic means in width
Focal length f on degree directionu, focal length f in short transversev, photographic means principal point coordinate (u0,v0), effectively taking the photograph photographic means
As range set is measurement space.
(1-2) encoded pattern projection is carried out, is projected in measurement space and is obtained the spatial modulation field with coding pattern.
(1-3) setting is demarcated apart from d, carries out coding demarcation by precision displacement platform to measurement space, i.e., empty in measurement
In, a coding pattern is gathered at interval of demarcating successively apart from d, and by the coding pattern arrived in each station acquisition by near
To remote order from 1 to N, label saves as uncalibrated image.
(1-4) in the last operation position of step (1-3), demarcation world coordinate system and photograph are determined by pose measurement
Spin matrix R and translation vector T between device coordinate system, wherein, R is 3 × 3 orthogonal matrix, and its element is (r1,…,
r9), the component of translation vector T is respectively (Tx,Ty,Tz)。
The stage of taking pictures in real time comprises the steps：
(2-1) carry out encoded pattern projection, by photographic means shoot by three-dimensional body modulate coding projection image, both by
Photographic means shoots the testee image under encoded pattern projection；
(2-2) block of pixels with j*j calculates the space depth of each block of pixels of captured testee image as base unit
Angle value Z, j are more than 3 odd number；Its process is to calculate the block of pixels relevance degree C of testee image and each uncalibrated image
(u,v；T), computing formula is as follows：
Wherein, (u, v) is center pixel point coordinates in current pixel block, and t is uncalibrated image sequence number, its value from 1 to N, S
(u,v；T) uncalibrated image, O (u, v are accordingly referred to for the block of pixels；H) for current shooting testee image in the block of pixels,
O(u,v；H) value is in measurement process, by direct access in testee image, wherein, h represents pixel (u, v) correspondence quilt
Survey object real space depth value.WithS (u, v in block of pixels respectively to be measured；T) with O (u, v；H) flat
Average；According to captured testee and relevance degree C (u, the v with reference to uncalibrated image；T) the relevance degree curve map for drawing enters
Row curve matching, solves the uncalibrated image label m corresponding to its maximum related value, according to shooting image spacing distance when demarcating
D directly obtains the spatial depth value Z=d × m for calculating point.
(2-3) according to spin matrix R, translation vector T and the space of testee image each pixel for calculating
Depth value Z, solves the coordinate Y in coordinate X and the short transverse on the width corresponding to the pixel, tested so as to obtain
The three-dimensional coordinate on testee surface corresponding to subject image pixel, its computing formula is：
Further, in step (1-2), encoded pattern projection mode is photolithographicallpatterned, prints mode or digital projection side
Formula.
Further, the light source of the encoded pattern projection adopts infrared light supply, visible light source or near ultraviolet light source.
Further, the resolution ratio of the encoded pattern projection is more than 300,000 pixels.
Further, the demarcation is 0.1mm-10mm apart from the value of d.
The present invention simultaneously also provides that a kind of to provide certainty of measurement high, it is adaptable to three-dimensional body measurement (especially three-dimensional face
Measurement) tri-dimensional photographing system based on encoded pattern projection, including control device, photographic means and encoded pattern projection device,
The photographic means, encoded pattern projection device are connected with the control device.
The control device includes that uncalibrated image memory module, spatial depth value computing module and three-dimensional coordinate calculate mould
Block；The uncalibrated image memory module is used for uncalibrated image of the storage with order label；
The spatial depth value computing module is used for calculating the spatial depth of each block of pixels of captured testee image
Value；
The three-dimensional coordinate computing module calculates its three-dimensional coordinate for the spatial depth value according to each block of pixels.
Further, the light source of the encoded pattern projection device is infrared light supply, visible light source or near ultraviolet light source.
Further, the encoded pattern projection device is photoetching encoded pattern projection device, prints encoded pattern projection
Device or digital coding pattern projection arrangement.
Compared with prior art, beneficial effects of the present invention：Three-dimensional based on encoded pattern projection provided by the present invention
Photographic means and system realize the quick resolving of single-frame images three-dimensional data, and the three-dimensional testee point cloud of formation has calculating letter
Single, speed is fast, high resolution, high measure data precision the characteristics of；The tri-dimensional photographing method and device that the present invention is provided is ensureing
Reuse in three-dimensional measurement by not occurring only once to be demarcated when dismantling part change operation afterwards, operation letter
Folk prescription is just.
Description of the drawings：
Fig. 1 is demarcated for the tri-dimensional photographing method based on encoded pattern projection that the present invention is provided and is arranged phase flow figure.
Fig. 2 is taken pictures phase flow figure based on the tri-dimensional photographing method of encoded pattern projection in real time for what the present invention was provided.
The tri-dimensional photographing system construction drawing based on encoded pattern projection that Fig. 3 is provided for the present invention.
The tri-dimensional photographing method overall flow figure based on encoded pattern projection that Fig. 4 is provided for the present invention.
Wherein, 1- control devices, 2- photographic means, 3- encoded pattern projection devices
Specific embodiment
Below in conjunction with the accompanying drawings and specific embodiment the present invention is described in further detail.But this should not be interpreted as this
The scope for inventing above-mentioned theme is only limitted to below example, and all technologies realized based on present invention belong to the present invention
Scope.
Embodiment 1：As described in Figure 3, the present embodiment provides a kind of tri-dimensional photographing system based on encoded pattern projection, including
Control device 1, photographic means 2 and encoded pattern projection device 3, the photographic means 2, encoded pattern projection device 3 are and institute
State control device 1 to connect.
The photographic means 2 is used for shooting image (such as facial image).
The encoded pattern projection device 3 is for carrying out coding pattern in effective image pickup scope of the photographic means 2
Projection.
The control device 1 includes that uncalibrated image memory module, spatial depth value computing module and three-dimensional coordinate are calculated
Module (does not show uncalibrated image memory module, spatial depth value computing module and three-dimensional coordinate computing module) in figure.
The uncalibrated image memory module is used for uncalibrated image of the storage with order label.
The spatial depth value computing module is used for calculating the spatial depth of each block of pixels of captured testee image
Value.
The three-dimensional coordinate computing module calculates its three-dimensional coordinate for the spatial depth value according to each block of pixels.
GS3-U3-14S5C-C CCD type video camera of the photographic means 2 using PointGray, its resolution ratio in the present embodiment
For 1384 × 1036pixels, lens focus are 12mm.Encoded pattern projection device 3 adopts resolution ratio for 1280 ×
The Otto code ML550DLP digital projectors of 800pixels.
Further, in the present embodiment, the light source infrared light supply of the encoded pattern projection device 3.
Further, in the present embodiment, the encoded pattern projection device 3 is digital coding pattern projection arrangement.
Embodiment 2：As shown in Figure 1 and Figure 2, using tri-dimensional photographing system as described in Example 1, the present embodiment provides one
Planting is included demarcating the setting stage and is taken pictures the stage in real time based on the tri-dimensional photographing method of encoded pattern projection；Described demarcation arranges rank
Section comprises the steps：
S101：Photographic means intrinsic parameter is demarcated using plane reference method, photographic means intrinsic parameter includes photographic means width
Focal length f on directionu, focal length f in short transversev, photographic means principal point coordinate (u0,v0), by effective shooting of photographic means
Range set is measurement space.
S102：The random digit projected image of 1,000,000 pixel above resolution ratio is generated, is had in measurement space projection
The spatial modulation field of coding pattern.
S103：Setting is demarcated apart from d, d=1mm, is carried out coding demarcation by precision displacement platform to measurement space, that is, is existed
In measurement space, a coding pattern, and the coding pattern that will be arrived in each station acquisition is gathered at interval of demarcating successively apart from d
By from closely to remote order from 1 to N, label saves as uncalibrated image, such as N=200 in the present embodiment.
S104：In step S103：Last operation position, demarcation world coordinate system and photograph is determined by pose measurement
Spin matrix R and translation vector T between device coordinate system, wherein, R is 3 × 3 orthogonal matrix, and its element is (r1,…,
r9), the component of translation vector T is respectively (Tx,Ty,Tz)。
The demarcation setting stage only needs setting once above, and the stage of taking pictures in real time hereafter is without the need for repetition setting.
The stage of taking pictures in real time comprises the steps：
S201：Carry out encoded pattern projection, by photographic means shoot by face (this method can be applicable to shoot including but not
It is limited to the three-dimensional body of face) the coding projection image modulated, the measured object under encoded pattern projection is shot by photographic means both
Body image；
S202：Block of pixels with j*j calculates the space depth of each block of pixels of captured testee image as base unit
Angle value Z, in the present embodiment, j=3；Its process is to calculate the block of pixels relevance degree of testee image and each uncalibrated image
C(u,v；T), computing formula is as follows：
Wherein, (u, v) is center pixel point coordinates (i.e. coordinate of the pixel on image ranks) in current pixel block, t
Uncalibrated image sequence number, its value from 1 to N, S (u, v；T) uncalibrated image, O (u, v are accordingly referred to for the block of pixels；H) it is current
Value of the testee image of shooting in the block of pixels, O (u, v；H) value be in measurement process by testee image directly
Obtain, wherein, h represents pixel (u, v) correspondence testee real space depth value；WithRespectively treat
Survey S (u, v in block of pixels；T) with O (u, v；H) mean value；According to captured testee and the degree of correlation with reference to uncalibrated image
Value C (u, v；T) the relevance degree curve map for drawing carries out curve fitting, and solves the uncalibrated image corresponding to its maximum related value
Label m, directly obtains the spatial depth value Z=d × m for calculating point according to shooting image spacing distance d when demarcating.
S203：According to spin matrix R, translation vector T and the space of testee image each pixel for calculating
Depth value Z, solves the coordinate Y in coordinate X and the short transverse on the width corresponding to the pixel, is clapped so as to obtain
The three-dimensional coordinate of each pixel correspondence object table millet cake of testee image is taken the photograph, its computing formula is：
Wherein, fuFor the focal length on photographic means width, fvFor photographic means focal length in the height direction, (u0,
v0) be photographic means principal point coordinate, (r1,…,r9) for spin matrix R between world coordinate system and photographic means coordinate system,
(Tx,Ty,Tz) for three components of translation vector T between world coordinate system and photographic means coordinate system.
Further, the light source of the encoded pattern projection adopts infrared light supply.
A dumbbell being measured according to the method described above and advising standard component, gained certainty of measurement is as shown in table 1：
The certainty of measurement of 1 diverse location of table
Claims (8)
1. a kind of tri-dimensional photographing method based on encoded pattern projection, it is characterised in that including demarcating the setting stage and bat in real time
According to the stage；The demarcation setting stage comprises the steps：
(1-1) photographic means intrinsic parameter is demarcated, photographic means intrinsic parameter includes the focal length f on photographic means widthu, height
Focal length f on directionv, photographic means principal point coordinate (u0,v0), effective image pickup scope of photographic means is set as into measurement space；
(1-2) encoded pattern projection is carried out, is projected in measurement space and is obtained the spatial modulation field with coding pattern；
(1-3) setting is demarcated apart from d, carries out coding demarcation to measurement space, i.e., in measurement space, remote from nearly cause, at interval of
Demarcate a coding pattern is gathered successively apart from d, and by the coding pattern arrived in each station acquisition label from 1 to N in order
Save as uncalibrated image；
(1-4) in the last operation position of step (1-3), demarcation world coordinate system and photographic means are determined by pose measurement
Spin matrix R and translation vector T between coordinate system, wherein, R is 3 × 3 orthogonal matrix, and its element is (r1,…,r9), put down
The component for moving vector T is respectively (Tx,Ty,Tz)；
The stage of taking pictures in real time comprises the steps：
(2-1) encoded pattern projection is carried out, the testee image under encoded pattern projection is shot by photographic means；
(2-2) block of pixels with j*j calculates the spatial depth value of each block of pixels of captured testee image as base unit
Z, j are more than 3 odd number；Its process is to calculate each block of pixels relevance degree C of testee image and each uncalibrated image
(u,v；T), computing formula is as follows：
Wherein, (u, v) is center pixel point coordinates in current pixel block, and t is uncalibrated image sequence number, and from 1 to N, N is big to its value
In 1 natural number, S (u, v；T) uncalibrated image, O (u, v are accordingly referred to for the block of pixels；H) it is the testee figure of current shooting
As the value in the block of pixels；WithS (u, v in block of pixels respectively to be measured；T) with O (u, v；H) mean value；
According to captured testee and relevance degree C (u, the v with reference to uncalibrated image；T) the relevance degree curve map march for drawing
Line is fitted, and solves the uncalibrated image label m corresponding to its maximum related value, straight according to shooting image spacing distance d when demarcating
Obtain the spatial depth value Z=d × m that must be calculated a little；
(2-3) according to spin matrix R, translation vector T and the spatial depth of testee image each pixel for calculating
Value Z, solves the coordinate Y in coordinate X and the short transverse on the width corresponding to the pixel, so as to obtain testee
The three-dimensional coordinate on testee surface corresponding to image slices vegetarian refreshments, its computing formula is：
2. the tri-dimensional photographing method based on encoded pattern projection as claimed in claim 1, it is characterised in that in step (1-2)
Encoded pattern projection mode is photolithographicallpatterned, prints mode or digital projection mode.
3. the tri-dimensional photographing method based on encoded pattern projection as claimed in claim 1, it is characterised in that the coding pattern
Projected light source adopts infrared light supply, visible light source or near ultraviolet light source.
4. the tri-dimensional photographing method based on encoded pattern projection as claimed in claim 1, it is characterised in that the coding pattern
The resolution ratio of projection is more than 300,000 pixels.
5. tri-dimensional photographing method as claimed in claim 1 based on encoded pattern projection, it is characterised in that the demarcation is apart from d
Value be 0.1mm-10mm.
6. a kind of tri-dimensional photographing system based on encoded pattern projection, it is characterised in that including control device, photographic means and volume
Code pattern projection arrangement, the photographic means, encoded pattern projection device are connected with the control device；
The control device includes uncalibrated image memory module, spatial depth value computing module and three-dimensional coordinate computing module；
The uncalibrated image memory module is used for uncalibrated image of the storage with order label；
The spatial depth value computing module is used for calculating the spatial depth value of each block of pixels of captured testee image；Meter
Calculation mode is：Block of pixels with j*j calculates the spatial depth value of each block of pixels of captured testee image as base unit
Z, j are more than 3 odd number；Its process is to calculate each block of pixels relevance degree C of testee image and each uncalibrated image
(u,v；T), computing formula is as follows：
Wherein, (u, v) is center pixel point coordinates in current pixel block, and t is uncalibrated image sequence number, and from 1 to N, N is big to its value
In 1 natural number, S (u, v；T) uncalibrated image, O (u, v are accordingly referred to for the block of pixels；H) it is the testee figure of current shooting
As the value in the block of pixels；WithS (u, v in block of pixels respectively to be measured；T) with O (u, v；H) mean value；
According to captured testee and relevance degree C (u, the v with reference to uncalibrated image；T) the relevance degree curve map march for drawing
Line is fitted, and solves the uncalibrated image label m corresponding to its maximum related value, straight according to shooting image spacing distance d when demarcating
Obtain the spatial depth value Z=d × m that must be calculated a little；
The three-dimensional coordinate computing module calculates its three-dimensional coordinate for the spatial depth value according to each block of pixels；Calculation
For：According to spin matrix R, translation vector T and spatial depth value Z of testee image each pixel for calculating, ask
The coordinate Y in coordinate X and the short transverse on the width corresponding to the pixel is solved, so as to obtain testee image slices
The three-dimensional coordinate on testee surface corresponding to vegetarian refreshments, its computing formula is：
Wherein, (r1,…,r9) it is between world coordinate system and photographic means coordinate system
Spin matrix R element, (Tx,Ty,Tz) for the element of translation vector T between world coordinate system and photographic means coordinate system.
7. the tri-dimensional photographing system based on encoded pattern projection as claimed in claim 6, it is characterised in that the coding pattern
The light source of projection arrangement is infrared light supply, visible light source or black light light source.
8. the tri-dimensional photographing system based on encoded pattern projection as claimed in claim 6, it is characterised in that the coding pattern
Projection arrangement is photoetching encoded pattern projection device, prints encoded pattern projection device or digital coding pattern projection arrangement.
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| CN109242901B (en) * | 2017-07-11 | 2021-10-22 | 深圳市道通智能航空技术股份有限公司 | Image calibration method and device applied to three-dimensional camera |
| CN108267098B (en) * | 2017-11-08 | 2019-07-09 | 先临三维科技股份有限公司 | 3-D scanning method, apparatus, system, storage medium and processor |
| CN108171761B (en) * | 2017-12-13 | 2020-10-16 | 北京大学 | Point cloud intra-frame coding method and device based on Fourier image transformation |
| WO2020087573A1 (en) * | 2018-10-29 | 2020-05-07 | 罗俭富 | Beauty assistance system, three-dimensional coordinate information acquisition method based thereon, and beauty method thereof |
| EP3667362A1 (en) | 2018-12-10 | 2020-06-17 | Infineon Technologies AG | Methods and apparatuses for determining rotation parameters for conversion between coordinate systems |
| CN112927340B (en) * | 2021-04-06 | 2023-12-01 | 中国科学院自动化研究所 | Three-dimensional reconstruction acceleration method, system and equipment independent of mechanical placement |
| CN114295225B (en) * | 2021-12-30 | 2024-01-12 | 东南大学 | Infrared face measurement method based on binary stripe global code word correction |
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