CN103559735B - A kind of three-dimensional rebuilding method and system - Google Patents
A kind of three-dimensional rebuilding method and system Download PDFInfo
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Abstract
The invention discloses a kind of three-dimensional rebuilding method, rebuild the threedimensional model of target object using light projection equipment, photoinduction equipment；Described light projection equipment is by a graphic pattern projection to arbitrary impact point on described target object, to form subpoint, subpoint described in described photoinduction equipment record is to form measuring point, and sets up three-coordinate calculating coordinate in the coordinate system of photoinduction equipment plane for the impact point.After technique scheme, three-dimensional measurement is simpler with method for reconstructing, quick, and the object dimensional model that the scan mode of non-contact scanning is set up can be made more accurate, and a whole set of modeling low cost, easy to implement.
Description
Technical field
The present invention relates to optical three-dimensional measurement field, more particularly, to a kind of three-dimensional rebuilding method and system.
Background technology
With the development of three-dimensional printing technology, quick and accurately acquire the three-dimensional data of object and carry out three-dimensional modeling
Have important practical significance and researching value.Generally, the mode of people's acquisition object dimensional model has three kinds：First kind of way
It is to utilize modeling software, the software construction such as such as AutoCAD goes out the threedimensional model close to real-world object；The second way is to utilize
Threedimensional model is rebuild to a series of images or video of scene real scene shooting；And the third mode is then by three-dimensional scanning device
Body surface is carried out with 3-D scanning to obtain the three-dimensional information of object thus rebuilding threedimensional model.
Wherein, the third mode is the mode of 3-D scanning, compares first two mode, is obtained in that more accurate three-dimensional
Data it is adaptable to have in the modelling application of certain required precision, such as complex mechanical, historical relic etc..And the side of 3-D scanning
In addition to the advantage of high precision, another advantage is using fairly simple convenience to formula, and it is little to model required time.And it is three-dimensional
The mode of scanning is different according to range finding probe, substantially can be divided into two big class:Contact type scanning and non-contact scanning.Connect
Touch scanning utilizes contact probe, and in measurement, probe needs to contact although certainty of measurement is very high with testee, and
Do not affected by attributes such as the reflective, colors of body surface completely during measurement, but because range finding probe will contact measured object body surface
Face and will produce certain pressure, so a certain degree of damage can be caused to testee, and needs pointwise to survey when scanning
Amount, speed is slower, obtains efficiency and is difficult to stand；And because range finding probe needs to contact testee and produce pressure, therefore right
The material of testee has certain requirement, can only the harder object of measurement surface material.
And laser or visible ray are projected testee surface using light projecting apparatus by non-contact scanning, Ran Houli
With light sensing apparatus, the light of projection is carried out photosensitive, recycle various theory and technologies to calculate the depth letter on testee surface
Breath, thus need not be with testee directly contact, so directly physical damnification will not be produced to testee.This contactless
Scan mode is also referred to as optical three-dimensional measurement, its industrial automatic detection, control of product quality, reversal design, biomedicine, three
Have in the various fields such as Balakrishnan thing digital information recording, somatometry and be widely used.
Calculate the depth information of testee with regard to how using the obtained data of photoinduction equipment, develop a lot of differences
Theory and method, wherein, interfere measure, time-of-flight method and triangulation are public method, wherein triangulation
Method is especially general, and it passes through photoinduction equipment, and the triangular relationship of light projecting apparatus and testee point composition is tested to calculate
The depth information of object point.Ultimate principle with regard to triangulation is as shown in Figure 1.Light projection equipment O1The light of transmitting passes through
Lens F1Photocentre, light reflects by body surface A point, and reflected light is through lens F2Photocentre reach photoinduction equipment on O2,
O1AO2The triangle constituting, if it is known that O1, O2Position, O1F1And O2F2Direction it is possible to solve A position, in figure B point
Although also in ray O1F1On, but it is O on photoinduction equipment3Point, it can therefore be seen that can be with area using triangulation
Divide the depth of A and B.Luminous point O produced by light projection equipment can be based on1With the O on photoinduction equipment2The position of point is come really
Determine the position of A, thus realizing three-dimensional measurement and three-dimensional reconstruction.
But, traditional triangulation has in practice and there is limitations, 1) and triangulation is related to light projection dress
Put the conversion and the respective focal plane of Photoinduction device and egative film plane coordinate system between, that is, be related between four coordinate systems
Conversion, and need infinitely to approach to obtain last value, algorithm is computationally intensive, and data accuracy is relatively low；2）Calibration process is complicated,
Need using high-precision calibration plate and special scaling algorithm；3）The color information of three-dimensional body cannot be directly obtained, no
Enable color matching filling.
Accordingly, it would be desirable to a kind of can meet high calculating speed, high data precision, low cost, the three-dimensional survey easily implemented simultaneously
Amount and method for reconstructing.
Content of the invention
It is an object of the invention to provide a kind of simple, quick three-dimensional measurement and method for reconstructing, contactless sweeping can be made
The object dimensional model that the scan mode retouched is set up is more accurate, and a whole set of modeling low cost, easy to implement.
The invention discloses a kind of three-dimensional rebuilding method, rebuild using light projection equipment, photoinduction equipment and control device
The threedimensional model of target object；It comprises the steps：S1：Egative film plane based on described light projection equipment forms one first seat
Mark system, by described light projection equipment by arbitrary impact point on a graphic pattern projection to described target object, to form subpoint, and by
Control device measures the first coordinate in described first coordinate system for the described subpoint；S2：Egative film based on photoinduction equipment is put down
Face forms one second coordinate system, and the described photoinduction equipment record impact point corresponding with described subpoint is to form measuring point；
And the second coordinate in described second coordinate system for the described measuring point is measured by control device；S3：By described light projection equipment
Second focus of the first focus and described photoinduction equipment is connected, and forms Z axis, and with the distance apart from described first focus is
The N plane perpendicular to described Z axis forms the X/Y plane that is made up of X-axis and Y-axis, described X-axis, Y-axis, Z axis form one the 3rd
Coordinate system；S4：Connect described impact point and subpoint forms one first line, described first line and described X/Y plane intersect at
One first line point；S5：Connect described impact point and measuring point forms one second line, described second line and described X/Y plane
Intersect at one second line point；S6：One projection point is formed based on projection on described X/Y plane for the described impact point, wherein said
The line of the first line point and described projection point is through the initial point of described three-coordinate, and described second line point and described
The line of projection point also passes through the initial point of described three-coordinate；S7：Described first line point is calculated based on described first coordinate
4-coordinate under described three-coordinate；S8：Described second line point is calculated the described 3rd based on described second coordinate
Five Axis under coordinate system；S9：Calculate described impact point based on described 4-coordinate and Five Axis under three-coordinate
Coordinate.
Preferably, the three-dimensional reconstruction system described light projection equipment and photoinduction equipment being formed is calibrated, and calculates institute
State inner parameter and the external parameter of light projection equipment and photoinduction equipment.
Preferably, described inner parameter includes the first focal length of described light projection equipment, and the of described photoinduction equipment
Two focal lengths.
Preferably, described external parameter includes：The X-axis of described first coordinate system and the X-axis of described three-coordinate and Z axis
The included angle A of the XZ plane being formed；The Y-axis of described first coordinate system and the included angle B of described XZ plane；The Z of described first coordinate system
The angle C of the Z axis of axle and described three-coordinate；The X-axis of described second coordinate system and the included angle A of described XZ plane '；Described
The Y-axis of two coordinate systems and the included angle B of described XZ plane '；The Z axis of described second coordinate system and the Z axis of described three-coordinate
Angle C '；Described first focus and the second focus are apart from L；Between X/Y plane and described first focus apart from N；Described first seat
Target coordinate figure；The coordinate figure of described second coordinate.
Preferably, described pattern is grating pattern, and the quantity of described impact point and described subpoint is identical, is at least one
Individual.
Preferably, described pattern is single light line grating pattern.
Preferably, described three-dimensional rebuilding method also includes：Step S9-1：Calculate each described measuring point and subpoint in institute
State the coordinate of the first line point in three-coordinate and the second line point, based on each group of the first line point and the second line point
Connecting line to mate each measuring point and its subpoint through the initial point of described three-coordinate.
Preferably, described three-dimensional rebuilding method also includes：Step S10：Described 3rd coordinate transformation is the second coordinate system
Under described impact point coordinate.
Preferably, described three-dimensional rebuilding method also includes：Step S11：Extract measuring point in described second coordinate system
Color information, by described color information send to described record Point matching described impact point on, make the color of described impact point
Multimedia message is identical with the color information of described measuring point.
The invention also discloses applying the three-dimensional reconstruction system of above-mentioned three-dimensional rebuilding method in one.
After technique scheme, the present invention is based on the 3rd Space Theory, has broken away from the constraint of traditional theory, again fixed
Justice image mutual relation and its Conversion Relations, can quickly obtain the high accuracy colour three of measurand within a short period of time
Dimension cloud data, and have the advantages that：1）High precision, error is little；2）Simple to operate, it is to avoid complicated mathematical calculation；
3）System operatio is simple and convenient, and calculating speed is fast, and low cost；4）Achievable color matching filling is to rebuild the three-dimensional of colour
Target object.
Brief description
Fig. 1 is the basic principle schematic of prior art intermediate cam measurement method；
Fig. 2 is tripleplane of the present invention ultimate principle figure；
Fig. 3 is present invention three-coordinate XZ floor map；
Fig. 4 is present invention three-coordinate X/Y plane schematic diagram；
Fig. 5 is three-dimensional rebuilding method flow chart of the present invention；
Fig. 6 is the structural representation of three-dimensional reconstruction system of the present invention.
Specific embodiment
Advantages of the present invention is expanded on further below in conjunction with accompanying drawing and specific embodiment.
Refering to Fig. 2 and Fig. 3, for realizing the three-dimensional rebuilding method of the present invention, using light projection equipment and photoinduction equipment weight
Build the threedimensional model of target object.Wherein, by a graphic pattern projection to target object, this is projected to object to light projection equipment
Fluctuating with the surface configuration of target object is deformed by the pattern on body, thus will form one in target object surface " becoming
Shape " pattern, is taken as " impact point " to any point in " deformation " pattern（This impact point is also the point on target object simultaneously）, by
On pattern produced by light projection equipment, the point corresponding with this impact point is referred to as " subpoint ".Meanwhile, photoinduction equipment record
Impact point, thus on photoinduction equipment formed a pair should impact point " measuring point ".Above impact point, subpoint, record
Point, for convenience of identifying, is taken as impact point B, subpoint B ', measuring point B ' ' respectively.
In the method, the egative film plane being primarily based on light projection equipment forms one first coordinate system, wherein this first coordinate
The Z axis of system are the optical axis of this light projection equipment（The photocentre of light projection equipment and the line of focus）The straight line being located, light projection sets
The plane that standby egative film is located defines the X/Y plane that the X-axis of the first coordinate system and Y-axis are located（As shown in Figure 2 by X1And Y1
The egative film plane of the light projection equipment being constituted）, the zero O of this first coordinate system1One-tenth for the egative film of light projection equipment
Inconocenter, i.e. the photocentre of light projection equipment.Therefore, the first coordinate that can get subpoint B ' in the first coordinate system is（X1, Y1,
0）.
Similarly, the egative film plane of photoinduction equipment forms one second coordinate system, and the wherein Z axis of this second coordinate system are should
The optical axis of photoinduction equipment（The photocentre of photoinduction equipment and the line of focus）The straight line being located, the egative film of photoinduction equipment is located
Plane define the X/Y plane that the X of the second coordinate system and Y-axis are located（As shown in Figure 2 by X2And Y2The photoinduction being constituted
The egative film plane of equipment）, the zero O of this second coordinate system2For the imaging center of the egative film of photoinduction equipment, i.e. photoinduction
The photocentre of equipment.Therefore, the second coordinate that can get measuring point B ' ' in the second coordinate system is（X2, Y2, 0）.
In the embodiment of the present invention, on the basis of the first coordinate system and the second coordinate system, introduce the general of three-coordinate
Read.Focus by light projection equipment（It is denoted as the first focus F1）And the focus of photoinduction equipment（It is denoted as the second focus F2）Connect, can
In line, this straight line is the Z axis of this three-coordinate to shape（Z as shown in Figure 23Axle）, meanwhile, with distance first focus
F1The X/Y plane that distance is three-coordinate for N and perpendicular to the plane of this Z axis（As shown in Figure 2 by X3And Y3Constituted is flat
Face）, thus defining X-axis and the Y-axis of three-coordinate, the initial point of this three-coordinate is above-mentioned Z axis and is intersected with X/Y plane
Point O3.
After introducing this three-coordinate, impact point B is connected with subpoint B ' and measuring point B ' ' respectively, one can be formed
One line and one second line, the X/Y plane of the wherein first line and three-coordinate intersects at one first line point, is designated as
B1', it in the coordinate of three-coordinate is（X3, Y3, 0）, the X/Y plane of the second line and three-coordinate intersects at one second even
Line point, is designated as B1' ', it in the coordinate of three-coordinate is（X4, Y4, 0）.Meanwhile, impact point B is in the X/Y plane of three-coordinate
On projection can form a projection point, be designated as B ' ' ' in Fig. 3, it is designated as in the coordinate figure of three-coordinate（X, Y, 0）, and because
B ' ' ' puts the projection on the X/Y plane of three-coordinate for the Z axis for impact point B along three-coordinate, so impact point B exists
The coordinate figure of three-coordinate is then（X, Y, Z）.
So far, the coordinate figure in three-coordinate for the impact point B can be calculated, similar, each on target object
The D coordinates value of point all can calculate, such that it is able to carry out the three-dimensional reconstruction of target object.And further alternative, can
Calculate impact point B in the second coordinate system（The egative film plane coordinate system of photoinduction equipment）Coordinate figure so that from vision
It is easier in angle to observe the object after rebuilding.
Refering to Fig. 4, it is the schematic diagram of X/Y plane in present invention three-coordinate.It is found that due to point B, F1、F23 points
Determine a plane, this plane has straight line BF1And straight line BF2, and because point B ', B ' ', B1' and B1' ' all at aforementioned two
On straight line, therefore point B ', B ' ', B1' and B1' ' all in plane BF1F2On.And because this time point B ' ' ' is B point in three-coordinate
Projection on X/Y plane, so point B ' ' ' is also in plane BF1F2On.Defined from three-coordinate, three-coordinate Z axis are
Straight line F1F2, so BF1F2Plane is vertical with the X/Y plane of three-coordinate, and has an intersection, three-coordinate initial point O3?
On intersection.Due to the vertical relation of plane, from BF1F2In-plane looks over, BF1F2The all straight lines of plane all can cross O3, thus,
On the X/Y plane of three-coordinate, point B ' ' ' and point B1' line, and B ' ' ' point and B1' ' line put is all by O3.
The present invention proposes one kind based on " impact point, subpoint and measuring point are between the projection point of three-coordinate
Line is all by the principle of the initial point of three-coordinate " carry out impact point the reconstruction of three-dimensional coordinate method.Both the present invention carried
Go out a kind of side of the objective value calculating impact point based on three-coordinate according to the coordinate figure of subpoint and measuring point
Method.
In order to calculate the objective value of impact point according to the coordinate figure of subpoint and measuring point based on three-coordinate, need
Will be using the inner parameter of light projection equipment and photoinduction equipment and external parameter.Wherein inner parameter includes：First focal length f1,
I.e. the first focus F1To the distance of the X/Y plane of the first coordinate system, and the second focal length f2, i.e. the second focus F2To the second coordinate system
The distance of X/Y plane.And external parameter then includes：The XZ that the X-axis of the first coordinate system is formed with the X-axis of three-coordinate and Z axis puts down
The included angle A in face；The Y-axis of the first coordinate system and the included angle B of the XZ plane of three-coordinate；The Z axis of the first coordinate system and the 3rd seat
The angle C of the Z axis of mark system；The X-axis of the second coordinate system and the included angle A of the XZ plane of three-coordinate '；The Y-axis of the second coordinate system
Included angle B with the XZ plane of three-coordinate '；The angle C ' of the Z axis of the Z axis of the second coordinate system and three-coordinate；First is burnt
Point F1With the second focus F2Apart from L；Between X/Y plane and described first focus apart from N；Described subpoint B ' is in the first coordinate system
The first coordinate figure（X1, Y1, 0）；Described measuring point B ' ' is in the second coordinate figure of the second coordinate system（X2, Y2, 0）.Say for convenience
Bright, above-mentioned angle is designated as respectively：
Included angle A：∠α；Included angle B：∠Ω；Angle C：∠θ；
Included angle A '：∠α’；Included angle B '：∠Ω’；Angle C '：∠θ’.
Above-mentioned inner parameter and external parameter represent optical characteristics and the phase of light projection equipment and photoinduction equipment itself
Position relationship between mutually.As long as so being rebuild using same group of device for projecting and photoinduction equipment, and light is kept to throw
If the position of jet device and photoinduction equipment immobilizes, during whole three-dimensional reconstruction, above-mentioned parameter will not become
Change.
The value of above-mentioned inner parameter and external parameter can be determined by demarcating.Preferably, it is possible to use following methods are entered
Rower is fixed：Setup control equipment（For example, the computer being connected with light projection equipment）The uncalibrated image sending is in the first coordinate
Coordinate under system；Photoinduction equipment difference recording light device for projecting is in different focal：Throw under first focal length F1 and the second focal length F2
The projected image penetrated, forms the first projected image and the second projected image, photoinduction equipment record respectively the first projected image and
Second projected image forms the first record image and the second record image；Control device analysis first record image and the second record
Image, and calculate the photocentre coordinate and uncalibrated image of the light projection equipment coordinate under the second coordinate system.In the same manner, other internal ginsengs
Number（The focal length of photoinduction equipment and light projection equipment and photocentre position）And external parameter（∠α；∠Ω；∠θ；∠α’；∠Ω’；
∠θ’）It is possible with etc. calibrating than the principle of principle or similar triangles.It should be noted that the present invention is not limited to utilize
Aforesaid way is demarcated, and using other usual manners of this area, above-mentioned inside and outside parameter can also be demarcated.
And, because being rebuild using same group of device for projecting and photoinduction equipment and being kept light projection equipment and photoinduction to set
In the case that standby position immobilizes, above-mentioned parameter will not change, so can also be by calling the parameter of demarcation
Carry out three-dimensional reconstruction, therefore demarcating steps are not the necessary step in the three-dimensional rebuilding method of the present invention, but optional step.
When above-mentioned parameter determine after the completion of, can based on the coordinate transformation relation between the first coordinate system and three-coordinate with
And the projective rejection of B1 and B1 ', calculate the first line point 4-coordinate value under three-coordinate for the B1 ' in such a way
（X3, Y3, 0）：
Tmp_X1=X1*cosα-Y1*sinα；
Tmp_Y1=Y1*cosα+X1*sinα；
Can obtain after arrangement：
Therefore, can get the 4-coordinate value of B1 '（X3, Y3, 0）.
B can be calculated in the same manner1' ' Five Axis value in three-coordinate（X4, Y4, 0）：
When having calculated above-mentioned B1' coordinate in three-coordinate（X3, Y3, 0）And B1' ' coordinate in three-coordinate
（X4, Y4, 0）Afterwards, can be based on above-mentioned 2 points calculating the 3rd coordinate figures in three-coordinate for the impact point B（X, Y, Z）.
Because, in the XZ plane of three-coordinate, passing point B and point B1 ' and point B and the ray perpendicular to X-axis form
One triangle, this triangle is similar with triangle F1B1 ' O, both grade than relation be exactly two right-angle sides wait ratio
Relation.Wherein | Z | and N is a right-angle side of two trianglees respectively, | X |+X3And X3It is another right-angle side, can obtain：
Solve
In the X/Y plane of three-coordinate, can be obtained than triangular relationship by waiting
So far, the 3rd coordinate figure in three-coordinate for the impact point B point（X、Y、Z）Can calculate.
Optionally, can by impact point B point, the coordinate figure in three-coordinate be converted to it in the second coordinate further
The coordinate figure of system, so that be easier to observe the object after rebuilding from the angle of vision.In order to impact point B is sat second
Mark system is the coordinate figure in photoinduction plane（X ', Y ', Z '）Calculate, can be by following calculation：
Order：
Tmp_X=X*cosθ’+(Z-N-L)*sinθ’；
Tmp_Z=(Z-N-L)*cosθ’-X*sinθ’；
Tmp_Y=Y*cosΩ’-Tmp_Z*sinΩ’；
Z’=Y*sinΩ’+Tmp_Z*cosΩ’+f2；
X’=Tmp_X*cosα’-Tmp_Y*sinα’；
Y’=Tmp_X*sinα’+Tmp_Y*cosα’；
Arrangement can obtain：
Z’=Y*sinΩ’+[(Z-N-L)*cosθ’-X*sinθ’]*cosΩ’+f2；
X’=[X*cosθ’+(Z-N-L)*sinθ’]*cosα’-{Y*cosΩ’-[(Z-N-L)*cosθ’-X*sinθ’]*
sinΩ’}*sinα’
Y’=[X*cosθ’+(Z-N-L)*sinθ’]*sinα’+{Y*cosΩ’-[(Z-N-L)*cosθ’-X*sinθ’]*
sinΩ’}*cosα’
Thus, coordinate figure in the second coordinate system for the impact point B（X ', Y ', Z '）Have calculated that, the impact point of target object
The position fastened in the egative film plane coordinates of photoinduction equipment is found, has been finally completed target object three-dimensional reconstruction process.
Refering to Fig. 5, it is the three-dimensional rebuilding method flow chart of the present invention.
First, optionally, three-dimensional reconstruction system is calibrated, to calculate above-mentioned inner parameter and external parameter, calibration process
In three-dimensional reconstruction system calibration debugging using once, after calibration terminates, fixing photoinduction equipment and light projection is needed to set
Standby position, and calculated parameter is saved as file, if during three-dimensional reconstruction, pass through previous determining
Mark obtains photoinduction equipment and the internal and external parameter of light projection equipment, and the counterpart of photoinduction equipment and light projection equipment
There is not change in reason position relationship；This step also can be omitted, and is substituted by being introduced directly into Parameter File.
Secondly, a raster image is projected by light projection equipment（Also referred to as projection pattern）To on target object, and by light
Sensing apparatus record projects to the raster image on above-mentioned target object（Also referred to as recording figure forming）, by projection pattern and raster pattern
As data transfer is in computer, by the projection pattern of computer acquisition above-mentioned light projection equipment and the record figure of photoinduction equipment
The coordinate figure of every bit in case, to be used as subsequent analysis.Every bit in above-mentioned projection pattern is subpoint, above-mentioned record
Every bit on pattern is measuring point.
Then, in a preferred embodiment, determine what the impact point rebuild with each needs was matched by computer analysis
One group of subpoint and measuring point.This is because, in actual three-dimensional reduction process, structure is come using the method for single light line or multi-light line
Become projection pattern, therefore projection pattern is one or more of straight lines, and is merely not only a point, so this relates to one
The matching process of individual point, that is, need to the subpoint B ' in above-mentioned mathematical model, finds its corresponding measuring point B ' '.According to this
A kind of specific embodiment of invention, using the projecting method of single light line, that is, projection pattern is single Rhizoma Dioscoreae (peeled)（Straight line）, should
Single light line is projected by target object, because the three-dimensional shape of target object, forms one with body surface in body surface
Rise and fall and distort light, by photoinduction equipment shoot this with body surface rise and fall and distort light and form recording figure forming.
It is calculated the coordinate of its corresponding projection point in three-coordinate based on each point coordinates in projection pattern and recording figure forming, from
And correspondingly obtain one bar of line being made up of the projection of projection pattern in three-coordinate, and the projection institute by recording figure forming
One line of composition, the line being then based on one group of respective point should cross the initial point O of three-coordinate3Principle, scanned line
Find intersection the coordinate to determine one group of respective point, thus obtaining the coordinate of each group of subpoint matching and measuring point.
Next, can be according to the coordinate figure of each group of subpoint matching and measuring point（Subpoint sets in light projection
The coordinate figure of standby egative film plane, and the coordinate figure of the egative film plane in photoinduction equipment for the measuring point）According to the above
Impact point the coordinate figure to calculate each impact point for the coordinate value calculating method, thus completing the three-dimensional for target object
Rebuild.
In one preferred embodiment, the projection pattern of light projection equipment is the grating pattern of multi-light line, projects to target object
On, due to the three-dimensional shape of target object, the light that forms a plurality of fluctuating with body surface in body surface and distort, can be by
Similar approach according to above-mentioned single light line determines the coordinate of one group of match point in same Rhizoma Dioscoreae (peeled), and the differentiation for Rhizoma Dioscoreae (peeled) is then permissible
Using traditional time and space encoding method.
In another preferred embodiment, calculating coordinate in the second coordinate system for the impact point will be three-dimensional for target object
After reconstruction, because coupling is only found in the position of impact point by said method, and the color information target object not carried is carried out
Collect storage, therefore, after three-dimensional reconstruction, photoinduction equipment can extract the color information of measuring point in the second coordinate system, and will carry
The color information got send to the impact point of above-mentioned record Point matching on so that impact point equally carries correct color
Multimedia message, adds above-mentioned color information during three-dimensional reconstruction, just can make the objective object " coloring " of reconstruction, three-dimensional
That rebuilds is better.
Refering to Fig. 6, the invention also discloses a kind of should three-dimensional reconstruction system in aforementioned manners, this three-dimensional reconstruction system bag
Include control device, light projection equipment and the photoinduction equipment of interconnection, control device produces projection pattern to light projection equipment,
This pattern projection to target object, photoinduction equipment record are projected the recording figure forming on target object by light projection equipment,
And control device further acquisition and recording pattern, calculates mesh by the coordinate figure of the every bit in projection pattern and recording figure forming
The D coordinates value of the corresponding point on mark object, thus complete the three-dimensional reconstruction of target object.
After technique scheme, the present invention is based on the 3rd Space Theory, has broken away from the constraint of traditional theory, again fixed
Justice image mutual relation and its Conversion Relations, can quickly obtain the high accuracy colour three of measurand within a short period of time
Dimension cloud data, and have the advantages that：1）High precision, error is little；2）Simple to operate, it is to avoid complicated mathematical calculation；
3）System operatio is simple and convenient, and calculating speed is fast, and low cost；4）Achievable color matching filling is to rebuild the three-dimensional of colour
Target object.
According to the present invention, control device is the computer being connected with light projection equipment, and this computer can produce difference
Projection pattern and send to light projection equipment.In one preferred embodiment, light projection equipment is projector, conveniently moving, and
Low price.In another preferred embodiment, photoinduction equipment can accurately record different imagings using photographing unit or video camera etc.
Equipment, user can accurately be identified by photograph or shoot the pattern recorded.
The selection of control device is not limited in the use of computer mentioned above, and those skilled in the art can be according to upper
The technique effect stating expression converts the selection of control device, for example, can select single-chip microcomputer or microprocessor, remaining selects then
All without departing from the present invention with regard to control device technology contents.
The selection of light projection equipment is not limited in the use of projector mentioned above, and those skilled in the art can basis
The technique effect of above-mentioned expression converts the selection of light projection equipment, for example, can select optical interferometer, remaining selection does not then all take off
From the present invention with regard to light projection equipment technology contents.
The selection of photoinduction equipment is not limited in the use of photographing unit mentioned above or video camera, people in the art
Member can convert the selection of photoinduction equipment according to the technique effect of above-mentioned expression, for example, can select other imaging devices, remaining
Select then all without departing from the present invention with regard to photoinduction equipment technology contents.
It should be noted that embodiments of the invention have preferably implementation, and not the present invention is made any type of
Limit, any one skilled in the art changes or is modified to equivalent effective possibly also with the technology contents of the disclosure above
Embodiment, as long as without departing from the content of technical solution of the present invention, made to above example according to the technical spirit of the present invention
Any modification or equivalent variations and modification, all still fall within the range of technical solution of the present invention.
Claims (8)
1. a kind of three-dimensional rebuilding method, rebuilds the three-dimensional of target object using light projection equipment, photoinduction equipment and control device
Model；It comprises the steps：
S1：Egative film plane based on described light projection equipment forms one first coordinate system, by described light projection equipment by a pattern
Project to arbitrary impact point on described target object, to form subpoint, and described subpoint is measured described by control device
The first coordinate in first coordinate system；
S2：Egative film plane based on photoinduction equipment forms one second coordinate system, described photoinduction equipment record and described projection
The corresponding impact point of point is to form measuring point；And described measuring point in described second coordinate system is measured by control device
Two coordinates；
S3：Second focus of the first focus of described light projection equipment and described photoinduction equipment is connected, forms Z axis, and
With the distance apart from described first focus as N and the plane perpendicular to described Z axis forms the X/Y plane that is made up of X-axis and Y-axis,
Described X-axis, Y-axis, Z axis form a three-coordinate, and the intersection point of described X-axis, Y-axis, Z axis forms the former of described three-coordinate
Point, wherein said N is the external parameter representing distance between described first focus and X/Y plane；
S4：Connect described impact point and subpoint forms one first line, described first line and described X/Y plane intersect at one
First line point；
S5：Connect described impact point and measuring point forms one second line, described second line and described X/Y plane intersect at one
Second line point；
S6：One projection point, wherein said first line point and institute are formed based on projection on described X/Y plane for the described impact point
State the initial point through described three-coordinate for the line of projection point, and the line of described second line point and described projection point
Initial point through described three-coordinate；
S7：Based on the first coordinate in described first coordinate system for the described subpoint, using described first coordinate system and the 3rd seat
Coordinate transformation relation between mark system and the projective rejection of described subpoint and the first line point, calculate described first line point
4-coordinate under described three-coordinate；
S8：Based on the second coordinate in described second coordinate system for the described measuring point, using described second coordinate system and the 3rd seat
Coordinate transformation relation between mark system and the projective rejection of described measuring point and the second line point, calculate described second line point
Five Axis under described three-coordinate；
S9：Based on described 4-coordinate and Five Axis, using described impact point, subpoint and measuring point in three-coordinate
Line between projection point all by the principle of three-coordinate initial point, is existed than the triangular relationship described impact point of calculating based on waiting
Coordinate under three-coordinate；And
S10：Described impact point is coordinate under the second coordinate system for the described impact point in the coordinate transformation under three-coordinate.
2. three-dimensional rebuilding method as claimed in claim 1 it is characterised in that：
The three-dimensional reconstruction system that described light projection equipment and photoinduction equipment are formed is calibrated, and calculates described light projection equipment
And the inner parameter of photoinduction equipment and external parameter.
3. three-dimensional rebuilding method as claimed in claim 2 it is characterised in that：
Described inner parameter includes the first focal length of described light projection equipment, and the second focal length of described photoinduction equipment.
4. three-dimensional rebuilding method as claimed in claim 2 it is characterised in that:
Described external parameter includes：
(1) included angle A of the XZ plane that the X-axis of described first coordinate system is formed with the X-axis of described three-coordinate and Z axis；
(2) included angle B of the Y-axis of described first coordinate system and described XZ plane；
(3) the angle C of the Z axis of the Z axis of described first coordinate system and described three-coordinate；
(4) included angle A of the X-axis of described second coordinate system and described XZ plane '；
(5) included angle B of the Y-axis of described second coordinate system and described XZ plane '；
(6) the angle C ' of the Z axis of the Z axis of described second coordinate system and described three-coordinate；
(7) described first focus and the second focus are apart from L；And
(8) described N.
5. three-dimensional rebuilding method as claimed in claim 1 it is characterised in that：
Described pattern is grating pattern, and the quantity of described impact point and described subpoint is identical, at least one.
6. three-dimensional rebuilding method as claimed in claim 1 it is characterised in that：
Described pattern is single light line grating pattern.
7. three-dimensional rebuilding method as claimed in claim 6 it is characterised in that：
Described three-dimensional rebuilding method also includes：
Step S9-1：Calculate each described measuring point and subpoint the first line point in described three-coordinate and second even
The coordinate of line point, the connecting line based on each group of the first line point and the second line point through described three-coordinate initial point Lai
Mate each measuring point and its subpoint.
8. three-dimensional rebuilding method as claimed in claim 1 it is characterised in that：
Described three-dimensional rebuilding method also includes：
Step S11：Extract the color information of the measuring point in described second coordinate system, by described color information send to described
On the described impact point of record Point matching, make the color information of described impact point identical with the color information of described measuring point.
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