CN108151671B - A kind of 3 D digital imaging sensor, 3 D scanning system and its scan method - Google Patents
A kind of 3 D digital imaging sensor, 3 D scanning system and its scan method Download PDFInfo
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- CN108151671B CN108151671B CN201611102629.2A CN201611102629A CN108151671B CN 108151671 B CN108151671 B CN 108151671B CN 201611102629 A CN201611102629 A CN 201611102629A CN 108151671 B CN108151671 B CN 108151671B
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- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 claims description 3
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/2545—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object with one projection direction and several detection directions, e.g. stereo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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Abstract
The present invention relates to a kind of 3 D scanning system and its scan methods.The 3 D scanning system is used to obtain the three dimensional point cloud of testee comprising: a light source, for projecting multiple candy strips in the testee；Left and right camera, for obtaining the 2D left image and 2D right image of the testee；One three-dimensional mould group, for acquiring the depth map of testee；Grating matching module, for instructing left and right image striped to be matched according to the depth map；Three-dimensionalreconstruction module, correspondence striped for matching left images searches single point correspondence in corresponding fringe center line segment using the epipolar geometry constraints of left and right two cameras, then according to the calibrating parameters of 3 D scanning system, corresponding points are redeveloped into three dimensional point cloud.The present invention also provides a kind of scan methods of spatial digitizer.
Description
Technical field
The present invention relates to a kind of 3 D digital imaging sensor, 3 D scanning system and scan methods, more particularly to one kind
For holding 3 D digital imaging sensor, 3 D scanning system and the scan method of a plurality of line 3 D scanning system.
Background technique
Three-dimensional digital technology is an emerging interdisciplinary field of active research in the world in recent years, is widely answered
Use the numerous areas such as reverse-engineering, historical relic's protection, industrial detection and virtual reality.And handheld portable spatial digitizer is with it
The advantages of convenience, flexibility, is widely used in 3-D scanning field.The principle of existing handheld three-dimensional scanner is mainly
Active stereo visual manner based on structure light, the mode of structure light can there are many, such as infrared laser speckle, DLP
(Digital Light Processing) projection speckle, the simulated laser striped of DLP projection, laser stripe etc..These structures
The simulated laser striped projected in optical mode with DLP, laser stripe are the precision highest of the hand-held spatial digitizer of structure light, swept
It is best to retouch details.
With the simulated laser striped that DLP is projected, laser stripe is that the groundwork process for structure light is:
(1) plane fitting is carried out to the striped of projection；
(2) index point extraction is carried out according to collected bar graph and fringe center is extracted；
(3) connected area segmentation is carried out to fringe center, the striped on the camera image of left and right is carried out pair according to plane equation
Matching should be put；
(4) corresponding mark dot center on the camera image of left and right is searched using the epipolar-line constraint relationship of two cameras；
(5) according to the calibrating parameters of scanning system, using three-dimensional reconstruction algorithm to the correspondence striped that has matched and right
It should indicate that dot center carries out three-dimensional reconstruction；
(6) hand-held 3-D scanning is realized in index point splicing and the rotation translation of striped three-dimensional point.
However, the correspondence grating matching in the scanning process on the camera image of left and right is mainly based upon optical plane or striped is flat
The guidance of face equation, the matching error rate of correspondence striped of this method when striped quantity is greater than 15 or so on camera image
It will significantly improve, and then increase noise, and reduce the accuracy of scan data.When striped quantity is less than 15, scan efficiency is obtained not
To effectively improving.So the effective ways for improving scan efficiency under intrinsic scanning frame per second limitation are to increase striped quantity simultaneously
Improve the accuracy of grating matching.
Summary of the invention
In view of this, it is necessary to provide one kind to hold a plurality of line 3 D scanning system and its scan method, it is existing to solve
Hand-held 3 D scanning system cannot be considered in terms of the problem of high scan efficiency and high scan data accuracy.
The present invention provides a kind of 3 D scanning system, for obtaining the three dimensional point cloud of testee comprising: a light
Source, for projecting multiple candy strips in the testee；Left and right camera, the 2D for testee described in synchronous acquisition
Left image and 2D right image；One three-dimensional mould group, the depth map for synchronous acquisition testee；Grating matching module is used for root
Left and right image striped is instructed to be matched according to the depth map；Three-dimensionalreconstruction module, the correspondence for matching left images
Striped searches the corresponding pass of a single point in corresponding fringe center line segment using the epipolar geometry constraints of left and right two cameras
Corresponding points then according to the calibrating parameters of 3 D scanning system, are redeveloped into three dimensional point cloud by system.
The light source includes laser, projector, and when the light source is projector, the projector is digital projector,
The candy strip includes simulated laser candy strip, laser stripe pattern etc..
Striped item number in the candy strip is greater than 15.
The three-dimensional mould group is low resolution 3-D scanning mould group.
It is a kind of for scanning the 3 D digital imaging sensor of testee comprising: a light source, for described tested
Object projects multiple candy strips；Left and right camera, for obtaining the 2D left image and 2D right image of the testee；One or three
Mould group is tieed up, for acquiring the depth image of testee；The spatial relationship of the left and right camera and three-dimensional mould group is known and solid
Fixed；The candy strip and the depth image occur on the image.
A kind of 3-D scanning method comprising following steps: (1) device build: building by three-dimensional mould group, two cameras and
Light source forms 3 D digital imaging sensor, and three-dimensional mould group, two relative positions between camera, projector are fixed；(2) system
System calibration: left and right camera and three-dimensional mould group are demarcated, calibrating parameters are obtained；(3) projection and Image Acquisition: a spoke is generated
Line pattern is projected with light source to testee, and candy strip is deformed by the high modulation of testee, generates modulated
Candy strip, the left and right modulated candy strip of camera synchronous acquisition obtain left images, three-dimensional mould group synchronous acquisition measured object
The depth map of body；(4) grating matching: left and right image striped is instructed to be matched according to the depth map；(5) three-dimensionalreconstruction: will
The correspondence striped that left images match searches corresponding fringe center using the epipolar geometry constraints of left and right two cameras
Corresponding points are redeveloped into three dimensional point cloud then according to the calibrating parameters by single point correspondence in line segment.
The system calibrating further comprises following steps: carrying out calibration to left and right camera to obtain the inside and outside ginseng of camera
And the corresponding rotational translation matrix Mc in relative position between camera, while demarcating the opposite position between three-dimensional mould group and left camera
Set the corresponding rotational translation matrix Ms of relationship.
The three-dimensional mould group is 3-D scanning mould group.
When 3-D scanning mould group transmitting and the light of light source equiwavelength, the projection further comprises with Image Acquisition
Following steps: the light source projects a width candy strip to testee, and left and right camera acquires left images respectively；The light source
It closes, three-dimensional mould group emits light to testee, then acquires three dimensional depth image.
When the wavelength of the light of 3-D scanning mould group transmitting and light source launch wavelength is unequal, the projection and image
Acquisition further comprises following steps: the light source and three-dimensional mould group project a width candy strip, left and right to testee simultaneously
Camera and three-dimensional mould group acquire left images and three dimensional depth image simultaneously.The grating matching further comprises following steps:
Central line pick-up is carried out to the striped on the camera image of left and right, a plurality of independence then is formed to the segmentation of every center line connected domain
Line segment；The three-dimensional collected depth map of mould group is scaled the three-dimensional point cloud under local Coordinate System according to corresponding calibration internal reference to sit
It marks (pi)；According to the rotational translation matrix Ms demarcated between three-dimensional mould group and left camera, (pi) is transformed into left camera coordinates system
Lower three-dimensional point cloud coordinate (qi)；Three-dimensional point cloud coordinate (qi) is successively schemed according to the respective internal reference back projection of left and right camera to left and right
As upper, each corresponding points have corresponding serial number, form the corresponding look-up table of left images coordinate, traverse in left image each
The corresponding serial number of each point of streakline section；The striped line segment that right image matches can be directly found according to look-up table, thus
Realize the accurate match of left images line segment or striped.
The three-dimensionalreconstruction further comprises following steps: the correspondence fringe center line segment that left images are matched, benefit
With the epipolar geometry constraints of two cameras in left and right, single point correspondence in corresponding fringe center line segment is searched, then root
According to the calibrating parameters of system, by corresponding points to being redeveloped into three dimensional point cloud.
Compared with prior art, in spatial digitizer of the invention and its scan method, pass through the depth map of testee
It instructs left and right image to carry out the mode of grating matching, obtains three dimensional point cloud.The relatively traditional three-dimensional of the spatial digitizer is swept
Retouch instrument and have the advantages that the precision of 1, grating matching or accuracy are higher, so as to by increase matched striped quantity come
Improve the scan efficiency of 3 D scanning system；2, it when striped quantity is more and closeer, can only be instructed by depth map
Left and right image carries out grating matching, without additionally pasting index point on testee, without can be realized in real time by index point
Splicing；3, without demarcating striped optical plane, i.e., without the matching for instructing left images by optical plane, to the opposite position of hardware
The installation accuracy requirement set is lower, reduces system cost.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And it can be implemented in accordance with the contents of the specification, and in order to allow above and other objects of the present invention, feature and advantage can
It is clearer and more comprehensible, spy is for embodiment below, and cooperates attached drawing, and detailed description are as follows.
Detailed description of the invention
The embodiment of the present invention is described below in conjunction with attached drawing, in which:
Fig. 1 is the structural schematic diagram of spatial digitizer provided in an embodiment of the present invention；
Fig. 2 is the collected bar graph of left and right camera in Fig. 1 in spatial digitizer；
Fig. 3 be by the three-dimensional coordinate in depth map successively back projection to left and right camera image bar graph；
Fig. 4 is epipolar geom etry constraint schematic diagram.
Specific embodiment
Specific embodiments of the present invention are further elaborated below based on attached drawing.It should be appreciated that this place is retouched
The specific embodiment stated is not intended to limit the scope of protection of the present invention as just embodiment.
Fig. 1 is please referred to, the embodiment of the present invention provides a kind of 3 D scanning system, for obtaining or acquiring testee 106
Three dimensional point cloud.The 3 D scanning system includes light source 101, three-dimensional mould group 102, Zuo Xiangji 103, right camera 104 and number
According to processing unit 105.The type of the 3 D scanning system is unlimited, it is preferable that the 3 D scanning system is to hold a plurality of line
Binocular three-dimensional scanning system.
The light source 101, three-dimensional mould group 102, Zuo Xiangji 103, the mutual alignment between right camera 104 are unlimited, as long as can
To project or collect testee 106, and at work, the light source 101, three-dimensional mould group 102, Zuo Xiangji 103, the right side
The position of camera 104 is relatively fixed.Preferably, the light source 101 is arranged in the left camera 103 and right 104 middle of camera,
The three-dimensional mould group 102 is arranged between light source 101 and left camera 103.The candy strip that the light source 101 is projected is unlimited,
It preferably, is digital simulation laser stripe pattern.The quantity of striped is unlimited, but in order to improve scan efficiency, it usually needs is greater than
15, in the present embodiment, the striped quantity is greater than 80.It is appreciated that needing when the negligible amounts of the striped in institute
It states and additionally pastes index point on testee 106, but when the striped quantity is more, then do not need in the testee
Index point is additionally pasted on 106.The structure of the light source 101 is unlimited, is as long as candy strip can be projected to testee 106
It can.Preferably, the light source 101 includes laser, projector.In the present embodiment, the light source 101 is digital projector, institute
Stating candy strip includes simulated laser candy strip, laser stripe pattern etc..
The left and right camera 103,104,2D left image and 2D right image for testee described in synchronous acquisition.Institute
The type for stating left and right camera 103,104 is unlimited, as long as the two dimensional image of the testee 106 can be collected.It can manage
Solution, due to the candy strip that the light source 101 is projected to testee 106, is become by the high modulation of testee 106
Shape generates modulated candy strip.And 103,104, left and right camera obtain left and right figure by acquiring modulated candy strip
Picture.
The three-dimensional mould group 102 is used for the depth map of synchronous acquisition testee 106.The type of the three-dimensional mould group 102
It is unlimited, as long as the depth map can be collected, and more a kind of three-dimensional mould group that 3-D scanning mould group is
102.To reduce cost, the present embodiment uses low resolution 3-D scanning mould group 102.It is appreciated that the three-dimensional mould group 102 with
Left and right camera 103,104 needs synchronous acquisition image, so-called synchronous acquisition, that is, in collection process, the three-dimensional mould group
102 are kept fixed with the position of left and right camera 103,104, and the time acquired does not limit.Certainly, to avoid being formed each other
Interference, when the three-dimensional mould group 102 for 3-D scanning mould group and light of its transmitting with the optical wavelength that light source 101 emits equal or base
When this is consistent, the three-dimensional mould group 102 and the acquisition time of left and right camera 103,104 must be staggered.When the three-dimensional mould group
When 102 optical wavelength that emit for light and light source 101 of 3-D scanning mould group and its transmitting are unequal, the three-dimensional mould group 102 with
Left and right camera 103,104 can acquire simultaneously.
It is appreciated that the light source 101, three-dimensional mould group 102 and left and right camera 103,104 constitute one for scanning
The spatial relationship of the 3 D digital imaging sensor of testee 106, the left and right camera and three-dimensional mould group is known and fixed
's.The 3 D digital imaging sensor is different from existing 3 D digital imaging sensor comprising can sampling depth image
Three-dimensional mould group 102, imaging precision can be greatly improved.
The data processing unit 105, for instructing left and right image striped to be matched according to the depth map, simultaneously
By the good correspondence striped of left and right images match, it is redeveloped into three dimensional point cloud.Specifically, the data processing unit 105 includes
Grating matching module and three-dimensionalreconstruction module.
Specifically, since the depth map actually contains the coordinate set of testee 106, pass through the three-dimensional mould group
102 with the calibration internal reference of left and right camera 103,104, the coordinate set is projected into left images, that is, may make in left images
Point or striped in point all have the coordinate with the coordinate set.Since each coordinate set in coordinate set is only corresponding tested
A unique point in object 106, the identical point of coordinate or striped can match in left images.That is, the left and right
The grating matching of image can realize that precision is very high by the guidance of depth map, and not be afraid of interference.
And the correspondence striped that the three-dimensionalreconstruction module is used to match left images, utilize left and right two cameras
Epipolar geometry constraints search single point correspondence in corresponding fringe center line segment, will then according to the calibrating parameters
Corresponding points are redeveloped into three dimensional point cloud.Certainly, the mode or technology of the three-dimensionalreconstruction remodelling three dimensional point cloud be not
Limit, as long as three dimensional point cloud can be redeveloped into the left images matched.
A kind of scan method for the three dimensional point cloud for being obtained with above-mentioned 3 D scanning system or acquiring testee 106,
It includes the following steps:
(1) device build: building forms 3 D digital imaging sensor, and three by three-dimensional mould group, two cameras and light source
Dimension mould group, two relative positions between camera, light source are fixed.
(2) system calibrating: left and right camera and three-dimensional mould group are demarcated, calibrating parameters are obtained；The system calibrating into
One step includes the following steps: to carry out left and right camera the relative position pair between inside and outside ginseng and camera of the calibration to obtain camera
The rotational translation matrix Mc answered, while demarcating the corresponding rotation translation square of the relative positional relationship between three-dimensional mould group and left camera
Battle array Ms.
(3) projection and Image Acquisition: generating a width candy strip, is projected with light source to testee, candy strip is by quilt
The high modulation for surveying object deforms, and generates modulated candy strip, the modulated bar graph of left and right camera synchronous acquisition
Case obtains left images, the depth map of three-dimensional mould group synchronous acquisition testee.Preferably, the three-dimensional mould group is 3-D scanning
Mould group.When 3-D scanning mould group transmitting is with the light of light source equiwavelength, the projection and Image Acquisition further comprise as
Lower step: the light source projects a width candy strip to testee, and left and right camera acquires left images respectively；The light source closes
It closes, three-dimensional mould group emits light to testee, then acquires three dimensional depth image.When the 3-D scanning mould group transmitting light with
When the wavelength of light source launch wavelength is unequal, the projection and Image Acquisition further comprise following steps: the light source and three
It ties up mould group and projects a width candy strip to testee simultaneously, left and right camera and three-dimensional mould group acquire left images and three-dimensional simultaneously
Depth image.
(4) grating matching: left and right image striped is instructed to carry out grating matching described in matching into one according to the depth map
Step includes the following steps: to project the depth map is once counter in left images, to realize left images line segment or striped
Accurate match.Specifically, include the following steps: a, carry out central line pick-up to the striped on the camera image of left and right, it is then right
The segmentation of every center line connected domain forms a plurality of independent line segment；B, by the three-dimensional collected depth map of mould group according to corresponding mark
Determine the three-dimensional point cloud coordinate (pi) that internal reference is scaled under local Coordinate System；C, according to the rotation demarcated between three-dimensional mould group and left camera
Turn translation matrix Ms, (pi) is transformed into three-dimensional point cloud coordinate (qi) under left camera coordinates system；D, by three-dimensional point cloud coordinate (qi)
Successively according in the respective internal reference back projection to left images of left and right camera, each corresponding points have corresponding serial number, are formed left
The corresponding look-up table of right image coordinate；E, the corresponding serial number for traversing each each point of striped line segment in left image, according to looking into
Look for table that can directly find the striped line segment that right image matches, to realize the accurate match of left images line segment or striped.
(5) three-dimensionalreconstruction: the correspondence striped that left images are matched, using left and right two cameras epipolar geom etry about
Beam relationship searches single point correspondence in corresponding fringe center line segment and rebuilds corresponding points then according to the calibrating parameters
For three dimensional point cloud.The three-dimensionalreconstruction further comprises following steps: the correspondence fringe center that left images are matched
Line segment searches single point correspondence in corresponding fringe center line segment using the epipolar geometry constraints of two cameras in left and right,
Then according to the calibrating parameters of system, by corresponding points to being redeveloped into three dimensional point cloud.
For the 3 D scanning system and its scan method that the present invention is further explained, given below with specific embodiment
It is bright.
Fig. 1 is please referred to, the structure that the three-dimensional of actual design holds a plurality of line binocular three-dimensional scanning system is as shown in Figure 1.101
It is resolution three dimensional scanning module for digital projector, 102,103 be camera, and 104 right cameras, 105 be computer, and 106 are
Testee.
The inner parameter of calibrated left camera are as follows:
The inner parameter of right camera are as follows:
System structure parameter between left camera and right camera are as follows:
R=[8.749981e-001,6.547051e-003,4.840819e-001,
-2.904034e-003,9.999615e-001,-8.274993e-003,
-4.841175e-001,5.834813e-003,8.749835e-001]
T=[- 1.778995e+002, -4.162821e-001,5.074737e+001]
The inner parameter of low resolution 3-D scanning mould group:
System structure parameter between low resolution 3-D scanning mould group and left camera:
Rs=[9.98946971e-001,4.44611477e-002, -1.13205701e-002,
-4.54442748e-002,9.92786812e-001,-1.10946668e-001,
6.30609650e-003,1.11344293e-001,9.93761884e-001]
Ts=[9.13387457e+001,2.81182536e+001,1.79046857e+000]
The step of according to narration above, to testee 106 project digital simulation laser stripe figure, by left and right camera with
Resolution three dimensional scanning module synchronous acquisition.According to collected bar graph, there are also low resolution depth maps.As shown in figure 02, benefit
Depth map is converted into three-dimensional coordinate with inner parameter, that is, internal reference of low resolution 3-D scanning mould group, while according to calibrating parameters
As shown in figure 03, serial number will be assigned in the corresponding points of left and right on the three-dimensional coordinate successively back projection to the image of left and right camera, formed
Serial number look-up table.It extracts fringe center on the camera image of left and right and carries out connected area segmentation, striped is carried out according to serial number look-up table
The matching of corresponding line segment.The line segment matched carries out corresponding points lookup such as figure 04 to according to the epipolar geometry constraints of double camera
It is shown, three-dimensionalreconstruction then is carried out according to calibrating parameters, generates point cloud data.
In spatial digitizer and its scan method of the invention, by the depth map of testee instruct left and right image into
The mode of row grating matching obtains three dimensional point cloud.The relatively traditional spatial digitizer of the spatial digitizer has following excellent
Point: 1, the precision or accuracy of grating matching are higher, so as to improve 3-D scanning system by increasing matched striped quantity
The scan efficiency of system；2, when striped quantity is more and closeer, only left and right image can be instructed to carry out item by depth map
Line matching, without additionally pasting index point on testee, without real-time splicing can be realized by index point；3, without calibration
Striped optical plane wants the installation accuracy of the relative position of hardware that is, without the matching for instructing left images by optical plane
It asks lower, reduces system cost.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (15)
1. a kind of 3 D scanning system, for obtaining the three dimensional point cloud of testee comprising:
Light source, for projecting multiple candy strips in the testee, the striped item number in the candy strip is greater than 15；
Left and right camera, 2D left image and 2D right image for testee described in synchronous acquisition；
Three-dimensional mould group, the depth map for synchronous acquisition testee；
Grating matching module, for instructing left and right image striped to be matched according to the depth map, including by the depth map
Back projection is into left images, to be matched；
Three-dimensionalreconstruction module is redeveloped into three dimensional point cloud for the correspondence striped that left and right images match is good.
2. 3 D scanning system as described in claim 1, which is characterized in that the light source includes laser, projector, when described
When light source is projector, the projector is digital projector, and the candy strip includes simulated laser candy strip, laser strip
Line pattern etc..
3. 3 D scanning system as claimed in claim 2, which is characterized in that the three-dimensional mould group setting is in the light source and a left side
Between camera.
4. 3 D scanning system as described in claim 1, which is characterized in that the three-dimensional mould group is low resolution 3-D scanning
Mould group.
5. 3 D scanning system as described in claim 1, which is characterized in that the 3 D scanning system is swept for handheld three-dimensional
Retouch system.
6. a kind of for scanning the 3 D digital imaging sensor of testee comprising:
One light source, for projecting multiple candy strips in the testee, the striped item number in the candy strip is greater than 15；
Left and right camera, for obtaining the 2D left image and 2D right image of the testee；
One three-dimensional mould group, for acquiring the depth image of testee；
The depth image is used to that left and right image striped to be instructed to be matched, including the depth map is backprojected left and right figure
As in, to be matched；
The spatial relationship of the left and right camera and three-dimensional mould group is known and fixed；
The candy strip and the depth image occur on the image.
7. a kind of 3 D scanning system, for obtaining the three dimensional point cloud of testee comprising:
One light source, for projecting multiple candy strips in the testee, the striped item number in the candy strip is greater than 15；
Left and right camera, 2D left image and 2D right image for testee described in synchronous acquisition；
One three-dimensional mould group, the depth map for synchronous acquisition testee；
One data processing unit, for instructing left and right image striped to be matched according to the depth map, including by the depth
Back projection is schemed into left images, to be matched, is also used to simultaneously that left and right images match is good correspondence striped, is redeveloped into
Three dimensional point cloud.
8. a kind of 3-D scanning method comprising following steps:
(1) device build: building forms 3 D digital imaging sensor, and three-dimensional mould by three-dimensional mould group, two cameras and light source
Group, two relative positions between camera, light source are fixed；
(2) system calibrating: left and right camera and three-dimensional mould group are demarcated, calibrating parameters are obtained；
(3) projection and Image Acquisition: generating a width candy strip, is projected with light source to testee, candy strip is by measured object
The high modulation of body deforms, and generates modulated candy strip, and the striped item number in the candy strip is greater than 15, left and right
The modulated candy strip of camera synchronous acquisition obtains left images, the depth map of three-dimensional mould group synchronous acquisition testee；
(4) grating matching: instructing left and right image striped to be matched according to the depth map, including throws the depth map is counter
Shadow is into left images, to be matched；
(5) three-dimensionalreconstruction: the correspondence striped that left images are matched is constrained using the epipolar geom etry of left and right two cameras and is closed
It is that corresponding points are redeveloped into three then according to the calibrating parameters by single point correspondence in the corresponding fringe center line segment of lookup
Tie up point cloud data.
9. a kind of 3-D scanning method as claimed in claim 8, which is characterized in that the system calibrating further comprises as follows
Step: the corresponding rotation in relative position between inside and outside ginseng and camera of the calibration to obtain camera is carried out to left and right camera and is translated
Matrix Mc, while demarcating the corresponding rotational translation matrix Ms of the relative positional relationship between three-dimensional mould group and left camera.
10. a kind of 3-D scanning method as claimed in claim 8, which is characterized in that the three-dimensional mould group is 3-D scanning mould
Group.
11. a kind of 3-D scanning method as claimed in claim 10, which is characterized in that when the 3-D scanning mould group transmitting with
When the light of light source equiwavelength, the projection and Image Acquisition further comprise following steps: the light source is projected to testee
One width candy strip, left and right camera acquire left images respectively；The light source is closed, and three-dimensional mould group emits light to testee,
Then three dimensional depth image is acquired.
12. a kind of 3-D scanning method as claimed in claim 10, which is characterized in that when 3-D scanning mould group transmitting
When light and the unequal wavelength of light source launch wavelength, the projection and Image Acquisition further comprise following steps: the light source
Project a width candy strip to testee simultaneously with three-dimensional mould group, left and right camera and three-dimensional mould group acquire simultaneously left images and
Three dimensional depth image.
13. a kind of 3-D scanning method as claimed in claim 9, which is characterized in that the grating matching further comprise as
Lower step:
Central line pick-up is carried out to the striped on the camera image of left and right, then the segmentation of every center line connected domain is formed a plurality of
Independent line segment；
The three-dimensional collected depth map of mould group is scaled the three-dimensional point cloud under local Coordinate System according to corresponding calibration internal reference to sit
It marks (pi)；
According to the rotational translation matrix Ms demarcated between three-dimensional mould group and left camera, (pi) is transformed into three under left camera coordinates system
Dimension point cloud coordinate (qi)；
By three-dimensional point cloud coordinate (qi) successively according in the respective internal reference back projection to left images of left and right camera, each corresponding points
There is corresponding serial number, forms the corresponding look-up table of left images coordinate；
The corresponding serial number for traversing each each point of striped line segment in left image, can directly find right image according to look-up table
The striped line segment to match, to realize the accurate match of left images line segment or striped.
14. a kind of 3-D scanning method as claimed in claim 13, which is characterized in that the three-dimensionalreconstruction further comprise as
Lower step: the correspondence fringe center line segment that left images are matched, using left and right two cameras epipolar geometry constraints,
Single point correspondence in corresponding fringe center line segment is searched, then according to the calibrating parameters of system, by corresponding points to being redeveloped into
Three dimensional point cloud.
15. 3-D scanning method as claimed in claim 8, which is characterized in that the light source includes laser, projector, works as institute
State light source be projector when, the projector be digital projector, the candy strip includes simulated laser candy strip, laser
Candy strip etc..
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