CN111398274A - Small target object 3D collection equipment - Google Patents
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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
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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
- G01B9/00—Measuring instruments characterised by the use of optical techniques
- G01B9/04—Measuring microscopes
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
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Abstract
The invention provides a micro target object acquisition device, which comprises an image acquisition device, a micro-motion device and an object stage; the micro-motion device comprises a rotary disc and a swinging disc, a spacing body is arranged between the rotary disc and the swinging disc, and the spacing body rotates along with the rotary disc so as to drive the swinging disc to swing near a reference plane; the image acquisition device is arranged on the swinging disc. The structure suitable for collecting surrounding tiny objects is put forward for the first time, and the problem of rotating out of view is avoided.
Description
Technical Field
The invention relates to the technical field of shape measurement, in particular to the technical field of 3D shape measurement of micro objects.
Background
At present, when cells and microorganisms are researched, the traditional microscope can only observe plane conditions, and the requirements of the current stereo observation and measurement are not met. In the current three-dimensional microscopic imaging equipment, a common confocal imaging method is adopted to form images at different depths so as to synthesize a 3D image. However, this method usually requires active emission of laser light or fluorescence, which itself may affect the living body, resulting in inaccurate observation. Meanwhile, since different depths are imaged layer by layer, the 3D imaging speed is very slow, which is not suitable for moving living bodies. There are also ways of performing multifocal imaging using lens array spectroscopy, but the resolution of this approach depends on the density of the lens array. It is not easy to process a high-precision high-density lens array.
Therefore, the invention proposes to perform 3D synthetic modeling in a machine vision manner. However, the 3D modeling method by using conventional machine vision is not suitable for imaging of tiny objects, especially microscopic-scale tiny objects. This is because for microscopic imaging systems, the depth of field of the lens is typically very small and slight movements can result in out-of-focus. Therefore, the image acquisition cannot be performed by using a rotating camera. Meanwhile, the field of view of the microscope lens is usually small, and the traditional mode of using the rotating arm to rotate the camera easily causes that the target object is rotated out of the field of view of the microscope lens by slight rotation, so that the acquisition fails. However, if a plurality of fixed cameras are used to capture a plurality of angle images, the size of the cameras is limited, and thus a sufficient number of cameras cannot be arranged around a tiny object. In addition, when microscopic imaging is carried out, because the depth of field is small, accurate focusing cannot be carried out after each rotation, so that manual focusing is required to be carried out by using a common microscope lens, and time and labor are wasted. In addition, for a microscope, zooming can be realized only by a conversion lens, and the operation is very inconvenient because the size difference of tiny objects is large. Therefore, no better solution exists at present for performing 3D modeling of tiny objects by using a machine vision manner.
Finally, in the prior art, it has also been proposed to use empirical formulas including rotation angle, object size, and object distance to define camera position when modeling 3D acquisition, to take into account synthesis speed and effect. However, in practical applications it is found that: unless a precise angle measuring device is provided, the user is insensitive to the angle and is difficult to accurately determine the angle; and when the target object is in a microscopic level, the size of the target object is difficult to accurately determine, so that the scheme cannot be used in 3D acquisition modeling of a tiny object.
Therefore, ① for the 3D collection and synthesis of tiny objects, the synthesis speed and the synthesis precision can be greatly improved, ② is convenient to operate, professional equipment is not needed, excessive measurement is not needed, and the optimized camera position can be rapidly obtained, ③ is suitable for the rotary collection of tiny objects, particularly tiny objects at a microscopic level.
Disclosure of Invention
In view of the above, the present invention has been developed to provide a collecting device that overcomes, or at least partially solves, the above-mentioned problems.
The invention provides a 3D acquisition device or a method for a tiny target object, which comprises an image acquisition device, a micro-motion device and an object stage, wherein the object stage is provided with a first lens and a second lens;
the micro-motion device comprises a rotary disc and a swinging disc, a spacing body is arranged between the rotary disc and the swinging disc, and the spacing body rotates along with the rotary disc so as to drive the swinging disc to swing near a reference plane;
the image acquisition device is arranged on the swinging disc.
In an alternative embodiment, the spacers are two.
In an alternative embodiment, two spacers are oppositely disposed.
In an alternative embodiment, the spacer is a ball embedded in a ball seat on the turntable.
In an optional embodiment, the lens of the image acquisition device is a zoom lens and a microscope lens in sequence; the two lenses are optically connected.
In an alternative embodiment, at least one of the zoom lens and the microscope lens belongs to an auto-focus lens.
In an alternative embodiment, the image capture device captures images of the object at a plurality of angles, and the processor uses the plurality of images to synthesize a three-dimensional model of the object.
In an alternative embodiment, the acquisition position of the image acquisition device meets the following condition:
<0.582，
wherein L is the straight-line distance of the optical center of the image acquisition device at two adjacent acquisition positions, f is the focal length of the image acquisition device, d is the rectangular length or width of the photosensitive element of the image acquisition device, T is the distance from the photosensitive element of the image acquisition device to the surface of the target along the optical axis, and T is an adjustment coefficient.
In an alternative embodiment, <0.412, preferably, < 0.335.
The invention also provides a three-dimensional standard database and a generation method, wherein the device or the method of any one of the preceding claims is used for acquiring the image of the target object, generating a three-dimensional model and storing the data of the three-dimensional model in the database.
The invention also provides a biological detection device and method, wherein the images acquired by the device or the method of any claim are synthesized into three-dimensional model data and compared with standard three-dimensional model data.
Invention and technical effects
1. The structure suitable for collecting surrounding tiny objects is put forward for the first time, and the problem of rotating out of view is avoided.
2. The lens structure suitable for collecting tiny objects is designed, so that the operation is convenient, and the imaging is clear. In particular facilitating 3D synthetic modeling.
3. Aiming at the 3D acquisition and synthesis of the micro objects, the positions of the cameras for acquiring pictures are optimized, so that the synthesis speed and the synthesis precision can be simultaneously improved. When the position is optimized, the angle and the target size do not need to be measured, and the applicability is stronger.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 is a schematic structural diagram of a 3D acquisition device for a tiny target object according to an embodiment of the present invention;
FIG. 2 is a schematic view of a micro-motion device provided in an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating an acquisition principle that an image acquisition device provided in an embodiment of the present invention is disposed on a micro-motion device and rotated to a position;
FIG. 4 is a schematic view of an image capturing device rotated to another position on a micro-motion device according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a lens of an image capturing device according to an embodiment of the present invention.
The reference numbers relate to the components of the apparatus as follows:
the device comprises an image acquisition device 1, a micro-motion device 2, an object stage 3, a driving device 4, a rotary table 21, a swinging disc 22, a spacing body 23, a micro-lens 11 and a zoom lens 12.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
In order to solve the above technical problem, an embodiment of the present invention provides a 3D acquisition apparatus for a tiny target, as shown in fig. 1, including an image acquisition device 1, a micro-motion device 2, a stage 3, and a driving device 4.
The micro-motion device comprises a rotating disc 21 and a swinging disc 22, two spacing bodies 23 with different diameters are arranged between the rotating disc 21 and the swinging disc 22, and the two spacing bodies 23 are oppositely arranged and are positioned at two ends of a certain diameter of the rotating disc 21, namely on the circumference of the rotating disc 21. The spacer 23 may be a sphere. Which is in rolling connection with a wobble disc 22 and is fixedly connected with a turntable 21. The turntable 21 is connected to the driving device 4 and is driven to rotate by the driving device. Of course, the spacers 23 may be plural, but the diameters should be different from each other. The spacer 23 may have various other shapes such as a projection and a cylinder.
The rotating disc 21 rotates to drive the spacing body 23 to rotate together. Due to the different diameters of the two spacers 23, the wobble plate 22 is caused to wobble, i.e. different circumferential portions of the wobble plate 22 move forward in sequence and return gradually again. Referring to fig. 2, when the large spacer is in contact with the point a on the wobble plate 22, the point B on the wobble plate 22 opposite to the point a is necessarily in contact with the small spacer, and the point a on the wobble plate 22 is tilted forward and the point B is tilted backward, and the two points are located on both sides of the horizontal reference plane. Viewed from the side, the connecting line of the two points AB forms a certain angle with the horizontal reference plane. At the next moment, the large spacers are gradually far away from the point A on the swing disc, at the moment, the point A on the swing disc 22 is gradually retracted and gradually approaches the reference surface, and the point B is gradually moved forward and also approaches the reference surface. Until the large spacing body rotates to the point B, the small spacing body rotates to the point A, at the moment, the point A on the swinging disk 22 is retreated backwards, the point B is inclined forwards, and the two points are respectively positioned on the two sides of the horizontal reference surface and are just opposite to the initial state. And analogizing in sequence, when the turntable continues to rotate, the point A and the point B continue to approach the reference surface until the turntable returns to the initial state, and finishing a period. It will be appreciated that each point on the wobble plate goes through a similar process throughout the cycle. Therefore, as a whole, different parts on the circumference of the swinging disk 22 sequentially tilt forward and retract, thereby driving the optical axis of the image capturing device 1 mounted on the swinging disk 22 to slightly rotate.
As shown in fig. 3 and 4, the image capturing device 1 is located at the center of the swinging tray 22, and when the swinging tray 22 performs the above-mentioned movement, the optical axis of the image capturing device 1 rotates around the vertical axis, so that the image capturing device 1 can capture images of various angles of a tiny target on the vertical axis.
The optical axis rotation angle of the image pickup device 1 is related to the difference in diameter between the large spacer and the small spacer. And in order to enable the image pickup apparatus 1 to pick up the target object from a plurality of angles during the swing, the large and small spacers and the distance therebetween should satisfy a certain condition. According to a number of experiments, the conditions were as follows:
wherein D1Is the minimum distance between the turntable and the wobble plate, D2D is the distance between the maximum distance point and the minimum distance point.
For the vertical half field angle of the image acquisition device,
the horizontal half field angle of the image acquisition device; k is an empirical coefficient.
Through experiments, complete acquisition can be realized when k is less than 0.96, and the acquisition effect is better when k is less than 0.83. The method is also one of the invention points that the speed and the effect can be considered when the finally acquired image is subjected to 3D synthesis modeling.
When the spacers are spheres, D1Is the diameter of the pellet, D2Is the diameter of a large sphere, and D is the distance between the centers of the two spheres.
In one embodiment, the spacer body 23 is not fixedly connected to the turntable 21, but rather is in rolling connection. For example, the turntable 21 has a ball seat in which balls (spacers) are embedded and in which the balls can roll. Thus, when the turntable 21 rotates, the balls and the swinging disk 22 are in rolling relation, so that friction can be effectively reduced, and rotation precision can be improved.
Of course, the wobble plate 22 has a stopper so that the wobble plate can only wobble within a certain range near the reference surface without falling off.
The lens of the image acquisition device comprises two parts, as shown in fig. 5: a microscope lens 11 and a zoom lens 12. The two lenses are optically coupled together. The zoom lens can change the zoom times according to the requirements of microscopic magnification, and the microscopic lens can realize the functions of magnifying, focusing and adjusting the definition.
The traditional microscopic imaging can only adjust the focal length, the magnification and the view field by changing a microscope lens, and is time-consuming and labor-consuming. The zoom lens is arranged, so that an imaging mode suitable for the tiny target object can be directly found on the basis of not replacing the lens.
(1) The driving device drives the micro-motion device to enable the optical axis of the image acquisition device to rotate to a certain position and then to be static, namely, the optical axis of the image acquisition device is aligned to a micro target object from a certain direction;
(2) the focal length of the zoom lens is manually or automatically adjusted, and the focal length of the lens suitable for the tiny target object is found, so that the imaging size is suitable and clear.
(3) The rest steps are the following automatic focusing acquisition steps.
Traditional microscopic observation can only be focused manually. That is, microscopic photographing can only be completed through manual focusing, but when the lens is touched by hand during manual focusing, fine displacement may be caused to the position of the lens, so that accurate photographing at an accurate position cannot be performed, and meanwhile, manual focusing is troublesome and laborious because a plurality of angle photographs need to be taken. The lens in the embodiment of the invention can be an automatic focusing lens, and the automatic focusing lens can realize automatic focusing during microscopic shooting, so that the image acquisition device can automatically complete definition adjustment. The lens of the image acquisition device comprises two parts: a microscope lens and an auto-focus lens. The two lenses are optically coupled together. The microscope lens can be replaced according to the requirements of microscopic magnification. The zoom lens mainly realizes automatic zooming. That is, when the optical axis of the image capturing device rotates, the lens necessarily needs to be refocused at different rotating positions, and at this time, the automatic focusing can be realized by using the automatic focusing lens, and the steps are as follows:
(1) the driving device drives the micro-motion device to enable the optical axis of the image acquisition device to rotate to a certain position and then to be static, namely, the optical axis of the image acquisition device is aligned to a micro target object from a certain direction;
(2) the processor controls an automatic focusing lens of the image acquisition device to carry out automatic focusing;
(3) acquiring an image of the target object after focusing is finished;
(4) after the acquisition is finished, the driving device drives the micro-motion device to enable the optical axis of the image acquisition device to rotate to the next position, and the steps (1) - (3) are repeated; (relationship between the acquisition positions of the image acquisition means will be described in detail below)
(5) And by analogy, image acquisition of the target object in multiple directions is completed.
Of course, in another embodiment of the present invention, a focus control component may be further disposed in the microlens, and the autofocus function of the microlens is realized by adjusting the focus control component.
Light source
In general, the light sources are distributed in a distributed manner around the lens of the image capturing device 4, for example, the light sources are ring-shaped L ED lamps around the wobble plate, in some applications, the object to be captured is a living body, and therefore, the intensity of the light sources needs to be controlled to avoid damage to the living body, and particularly, a soft light device, such as a soft light housing, may be disposed on the light path of the light sources, or a L ED area light source may be directly employed.
Image acquisition device position optimization
When 3D collection is carried out, the optical axis directions of the image collection devices at different collection positions are changed relative to a target object, and the positions of two adjacent image collection devices or two adjacent collection positions of the image collection devices meet the following conditions:
<0.582
wherein L is the straight-line distance between the optical centers of two adjacent image acquisition positions, f is the focal length of the image acquisition device, d is the rectangular length or width of the photosensitive element (CCD) of the image acquisition device, T is the distance from the photosensitive element of the image acquisition device to the surface of the target along the optical axis, and T is the adjustment coefficient.
When the two positions are along the length direction of the photosensitive element of the image acquisition device, d is a rectangle; when the two positions are along the width direction of the photosensitive element of the image acquisition device, d is in a rectangular width.
The distance of the photosensitive element to the surface of the object along the optical axis when the image pickup device is in any one of the two positions is taken as T in another case L is A in addition to this methodn、An+1Linear distance between optical centers of two image capturing devices, and An、An+1Two image acquisition devices adjacent to each othern-1、An+2Two image acquisition devices and An、An+1The distances from the respective photosensitive elements of the two image acquisition devices to the surface of the target object along the optical axis are respectively Tn-1、Tn、Tn+1、Tn+2，T＝(Tn-1+Tn+Tn+1+Tn+2)/4. Of course, the average value may be calculated by using more positions than the adjacent 4 positions.
L should be the straight line distance between the optical centers of the two image capturing devices, but since the position of the optical center of the image capturing device is not easily determined in some cases, the center of the photosensitive element of the image capturing device, the geometric center of the image capturing device, the axial center of the connection between the image capturing device and the pan/tilt head (or platform, support), and the center of the proximal or distal surface of the lens can be used in some cases instead, and the error caused by the above is found to be within an acceptable range through experiments, and therefore the above range is also within the protection scope of the present invention.
In general, parameters such as an object size and a half-field angle are adopted as a way of estimating the position of a camera in the prior art, and the position relationship between two cameras is also expressed by an angle. Because the angle is not well measured in the actual use process, it is inconvenient in the actual use. Also, the size of the object may vary with the variation of the measurement object. The inconvenient measurement and the repeated measurement bring errors in measurement, thereby causing errors in camera position estimation. According to the scheme, the experience conditions required to be met by the position of the camera are given according to a large amount of experimental data, so that the problem that the measurement is difficult to accurately measure the angle is solved, and the size of an object does not need to be directly measured. In the empirical condition, d and f are both fixed parameters of the camera, and corresponding parameters can be given by a manufacturer when the camera and the lens are purchased without measurement. And T is only a straight line distance, and can be conveniently measured by using a traditional measuring method, such as a ruler and a laser range finder. Therefore, the empirical formula of the invention enables the preparation process to be convenient and fast, and simultaneously improves the arrangement accuracy of the camera position, so that the camera can be arranged in an optimized position, thereby simultaneously considering the 3D synthesis precision and speed, and the specific experimental data is shown in the following.
| Serial number | δ value | Time of synthesis | Area of synthesis region |
| 1 | 0.6978 | 2.2min | / |
| 2 | 0.5818 | 2.8min | 65％ |
| 3 | 0.4112 | 3.0min | 90％ |
| 4 | 0.3341 | 3.5min | 100％ |
From the above experimental results and a lot of experimental experience, it can be derived that the value should satisfy <0.582, and at this time, part of the 3D model can be synthesized, and although part of the model cannot be synthesized automatically, it is acceptable in the case of low requirement, and the part which cannot be synthesized can be compensated manually or by replacing the algorithm. When the value satisfies <0.412 in particular, the balance between the synthesis effect and the synthesis time can be optimally taken into consideration; to obtain better synthesis results, one can choose <0.334, where the synthesis time is increased but the synthesis quality is better. On the other hand, 0.697 is not yet synthesized. It should be noted that the above ranges are only preferred embodiments and should not be construed as limiting the scope of protection.
Moreover, as can be seen from the above experiment, for the determination of the photographing position of the camera, only the camera parameters (focal length f, CCD size) and the distance T between the camera CCD and the object surface need to be obtained according to the above formula, which makes it easy to design and debug the device. Since the camera parameters (focal length f, CCD size) are determined at the time of purchase of the camera and are indicated in the product description, they are readily available. Therefore, the camera position can be easily calculated according to the formula without carrying out complicated half-view angle measurement and object size measurement. Particularly, in some occasions, the lens of the camera needs to be replaced, and then the position of the camera can be obtained by directly replacing the conventional parameter f of the lens and calculating; similarly, when different objects are collected, the measurement of the size of the object is complicated due to the different sizes of the objects. By using the method of the invention, the position of the camera can be determined more conveniently without measuring the size of the object. And the camera position determined by the invention can give consideration to both the synthesis time and the synthesis effect. Therefore, the above-described empirical condition is one of the points of the present invention.
The above data are obtained by experiments for verifying the conditions of the formula, and do not limit the invention. Without these data, the objectivity of the formula is not affected. Those skilled in the art can adjust the equipment parameters and the step details as required to perform experiments, and obtain other data which also meet the formula conditions.
3D synthesis method
After the image acquisition equipment acquires images of a target object in multiple directions through the image acquisition device, the multiple images are transmitted to the processor in a data transmission mode. The processor may be located locally or the image may be uploaded to a cloud platform using a remote processor. The synthesis of the 3D model is performed in the processor using the following method.
According to the above-described acquisition method, the image acquisition device 4 acquires a set of images of the object by moving relative to the object;
the processing unit obtains 3D information of the object according to a plurality of images in the group of images. The specific algorithm is as follows. Of course, the processing unit may be directly disposed in the housing where the image capturing device 4 is located, or may be connected to the image capturing device 4 through a data line or in a wireless manner. For example, an independent computer, a server, a cluster server, or the like may be used as a processing unit, and the image data acquired by the image acquisition device 4 may be transmitted thereto to perform 3D synthesis. Meanwhile, the data of the image acquisition device 4 can be transmitted to the cloud platform, and 3D synthesis is performed by using the powerful computing capability of the cloud platform.
When the collected pictures are used for 3D synthesis, the existing algorithm can be adopted, and the optimized algorithm provided by the invention can also be adopted, and the method mainly comprises the following steps:
step 1: and performing image enhancement processing on all input photos. The contrast of the original picture is enhanced and simultaneously the noise suppressed using the following filters.
In the formula: g (x, y) is the gray value of the original image at (x, y), f (x, y) is the gray value of the original image at the position after being enhanced by the Wallis filter, and mgIs the local gray average value, s, of the original imagegIs the local standard deviation of gray scale of the original image, mfFor the transformed image local gray scale target value, sfC ∈ (0, 1) is the spreading constant of the image variance, and b ∈ (0, 1) is the image brightness coefficient constant.
The filter can greatly enhance image texture modes of different scales in an image, so that the quantity and the precision of feature points can be improved when the point features of the image are extracted, and the reliability and the precision of a matching result are improved in photo feature matching.
The method mainly comprises the steps of ① constructing a Hessian matrix, generating all interest points for feature extraction, aiming at generating stable edge points (mutant points) of an image, ② constructing a scale space feature point position, comparing each pixel point processed by the Hessian matrix with 26 points in a two-dimensional image space and scale space neighborhood, preliminarily positioning key points, filtering weak key points compared with energy, screening out the finally positioned key points, selecting a stable key point, and taking the maximum charar direction as a wavelet characteristic vector matching region, taking the maximum charar direction of the wavelet characteristic vector matching region as a wavelet characteristic vector matching horizontal characteristic vector, taking the maximum charar direction of the wavelet characteristic vector matching region as a vertical characteristic vector matching vector, taking the maximum charar direction of the wavelet characteristic vector matching horizontal characteristic vector of two adjacent points as a vertical characteristic vector matching region, taking the maximum charar direction of the wavelet characteristic vector matching horizontal characteristic vector matching region as a vertical characteristic vector matching region, taking the maximum charar vector matching horizontal characteristic vector matching horizontal characteristic vector matching region as a vertical characteristic vector matching region, taking the wavelet characteristic vector matching region as a vertical characteristic vector matching region, taking the maximum charar matching vector matching horizontal characteristic vector matching region as a vertical characteristic vector matching region, taking the wavelet transform region as a vertical characteristic vector matching region, and a wavelet transform region, and a vertical characteristic vector matching region as a wavelet transform region, wherein the wavelet transform region, the wavelet.
And step 3: inputting matched feature point coordinates, resolving the sparse three-dimensional point cloud of the target object and the position and posture data of the photographing camera by using a light beam method adjustment, namely obtaining model coordinate values of the sparse three-dimensional point cloud of the target object model and the position; and performing multi-view photo dense matching by taking the sparse feature points as initial values to obtain dense point cloud data. The process mainly comprises four steps: stereo pair selection, depth map calculation, depth map optimization and depth map fusion. For each image in the input data set, we select a reference image to form a stereo pair for use in computing the depth map. Therefore, we can get rough depth maps of all images, which may contain noise and errors, and we use its neighborhood depth map to perform consistency check to optimize the depth map of each image. And finally, carrying out depth map fusion to obtain the three-dimensional point cloud of the whole scene.
And 4, step 4: and reconstructing the curved surface of the target object by using the dense point cloud. The method comprises the steps of defining an octree, setting a function space, creating a vector field, solving a Poisson equation and extracting an isosurface. And obtaining an integral relation between the sampling point and the indicating function according to the gradient relation, obtaining a vector field of the point cloud according to the integral relation, and calculating the approximation of the gradient field of the indicating function to form a Poisson equation. And (3) solving an approximate solution by using matrix iteration according to a Poisson equation, extracting an isosurface by adopting a moving cube algorithm, and reconstructing a model of the measured point cloud.
The method comprises the following steps of 5, carrying out full-automatic texture mapping on a target model, carrying out texture mapping after the surface model is built, wherein the main process comprises ① obtaining texture data to reconstruct a surface triangular surface grid of a target through an image, ② reconstructing visibility analysis of a triangular surface of the model, calculating a visible image set and an optimal reference image of each triangular surface by using calibration information of the image, ③ clustering the triangular surfaces to generate texture patches, clustering the triangular surfaces to generate a plurality of reference image texture patches according to the visible image set of the triangular surfaces, the optimal reference image and neighborhood topological relations of the triangular surfaces, automatically sequencing ④ texture patches to generate texture images, sequencing the generated texture patches according to the size relations of the texture patches, generating texture images with the minimum surrounding area, and obtaining texture mapping coordinates of each triangular surface.
It should be noted that the above algorithm is an optimization algorithm of the present invention, the algorithm is matched with the image acquisition condition, and the use of the algorithm takes account of the time and quality of the synthesis, which is one of the inventions of the present invention. Of course, it can be implemented using conventional 3D synthesis algorithms in the prior art, except that the synthesis effect and speed are somewhat affected.
Application of biological 3D model
After the 3D model of the observed organism (such as cells, bacteria and the like) is constructed by the method, the 3D model data can be transmitted to the cloud platform, and scientific researchers can study the organism from the appearance through the intuitive three-dimensional model. And can also be used for biological teaching.
In another application, three-dimensional data of common bacteria can be collected and biological three-dimensional topography data can be stored in a database as standard three-dimensional data. And when the bacteria in the detected sample are detected by the detection device, constructing a three-dimensional model of the bacteria to be identified. These three-dimensional data to be identified actually reflect the biological three-dimensional morphology of the bacteria to be detected. Therefore, the three-dimensional data to be identified is compared with the standard three-dimensional data in the database, and the type of the bacteria to be identified can be identified, so that the detection of the bacteria is realized.
The rotation movement of the invention is that the front position collection plane and the back position collection plane are crossed but not parallel in the collection process, or the optical axis of the front position image collection device and the optical axis of the back position image collection device are crossed but not parallel. That is, the capture area of the image capture device moves around or partially around the target, both of which can be considered as relative rotation. Although the embodiment of the present invention exemplifies more orbital rotation, it should be understood that the limitation of the present invention can be used as long as the non-parallel motion between the acquisition region of the image acquisition device and the target object is rotation. The scope of the invention is not limited to the embodiment with track rotation.
The adjacent acquisition positions refer to two adjacent positions on a movement track where acquisition actions occur when the image acquisition device moves relative to a target object. This is generally easily understood for the image acquisition device movements. However, when the target object moves to cause relative movement between the two, the movement of the target object should be converted into the movement of the target object, which is still, and the image capturing device moves according to the relativity of the movement. And then measuring two adjacent positions of the image acquisition device in the converted movement track.
Although the image capturing device captures an image in the above embodiments, the image capturing device is not understood to be applicable to only a group of pictures made of a single picture, and this is merely an illustrative manner for facilitating understanding. The image acquisition device can also acquire video data, and directly utilize the video data or intercept images from the video data to carry out 3D synthesis. However, the shooting position of the corresponding frame of the video data or the captured image used in the synthesis still satisfies the above empirical formula.
The target object, and the object all represent objects for which three-dimensional information is to be acquired. The object may be a solid object or a plurality of object components. For example, the head, hands, etc. The three-dimensional information of the target object comprises a three-dimensional image, a three-dimensional point cloud, a three-dimensional grid, a local three-dimensional feature, a three-dimensional size and all parameters with the three-dimensional feature of the target object. Three-dimensional in the present invention means having XYZ three-direction information, particularly depth information, and is essentially different from only two-dimensional plane information. It is also fundamentally different from some definitions, which are called three-dimensional, panoramic, holographic, three-dimensional, but actually comprise only two-dimensional information, in particular not depth information.
The capture area in the present invention refers to a range in which an image capture device (e.g., a camera) can capture an image. The image acquisition device can be a CCD, a CMOS, a camera, a video camera, an industrial camera, a monitor, a camera, a mobile phone, a tablet, a notebook, a mobile terminal, a wearable device, intelligent glasses, an intelligent watch, an intelligent bracelet and all devices with image acquisition functions.
In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.
The various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. It will be appreciated by those skilled in the art that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functionality of some or all of the components in an apparatus in accordance with embodiments of the present invention. The present invention may also be embodied as apparatus or device programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present invention may be stored on computer-readable media or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
Thus, it should be appreciated by those skilled in the art that while a number of exemplary embodiments of the invention have been illustrated and described in detail herein, many other variations or modifications consistent with the principles of the invention may be directly determined or derived from the disclosure of the present invention without departing from the spirit and scope of the invention. Accordingly, the scope of the invention should be understood and interpreted to cover all such other variations or modifications.
Claims (11)
1. A tiny target object collecting device or method is characterized in that: comprises an image acquisition device, a micro-motion device and an object stage;
the micro-motion device comprises a rotary disc and a swinging disc, a spacing body is arranged between the rotary disc and the swinging disc, and the spacing body rotates along with the rotary disc so as to drive the swinging disc to swing near a reference plane;
the image acquisition device is arranged on the swinging disc.
2. An apparatus or method as claimed in claim 1, wherein: the spacing body is two.
3. An apparatus or method as claimed in claim 1, wherein: the two spacers are oppositely arranged.
4. An apparatus or method as claimed in claim 3, wherein: the spacing body is a ball which is embedded in a ball seat on the turntable.
5. A tiny target object collecting device or method is characterized in that: the lens of the image acquisition device is a zoom lens and a microscope lens in sequence; the two lenses are optically connected.
6. The apparatus or method of claim 5, wherein: at least one of the zoom lens and the microscope lens belongs to an automatic focusing lens.
7. An apparatus or method according to any preceding claim, wherein: the image acquisition device acquires images of the target object at a plurality of angles, and the processor synthesizes a three-dimensional model of the target object by using the images.
8. An apparatus or method according to any preceding claim, wherein: the acquisition position of the image acquisition device meets the following conditions:
<0.582，
wherein L is the straight-line distance of the optical center of the image acquisition device at two adjacent acquisition positions, f is the focal length of the image acquisition device, d is the rectangular length or width of the photosensitive element of the image acquisition device, T is the distance from the photosensitive element of the image acquisition device to the surface of the target along the optical axis, and T is an adjustment coefficient.
9. An apparatus or method as claimed in claim 8, wherein: <0.412, preferably < 0.335.
10. A three-dimensional standard database and a generation method are characterized in that: acquiring an image of an object using the apparatus or method of any preceding claim, generating a three-dimensional model, and storing the three-dimensional model data in a database.
11. A biological detection device and method are characterized in that: combining the three-dimensional model data from the images acquired using the apparatus or method of any preceding claim and comparing with standard three-dimensional model data.
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