CN106937105B - Three-dimensional scanning device based on structured light and 3D image establishing method of target object - Google Patents
Three-dimensional scanning device based on structured light and 3D image establishing method of target object Download PDFInfo
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- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/257—Colour aspects
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/275—Image signal generators from 3D object models, e.g. computer-generated stereoscopic image signals
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- H—ELECTRICITY
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- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
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Abstract
The invention discloses a three-dimensional scanning device based on structured light and a 3D image establishing method of a target object, wherein the device comprises a projector, an infrared camera module, a color camera module and a processor, the projector is arranged to project the structured light to the target object, the infrared camera module acquires a first image related to the target object by acquiring at least part of the structured light reflected by the target object, and the subsequent first image is transmitted to the processor so that the processor establishes the 3D image of the target object based on the first image. The device also comprises a color camera module for acquiring a second image related to the target object, and the processor performs a coloring operation on the 3D image according to the image color so as to establish a color 3D image of the target object.
Description
Technical Field
The present invention relates to a three-dimensional scanning device, and more particularly, to a three-dimensional scanning device based on structured light and a method for creating a 3D image of a target object.
Background
With the progress of technology, three-dimensional vision technology has made a great breakthrough in recent years and has been used tentatively in many fields. Based on different principles, the three-dimensional vision techniques may include binocular stereo three-dimensional vision techniques and structured light three-dimensional vision techniques as well as other three-dimensional vision techniques such as shading, moire, laser ranging, defocused ranging, and the like. The three-dimensional vision technology based on the illumination condition of the target object may further include a passive three-dimensional vision technology and an active three-dimensional vision technology, in which the three-dimensional vision technology that provides illumination light to the target object using the illumination condition of the surroundings of the target object is referred to as a passive three-dimensional vision technology, and for example, a binocular three-dimensional vision technology is one of the most typical passive three-dimensional vision technologies, and has a relatively high degree of dependency on ambient light. A three-dimensional vision technology for providing illumination light to a target object by a special light source device becomes an active three-dimensional vision technology, and the active three-dimensional vision technology is more widely applied because a light source device for actively projecting illumination light to the target object, such as a structured light three-dimensional vision technology, is provided, so that the technology can be used under any illumination condition, especially in an environment with poor light. The existing three-dimensional imaging device based on the structured light three-dimensional vision technology comprises a projection module, a camera module and a processing module, wherein the projection module projects the coded structured light formed via the coding of the light toward the target object, the camera module obtains at least a part of the coded structured light reflected by the target object in a shooting mode, and transmits the signals to the processing module for processing, in the process, on one hand, the projection module, the camera module and the processing module which have mutually independent signals cause that the mutual cooperation degree of all parts of the three-dimensional imaging device is lower, which in turn leads to problems of inefficiency and poor results, and on the other hand, the processing module employs a frame-by-frame processing method when processing the image acquired by the camera module, and in this process, it needs to access the memory of the processing module frequently, which results in low processing efficiency.
Disclosure of Invention
An object of the present invention is to provide a structured light based three-dimensional scanning apparatus and a method for creating a 3D image of a target object, wherein the three-dimensional scanning apparatus is capable of creating a 3D image of the target object.
It is an object of the present invention to provide a structured light based three-dimensional scanning device and a method for creating a 3D image of a target object, wherein the three-dimensional scanning device is capable of creating a color 3D image of the target object according to the 3D image of the target object created by the three-dimensional scanning device.
An object of the present invention is to provide a three-dimensional scanning device based on structured light and a 3D image creating method for a target object, wherein the three-dimensional scanning device provides a projector, an infrared camera module and a processor, the projector and the infrared camera module are connected to the processor, the projector is capable of generating and projecting structured light to the target object, the infrared camera module obtains a first image related to the target object by acquiring at least a part of the structured light reflected by the target object, and the processor creates the 3D image of the target object based on the first image.
An object of the present invention is to provide a three-dimensional scanning device based on structured light and a 3D image creating method for a target object, wherein the three-dimensional scanning device further provides a color camera module, the color camera module is connected to the processor, the color camera module transmits an acquired second image related to the target object to the processor, the processor acquires an image color related to the target object based on the second image, and the processor performs a rendering operation on the 3D image based on the image color, thereby creating the color 3D image of the target object.
An object of the present invention is to provide a structured light-based three-dimensional scanning apparatus and a method for creating a 3D image of a target object, wherein the infrared camera module and the color camera module respectively transmit the acquired images related to the target object to the processors, and the processors respectively process the images to increase the speed of the processors processing the images.
It is an object of the present invention to provide a structured light based three-dimensional scanning apparatus and a method for creating a 3D image of a target object, wherein the processor divides the image into at least two parts and processes each part of the image separately, in such a way that frequent accesses to memory by the processor during processing of the image can be avoided, thereby improving the processing efficiency of the three-dimensional scanning apparatus.
An object of the present invention is to provide a structured light-based three-dimensional scanning apparatus and a method for creating a 3D image of a target object, wherein the processor processes images related to the target object respectively acquired by the infrared camera module and the color camera module, and time consumed for image processing is substantially reduced compared to a conventional method for processing images by frequently accessing a memory with single or multiple cores executed sequentially.
An object of the present invention is to provide a three-dimensional scanning device based on structured light and a method for creating a 3D image of a target object, in which the projector, the infrared camera module and the color camera module are connected by using a frame synchronization signal, so that the efficiency and effect of the three-dimensional scanning device can be greatly improved.
An object of the present invention is to provide a three-dimensional scanning device based on structured light and a method for creating a 3D image of a target object, in which the projector, the infrared camera module and the color camera module are connected in a frame synchronization signal manner, so that the quality of an infrared code of the three-dimensional scanning device is greatly improved.
In order to achieve the above object, the present invention provides a three-dimensional scanning device based on structured light, comprising:
a projector;
an infrared camera module; and
a processor, the projector and the infrared camera module being respectively connected to the processor, wherein the projector is configured to project structured light toward a target object, the infrared camera module acquires a first image associated with the target object by acquiring at least a portion of the structured light reflected by the target object, and subsequently, the first image is transmitted to the processor, such that the processor creates a 3D image of the target object based on the first image.
According to a preferred embodiment of the present invention, the three-dimensional scanning device further comprises a color camera module connected to the processor, wherein the color camera module is configured to acquire a second image associated with the target object, subsequently, the processor acquires an image color associated with the target object based on the second image, and the processor performs a rendering operation on the 3D image according to the image color, thereby creating a color 3D image of the target object.
According to a preferred embodiment of the present invention, the three-dimensional scanning device further comprises a color camera module connected to the processor, wherein the projector, the infrared camera module and the color camera module are connected to the processor by means of a frame synchronization signal.
According to a preferred embodiment of the invention, the projector, the infrared camera module and the color camera module are connected to the processor by means of a frame synchronization signal.
According to a preferred embodiment of the invention, the processor decomposes the image after it has been received into at least two parts, and the processor processes each part of the image separately.
According to a preferred embodiment of the present invention, the frame synchronization pin of the infrared camera module is connected to a GPIO capable of triggering an interrupt, and the infrared camera module is configured to send out a frame synchronization signal, the color camera module is configured to receive the frame synchronization signal, when the GPIO receives the frame synchronization signal, the GPIO is interrupted to trigger a PWM operation, and the PWM output is assigned to have a waveform with a fixed frequency to drive the projector to generate and project the structured light.
According to a preferred embodiment of the present invention, the frame synchronization pin of the infrared camera module is connected to a GPIO capable of triggering an interrupt, and the infrared camera module is configured to send out a frame synchronization signal, the color camera module is configured to receive the frame synchronization signal, when the GPIO receives the frame synchronization signal, the GPIO is interrupted to trigger a PWM operation, and the PWM output is assigned to have a waveform with a fixed frequency to drive the projector to generate and project the structured light.
According to a preferred embodiment of the invention, the projector is a laser projector and the projector generates and projects infrared structured light.
According to another aspect of the present invention, the present invention further provides a method for creating a 3D image of a target object, wherein the 3D image creating method includes the steps of:
(a) generating and projecting structured light toward the target object by a projector;
(b) acquiring at least a part of structured light reflected by the target object through an infrared camera module so as to acquire a first image related to the target object; and
(c) the first image is communicated to the processor, and the processor builds the 3D image of the target object based on the first image.
According to a preferred embodiment of the present invention, the 3D image creating method further comprises the steps of:
(d) extracting an image color of the target object; and
(e) the processor performs a shading operation on the 3D image based on the image colors to create a colored 3D image of the target object.
According to a preferred embodiment of the present invention, the step (d) further comprises the steps of:
(d.1) acquiring a second image associated with the target object by a color camera module; and
(d.2) communicating the second image to the processor, and the processor extracting the image colors based on the second image.
According to a preferred embodiment of the invention, in the above method, the processor decomposes any one of the received images into at least two parts, and the processor processes each part of the image separately.
According to a preferred embodiment of the present invention, in the above method, the projector, the infrared camera module, and the color camera module are respectively connected to the processor by means of frame synchronization signals.
According to a preferred embodiment of the invention, in the above method,
the infrared camera module sends out a frame synchronization signal;
the color camera module receives a frame synchronization signal;
a GPIO connected to a frame synchronization pin of the infrared camera module is interrupted after receiving a frame synchronization signal to trigger PWM operation; and
the PWM is specified to output a waveform having a fixed frequency to drive the projector to generate and project structured light toward the target object.
Drawings
Fig. 1 is a block diagram structural view of a three-dimensional scanning apparatus according to a preferred embodiment of the present invention.
Fig. 2 is a schematic workflow diagram of the three-dimensional scanning apparatus according to the above preferred embodiment of the present invention.
Fig. 3 is a schematic workflow diagram of the three-dimensional scanning device according to the above preferred embodiment of the present invention for creating a 3D image of a target object.
Fig. 4 is a flowchart illustrating a method for creating a 3D image of a target object according to the above preferred embodiment of the present invention.
Detailed Description
The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art. The basic principles of the invention, as defined in the following description, may be applied to other embodiments, variations, modifications, equivalents, and other technical solutions without departing from the spirit and scope of the invention.
Referring to fig. 1 to 3 of the drawings, a three-dimensional scanning apparatus according to a preferred embodiment of the present invention will be illustrated, wherein the three-dimensional scanning apparatus includes a processor 10, a projector 20 and an infrared camera module 30, and the projector 20 and the infrared camera module 30 are respectively connected to the processor 10.
When the three-dimensional scanning device is applied to create a 3D image of a target object, for example, the three-dimensional scanning device can be applied to create the 3D image of the target object by scanning the surface of the target object, the projector 20 projects the structured light onto the target object 40, and then the infrared camera module 30 can acquire at least a portion of the structured light reflected by the surface of the target object to acquire a first image related to the target object, wherein the first image is further transmitted to the processor 10, and the processor 10 can create the 3D image of the target object based on the first image.
Those skilled in the art will appreciate that the projector 20 can be implemented as a laser projector, which can be configured to project the coded structured light formed by coding light onto the target object, and when the structured light having a specific pattern is projected onto the target object, a three-dimensional image of the light bar modulated by the surface shape of the target object is formed on the surface of the target object, and then the three-dimensional image of the light bar is acquired by the infrared camera module 30 connected to the processor 10 and matched to the projector 20 to generate the first image related to the target object. It is worth mentioning that the first image is a two-dimensional distorted image of the light bars, and the degree of distortion of the light bars depends on the relative positions of the projector 20 and the infrared camera module 30 and the surface characteristics of the target object. Intuitively, the displacement (or offset) exhibited by the bar of light is directly proportional to a surface characteristic of the object, such as a surface height of the object, wherein the kink in the first image indicates a change in the surface of the object, and the discontinuity in the first image indicates a presence of a physical gap or the like in the surface of the object. Those skilled in the art will also appreciate that when the relative positions of the projector 20 and the infrared camera module 30 are fixed, the three-dimensional contour of the 3D image of the target object to be created can be calculated from the coordinates of the two-dimensional distortion of the light bars of the first image, so that the processor 10 can create the 3D image of the target object based on the first image. In addition, during the process of acquiring the first image related to the target object, the projector 10 is configured to project infrared structured light to the target object, in such a way, during the process of generating the first image related to the target object by the infrared camera module, on one hand, interference caused by other forms of light such as ambient light can be avoided as much as possible, and on the other hand, the three-dimensional scanning device can be applied to an environment with poor light, so as to improve the application range of the three-dimensional scanning device.
In addition, as shown in fig. 1 and fig. 2, the three-dimensional scanning device further includes a color camera module 40, the color camera module 40 is connected to the processor 10, wherein the color camera module 40 transmits a second image related to the target object to the processor 10, so as to obtain an image color of the target object, and subsequently, the processor 10 assigns the image color to the 3D image to create a color 3D image of the target object. That is, the processor 10 can perform a coloring operation on the 3D image of the target object created thereby according to the image color, so that the three-dimensional scanning device creates the color 3D image of the target image after the coloring operation is completed.
In the process of establishing the color 3D image of the target object by the three-dimensional scanning device, the projector 20, the infrared camera module 30 and the color camera module 40 are connected by using a frame synchronization signal, so as to improve the efficiency and effect of the three-dimensional scanning device in establishing the color 3D image of the target object.
Specifically, the infrared camera module 30 sends a frame synchronization signal, and the color camera module 40 is configured to receive the frame synchronization signal sent by the infrared camera module 30 and drive the projector 20 to generate and project the structured light onto the target object. More specifically, the frame synchronization pin of the infrared camera module 30 is configured to be connected to a General Purpose Input Output (GPIO) capable of triggering a terminal, and when the color camera module 40 receives a frame synchronization signal sent by the infrared camera module 30, the GPIO interrupt trigger function performs a Pulse Width Modulation (PWM) operation and specifies the PWM to Output a waveform with a fixed frequency, so that the PWM can further drive the projector 20 to generate and project a structured light with a fixed mode, and in this way, the frame synchronization signal of the projector 20, the infrared camera module 30, and the color camera module 40 according to the present invention can be realized. In addition, in order to ensure that the exposure of the projector 20 is coordinated with the exposure of the infrared camera module 30, the processor 10 can automatically control the exposure time of the projector 20 and the magnitude of the current, so that the reliability of the three-dimensional scanning device can be further improved.
Those skilled in the art will appreciate that the infrared structured-light code generated and projected by the projector 20 is overlaid on the first image related to the target object acquired by the infrared camera module 30, so that the depth information of the first image can be obtained by calculating the infrared structured-light code overlaid on the first image, and in this way, the processor 10 can create the 3D image of the target object.
As shown in fig. 2, in the present invention, the Processor 10 is implemented as an ISP (Image Signal Processor) Processor, and the Processor 10 can process the first Image related to the target object acquired by the infrared camera module 30 and the second Image related to the target object acquired by the color camera module 40 respectively to improve the efficiency of the Processor 10 in processing the Image related to the target object and creating the 3D Image and the color 3D Image of the target object. In addition, the processor 10 processes both the first image and the second image by using a multi-core synchronous processing manner, so as to avoid frequent memory accesses during processing the first image and the second image by using a private high-speed storage module owned by the processor 10, thereby enabling the processing speed of the processor 10 during processing the first image and the second image to be faster than that of a conventional image processing system with a single core or a multi-core memory access, which is executed sequentially.
Further, the processor 10 of the three-dimensional scanning device of the present invention may split the image into at least two parts when processing each frame of image, for example, the processor 10 may split the first image into two or more parts to perform separate processing on each part, so that the processor 10 can make full use of the multi-core advantage of the processor 10 by using the whole division into zero, thereby being capable of greatly reducing the time consumed by the processor 10 when processing the first image and the second image, which is particularly useful for improving the efficiency of the three-dimensional scanning device.
Fig. 3 is a schematic diagram of a workflow 300 of the three-dimensional scanning apparatus according to the present invention to create the color 3D image of the target object.
In stage 301, the projector 20 generates infrared structured light and projects the structured light to the target object. When the structured light is projected to the target object, a three-dimensional image of the light bar modulated by the surface shape of the target object can be formed on the surface of the target object.
At stage 302, the infrared camera module 30 receives at least a portion of the structured light reflected by the target object to obtain the first image associated with the target object. The structured light projected onto the surface of the target object can be reflected by the surface of the target object, the infrared camera module 30 acquires the three-dimensional image of the light bar by receiving at least a part of the structured light reflected by the target object, so that the infrared camera module 30 acquires the first image related to the target object, it is worth mentioning that the first image is a two-dimensional distorted image, and the degree of the two-dimensional distortion of the first image depends on the three-dimensional image of the light bar.
In stage 303, the processor 10 builds the 3D image of the target object based on the first image. After the first image is transmitted to the processor 10, the processor 10 decomposes the first image into at least two part pairs and processes each part separately, and the processor 10 obtains a three-dimensional contour of the 3D image to be created by calculating coordinates of two-dimensional distortion of the light bars of the first image, so that the 3D image of the target object can be created subsequently by the processor 10.
At stage 304, the color camera module 40 acquires the second image associated with the target object. In the present invention, the color camera module 40 can acquire the second image related to the target object by taking an image of the target object.
In stage 305, the processor 10 acquires the image color associated with the target object based on the second image. After the second image is transferred to the processor 10, the processor 10 breaks the second image into two portions and continues the twist process for each portion, respectively, to extract the image color associated with the target object.
At stage 306, the processor 10 performs a shading operation on the 3D image as a function of the image color, thereby creating the colored 3D image of the target object.
As shown in fig. 1, the processor 10 is provided with an interface 11, the interface 11 is used for connecting the three-dimensional scanning device to an output 100, for example, the output 100 is implemented as a display device, the interface 11 is implemented as a USB interface, the display device can be connected to the three-dimensional scanning device through the USB interface, and then the three-dimensional scanning device transmits the 3D image or the color 3D image of the target object to the display device for displaying after establishing the 3D image or the color 3D image.
Further, as shown in fig. 4, the present invention further provides a method 400 for creating a 3D image of a target object, wherein the method 400 for creating a 3D image includes the following steps:
Further, the 3D image creating method 400 of the present invention further includes the steps of:
In the step (d), further comprising the steps of:
(d.1) acquiring, by the color camera module 40, the second image associated with the target object; and
(d.2) transferring the second image to the processor 10, and the processor 10 extracting the image colors based on the second image.
It will be appreciated by persons skilled in the art that the embodiments of the invention described above and shown in the drawings are given by way of example only and are not limiting of the invention. The objects of the invention have been fully and effectively accomplished. The functional and structural principles of the present invention have been shown and described in the examples, and any variations or modifications of the embodiments of the present invention may be made without departing from the principles.
Claims (13)
1. A structured light based three dimensional scanning apparatus, comprising:
a projector;
an infrared camera module;
a color camera module; and
a processor, wherein the projector, the infrared camera module and the color camera module are connected to the processor by means of a frame synchronization signal, wherein the projector is configured to project structured light toward a target object, the infrared camera module obtains a first image associated with the target object by obtaining at least a portion of the structured light reflected by the target object, the color camera module is configured to acquire a second image associated with the target object, wherein the first image and the second image are communicated to the processor to cause the processor to create a 3D image of the target object based on the first image and to acquire an image color associated with the target object based on the second image, performing a rendering operation on the 3D image according to the image colors, thereby establishing a colored 3D image of the target object; the color camera module is arranged to receive the frame synchronization signal sent by the infrared camera module and drive the projector to generate and project the structured light to the target object.
2. The three-dimensional scanning device of claim 1, wherein the projector is configured to project coded structured light formed by coding light toward the target object to form a three-dimensional image of the light bars on the surface of the target object that is modulated by a surface shape of the target object.
3. The three-dimensional scanning device according to claim 1, wherein the color camera module is configured to receive a frame synchronization signal from the infrared camera module and drive the projector to generate and project the structured light onto the target object.
4. A three-dimensional scanning device according to any of claims 1 to 3, wherein said processor is an ISP processor, wherein said processor splits said first image into at least two parts upon receipt thereof, and wherein said processor processes each part of said first image separately, thereby enabling said processor to exploit its multi-core advantage.
5. A three-dimensional scanning device according to any one of claims 1 to 3, wherein said processor is an ISP processor, said processor splits said second image into at least two parts after receiving it, and said processor processes each part of said second image separately, thereby enabling said processor to exploit its multi-core advantage.
6. The three-dimensional scanning device according to any one of claims 1 to 3, wherein the frame synchronization pin of the infrared camera module is connected to a GPIO capable of triggering an interrupt, when the GPIO receives a frame synchronization signal, the GPIO interrupts to trigger a PWM operation, and the PWM output is assigned to have a waveform with a fixed frequency to drive the projector to generate and project the structured light.
7. The three-dimensional scanning device according to claim 5, wherein the frame synchronization pin of the infrared camera module is connected to a GPIO capable of triggering an interrupt, when the GPIO receives a frame synchronization signal, the GPIO interrupts to trigger a PWM operation, and the PWM output is assigned with a waveform with a fixed frequency to drive the projector to generate and project the structured light.
8. The three-dimensional scanning device of claim 7, wherein the projector is a laser projector, and the projector generates and projects infrared structured light.
9. A method for creating a 3D image of a target object, the method comprising the steps of:
(a) generating and projecting structured light toward the target object by a projector, wherein the structured light is encoded structured light formed by encoding light;
(b) acquiring at least a part of structured light reflected by the target object through an infrared camera module so as to acquire a first image related to the target object;
(c) transferring the first image to a processor, and the processor creating the 3D image of the target object based on the first image;
(d) extracting an image color of the target object; and
(e) the processor performing a shading operation on the 3D image based on the image colors to create a colored 3D image of the target object;
wherein the step (d) further comprises the steps of:
(d.1) acquiring a second image associated with the target object by a color camera module; and
(d.2) communicating the second image to the processor, and the processor extracting the image colors based on the second image; the color camera module is arranged to receive the frame synchronization signal sent by the infrared camera module and drive the projector to generate and project the structured light to the target object.
10. A method of creating a 3D image according to claim 9, characterized in that in the method the processor decomposes any image accepted into at least two parts and the processor processes each part of the image separately.
11. The method of creating a 3D image according to claim 9, wherein the projector, the infrared camera module and the color camera module are connected to the processor by means of frame synchronization signals, respectively.
12. The method of claim 10, wherein the projector, the infrared camera module and the color camera module are connected to the processor by frame synchronization signals.
13. Method for creating a 3D image according to claim 12, characterized in that in the method,
the infrared camera module sends out a frame synchronization signal;
the color camera module receives a frame synchronization signal;
a GPIO connected to a frame synchronization pin of the infrared camera module is interrupted after receiving a frame synchronization signal to trigger PWM operation; and
the PWM is specified to output a waveform having a fixed frequency to drive the projector to generate and project structured light toward the target object.
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| CN107493452B (en) * | 2017-08-09 | 2021-08-20 | Oppo广东移动通信有限公司 | Video picture processing method and device and terminal |
| CN110072036A (en) * | 2018-01-23 | 2019-07-30 | 舜宇光学（浙江）研究院有限公司 | Structure light external accessories |
| WO2020001041A1 (en) | 2018-06-28 | 2020-01-02 | Oppo广东移动通信有限公司 | Depth processor and three-dimensional image device |
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