CN104887316A - Virtual three-dimensional endoscope displaying method based on active three-dimensional displaying technology - Google Patents
Virtual three-dimensional endoscope displaying method based on active three-dimensional displaying technology Download PDFInfo
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- CN104887316A CN104887316A CN201510199086.XA CN201510199086A CN104887316A CN 104887316 A CN104887316 A CN 104887316A CN 201510199086 A CN201510199086 A CN 201510199086A CN 104887316 A CN104887316 A CN 104887316A
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Abstract
The invention relates to a virtual three-dimensional endoscope displaying method based on an active three-dimensional displaying technology. The virtual three-dimensional endoscope displaying method based on the active three-dimensional displaying technology is characterized by comprising the steps that firstly, internal parameters and external parameters of left-eye and right-eye cameras of a virtual three-dimensional endoscope are set and adjusted through a virtual three-dimensional endoscope left-eye and right-eye camera model setting module; secondly, corresponding virtual camera images are generated according to the internal and external parameters, set by a user, of the left-eye and right-eye cameras of the virtual three-dimensional endoscope through a virtual three-dimensional endoscope left-eye and right-eye camera image generation module; finally, the generated left-eye and right-eye camera images of the virtual three-dimensional endoscope are displayed on a three-dimensional monitor through the active three-dimensional display technology of a virtual three-dimensional endoscope left-eye and right-eye camera image displaying module. The virtual three-dimensional endoscope displaying method based on the active three-dimensional displaying technology can more effectively express space information of body data aiming at the defects generated when used for virtual endoscope images, and three-dimensional or four-dimensional body data are visual in a three-dimensional mode.
Description
Technical field
The present invention relates to a kind of virtual three-dimensional endoscope display packing based on active stereo Display Technique, particularly relate to generation and the display packing of a kind of virtual three-dimensional endoscope 3-D view, can be used for the 3 d visualization method of three-dimensional or four-dimensional volume data.
Background technology
In today that the three-dimensional data imaging techniques such as computed tomography (CT) and nuclear magnetic resonance, NMR (MR) are popularized increasingly, carry out visual medical 3 D volume data by virtual endoscope imaging technique and be widely used clinically.In virtual endoscope imaging process, virtual video camera is placed in the three-dimensional data space obtained.Virtual video camera can move or rotate, and can change visual field characteristic by regulating the photographic parameter of virtual video camera.Image taken by virtual video camera can be generated by using in target volume data the method for ray cast.At present, the method for visualization technique many uses two dimensional surface realizes.Chinese invention patent application number: 201110002617.3, name is called: medical image-processing apparatus, and Chinese invention patent application number: 200710307178.0, name is called: the method and apparatus of interactive type four-dimensional dummy endoscopy, provides the feasible method of visualization of 3 d or four-dimensional volume data.But the visual image of these methods to space body data still rests on two-dimensional state, does not solve the expression problem of the spatial information of volume data, the spatial information of 3 d medical images cannot be shown.
Summary of the invention
The object of the present invention is to provide a kind of virtual three-dimensional endoscope display packing based on active stereo Display Technique, it is for the deficiency existed for virtual endoscopic images, can the spatial information of more effectively expression body data, three-dimensional or four-dimensional volume data are undertaken visual by the mode of solid.
Technical scheme of the present invention is achieved in that the virtual three-dimensional endoscope display packing based on active stereo Display Technique, by computer, and active stereo video frequency output card, active stereoscopic glasses, stereo monitor, active stereoscopic glasses signal controller forms; It is characterized in that: system comprises virtual three-dimensional endoscope right and left eyes camera model setting module, virtual three-dimensional endoscope right and left eyes camera review generation module and virtual three-dimensional endoscope right and left eyes camera review display module; First by the right and left eyes camera model setting module setting of virtual three-dimensional endoscope and the inner parameter and the external parameter that regulate virtual three-dimensional endoscope right and left eyes video camera, secondly, the inside and outside parameter of the virtual three-dimensional endoscope right and left eyes video camera set according to user by virtual three-dimensional endoscope right and left eyes camera review generation module generates corresponding virtual video camera image; Finally utilize the active stereo Display Technique of virtual three-dimensional endoscope right and left eyes camera review display module, the right and left eyes camera review of the virtual three-dimensional endoscope of generation is presented in stereo monitor;
Concrete performing step is as follows:
1, virtual three-dimensional endoscope is first set in volume data space
in position and attitude
;
2, in the volume data space observed by virtual three-dimensional endoscope, setting reference coordinates is
;
3, the reference coordinates setting virtual three-dimensional endoscope is
;
4, relative position between the inner parameter of virtual three-dimensional endoscope right and left eyes video camera, two video cameras and attitude and virtual three-dimensional endoscope is obtained in volume data space by the user interface of virtual three-dimensional endoscope right and left eyes camera model setting module
position and attitude
;
5, according to virtual three-dimensional endoscope right and left eyes video camera in coordinate system
position and attitude information
,
, by
obtain virtual three-dimensional endoscope right and left eyes video camera in volume data space
in position and attitude information
,
;
6, in a computer, with light quantum mechanics generating virtual stereo endoscope right and left eyes camera review;
7, according to the inner parameter of the virtual three-dimensional endoscope right and left eyes video camera obtained by user interface, the imaging characteristic of setting video camera;
8, from the optical center of virtual three-dimensional endoscope right and left eyes video camera, each pixel on camera image plane is in volume data space
middle projection light, according to color and the transparent attribute of the volume data obtained by user interface, calculates color and the transparency of corresponding pixel points, all pixel synthesis right and left eyes camera reviews calculated the most at last;
9, the right and left eyes camera review display of virtual three-dimensional endoscope is realized by active stereo Display Technique;
10, by the right and left eyes camera review of generation by left-eye image side-play amount be
, eye image side-play amount is
submit active stereo video frequency output card to;
11, the left images of acquisition is sent to stereo monitor by time division way by active stereo video frequency output card, send synchronizing signal to active stereoscopic glasses signal controller simultaneously, control the right and left eyes passage of active stereoscopic glasses, right and left eyes image is sent into respectively the right and left eyes of observer;
12, regulate stereo monitor three-dimensional imaging go out to shield distance;
13, changing the side-play amount of right and left eyes image in stereo monitor by user interface is
with
, same characteristic point distance in stereo monitor in volume data in adjustable right and left eyes image, thus adjustment human eye goes out to shield distance to the comfort level of three dimensional image and three-dimensional imaging.
Good effect of the present invention is that medical 3 D or four-dimensional volume data can be visualized in the mode of stereoscopic image, can the spatial information of the three-dimensional or four-dimensional volume data of effective expression more.The tridimensional virtual endoscopic images generated by this method, can allow doctor observe directly the depth information of object of interest, more easily can grasp the accurate location of object of interest, thus improves the accuracy of indagation and the safety of operation.
Accompanying drawing explanation
Fig. 1 is system composition diagram of the present invention.Wherein (1) is computer, and (2) are active stereoscopic glasses for active stereo video frequency output card, (3), and (4) are stereo monitor, and (5) are active stereoscopic glasses signal controller.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention will be further described:
As shown in Figure 1, a kind of virtual three-dimensional endoscope display packing realized based on active stereo display mode, by computer (1), active stereo video frequency output card (2), active stereoscopic glasses (3), stereo monitor (4), active stereoscopic glasses signal controller (5) forms; It is characterized in that: system comprises virtual three-dimensional endoscope right and left eyes camera model setting module, virtual three-dimensional endoscope right and left eyes camera review generation module and virtual three-dimensional endoscope right and left eyes camera review display module; Wherein virtual three-dimensional endoscope right and left eyes camera model setting module is responsible for the inner parameter of virtual three-dimensional endoscope right and left eyes video camera and the setting of external parameter and adjustment, and virtual three-dimensional endoscope right and left eyes camera review generation module is responsible for generating corresponding virtual video camera image according to the inside and outside parameter of the virtual three-dimensional endoscope right and left eyes video camera of user's setting; Virtual three-dimensional endoscope right and left eyes camera review display module is responsible for utilizing active stereo Display Technique, is presented in stereo monitor by the right and left eyes camera review of the virtual three-dimensional endoscope of generation;
Concrete performing step is as follows:
1, virtual three-dimensional endoscope is first set in volume data space
in position and attitude
.
2, in the volume data space observed by virtual three-dimensional endoscope, setting reference coordinates is
.
3, the reference coordinates setting virtual three-dimensional endoscope is
.
4, relative position between the inner parameter of virtual three-dimensional endoscope right and left eyes video camera, two video cameras and attitude and virtual three-dimensional endoscope is obtained in volume data space by the user interface of virtual three-dimensional endoscope right and left eyes camera model setting module
position and attitude
.
5, according to virtual three-dimensional endoscope right and left eyes video camera in coordinate system
position and attitude information
,
, by
obtain virtual three-dimensional endoscope right and left eyes video camera in volume data space
in position and attitude information
.
6, in computer (1), with light quantum mechanics generating virtual stereo endoscope right and left eyes camera review.
7, according to the inner parameter of the virtual three-dimensional endoscope right and left eyes video camera obtained by user interface, the imaging characteristic of setting video camera.
8, from the optical center of virtual three-dimensional endoscope right and left eyes video camera, each pixel on camera image plane is in volume data space
middle projection light, according to color and the transparent attribute of the volume data obtained by user interface, calculates color and the transparency of corresponding pixel points, all pixel synthesis right and left eyes camera reviews calculated the most at last.
9, the right and left eyes camera review display of virtual three-dimensional endoscope is realized by active stereo Display Technique.
10, by the right and left eyes camera review of generation by left-eye image side-play amount be
, eye image side-play amount is
submit active stereo video frequency output card (2) to.
11, the left images of acquisition is sent to stereo monitor (4) by time division way by active stereo video frequency output card (2).Send synchronizing signal to active stereoscopic glasses signal controller (5) simultaneously, control the right and left eyes passage of active stereoscopic glasses (3), right and left eyes image is sent into respectively the right and left eyes of observer.
12, regulate stereo monitor (4) three-dimensional imaging go out to shield distance.
13, changing the side-play amount of right and left eyes image in stereo monitor (4) by user interface is
with
, in adjustable right and left eyes image, in volume data, same characteristic point is in the upper distance of stereo monitor (4), thus adjustment human eye goes out to shield distance to the comfort level of three dimensional image and three-dimensional imaging.
Claims (1)
1. based on the virtual three-dimensional endoscope display packing of active stereo Display Technique, by computer, active stereo video frequency output card, active stereoscopic glasses, stereo monitor, active stereoscopic glasses signal controller forms; It is characterized in that: system comprises virtual three-dimensional endoscope right and left eyes camera model setting module, virtual three-dimensional endoscope right and left eyes camera review generation module and virtual three-dimensional endoscope right and left eyes camera review display module; First by the right and left eyes camera model setting module setting of virtual three-dimensional endoscope and the inner parameter and the external parameter that regulate virtual three-dimensional endoscope right and left eyes video camera, secondly, the inside and outside parameter of the virtual three-dimensional endoscope right and left eyes video camera set according to user by virtual three-dimensional endoscope right and left eyes camera review generation module generates corresponding virtual video camera image; Finally utilize the active stereo Display Technique of virtual three-dimensional endoscope right and left eyes camera review display module, the right and left eyes camera review of the virtual three-dimensional endoscope of generation is presented in stereo monitor;
Concrete performing step is as follows:
1) virtual three-dimensional endoscope, is first set in volume data space
in position and attitude
;
2), in the volume data space observed by virtual three-dimensional endoscope, setting reference coordinates is
;
3) reference coordinates, setting virtual three-dimensional endoscope is
;
4), relative position between the inner parameter of virtual three-dimensional endoscope right and left eyes video camera, two video cameras and attitude and virtual three-dimensional endoscope is obtained in volume data space by the user interface of virtual three-dimensional endoscope right and left eyes camera model setting module
position and attitude
;
5), according to virtual three-dimensional endoscope right and left eyes video camera in coordinate system
position and attitude information
,
, by
obtain virtual three-dimensional endoscope right and left eyes video camera in volume data space
in position and attitude information
,
;
6), in a computer, with light quantum mechanics generating virtual stereo endoscope right and left eyes camera review;
7), according to the inner parameter of virtual three-dimensional endoscope right and left eyes video camera obtained by user interface, the imaging characteristic of setting video camera;
8), from the optical center of virtual three-dimensional endoscope right and left eyes video camera, each pixel on camera image plane is in volume data space
middle projection light, according to color and the transparent attribute of the volume data obtained by user interface, calculates color and the transparency of corresponding pixel points, all pixel synthesis right and left eyes camera reviews calculated the most at last;
9) the right and left eyes camera review display of virtual three-dimensional endoscope, is realized by active stereo Display Technique;
10), by the right and left eyes camera review of generation by left-eye image side-play amount be
, eye image side-play amount is
submit active stereo video frequency output card to;
11), the left images of acquisition is sent to stereo monitor by time division way by active stereo video frequency output card, send synchronizing signal to active stereoscopic glasses signal controller simultaneously, control the right and left eyes passage of active stereoscopic glasses, right and left eyes image is sent into respectively the right and left eyes of observer;
12), regulate stereo monitor three-dimensional imaging go out to shield distance;
13), changing the side-play amount of right and left eyes image in stereo monitor by user interface is
with
, same characteristic point distance in stereo monitor in volume data in adjustable right and left eyes image, thus adjustment human eye goes out to shield distance to the comfort level of three dimensional image and three-dimensional imaging.
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|---|---|---|---|
| CN201510199086.XA CN104887316A (en) | 2015-04-24 | 2015-04-24 | Virtual three-dimensional endoscope displaying method based on active three-dimensional displaying technology |
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| CN107595408A (en) * | 2017-09-30 | 2018-01-19 | 华中科技大学 | 2D and bore hole 3D double screens endoscopic system and display methods |
| CN108133512A (en) * | 2017-12-20 | 2018-06-08 | 肖连祥 | Fetus cuticle topography visualization of 3 d imaging method based on magnetic resonance imaging |
| CN110060291A (en) * | 2019-04-04 | 2019-07-26 | 长春理工大学 | It is a kind of consider people because stereopsis in distance calculation method |
| CN113099203A (en) * | 2021-05-10 | 2021-07-09 | 青岛小鸟看看科技有限公司 | Display system calibration method and system |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113099203A (en) * | 2021-05-10 | 2021-07-09 | 青岛小鸟看看科技有限公司 | Display system calibration method and system |
| CN113099203B (en) * | 2021-05-10 | 2023-08-22 | 青岛小鸟看看科技有限公司 | Display system calibration method and system |
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