CN106683187A - Single-surface three-dimensional reconstruction method, device and system - Google Patents
Single-surface three-dimensional reconstruction method, device and system Download PDFInfo
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- CN106683187A CN106683187A CN201611019581.9A CN201611019581A CN106683187A CN 106683187 A CN106683187 A CN 106683187A CN 201611019581 A CN201611019581 A CN 201611019581A CN 106683187 A CN106683187 A CN 106683187A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
- G06T17/30—Polynomial surface description
Abstract
The embodiments of the invention provide a single-surface three-dimensional reconstruction method, device and system. According to the single-surface three-dimensional reconstruction method, device and system, a light emitting end adopts natural light as incident light to irradiate the front surface of a target; the incident light is reflected by the front surface, so that reflected light can be obtained; a camera end receives the reflected light; and in three-dimensional reconstruction, on the one hand, a polarization analysis method is adopted to obtain a normal vector, so that the direction vectors of the incident light and reflected light can be obtained, on the other hand, a triangulation measuring method is used to determine the spatial position of the incident light and the spatial position of the reflected light respectively, wherein the spatial position of the incident light is in accordance with the direction vector of the incident light, and the spatial position of the reflected light is in accordance with the direction vector of the reflected light. Since the triangulation measuring method and the polarization analysis method are used to obtain information needed by the reconstruction, the spatial position of the incident light and the spatial position of the reflected light are determined, and the reconstruction is performed according to the intersection point of the spatial position of the incident light and the spatial position of the reflected light, and therefore, the calculation steps of the three-dimensional reconstruction are simplified.
Description
Technical field
The present invention relates to computer vision technique, more particularly to a kind of single face three-dimensional reconstruction method, device and system.
Background technology
Three-dimensionalreconstruction refers to set up the Mathematical Modeling for being adapted to computer representation and treatment to three-dimensional body, is in computer ring
The basis of its property is processed it, operated and analyzed under border, is also to set up to express the virtual of objective world in a computer
The key technology of reality.
In computer vision, the Three Dimensional Reconfiguration of target is always the much-talked-about topic in field of machine vision, most
Continuous development was obtained in recent years, and has proposed various three-dimensional reconstruction methods, such as reconstructing method, light based on metamorphopsic distortion
The methods such as road triangulation, polarization analysis.
But these three-dimensional reconstruction methods focus on the one kind in energy information or geological information, also allow for this some three
Dimension reconstructing method is required for greatly the calculating of complexity.
Specifically, in these three-dimensional reconstruction methods, polarization analysis and light path triangulation due to its have it is stronger
Flexibility and applicability and be subject to the extensive concern of researcher.Polarization analysis is proposed by Daisuke Miyazaki et al., opened up
Outstanding applicability and certainty of measurement is showed.However, the method determines to lack necessary geological information after the normal vector of light,
So to carry out a series of interative computation to obtain depth information.Light path triangulation method, by the feature of system for example
The number of point of observation describes a series of reconstruct scenes, and obtains various actual results of knowing clearly.The method principle is simple and can obtain
To degree of precision.Yet with energy information is lacked, the measurement needs to obtain a series of different depth points along light path, passes through
Compare to prove correct depth.
Therefore, the Three Dimensional Reconfiguration of target of the prior art focuses in energy information or geological information
Kind, cause amount of calculation larger, it is less efficient.
The content of the invention
The present invention provides a kind of single face three-dimensional reconstruction method, device and system, for solving to carry out three in the prior art
Amount of calculation larger, less efficient technical problem during dimension reconstruct.
To reach above-mentioned purpose, embodiments of the invention are adopted the following technical scheme that：
A kind of first aspect, there is provided single face three-dimensional reconstruction method, in triangulation light path to the tool of target
The preceding surface for having mirror-reflection carries out three-dimensionalreconstruction, and the luminous end of the triangulation light path uses natural light as incident illumination
The preceding surface is penetrated, the phase generator terminal of the triangulation light path obtains the reflected light that the preceding surface is reflected, methods described
Including：
According to the degree of polarization of the reflected light, the corresponding normal vector of the reflected light is calculated；
The camera calibration carried out in advance by the triangulation light path, determines the direction vector of the reflected light；
Using the direction vector and the normal vector of the reflected light, the direction vector of the incident light is calculated；
Pixel between the luminous end and phase generator terminal that are carried out in advance according to the triangulation light path is demarcated, it is determined that symbol
The locus of the incident light of the direction vector of the incident light is closed, and meets the reflected light of the direction vector of the reflected light
Locus；
Locus according to the incident light and the intersection point between the locus of the reflected light, reconstruct the preceding table
Face.
Wherein, the pixel mark between the luminous end carried out in advance according to the triangulation light path and phase generator terminal
It is fixed, be determined for compliance with the locus of the incident light of the direction vector of the incident light, and meet the direction of the reflected light to
The locus of the reflected light of amount, can include：
In the triangulation light path, in advance to carrying out pixel demarcation between the luminous end and phase generator terminal, obtain
Corresponding relation on the source plane of the luminous end between each pixel and each pixel in the image plane of the phase generator terminal；
For the first pixel of the reflection photoimaging in image plane according to the phase generator terminal, inquiry pixel is demarcated
The corresponding relation for being obtained, obtains the second pixel of the outgoing correspondence incident light on the source plane of the luminous end；
According to the first pixel position and the direction vector of the reflected light, the space bit of the reflected light is determined
Put, and according to the second pixel position and the direction vector of the incident light, determine the space bit of the incident light
Put.
Wherein, it is described in advance to carrying out pixel demarcation between the luminous end and phase generator terminal, can include：
In the triangulation light path, using the source plane of the luminous end to the preceding surface projection coding structure
The mode of light, carries out pixel demarcation.
Wherein, the coding can include Gray code.
Wherein, the camera calibration carried out in advance by the triangulation light path, determines the side of the reflected light
To vector, can include：
Camera calibration is carried out to the triangulation light path in advance, each pixel institute in the image plane of the phase generator terminal is determined
Coordinate points in corresponding world coordinate system；
By the corresponding world coordinate system of the first pixel of reflected light imaging in the image plane of the phase generator terminal
Middle coordinate points, with the world coordinate system coordinate points line corresponding to the image plane photocentre；
Using the direction vector of the line as the reflected light direction vector.
Wherein, the degree of polarization according to the reflected light, calculating the corresponding normal vector of the reflected light can include：
The degree of polarization ρ of the reflected light for being obtained will be measured, substitute into the functional relation between degree of polarization and incidence angle, obtained
Obtain the incidence angle θ of the reflected light correspondence incident light；
Polarization direction according to the reflected light is perpendicular with the azimuth Ф of the plane of incidence where the incident light, it is determined that referring to
To the azimuth Ф of the plane of incidence of the triangulation light path；
According to the incidence angle θ of the incident light, and the plane of incidence azimuth Ф, determine the normal vector
Wherein, the functional relation between the degree of polarization ρ and incidence angle θ can be：
Wherein, n is the material relative index of refraction of the target.
Wherein, the direction vector and the normal vector using the reflected light, calculate the direction of the incident light to
Amount can include：
By the direction vector of the reflected lightWith the normal vectorSubstitute into formulaObtain the direction vector of the incident light
Wherein, the target can be pellucidity, and the rear surface relative with the preceding surface is provided with light-absorption layer.
A kind of second aspect, there is provided single face three-dimensionalreconstruction device, in triangulation light path to the tool of target
The preceding surface for having mirror-reflection carries out three-dimensionalreconstruction, and the luminous end of the triangulation light path uses natural light as incident illumination
The preceding surface is penetrated, the phase generator terminal of the triangulation light path obtains the reflected light that the preceding surface is reflected, described device
Including：
Normal vector computing module, for the degree of polarization according to the reflected light, calculates the corresponding normal vector of the reflected light；
Direction vector computing module, for the camera calibration carried out in advance by the triangulation light path, determines institute
State the direction vector of reflected light；Using the direction vector and the normal vector of the reflected light, the direction of the incident light is calculated
Vector；
Locus computing module, for the luminous end and phase generator terminal that are carried out in advance according to the triangulation light path it
Between pixel demarcate, be determined for compliance with the locus of the incident light of the direction vector of the incident light, and meet described anti-
Penetrate the locus of the reflected light of the direction vector of light；
Reconstructed module, for the friendship between the locus of the locus according to the incident light and the reflected light
Point, reconstructs the preceding surface.
A kind of third aspect, there is provided single face three-dimensional reconfiguration system, the system is used for anti-with minute surface to target
The preceding surface penetrated carries out three-dimensionalreconstruction, and the system includes：Luminous end, phase generator terminal, and target described in second aspect single table
Face three-dimensionalreconstruction device；
The luminous end irradiates the preceding surface of the target using natural light as incident light, and the incident light is via described
Front surface reflection obtains reflected light, and the reflected light incides the phase generator terminal；Have between the incident light and the reflected light
There is angle；
The single face three-dimensionalreconstruction device, is connected with the phase generator terminal, anti-for gather that the phase generator terminal received
Light is penetrated, the preceding surface is reconstructed with according to the reflected light.
Wherein, the phase generator terminal can include camera and polarizer；
The polarizer, is arranged at the light direction that enters of the camera, and the surface of the polarizer is put down with the picture of the camera
Face is parallel, for the degree of polarization by reflected light described in rotatory polarization angular surveying.
Wherein, the luminous end can use area source mode outgoing incident light.
Wherein, the target can be transparent objects, and the rear surface relative with the preceding surface is provided with light-absorption layer.
Single face three-dimensional reconstruction method provided in an embodiment of the present invention, device and system, by triangulation light path,
Measure after the degree of polarization of target front surface reflection light, the corresponding normal vector of the reflected light, Jin Eryou are calculated according to degree of polarization
The camera calibration that triangulation light path is carried out in advance, determines the direction vector of the reflected light, and using the side of reflected light
To the normal vector obtained in vector sum abovementioned steps, the direction vector of incident light is calculated.Incident light and reflection are being obtained respectively
After the direction vector of light, the pixel between the luminous end and phase generator terminal that are carried out in advance according to triangulation light path is demarcated,
It is determined for compliance with the locus of the incident light of the direction vector of the incident light, and the reflected light for meeting the direction vector of reflected light
Locus, with the intersection point between the locus and the locus of reflected light according to incident light, reconstruct preceding surface.Also
To say, on the one hand, make use of polarization analyzing method to try to achieve normal vector, so tried to achieve the direction of incident light and reflected light to
Amount；On the other hand, make use of triangulation method that the locus of the incident light for meeting incident light direction vector is determined respectively,
And meet the locus of the reflected light of reflected light direction vector.Due to employing triangulation method and polarization point simultaneously
Analysis method obtains reconstruct information needed, determines the locus of incident light and the locus of reflected light, according to both intersection points
It is reconstructed, so as to simplify the calculation procedure of three-dimensionalreconstruction.
Described above is only the general introduction of technical solution of the present invention, in order to better understand technological means of the invention,
And can be practiced according to the content of specification, and in order to allow the above and other objects of the present invention, feature and advantage can
Become apparent, below especially exemplified by specific embodiment of the invention.
Brief description of the drawings
By reading the detailed description of hereafter preferred embodiment, various other advantages and benefit is common for this area
Technical staff will be clear understanding.Accompanying drawing is only used for showing the purpose of preferred embodiment, and is not considered as to the present invention
Limitation.And in whole accompanying drawing, identical part is denoted by the same reference numerals.In the accompanying drawings：
The structural representation of the single face three-dimensional reconfiguration system that Fig. 1 is provided by the embodiment of the present invention；
Fig. 2 is the schematic diagram of degree of polarization ρ；
Fig. 3 is normal vectorSchematic diagram；
Fig. 4 is the schematic diagram that Gray code pixel is demarcated；
Fig. 5 is the structural representation of single face three-dimensionalreconstruction device 30；
Fig. 6 is a kind of schematic flow sheet of single face three-dimensional reconstruction method that the embodiment of the present invention four is provided.
Specific embodiment
The exemplary embodiment of the disclosure is more fully described below with reference to accompanying drawings.Although showing the disclosure in accompanying drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
Limited.Conversely, there is provided these embodiments are able to be best understood from the disclosure, and can be by the scope of the present disclosure
Complete conveys to those skilled in the art.
Single face three-dimensional reconstruction method provided in an embodiment of the present invention, device and system are carried out in detail below in conjunction with the accompanying drawings
Description.
Embodiment one
The structural representation of the single face three-dimensional reconfiguration system that Fig. 1 is provided by the embodiment of the present invention, as shown in figure 1, bag
Include：Luminous end 10, phase generator terminal 20 and single face three-dimensionalreconstruction device 30.
The system that the present embodiment is provided is used to carry out three-dimensionalreconstruction to the preceding surface that target 40 has mirror-reflection.
Specifically, luminous end 10 uses natural light as incident light R1Irradiate the preceding surface of target, incident light R1Via preceding
Surface reflection obtains reflected light R2, reflected light R2Incide phase generator terminal 20.As shown in figure 1, incident light R1With the reflected light R2It
Between have angle so that the triangulation light path that luminous end 10, phase generator terminal 20 and target 40 are collectively formed.
In the case where target 40 is pellucidity, in order to avoid the rear surface of target 40 impacts to preceding surface reconstruction, in mesh
The rear surface of mark 40 is provided with light-absorption layer.This is that light-absorption layer is mainly used in sponging because rear surface is oppositely arranged with preceding surface
Luminous end 10 is irradiated to the light on rear surface through preceding surface, so as to avoid these light from being reflected into phase generator terminal 20.
It should be noted that it may occur to persons skilled in the art that increasing light absorbent in light path surrounding, absorption environment is miscellaneous
Astigmatism, further to improve certainty of measurement, the method to set up in the present embodiment for light absorbent is repeated no more, reference can be made to optics
Related content in measurement.
Single face three-dimensionalreconstruction device 30 is connected with phase generator terminal 20, for gathering the reflected light R that phase generator terminal 20 is received2,
With according to reflected light R2Preceding surface is reconstructed.
Specifically, single face three-dimensionalreconstruction device 30 is used to gather the reflected light R that phase generator terminal 20 is received2, according to anti-
Penetrate light R2Degree of polarization, calculate the reflected light R2Corresponding normal vectorAnd then the phase carried out in advance by triangulation light path
Machine is demarcated, and determines the direction vector of reflected lightUsing the direction vector of reflected lightWith the normal vectorCalculate institute
State the direction vector of incident lightPicture between the luminous end 10 and phase generator terminal 20 that are carried out in advance according to triangulation light path
Vegetarian refreshments is demarcated, and is determined for compliance with the direction vector of incident lightIncident light locus, and the side for meeting the reflected light
To vectorReflected light locus, due to incident light R1With reflected light R2Go out to reflect on preceding surface, therefore, in sky
Between on position, incident light R1With reflected light R2Between intersection point one be positioned on preceding surface, accordingly, can be according to the sky of incident light
Between intersection point between position and the locus of reflected light, reconstruct preceding surface.
In the present embodiment, by triangulation light path, after measuring the degree of polarization of target front surface reflection light, according to
Degree of polarization calculates the corresponding normal vector of the reflected light, and then the camera calibration carried out in advance by triangulation light path, it is determined that
The normal vector gone out obtained in the direction vector of the reflected light, and the direction vector and abovementioned steps of utilization reflected light, calculates
The direction vector of incident light.After the direction vector for obtaining incident light and reflected light respectively, according to triangulation light path, institute is pre-
Pixel between the luminous end for first carrying out and phase generator terminal is demarcated, and is determined for compliance with the sky of the incident light of the direction vector of the incident light
Between position, and meet the locus of the reflected light of the direction vector of reflected light, with the locus according to incident light and anti-
The intersection point penetrated between the locus of light, reconstructs preceding surface.That is, on the one hand, make use of polarization analyzing method to try to achieve
Normal vector, and then tried to achieve the direction vector of incident light and reflected light；On the other hand, triangulation method is make use of to determine respectively
Meet the locus of the incident light of incident light direction vector, and the space bit that meets the reflected light of reflected light direction vector
Put.Reconstruct information needed is obtained due to employing triangulation method and polarization analyzing method simultaneously, incident light is determined
Locus and the locus of reflected light, are reconstructed, according to both intersection points so as to simplify the calculation procedure of three-dimensionalreconstruction.
It should be noted that not limited using area source or spot light luminous end 10 in the present embodiment.
Luminous end 10 can only be carried out due to performing aforementioned process each time using in the case of spot light to certain in preceding surface point
Reconstruct, accordingly, it would be desirable to scan mode, above procedure is repeated, so as to complete the reconstruct on whole preceding surface.If luminous end 10
During using area source, then the step of avoid multiple scanning, reconstruct efficiency can be effectively improved.
Embodiment two
In a upper embodiment, luminous end 10 is not limited using area source or spot light, in the present embodiment
In order to improve reconstruct efficiency, luminous end 10 is using area source mode outgoing incident light R1.Specifically, the light source of luminous end 10 is put down
There are multiple pixels on face, distinguished herein for the first pixel with camera in phase generator terminal 20, referred to as the second pixel, light
The second pixel in the plane of source sends incident light R1, after front surface reflection, phase generator terminal 20 receives reflected light R2。
In order to calculate simplicity, here by each incident light R1Correspondence one sends the second pixel of the light, and
By each reflected light R2Correspondence one receives the first pixel of the light.In order to carry out preceding surface reconstruction, it would be desirable to really
Fixed each incident light R1Corresponding reflected light R2, and incident light R1With corresponding reflected light R2Locus, with determine
Intersection point between the two.We are with an incident light R below1And corresponding reflected light R2As a example by, restructuring procedure is carried out in detail
Describe in detail bright.
The structure of phase generator terminal 20 as shown in Figure 1, phase generator terminal 20 includes camera 21 and polarizer 22.The surface of polarizer 22
Image plane with the camera 21 is parallel, for by reflected light R described in rotatory polarization angular surveying2Degree of polarization.
Due in the system shown in figure 1, in a transmit direction, when a branch of natural light, that minute surface occurs on measured surface is anti-
When penetrating, natural light is different with the reflectivity of S ripples due to the P ripples in light wave, the incident light R of natural light1The reflected light R for being reflected2Meeting
It is changed into partial poolarized light, and reflected light R2Mainly contain the polarised light of S ripples.Can be set on light direction by entering to phase generator terminal 20
The polarizer 22 put is rotated, and determines the light intensity of each polarization angle.Fig. 2 is the schematic diagram of degree of polarization ρ, as shown in Fig. 2 can be with
According to the light intensity of each polarization angle, reflected light R is calculated2Degree of polarization ρ.
Specifically, according to fresnel formula, the functional relation between degree of polarization ρ and incidence angle θ can be obtained：
Wherein, n is the material relative index of refraction of the target.And according to the incidence angle θ the built typically smaller than cloth of system
This special angle of scholar, just can uniquely determine out incidence angle θ.
But after determination incidence angle θ, in addition it is also necessary to determine the azimuth Ф of the plane of incidence, normal vector can be determinedAnd
For the characteristic that incident surface azimuth Ф can be based on reflected light S ripples, specifically, because in mirror-reflection, S ripples are occupied instead
Penetrate light R2Main component, therefore so that reflected light R2Polarization direction have with the azimuth Ф of the plane of incidence it is orthogonal right
Should be related to.By rotatory polarization piece, the most strong direction of light intensity is found, this direction is just reflected light R2Polarization direction.Fig. 3 is
Normal vectorSchematic diagram, as shown in figure 3, because system building has determined that light path as shown in Figure 1 with luminous end 10, phase generator terminal
Relative position relation between 20 and target 40, under limiting herein, it may be determined that the azimuth Ф of the plane of incidence should be towards anti-
The luminous end 10 and camera 21 penetrated on direction, rather than therewith back to.The azimuth of the plane of incidence can thus be uniquely determined out
Ф。
After the azimuth Ф of incidence angle θ and the plane of incidence is obtained, can be updated in equation below：
Calculate and obtain normal vector
According to the camera calibration for being carried out in advance to triangulation light path in advance, the direction vector of reflected light is determined.Tool
Body ground, carries out camera calibration to the triangulation light path in advance, determines in the image plane of phase generator terminal 20 corresponding to each pixel
World coordinate system in coordinate points, by reflected light R1First pixel of imaging is corresponding in the image plane of phase generator terminal 20
Coordinate points in world coordinate system, and the world coordinate system coordinate points line corresponding to image plane photocentre, by the direction vector of line
As the direction vector of reflected light
And then, using the direction vector of reflected lightAnd normal vectorCalculate the direction vector of incident lightSpecifically, will be anti-
Penetrate the direction vector of lightAnd normal vectorSubstitute into formula
Obtain the direction vector of the incident light
It is then possible to the pixel mark between the luminous end 10 carried out in advance according to triangulation light path and phase generator terminal 20
It is fixed, it is determined for compliance with the direction vector of incident lightIncident light locus, and the direction vector for meeting the reflected lightReflected light locus.
Specifically, in triangulation light path, in advance to carrying out pixel demarcation between luminous end 10 and phase generator terminal 20,
Obtain the corresponding relation between each pixel and each pixel in the image plane of phase generator terminal 20, root on the source plane of luminous end 10
According in the image plane of phase generator terminal 20 for the reflected light R2First pixel of imaging, it is right that inquiry pixel demarcation is obtained
Should be related to, obtain the second pixel of the outgoing correspondence incident light on the source plane of the luminous end 10.According to the first pixel
Point position and the direction vector of reflected lightDetermine the reflected light R2Locus, and according to second pixel
Point position and the direction vector of the incident lightDetermine the incident light R1Locus.
According to incident light R1Locus and reflected light R2Locus between intersection point, reconstruct preceding surface.
Here an incident light R is only described1And corresponding reflected light R2, in actual applications, it is necessary to all entering
Penetrate light R1And corresponding reflected light R2Solved, complete reconstruction can be carried out to preceding surface.
It should be noted that in the present embodiment, when the demarcation of the pixel between luminous end 10 and phase generator terminal 20 is carried out, examining
Considering target has strong internal reflection, employs the mode that Gray code is projected to target, calculates direct in the second pixel
Composition and indirect composition, compare the light intensity relation interval with the two composition, determine the 0 of pixel, and 1 value obtains the pixel of part first
And the second corresponding relation between pixel, then by mask and iterative manner complete residual pixel between matching.Fig. 4 is Gray
The schematic diagram that code pixel is demarcated, those skilled in the art can also use other coded structured lights, in the present embodiment to this not
Limit.
Embodiment three
In order in clear explanation previous embodiment, mentioned single face three-dimensionalreconstruction device 30, Fig. 5 is three-dimensional single face
The structural representation of device 30 is reconstructed, as shown in figure 5, single face three-dimensionalreconstruction device 30 includes：Normal vector computing module 31, side
To vector calculation module 32, locus computing module 33 and reconstructed module 34.
Normal vector computing module 31, for the degree of polarization according to the reflected light, calculates the corresponding normal direction of the reflected light
Amount.
Direction vector computing module 32, for the camera calibration carried out in advance by the triangulation light path, determines
The direction vector of the reflected light, using the direction vector and the normal vector of the reflected light, calculates the side of the incident light
To vector.
Locus computing module 33, for the luminous end and the phase generator terminal that are carried out in advance according to the triangulation light path
Between pixel demarcate, be determined for compliance with the locus of the incident light of the direction vector of the incident light, and meet described
The locus of the reflected light of the direction vector of reflected light.
Reconstructed module 34, for the friendship between the locus of the locus according to the incident light and the reflected light
Point, reconstructs the preceding surface.
Single face three-dimensionalreconstruction device 30 is mainly used in triangulation light path carrying out three to the preceding surface of the target
Dimension reconstruct, wherein, the luminous end of triangulation light path irradiates the preceding surface using natural light as incident light, and the triangle is surveyed
The phase generator terminal for measuring light path obtains the reflected light that the preceding surface is reflected.
Due to single face three-dimensionalreconstruction device 30 on the one hand, polarization analyzing method is make use of to try to achieve normal vector, Jin Erqiu
Obtained the direction vector of incident light and reflected light；On the other hand, make use of triangulation method to determine respectively and meet incident light
The locus of the incident light of direction vector, and meet the locus of the reflected light of reflected light direction vector.Due to simultaneously
Employ triangulation method and polarization analyzing method and obtain reconstruct information needed, determine the locus of incident light and anti-
The locus of light is penetrated, is reconstructed according to both intersection points, so as to simplify the calculation procedure of three-dimensionalreconstruction.
The device that the present embodiment is provided is used to be performed in the system that embodiment one and two is provided the phase of three-dimensionalreconstruction
Step is answered, implementing referring to the associated description in previous embodiment for step is repeated no more in the present embodiment to this.
Example IV
A kind of single face three-dimensional reconstruction method is present embodiments provided, in the system that such as Fig. 1 is provided, carrying out list
Surface three dimension is reconstructed.The method that the present embodiment is provided can be performed specifically by the process chip of phase generator terminal 20 in Fig. 1.Fig. 6 is
The schematic flow sheet of a kind of single face three-dimensional reconstruction method that the embodiment of the present invention four is provided, as shown in fig. 6, method includes：
Step 401, according to the degree of polarization of reflected light, calculates the corresponding normal vector of reflected light.
Specifically, the degree of polarization ρ of the reflected light for being obtained will be measured, substitutes into the function between degree of polarization and incidence angle
Relation, obtains the incidence angle θ of the reflected light correspondence incident light；Polarization direction and the incident light institute according to the reflected light
It is perpendicular in the azimuth Ф of the plane of incidence, it is determined that pointing to the azimuth Ф of the plane of incidence of the triangulation light path；According to described
The incidence angle θ of incident light, and the plane of incidence azimuth Ф, determine the normal vector
Wherein, the functional relation between degree of polarization ρ and incidence angle θ is：
N is the material relative index of refraction of the target.
Step 402, the camera calibration carried out in advance by triangulation light path determines the direction vector of reflected light.
Specifically, camera calibration is carried out to the triangulation light path in advance, is determined each in the image plane of the phase generator terminal
The coordinate points in world coordinate system corresponding to pixel；By the reflected light in the image plane of the phase generator terminal imaging
First pixel, with the coordinate points line corresponding to first pixel；Using the direction vector of the line as described anti-
Penetrate the direction vector of light.
Step 403, using the direction vector and normal vector of reflected light, calculates the direction vector of incident light.
Specifically, by the direction vector of the reflected lightWith the normal vectorSubstitute into formulaObtain the direction vector of the incident light
Step 404, the pixel mark between the luminous end carried out in advance according to the triangulation light path and phase generator terminal
It is fixed, be determined for compliance with the locus of the incident light of the direction vector of the incident light, and meet the direction of the reflected light to
The locus of the reflected light of amount.
Specifically, in the triangulation light path, in advance to carrying out pixel mark between the luminous end and phase generator terminal
It is fixed, obtain corresponding between each pixel and each pixel in the image plane of the phase generator terminal on the source plane of the luminous end
Relation.For the first pixel of the reflection photoimaging in image plane according to the phase generator terminal, inquiry pixel demarcates institute
The corresponding relation of acquisition, obtains the second pixel of the outgoing correspondence incident light on the source plane of the luminous end.According to institute
The direction vector of the first pixel position and the reflected light is stated, the locus of the reflected light is determined, and according to institute
The direction vector of the second pixel position and the incident light is stated, the locus of the incident light is determined.
Alternatively, demarcate and can be surveyed using in the triangle to carrying out pixel between the luminous end and phase generator terminal in advance
In amount light path, by the way of the source plane of the luminous end is to the preceding surface projection coded structured light, pixel is carried out
Demarcate.Wherein, coding includes Gray code.
Step 405, the locus according to the incident light and the intersection point between the locus of the reflected light, reconstruct
The preceding surface.
In the present embodiment, by triangulation light path, after measuring the degree of polarization of target front surface reflection light, according to
Degree of polarization calculates the corresponding normal vector of the reflected light, and then the camera calibration carried out in advance by triangulation light path, it is determined that
The normal vector gone out obtained in the direction vector of the reflected light, and the direction vector and abovementioned steps of utilization reflected light, calculates
The direction vector of incident light.After the direction vector for obtaining incident light and reflected light respectively, according to triangulation light path, institute is pre-
Pixel between the luminous end for first carrying out and phase generator terminal is demarcated, and is determined for compliance with the sky of the incident light of the direction vector of the incident light
Between position, and meet the locus of the reflected light of the direction vector of reflected light, with the locus according to incident light and anti-
The intersection point penetrated between the locus of light, reconstructs preceding surface.That is, on the one hand, make use of polarization analyzing method to try to achieve
Normal vector, and then tried to achieve the direction vector of incident light and reflected light；On the other hand, triangulation method is make use of to determine respectively
Meet the locus of the incident light of incident light direction vector, and the space bit that meets the reflected light of reflected light direction vector
Put.Reconstruct information needed is obtained due to employing triangulation method and polarization analyzing method simultaneously, incident light is determined
Locus and the locus of reflected light, are reconstructed, according to both intersection points so as to simplify the calculation procedure of three-dimensionalreconstruction.
One of ordinary skill in the art will appreciate that：Realizing all or part of step of above-mentioned each method embodiment can lead to
The related hardware of programmed instruction is crossed to complete.Foregoing program can be stored in a computer read/write memory medium.The journey
Sequence upon execution, performs the step of including above-mentioned each method embodiment；And foregoing storage medium includes：ROM, RAM, magnetic disc or
Person's CD etc. is various can be with the medium of store program codes.
Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；To the greatest extent
Pipe has been described in detail with reference to foregoing embodiments to the present invention, it will be understood by those within the art that：Its according to
The technical scheme described in foregoing embodiments can so be modified, or which part or all technical characteristic are entered
Row equivalent；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology
The scope of scheme.
Claims (10)
1. a kind of single face three-dimensional reconstruction method, it is characterised in that in triangulation light path to target with minute surface
The preceding surface of reflection carries out three-dimensionalreconstruction, and the luminous end of the triangulation light path is described as incident light irradiation using natural light
Preceding surface, the phase generator terminal of the triangulation light path obtains the reflected light that the preceding surface is reflected, and methods described includes：
According to the degree of polarization of the reflected light, the corresponding normal vector of the reflected light is calculated；
The camera calibration carried out in advance by the triangulation light path, determines the direction vector of the reflected light；
Using the direction vector and the normal vector of the reflected light, the direction vector of the incident light is calculated；
Pixel between the luminous end and phase generator terminal that are carried out in advance according to the triangulation light path is demarcated, and is determined for compliance with institute
The locus of the incident light of the direction vector of incident light is stated, and meets the sky of the reflected light of the direction vector of the reflected light
Between position；
Locus according to the incident light and the intersection point between the locus of the reflected light, reconstruct the preceding surface.
2. method according to claim 1, it is characterised in that described to be carried out in advance according to the triangulation light path
Pixel between luminous end and phase generator terminal is demarcated, and is determined for compliance with the space bit of the incident light of the direction vector of the incident light
Put, and meet the locus of the reflected light of the direction vector of the reflected light, including：
In the triangulation light path, in advance to carrying out pixel demarcation between the luminous end and phase generator terminal, obtain described
Corresponding relation on the source plane of luminous end between each pixel and each pixel in the image plane of the phase generator terminal；
For the first pixel of the reflection photoimaging in image plane according to the phase generator terminal, inquiry pixel is demarcated and obtained
The corresponding relation for obtaining, obtains the second pixel of the outgoing correspondence incident light on the source plane of the luminous end；
According to the first pixel position and the direction vector of the reflected light, the locus of the reflected light is determined,
And according to the second pixel position and the direction vector of the incident light, determine the locus of the incident light.
3. method according to claim 2, it is characterised in that described in advance to being carried out between the luminous end and phase generator terminal
Pixel is demarcated, including：
In the triangulation light path, using the source plane of the luminous end to the preceding surface projection coded structured light
Mode, carries out pixel demarcation.
4. method according to claim 1, it is characterised in that the degree of polarization according to the reflected light, calculates described
The corresponding normal vector of reflected light includes：
The degree of polarization ρ of the reflected light for being obtained will be measured, substitute into the functional relation between degree of polarization and incidence angle, obtain institute
State the incidence angle θ of reflected light correspondence incident light；
Polarization direction according to the reflected light is perpendicular with the azimuth Ф of the plane of incidence where the incident light, it is determined that pointing to institute
State the azimuth Ф of the plane of incidence of triangulation light path；
According to the incidence angle θ of the incident light, and the plane of incidence azimuth Ф, determine the normal vector
5. method according to claim 4, it is characterised in that the functional relation between the degree of polarization ρ and incidence angle θ
For：
Wherein, n is the material relative index of refraction of the target.
6. method according to claim 1, it is characterised in that the direction vector and the method using the reflected light
Vector, the direction vector for calculating the incident light includes：
By the direction vector of the reflected lightWith the normal vectorSubstitute into formulaObtain the direction vector of the incident light
7. the method according to claim any one of 1-6, it is characterised in that the target is pellucidity, before described
The relative rear surface in surface is provided with light-absorption layer.
8. a kind of single face three-dimensionalreconstruction device, it is characterised in that in triangulation light path to target with minute surface
The preceding surface of reflection carries out three-dimensionalreconstruction, and the luminous end of the triangulation light path is described as incident light irradiation using natural light
Preceding surface, the phase generator terminal of the triangulation light path obtains the reflected light that the preceding surface is reflected, and described device includes：
Normal vector computing module, for the degree of polarization according to the reflected light, calculates the corresponding normal vector of the reflected light；
Direction vector computing module, for the camera calibration carried out in advance by the triangulation light path, determines described anti-
Penetrate the direction vector of light；Using the direction vector and the normal vector of the reflected light, the direction vector of the incident light is calculated；
Locus computing module, between the luminous end and phase generator terminal that are carried out in advance according to the triangulation light path
Pixel is demarcated, and is determined for compliance with the locus of the incident light of the direction vector of the incident light, and meet the reflected light
Direction vector reflected light locus；
Reconstructed module, for the intersection point between the locus of the locus according to the incident light and the reflected light, weight
Preceding surface described in structure.
9. a kind of single face three-dimensional reconfiguration system, it is characterised in that the system be used for target with mirror-reflection before
Surface carries out three-dimensionalreconstruction, and the system includes：Luminous end, phase generator terminal, and the single face Three-dimensional Gravity described in claim 10
Structure device；
The luminous end irradiates the preceding surface of the target using natural light as incident light, and the incident light is via the preceding table
Face reflection obtains reflected light, and the reflected light incides the phase generator terminal；There is folder between the incident light and the reflected light
Angle；
The single face three-dimensionalreconstruction device, is connected with the phase generator terminal, for gathering the reflected light that the phase generator terminal is received,
The preceding surface is reconstructed with according to the reflected light.
10. system according to claim 9, it is characterised in that the phase generator terminal includes camera and polarizer；
The polarizer, is arranged at the light direction that enters of the camera, and the surface of the polarizer is put down with the image plane of the camera
OK, for the degree of polarization by reflected light described in rotatory polarization angular surveying.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108416834A (en) * | 2018-01-08 | 2018-08-17 | 长春理工大学 | Transparent objects surface three dimension reconstructing method, device and system |
| WO2019140778A1 (en) * | 2018-01-17 | 2019-07-25 | 深圳中科飞测科技有限公司 | Three-dimensional reconstruction system and three-dimensional reconstruction method |
| CN113108720A (en) * | 2021-04-06 | 2021-07-13 | 北京工业大学 | Surface three-dimensional reconstruction method based on linearly polarized light and fringe reflection |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103389075B (en) * | 2013-07-22 | 2015-07-22 | 北京理工大学 | Real-time non-contact water-surface ripple measuring method based on visible-light polarization imaging |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108416834A (en) * | 2018-01-08 | 2018-08-17 | 长春理工大学 | Transparent objects surface three dimension reconstructing method, device and system |
| WO2019140778A1 (en) * | 2018-01-17 | 2019-07-25 | 深圳中科飞测科技有限公司 | Three-dimensional reconstruction system and three-dimensional reconstruction method |
| US11448498B2 (en) | 2018-01-17 | 2022-09-20 | Skyverse Limited | Three-dimensional reconstruction system and three-dimensional reconstruction method |
| CN113108720A (en) * | 2021-04-06 | 2021-07-13 | 北京工业大学 | Surface three-dimensional reconstruction method based on linearly polarized light and fringe reflection |
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