CN106840034A - 3 D scanning system and its application with the speckle projector - Google Patents
3 D scanning system and its application with the speckle projector Download PDFInfo
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- CN106840034A CN106840034A CN201510885151.4A CN201510885151A CN106840034A CN 106840034 A CN106840034 A CN 106840034A CN 201510885151 A CN201510885151 A CN 201510885151A CN 106840034 A CN106840034 A CN 106840034A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
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Abstract
The invention discloses a 3 D scanning system with the speckle projector and its application, wherein described 3 D scanning system includes a speckle projector, one infrared photography module and a color infrared camera module, the wherein described speckle projector is to scene or object projection infrared light, the infrared photography module is obtained the IR images of scene or object by obtaining by least a portion infrared light that scene or object reflect, the color infrared camera module is obtained the RGBIR images of scene or object by obtaining by least a portion infrared light and visible ray of scene or object reflection, follow-up, IR images in the RGBIR images that the IR images obtained based on the infrared photography module and the color infrared camera module are obtained obtain the gray scale three-dimensional data of scene or object.
Description
Technical field
The present invention relates to 3-D scanning field, more particularly to one have the speckle projector 3 D scanning system and its
Using.
Background technology
At present, the technology of the three-dimensional data related to object is obtained by scanning object in industrial design, reverse
The every field such as engineering, robot guiding, medical biotechnology and consumer entertainment all start application, and with wide
Wealthy market prospects.With advances in technology, these fields for the acquisition of three-dimensional data speed and precision all
Propose more stringent requirement.
The acquisition of three-dimensional data is realized by three-dimensional scanning device, most commonly contactless at this stage
Three-dimensional scanning device, it is actually a kind of laser measuring equipment, this contactless three-dimensional scanning device
Operation principle is to project laser to object, then by analyzing the laser that its surface by object for obtaining is reflected
Mode obtains the surface of object, so as to further obtain the three-dimensional data of object.However, at this stage non-
The structure of contact-type 3 D scanning device is more complicated, causes its Reliability comparotive low, is especially obtaining object
Three-dimensional data during, it is necessary to product spraying be used to help obtain its surface material, this causes
The scope of application of this contactless three-dimensional scanning device is narrow.What is more important, it is this contactless
Three-dimensional scanning device cannot accurately acquire the three-dimensional data being kept in motion.In addition, in the market
Start to occur in that a kind of three-dimensional scanning device of binocular class, it provides two cameras, is taken the photograph with by analyzing each
The three-dimensional data of object is obtained in the mode of the image of the object of different position shootings as head, however, this side
The ratio of precision of the three-dimensional data of the object that formula is obtained is relatively low, and its complex structure, and portable performance is low, especially
During it is employed, when the feature in scene is fewer, often occur that the three-dimensional data of acquisition is lost
The situation of effect, Reliability comparotive is low.
The content of the invention
It is an object of the present invention to provide a 3 D scanning system with the speckle projector and its application, its
Described in 3 D scanning system being applied to the scene of complexity or during object, its scene for obtaining or object
The precision of three-dimensional data can significantly be lifted.
It is an object of the present invention to provide a 3 D scanning system with the speckle projector and its application, its
Described in 3 D scanning system include an infrared photography module, a color infrared camera module and a speckle projection
Device, the speckle projector can obtain scene in the infrared photography module and the color infrared camera module
Or object image when to scene or object projection infrared light as supplement light, by such mode,
The precision of the scene of the 3 D scanning system acquisition or the three-dimensional data of object can be improved.
It is an object of the present invention to provide a 3 D scanning system with the speckle projector and its application, its
Described in infrared photography module, the color infrared camera module and the speckle projector pass through frame synchronizing signal
Mode be attached, to improve the infrared photography module, the color infrared of the 3 D scanning system
The synchronism and reliability of camera module and the speckle projector.
It is an object of the present invention to provide a 3 D scanning system with the speckle projector and its application, its
In by the color infrared camera module obtain scene or object RGBIR images in IR images and
Scene or the IR images of object that the infrared photography module is obtained are obtained in that the gray scale of scene or object
Three-dimensional data.
It is an object of the present invention to provide a 3 D scanning system with the speckle projector and its application, its
In by the color infrared camera module obtain scene or object the RGBIR images in RGB scheme
As being obtained in that at least one of aberration feature and textural characteristics of scene or object, and can be assigned
Gray scale three-dimensional data, so that the 3 D scanning system is obtained in that the color three dimension data of scene or object.
It is an object of the present invention to provide a 3 D scanning system with the speckle projector and its application, its
Described in 3 D scanning system there is low cost, small volume, advantage low in energy consumption so that the three-dimensional is swept
The system of retouching is suitable to popularize on a large scale.
It is an object of the present invention to provide a 3 D scanning system with the speckle projector and its application, its
Described in 3 D scanning system include a main part, the infrared photography module, the color infrared camera module
The main part is set and is integrated into the speckle projector.
It is an object of the present invention to provide a 3 D scanning system with the speckle projector and its application, its
Described in 3 D scanning system also include a supporting part, the main part is removably installed in the supporting part,
The supporting part can be supported to predeterminated position and preset height the main part, and in the plane of out-of-flatness
On, the supporting part can also make the main part be maintained at preferably use state.
It is an object of the present invention to provide a 3 D scanning system with the speckle projector and its application, its
In based at least two angles obtain scene or object the IR images, be obtained in that scene or
The gray scale three-dimensional data of object.
It is an object of the present invention to provide a 3 D scanning system with the speckle projector and its application, its
In based on the scene obtained in angle or the RGB image of object, be obtained in that scene or object
Color character and at least one of textural characteristics, and the scene that carries of the RGB image or object
Feature subsequently can be endowed gray scale three-dimensional data, so as to form color three dimension data.
It is an object of the present invention to provide a 3 D scanning system with the speckle projector and its application, its
Described in 3 D scanning system provide an interface for a terminal is connected into the 3 D scanning system, it is so grey
Degree three-dimensional data and color three dimension data can be sent to the terminal by the interface, such as at one
In embodiment, when the terminal is implemented as display terminal, and in gray scale three-dimensional data and color three dimension
After data are sent to the terminal, the 3D rendering of scene or object can be shown in the terminal.
The 3 D scanning system of the invention includes the infrared photography module, one that are connected by frame synchronizing signal
Color infrared camera module and a speckle projector, wherein obtaining scene or thing in the 3 D scanning system
During the three-dimensional data of body, the speckle projector is described infrared to scene or object projection infrared light
Camera module and the color infrared camera module are by obtaining at least a portion reflected by scene or object
Infrared light to obtain the IR images and RGBIR images of scene or object respectively, to be subsequently based on the IR
IR images in image and the RGBIR images obtain the gray scale three-dimensional data of scene or object.Further
Ground, the 3 D scanning system can also will in the RGB image in the RGBIR images carry scene or
The feature of object assigns gray scale three-dimensional data, further to obtain the color three dimension data of scene or object.It is excellent
Selection of land, the RGB image in the RGBIR images includes color character and the texture spy of scene or object
At least one of levy.By the 3 D scanning system of the invention, the scene being acquired or the three of object
The efficiency and precision of dimension data can be greatly improved, and due to the speckle projector, described infrared take the photograph
As being attached by way of frame synchronizing signal between module and the color infrared camera module, so that
The synchronism of the speckle projector, the infrared photography module and the color infrared camera module more, is entered
And cause the 3 D scanning system during the three-dimensional data of scene or object is obtained, it is not necessary to field
The surface of scape or object coats any auxiliary substance, so not only simplifies the three-dimensional for obtaining scene or object
The step of data, but also any damage will not be caused to scene the latter's object.
In order to achieve the above object, the present invention also provides one has the 3 D scanning system of the speckle projector, its bag
A speckle projector, an infrared photography module and a color infrared camera module are included, wherein the speckle is projected
, to scene or object projection infrared light, the infrared photography module is by obtaining what scene or object reflected for device
At least a portion infrared light obtains the IR images of scene or object, and the color infrared camera module is by obtaining
Take at least a portion infrared light for being reflected by scene or object and visible ray obtains scene or object
RGBIR images, follow-up, the IR images and the colour obtained based on the infrared photography module are red
IR images in the RGBIR images that outer camera module is obtained obtain the dimension of gray scale three of scene or object
According to.
A preferred embodiment of the invention, by described in color infrared camera module acquisition
The feature related to scene or object that RGB image in RGBIR images is carried assigns the dimension of gray scale three
According to obtain the color three dimension data of scene or object.
A preferred embodiment of the invention, it is described that the color infrared camera module is obtained
The feature related to scene or object that the RGB image in RGBIR images is carried includes color character
At least one of with textural characteristics.
A preferred embodiment of the invention, the speckle projector is a diffraction speckle projector.
A preferred embodiment of the invention, the 3 D scanning system also includes a processor, wherein
The speckle projector, the infrared photography module and the color infrared camera module are by by frame synchronizing signal
Mode be connected to the processor.
A preferred embodiment of the invention, the 3 D scanning system also includes an at least interface, often
The individual interface is connected to the processor respectively, and wherein each described interface is described for a terminal is connected to
3 D scanning system.
A preferred embodiment of the invention, the 3 D scanning system also includes a main part, wherein
The main part includes a housing, a lid and a fixing body, and the housing forms an installation cavity, described to dissipate
The spot projector, the infrared photography module and the color infrared camera module are arranged at the installation respectively
Body, the fixing body is installed in the installation cavity of the housing, and the lid is installed in the housing simultaneously
And the accent of the installation cavity of the housing is covered in, wherein the lid allows the speckle projector to field
At least a portion infrared light that scape or object projection infrared light and allowing is reflected by scene or object and visible
Light is received by the infrared photography module and the color infrared camera module.
A preferred embodiment of the invention, the main part also includes a hand-held main body, described hand-held
Main body is arranged at the housing.
A preferred embodiment of the invention, the infrared photography module and color infrared shooting mould
Group is arranged at the both sides of the speckle projector.
A preferred embodiment of the invention, the 3 D scanning system also includes a supporting part, wherein
The housing of the main part is removably installed in the supporting part.
A preferred embodiment of the invention, the supporting part includes a supportive body, a stationary body
And an at least support component, the stationary body is adjustably arranged at the upper end of the supportive body, each
The support component is adjustably arranged at the lower end of the supportive body, and the main part the housing
It is removably installed in the stationary body.
According to another aspect of the present invention, the present invention also provides one and obtains scene or thing by way of scanning
The method of the three-dimensional data of body, wherein the three-dimensional data acquisition methods comprise the following steps：
A () is obtained by an infrared photography module and is obtained by least a portion infrared light that scene or object reflect
Obtain the IR images of scene or object；
B () obtains at least a portion reflected by scene or object by a color infrared camera module infrared
Light and visible ray obtain the RGBIR images of scene or object；And
C () is based on the IR images and the color infrared camera module that the infrared photography module is obtained
IR images in the RGBIR images for obtaining obtain the gray scale three-dimensional data of scene or object.
A preferred embodiment of the invention, the three-dimensional data acquisition methods also include step：
RGB image in the d RGBIR images that () obtains the color infrared camera module is carried
Scene or object feature assign gray scale three-dimensional data, to obtain the color three dimension number of scene or object
According to.
A preferred embodiment of the invention, it is described that the color infrared camera module is obtained
The feature related to scene or object that the RGB image in RGBIR images is carried includes color character
At least one of with textural characteristics.
A preferred embodiment of the invention, in the above-mentioned methods, according in the RGBIR images
RGB channel and IR passages, be that the RGB image and the IR scheme by the RGBIR picture breakdowns
Picture.
A preferred embodiment of the invention, in the above-mentioned methods, corrects from the RGBIR images
In the RGB channel that decomposites to eliminate influence of the infrared light to RGB channel, so as to obtain the RGB figures
Picture, and the IR passages that correction is decomposited from the RGBIR images, so as to obtain the IR images.
A preferred embodiment of the invention, in the above-mentioned methods, a frame synchronizing signal is synchronously sent out
A speckle projector, the infrared photography module and the color infrared camera module are sent to, so that the speckle
The projector obtains scene or object respectively in the infrared photography module and the color infrared camera module
To scene or object projection infrared light when the IR images and the RGBIR images.
A preferred embodiment of the invention, in the above-mentioned methods, a frame synchronizing signal is synchronously sent out
A speckle projector, the infrared photography module and the color infrared camera module are sent to, so that the speckle
The projector obtains scene or object respectively in the infrared photography module and the color infrared camera module
To scene or object projection infrared light when the IR images and the RGBIR images.
A preferred embodiment of the invention, in the above-mentioned methods, is receiving the speckle projector
Time delay after frame synchronizing signal, and the speckle projector is after the delay to scene or object projection infrared light,
So as to the next frame exposure that the speckle projector is the infrared photography module and the color infrared camera module
Light provides infrared light light filling.
According to another aspect of the present invention, the present invention also provides one and obtains scene or thing by way of scanning
The method of the three-dimensional data of body, the three-dimensional data acquisition methods comprise the following steps：
(A) the IR images of scene or object are obtained respectively at least two angles；
(B) scene or thing are obtained based on the scene obtained in each angle or the IR images of object
The gray scale three-dimensional data of body；And
(C) RGB image of scene or object is obtained in an angle, and by the RGB image
The scene of carrying or the feature of object assign gray scale three-dimensional data, to obtain the color three dimension of scene or object
Data.
A preferred embodiment of the invention, the scene carried in the RGB image or object
Feature includes at least one of color character and textural characteristics.
A preferred embodiment of the invention, in the above-mentioned methods, by an infrared photography module one
Individual angle is obtained and obtained described in scene or object by least a portion infrared light that scene or object reflect
IR images, are obtained in another angle by a color infrared camera module and are reflected extremely by scene or object
Few a part of infrared light and visible ray obtain the RGBIR images of scene or object, and by described in
The IR images and the RGB image that object is combined after scene are respectively obtained after RGBIR picture breakdowns.
A preferred embodiment of the invention, in the above-mentioned methods, according to the RGB in the RGBIR
Passage and IR passages, the RGB image and the IR images are decomposed into by the RGB image.
A preferred embodiment of the invention, in the above-mentioned methods, corrects from the RGBIR images
In the RGB channel that decomposites to eliminate influence of the infrared light to RGB channel, so as to obtain the RGB figures
Picture, and the IR passages that correction is decomposited from the RGBIR images, so as to obtain the IR images.
A preferred embodiment of the invention, also included step before the step (A)：Pass through
The one speckle projector is to scene or object projection infrared light.
A preferred embodiment of the invention, in the above-mentioned methods, a frame synchronizing signal is synchronously sent out
The speckle projector, the infrared photography module and the color infrared camera module are sent to, so that described dissipate
The spot projector obtains scene or object respectively in the infrared photography module and the color infrared camera module
The IR images and the RGBIR images when to scene or object projection infrared light.
A preferred embodiment of the invention, in the above-mentioned methods, is receiving the speckle projector
Time delay after frame synchronizing signal, and the speckle projector is after the delay to scene or object projection infrared light,
So as to the next frame exposure that the speckle projector is the infrared photography module and the color infrared camera module
Light provides infrared light light filling.
Brief description of the drawings
Fig. 1 is the structure of block diagram figure of 3 D scanning system according to a preferred embodiment of the invention.
Fig. 2 is the connection of the Each part of the 3 D scanning system of above preferred embodiment of the invention
Relation schematic diagram.
Fig. 3 is the workflow schematic diagram of the 3 D scanning system of above preferred embodiment of the invention.
Fig. 4 is that the speckle projector of the 3 D scanning system of above preferred embodiment of the invention will be infrared
Schematic diagram of the light projection to the feature formed in scene or object when scene or object.
Fig. 5 is the main part and supporting part of the 3 D scanning system of above preferred embodiment of the invention
The schematic perspective view of installment state.
Fig. 6 is the main part and supporting part of the 3 D scanning system of above preferred embodiment of the invention
The schematic perspective view of disassembly status.
Fig. 7 is the exploded pictorial of the main part of the 3 D scanning system of above preferred embodiment of the invention
Figure.
Fig. 8 is a variant embodiment of the 3 D scanning system of above preferred embodiment of the invention
Schematic perspective view.
Fig. 9 is another deformation implementation side of the 3 D scanning system of above preferred embodiment of the invention
The schematic perspective view of formula.
Figure 10 be above preferred embodiment of the invention scanning by way of obtain scene or object
Three-dimensional data a schematic flow sheet for method.
Figure 11 be above preferred embodiment of the invention scanning by way of obtain scene or object
Three-dimensional data another method schematic flow sheet.
Specific embodiment
Below will be by the way that the invention will be further described in conjunction with the accompanying drawings and embodiments, so that any art
Technical staff can manufacture and use the present invention.Embodiment in the following description only as an example with modification thing
To the field, those skilled in the art will be apparent.The General Principle for defining in the following description will be suitable
For other embodiments, substitute changes thing, in equivalence enforcement and application, without deviating from spirit of the invention
And scope.
Such as Fig. 1 to Fig. 3, the 3-D scanning system with the speckle projector according to a preferred embodiment of the invention
System will be elucidated with, wherein the 3 D scanning system includes a speckle projector 10, an infrared photography module 20
And a color infrared camera module 30, and the speckle projector 10, the and of infrared photography module 20
The color infrared camera module 30 is attached by way of frame synchronizing signal, to ensure in the three-dimensional
It is the speckle projector 10, described red during scanning system obtains the three-dimensional data of scene or object
The synchronism and reliability of outer camera module 20 and the color infrared camera module 30.
It is what the 3 D scanning system obtained scene or object by way of scanning scene or object
During who data, frame synchronizing signal can simultaneously drive the speckle projector 10, described red
Outer camera module 20 and the color infrared camera module 30 work.
Specifically, the speckle projector 10 to scene or object projection infrared ray, think scene or
Object provides supplement light source.One of the invention preferred embodiment in, the quilt of the speckle projector 10
It is embodied as the diffraction speckle projector 10.The infrared photography module 20 is reflected by receiving by scene or object
At least a portion infrared light and to it photoelectric conversion is carried out to obtain the IR images of scene or object, ability
The technical staff in domain is, it is understood that the infrared photography module 20 is after the light wave for responding infrared slide
The video image of Bayer format can be exported, the video image of the Bayer format being output is exactly of the invention
The IR images.Accordingly, the color infrared camera module 30 is anti-by scene or object by receiving
At least a portion infrared light for penetrating and photoelectric conversion is carried out to it to obtain the RGBIR images of scene or object,
Those skilled in the art, it is understood that the color infrared camera module 30 can respond simultaneously it is visible
The light wave of light and infrared band and obtain the RGBIR images of scene or object, wherein in the RGBIR
RGB channel and IR passages are included in image, can be respectively after by the RGBIR images according to channel decomposition
Obtain RGB image and IR images, i.e. color image parts and the infrared image part of scene or object.This
The technical staff in field by the light that scene and object reflect it is understood that not only include the speckle projector
10 infrared lights projected to scene or object, and the light comprising its all band, such as natural light, light
Deng so that the color infrared camera module 30 energy after these light reflected by scene or object are received
Enough obtain the RGBIR images of scene or object.Subsequently, obtained based on the infrared photography module 20
Scene or object the IR images and the color infrared camera module 30 obtain scene or object
The RGBIR images can further obtain the three-dimensional data of scene or object.
More specifically, the scene or the IR images of object for being obtained based on the infrared photography module 20
The IR in the scene or the RGBIR images of object that are obtained with the color infrared camera module 30
Image is obtained in that the gray scale three-dimensional data of scene or object.Subsequently, by the color infrared camera module
Scene or thing that the RGB image in the RGBIR images of 30 scenes for obtaining or object is carried
The feature of body assigns gray scale three-dimensional data, to obtain the color three dimension data of scene or object.It is worth mentioning
Be, in this exemplary explanation of the invention, scene that the color infrared camera module 30 is obtained or
The RGB image in the RGBIR images of person's object carries the color character and texture of scene or object
At least one of feature, it will be appreciated by those of skill in the art that field can also be carried in the RGB image
Scape or object except other features of color character and textural characteristics.
Further, as depicted in figs. 1 and 2, the 3 D scanning system of the invention also includes a processor
40,30 points of the speckle projector 10, the infrared photography module 20 and the color infrared camera module
The processor 40 is not connected to.The processor 40 is set can be exported a frame synchronizing signal to divide
The speckle projector 10, the infrared photography module 20 and the color infrared camera module 30 are not driven
Work, and follow-up, the infrared photography module 20 and the color infrared camera module 30 can divide
The scene or the IR images of object that do not obtain and the RGBIR images are sent to the processor 40 and enter
Row treatment, to obtain the three-dimensional data of scene or object.In one embodiment of the invention, such as Fig. 2 institutes
Show, after the frame synchronizing signal is exported by the processor 40, the frame synchronizing signal can simultaneously be sent to institute
Infrared photography module 20 and the color infrared camera module 30 are stated, in the infrared photography module 20 and institute
State after color infrared camera module 30 receives the frame synchronizing signal and export two field picture respectively, it is preferable that described
After the speckle projector 10 receives the frame synchronizing signal, it is desirable to have a time delay, the speckle projector 10 exists
To scene or object projection infrared light after time delay, the infrared photography module 20 and the color infrared are thought
Next exposed frame of camera module 30 provides supplement light, completes the exposure of next frame.It is noted that
Delay duration of the speckle projector after the frame synchronizing signal is received is relevant with frame per second.
Further, the 3 D scanning system also includes an at least interface 50, and the interface 50 is connected
In the processor 40, and the interface 50 is connected to the 3 D scanning system for a terminal, passes through
The interface 50, the autgmentability and portability of the 3 D scanning system have also obtained significantly being lifted,
Consequently facilitating the miniaturization and popularization of the 3 D scanning system of the invention.For example in one of the invention implementation
In example, the terminal for being implemented as a display terminal can be swept by the interface 50 by the three-dimensional is accessed
System is retouched, so that the 3 D scanning system is after the three-dimensional data of scene or object is obtained, can be by institute
State interface 50 and the three-dimensional data of scene or object is sent to the terminal, to be based on field in the terminal
The three-dimensional data display scene or the 3D rendering of object of scape or object.Preferably, it is of the invention described to connect
Mouth 50 may be implemented as USB interface.
It is as shown in Figure 3 the workflow schematic diagram of 3 D scanning system according to the present invention.
First, the processor 40 exports a frame synchronizing signal, to drive the speckle projector 10, institute
State infrared photography module 20 and the color infrared camera module 30 works.As shown in Fig. 2 when the frame is same
After step signal is exported by the processor 40, the frame synchronizing signal can simultaneously be sent to the speckle projector
10th, the infrared photography module 20 and the color infrared camera module 30, by such mode, can
Ensure the speckle projector 10, the infrared photography module 20 and the color infrared camera module 30
Synchronism.As shown in figure 4, after infrared light is projected scene or object by the speckle projector 10,
All characteristic informations as shown in Figure 4 can be formed in scene or object, it is described infrared to take the photograph so as to follow-up
The scene or the image of object obtained as module 20 and the color infrared camera module 30 have scene or
The feature of object and the speckle projector 10 project the feature formed on scene or object.
Secondly, the infrared photography module 20 is red by least a portion of scene or object reflection by obtaining
The mode of outer light obtains the IR images of scene or object.Specifically, when anti-by scene or object
After at least a portion infrared light penetrated is received by the infrared photography module 20, the infrared photography module 20 leads to
Crossing carries out photoelectric conversion to it and can export the video image of the Bayer format, and subsequently through to institute
The video image for stating Bayer format carries out image rectification, is obtained in that the IR images of scene or object.
Correspondingly, the color infrared camera module 30 is by obtaining reflected by scene or object at least one
The mode of part infrared light and visible ray obtains the RGBIR images of scene or object.It is worth mentioning
It is that the RGBIR images include RGB channel and IR passages, when the RGB image is sent to the place
After reason device 40, the RGBIR images can be broken down into institute by the processor 40 according to passage difference
State RGB image and the IR images, i.e. color image parts and infrared image part.Subsequently to from described
The RGB channel decomposited in RGBIR images carries out color correction to eliminate influence of the infrared light to RGB channel,
So as to obtain the RGB image of scene or object, equally, to what is decomposited from the RGBIR images
IR passages carry out image rectification to obtain the IR images of scene or object.
Subsequently, scene or object of the processor 40 based on the infrared photography module 20 acquisition is described
Scene or the institute of the RGBIR images of object that IR images and the color infrared camera module 30 are obtained
IR images are stated, the gray scale three-dimensional data of scene or object is obtained.It is noted that it is of the invention this
It is individual preferred embodiment in, scene or the IR images of object that the infrared photography module 20 is obtained
The IR in the scene or the RGBIR images of object that are obtained with the color infrared camera module 30
Image is used two-way video three-dimensional imaging algorithm and is processed, to obtain based on the infrared photography module 20
Scene that the scene of acquisition or the IR images of object and the color infrared camera module 30 are obtained or
The scene or the gray scale three-dimensional data of object of the IR images in the RGBIR images of object.
After the gray scale three-dimensional data of scene or object is obtained, the gray scale three-dimensional data of selection scene or object
Output mode.It is of the invention this preferred embodiment in, the gray scale three-dimensional data of scene or object
Output mode can be selected between depth point cloud mode and depth chart-pattern, it is to be understood that output mould
The selection of formula is determined based on actual use needs.
Subsequently, it is after the output mode of scene or the gray scale three-dimensional data of object is chosen, the colour is red
The RGB image in the scene of the acquisition of outer camera module 30 or the RGBIR images of object assigns ash
Degree three-dimensional data, to obtain the color three dimension data of scene or object.In this process, it is endowed gray scale
Three-dimensional data is the scene of the acquisition of color infrared camera module 30 or the RGBIR images of object
In the scene that includes of the RGB image or object feature, such as it is described in described RGBIR images
At least one of RGB image color character and textural characteristics comprising scene or object.Swept in the three-dimensional
Retouch system and obtain and can be sent it to by the interface 50 after the three-dimensional data of scene or object described
Terminal.It will be appreciated by those skilled in the art that, the gray scale three-dimensional data of scene or object and colored three
Dimension data can be sent to the terminal by the interface 50.
As shown in Figures 5 to 7, the 3 D scanning system of the invention also includes a main part 60, described
The speckle projector 10, the infrared photography module 20, the color infrared camera module 30, the processor
40 and the interface 50 be arranged at the main part 60.Those skilled in the art will also be appreciated that
As needed, a power supply can also be arranged at the main part 60, so that the power supply is described
The speckle projector 10, the infrared photography module 20, the color infrared camera module 30, the processor
40 and the interface 50 provide electric energy.
Further, the 3 D scanning system also includes a supporting part 70, and the main part 60 is removably
The supporting part 70 is installed on, wherein the supporting part 70 is used to support the main part 60 to default position
Put and preset height.Preferably, the supporting part 70 has the structure similar to traditional tripod, so that
So that on the ground of out-of-flatness, the supporting part 70 also can be maintained at the main part 60 preferably to be made
Use state.
Specifically, the main part 60 includes a housing 61, a lid 62 and a fixing body 63, its
Described in housing 61 formed an installation cavity 611, the speckle projector 10, the infrared photography module 20,
The color infrared camera module 30, the processor 40 and the interface 50 are arranged at described respectively
Fixing body 63, the fixing body 63 is installed in the installation cavity 611 of the housing 61, and makes described dissipating
The spot projector 10, the infrared photography module 20 and the color infrared camera module 30 are towards the housing
The accent of 61 installation cavity 611, the lid 62 is installed in the housing 61 and is covered in described
The accent of the installation cavity 611 of housing 61.Preferably, it is installed in the interface of the fixing body 63
50 are set from the installation cavity 611 of the housing 61 and extend to external environment condition, consequently facilitating subsequently will
Other terminals are connected to the 3 D scanning system by the interface 50.Preferably, the lid
62 are made by the preferable material of translucency so that the speckle projector 10 projection infrared light and by scene
Or the infrared light and visible ray of object reflection can pass through the lid 62 by the infrared photography without influence
Module 20 and the color infrared camera module 30 are received.
Preferably, in the present invention, the infrared photography module 20 and the quilt of color infrared camera module 30
The two ends of the speckle projector 10 are arranged at, by such mode, the infrared photography module 20 and institute
Stating color infrared camera module 30 can from different angles obtain the IR images of scene or object,
In order to accurately obtain the three-dimensional data of scene or object.
The supporting part 70 includes a supportive body 71, a stationary body 72 and an at least support component 73,
The stationary body 72 is adjustably arranged at the upper end of the supportive body 71, each described support component
73 lower ends for being adjustably arranged at the supportive body 71, wherein the housing 61 of the main part 60
It is removably installed in the stationary body 72.The support component 73 ensure that the supporting part 70
Stabilization, it is preferable that the height and angle of each support component 73 can be conditioned, with any
The stabilization of the supporting part 70 can be ensured under use environment.The energy of the housing 61 of the main part 60
Enough it is connected through a screw thread or the mode of sucker is removably installed in the stationary body 72, by so
Mode, after the stationary body 72 is conditioned with the angle of the supportive body 71, be arranged at institute
Also adjusted the position of the infrared photography module 20 and the color infrared camera module 30 of stating main part 60
It is whole, consequently facilitating using.
It is as shown in Figure 8 a variant embodiment of the 3 D scanning system according to invention, wherein described
Main part 60 also includes a hand-held main body 64, and the hand-held main body 64 is arranged at the housing 61, so,
The 3 D scanning system can be operated scene or object is obtained by way of the hand-held hand-held main body 64
Three-dimensional data.Preferably, the hand-held main body 64 is set and the housing 61 integratedly extend.
It is as shown in Figure 9 another variant embodiment of 3 D scanning system of the invention, wherein described
The housing 61 of main part 60 can be mounted communication module, processing module and display module etc., to cause
The 3 D scanning system has the function of communication.For example in one of the invention preferably implementation method, institute
Stating 3 D scanning system has the function of the mobile electronic devices such as smart mobile phone, panel computer, personal digital assistant,
By such mode, be conducive to the popularization and popularization of the 3 D scanning system.
As shown in Figure 10, the present invention also provides three dimensions that scene or object are obtained by way of scanning
According to method 1000, wherein the three-dimensional data acquisition methods 1000 comprise the following steps：
Step 1001, (a) is obtained by an infrared photography module 20 and reflected at least by scene or object
The scene of a part of infrared flare up or the IR images of object；
Step 1002, (b) obtains what is reflected by scene or object by a color infrared camera module 30
At least a portion infrared light and visible ray obtain the RGBIR images of scene or object；And
Step 1003, (c) is based on the IR images and the colour that the infrared photography module 20 is obtained
IR images in the RGBIR images that infrared photography module is obtained obtain the gray scale three of scene or object
Data.
Further, the three-dimensional data acquisition methods also include step：
Step 1004, in the RGBIR images that (d) obtains the color infrared camera module 30
The scene or the feature of object that RGB image is carried assign gray scale three-dimensional data, to obtain scene or object
Color three dimension data.It is noted that the RGBIR figures that the color infrared camera module 30 is obtained
The feature related to scene or object that the RGB image as in is carried includes that color character and texture are special
At least one of levy.
In the above-mentioned methods, the RGB channel and IR passages in the RGBIR images, will be described
RGBIR picture breakdowns are the RGB image and the IR images, with respectively by the RGB image and
The IR images realize different functions.Preferably, also include step correction from described in the above-mentioned methods
The RGB channel decomposited in RGBIR images to eliminate influence of the infrared light to RGB channel, so as to obtain
The RGB image, and the IR passages that correction is decomposited from the RGBIR images, it is described so as to obtain
IR images.
As shown in figure 11, the present invention also provides three dimensions that scene or object are obtained by way of scanning
According to method 1100, wherein the three-dimensional data acquisition methods 1100 comprise the following steps：
Step 1101, (A) obtains the IR images of scene or object at least two angles respectively；
Step 1102, the IR images that (B) is based on the scene or object obtained in each angle are obtained
The gray scale three-dimensional data of scene or object；And
Step 1103, (C) obtains the RGB image of scene or object in an angle, and will be described
The scene or the feature of object carried in RGB image assign gray scale three-dimensional data, to obtain scene or thing
The color three dimension data of body.
Preferably, in the above-mentioned methods, obtained by scene in angle by an infrared photography module 20 or
At least a portion infrared light of person's object reflection obtains the IR images of scene or object, colored by one
Infrared photography module 30 another angle obtain at least a portion infrared light for being reflected by scene or object and
Visible ray obtains the RGBIR images of scene or object, and after by the RGBIR picture breakdowns respectively
Obtain combining after scene the IR images and the RGB image of object.
Further, step was also included before the step (A)：By a speckle projector 10 to field
Scape or object projection infrared light.
It should be understood by those skilled in the art that the embodiments of the invention shown in foregoing description and accompanying drawing are only used as
Illustrate and be not intended to limit the present invention.As can be seen here, the purpose of the present invention is achieved completely and effectively.
Function of the invention and structural principle are shown and are illustrated in embodiment, under without departing substantially from the principle,
Implementation method can make any modification.So, present invention comprises based on claim spirit and right
All variant embodiments.
Claims (28)
1. one has the 3 D scanning system of the speckle projector, it is characterised in that infrared taken the photograph including a speckle projector, one
As module and a color infrared camera module, wherein the speckle projector is to scene or object projection infrared light, it is described
Infrared photography module is obtained the IR of scene or object by obtaining by least a portion infrared light that scene or object reflect
Image, the color infrared camera module is by obtaining at least a portion infrared light and visible ray that are reflected by scene or object
The RGBIR images of scene or object are obtained, in follow-up, the IR images based on infrared photography module acquisition
IR images in the RGBIR images obtained with the color infrared camera module obtain the gray scale of scene or object
Three-dimensional data.
2. 3 D scanning system according to claim 1, wherein described in the color infrared camera module is obtained
The feature related to scene or object that RGB image in RGBIR images is carried assigns the gray scale three of scene or object
Dimension data, to obtain the color three dimension data of scene or object.
3. 3 D scanning system according to claim 2, wherein the color infrared camera module obtain it is described
The feature related to scene or object that the RGB image in RGBIR images is carried includes that color character and texture are special
At least one of levy.
4. 3 D scanning system according to claim 1, wherein the speckle projector is a diffraction speckle projector.
5. 3 D scanning system according to claim 1, also including a processor, wherein the speckle projector,
The infrared photography module and the color infrared camera module are connected to the processor by way of frame synchronizing signal.
6. 3 D scanning system according to claim 2, also including a processor, wherein the speckle projector,
The infrared photography module and the color infrared camera module are connected to the processor by the mode of isomorphism frame synchronizing signal.
7. 3 D scanning system according to claim 6, also including an at least interface, each described interface respectively by
The processor is connected to, wherein each described interface by a terminal for being connected to the 3 D scanning system.
8. according to any described 3 D scanning system in claim 1,2,3,4,5,6 or 7, also including a main body
Portion, wherein the main part includes a housing, a lid and a fixing body, the housing forms an installation cavity, described to dissipate
The spot projector, the infrared photography module and the color infrared camera module are arranged at the fixing body, the peace respectively
Dress body is installed in the installation cavity of the housing, and the lid is installed in the housing and is covered in the housing
The accent of the installation cavity, wherein the lid allows the speckle projector to project infrared light and permission to scene or object
At least a portion infrared light and visible ray reflected by scene or object are by the infrared photography module and the color infrared
Camera module is received.
9. 3 D scanning system according to claim 8, wherein the main part also includes a hand-held main body, it is described
Hand-held main body is arranged at the housing.
10. 3 D scanning system according to claim 8, wherein the infrared photography module and the color infrared are taken the photograph
The both sides of the speckle projector are arranged at as module.
11. 3 D scanning systems according to claim 8, also including a supporting part, wherein the main part is described
Housing is removably installed in the supporting part.
12. 3 D scanning systems according to claim 11, wherein the supporting part includes that a supportive body, one consolidate
Determine main body and at least a support component, the stationary body is adjustably arranged at the upper end of the supportive body, each institute
State the lower end that support component is adjustably arranged at the supportive body, and the main part the housing by removably
It is installed on the stationary body.
The method of 13. 1 three-dimensional datas that scene or object are obtained by way of scanning, it is characterised in that the three-dimensional
Data capture method comprises the following steps：
(a) obtained by an infrared photography module at least a portion infrared light reflected by scene or object obtain scene or
The IR images of person's object；
B () obtains at least a portion infrared light for being reflected by scene or object and visible by a color infrared camera module
Light obtains the RGBIR images of scene or object；And
C () is based on the institute that the IR images and the color infrared camera module of infrared photography module acquisition are obtained
State the gray scale three-dimensional data that the IR images in RGBIR images obtain scene or object.
14. three-dimensional data acquisition methods according to claim 13, also including step：
Scene that RGB image in the d RGBIR images that () obtains the color infrared camera module is carried or
The feature of person's object assigns gray scale three-dimensional data, to obtain the color three dimension data of scene or object.
15. three-dimensional data acquisition methods according to claim 14, wherein what the color infrared camera module was obtained
The feature related to scene or object that the RGB image in the RGBIR images is carried including color character and
At least one of textural characteristics.
16. according to any described three-dimensional data acquisition methods in claim 13,14 or 15, wherein in the above-mentioned methods,
RGB channel and IR passages in the RGBIR images, by the RGBIR picture breakdowns for the RGB schemes
Picture and the IR images.
17. three-dimensional data acquisition methods according to claim 16, wherein in the above-mentioned methods, correction is from described
The RGB channel decomposited in RGBIR images is to eliminate influence of the infrared light to RGB channel, so as to obtain the RGB
Image, and the IR passages that correction is decomposited from the RGBIR images, so as to obtain the IR images.
18. according to any described three-dimensional data acquisition methods in claim 13,14 or 15, wherein in the above-mentioned methods,
One frame synchronizing signal is synchronously sent to a speckle projector, the infrared photography module and the color infrared shooting mould
Group so that the speckle projector the infrared photography module and the color infrared camera module obtain respectively scene or
To scene or object projection infrared light when the IR images of object and the RGBIR images.
19. three-dimensional data acquisition methods according to claim 16, wherein in the above-mentioned methods, by frame synchronization letter
Number a speckle projector, the infrared photography module and the color infrared camera module are synchronously sent to, so that described dissipate
The spot projector obtains the IR of scene or object in the infrared photography module and the color infrared camera module respectively
To scene or object projection infrared light when image and the RGBIR images.
20. three-dimensional data acquisition methods according to claim 19, wherein in the above-mentioned methods, throwing the speckle
Emitter time delay after frame synchronizing signal is received, and the speckle projector is infrared to scene or object projection after the delay
Light, so that the speckle projector is provided for next exposed frame of the infrared photography module and the color infrared camera module
Infrared light light filling.
The method of 21. 1 three-dimensional datas that scene or object are obtained by way of scanning, it is characterised in that the three-dimensional
Data capture method comprises the following steps：
(A) the IR images of scene or object are obtained respectively at least two angles；
(B) gray scale of scene or object is obtained based on the scene obtained in each angle or the IR images of object
Three-dimensional data；And
(C) RGB image of scene or object, and the field that will be carried in the RGB image are obtained in an angle
The feature of scape or object assigns gray scale three-dimensional data, to obtain the color three dimension data of scene or object.
22. three-dimensional data acquisition methods according to claim 21, wherein the scene carried in the RGB image
Or the feature of object includes at least one of color character and textural characteristics.
23. three-dimensional data acquisition methods according to claim 21, wherein in the above-mentioned methods, infrared take the photograph by one
As module obtains the institute that scene or object are obtained by least a portion infrared light that scene or object reflect in an angle
IR images are stated, at least one reflected by scene or object is obtained in another angle by a color infrared camera module
Infrared light and visible ray is divided to obtain the RGBIR images of scene or object, and after by the RGBIR picture breakdowns
Respectively obtain the IR images and the RGB image that object is combined after scene.
24. three-dimensional data acquisition methods according to claim 23, wherein in the above-mentioned methods, according to the RGBIR
In RGB channel and IR passages, the RGB image is decomposed into the RGB image and the IR images.
25. three-dimensional data acquisition methods according to claim 24, wherein in the above-mentioned methods, correction is from described
The RGB channel decomposited in RGBIR images is to eliminate influence of the infrared light to RGB channel, so as to obtain the RGB
Image, and the IR passages that correction is decomposited from the RGBIR images, so as to obtain the IR images.
26. according to any described three-dimensional data acquisition methods in claim 23,24 or 25, wherein at the step (A)
Also include step before：Infrared light is projected to scene or object by a speckle projector.
27. three-dimensional data acquisition methods according to claim 26, wherein in the above-mentioned methods, by frame synchronization letter
Number the speckle projector, the infrared photography module and the color infrared camera module are synchronously sent to, so that described
The speckle projector is obtained described in scene or object respectively in the infrared photography module and the color infrared camera module
To scene or object projection infrared light when IR images and the RGBIR images.
28. three-dimensional data acquisition methods according to claim 27, wherein in the above-mentioned methods, throwing the speckle
Emitter time delay after frame synchronizing signal is received, and the speckle projector is infrared to scene or object projection after the delay
Light, so that the speckle projector is provided for next exposed frame of the infrared photography module and the color infrared camera module
Infrared light light filling.
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