CN109410311A - Three-dimensional modeling equipment, system, method and storage medium - Google Patents
Three-dimensional modeling equipment, system, method and storage medium Download PDFInfo
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- CN109410311A CN109410311A CN201710713427.XA CN201710713427A CN109410311A CN 109410311 A CN109410311 A CN 109410311A CN 201710713427 A CN201710713427 A CN 201710713427A CN 109410311 A CN109410311 A CN 109410311A
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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
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- G—PHYSICS
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2200/00—Indexing scheme for image data processing or generation, in general
- G06T2200/08—Indexing scheme for image data processing or generation, in general involving all processing steps from image acquisition to 3D model generation
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
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Abstract
The invention discloses a kind of three-dimensional modeling equipment, system, method and storage mediums.The equipment includes: that frequency determines component, image decoding component, result more New Parent and three-dimensional modeling component；Frequency determines that component determines carrier frequency, low-limit frequency, initial frequency and the renewal frequency of structure light coding figure, and image decoding component uses the structure light coding figure of initial frequency F1 and carrier frequency Fmax respectively, is projected to modeling object, obtains the first image；As a result more New Parent is projected to modeling object using the structure light coding figure of renewal frequency F2, obtains more new images, obtains the second image according to more new images and the first image；The pixel distance difference of the first image of three-dimensional modeling Assembly calculation and the second image, when pixel distance difference is lower than preset threshold, then based on the second image to modeling object progress three-dimensional modeling.The embodiment of the present invention can not only increase substantially the precision of three-dimensional modeling, but also the speed of three-dimensional modeling can be improved.
Description
Technical field
The present invention relates to technical field of image processing more particularly to a kind of three-dimensional modeling equipment, system, method and storage to be situated between
Matter.
Background technique
With the fast development of network technology, image processing techniques rapidly develops therewith.Since 3-D image is compared with X-Y scheme
As more three-dimensional intuitive, 3-D image gradually comes into vogue.Currently, businessman can establish quotient for sale by the method for three-dimensional modeling
The 3-D image of product, and by the publication of these 3-D images in Website page.3-D image can be generated by three-dimensional modeling.Knot
Structure light encoding and decoding technique is a kind of important three-dimensional modeling means.Wherein, structure light encoding and decoding technique needs to compile using structure light
Code figure.Structure light coding figure is a kind of image that size determines, the pixel value of each pixel coordinate of the image is pixel coordinate
A kind of coding or sequence of itself.Three-dimensional modeling may comprise steps of:
1, the structure light coding figure of several different frequencies is projected in target object by projection device；
As soon as 2, for the every projection structure light coding figure of projection device to target object, capture apparatus has structure light volume to projection
The target object of code figure shoots a photo, to obtain several photos corresponding with different frequency；
3, three-dimensional modeling equipment is decoded processing to several above-mentioned photos respectively, obtains several decoding figures；
4, three-dimensional modeling equipment schemes the three-dimensional coordinate of available target object according to several decodings；
5, three-dimensional modeling equipment is based on obtained three-dimensional coordinate, and target object carries out three-dimensional modeling.
However, applicant it has been investigated that: existing three-dimensional modeling scheme needs to obtain to improve three-dimensional modeling precision
Several the structure light coding figure of frequency from low to high combines to obtain final whole decoding knot after each self-demarking code
Fruit.However the frequency of structure light coding figure is lower, just more the light emitting region of bulk can occurs in the structure light coding figure launched,
Cause the illumination of each pixel coordinate no longer independent.There is the object of mirror reflection effect for surface, light emitting region is especially bright
It is aobvious, it is lower so as to cause the precision of three-dimensional modeling.
The precision for how improving three-dimensional modeling becomes industry technical problem urgently to be resolved.
Summary of the invention
Precision in order to solve the problems, such as three-dimensional modeling is low, the embodiment of the invention provides a kind of three-dimensional modeling equipment, is
System, method and storage medium.
In a first aspect, providing a kind of three-dimensional modeling equipment.The equipment include: frequency determine component, image decoding component,
As a result more New Parent and three-dimensional modeling component；
Frequency determines that component and result more New Parent are coupled with image decoding component respectively, and as a result more New Parent and three-dimensional are built
Membrane module coupling, in which:
Frequency determines component, for determining carrier frequency Fmax, the low-limit frequency Fmin, initial frequency of structure light coding figure
F1 and renewal frequency F2, wherein F1=Fmax+Fmin, F2=Fmax+Fi, Fmin < Fi < Fmax；
Image decoding component, for using the structure light coding figure of initial frequency F1 and carrier frequency Fmax, projection respectively
To modeling object, the first image is obtained；
As a result more New Parent is updated for being projected to modeling object using the structure light coding figure of renewal frequency F2
Image obtains the second image according to more new images and the first image；
Three-dimensional modeling component, for calculating the pixel distance difference of the first image and the second image, when pixel distance difference
Lower than preset threshold, then three-dimensional modeling is carried out to modeling object based on the second image.
Second aspect provides a kind of 3 d modeling system.The system includes: that projection device, capture apparatus and three-dimensional are built
Mould equipment, in which:
Three-dimensional modeling equipment, for determining carrier frequency Fmax, the low-limit frequency Fmin, initial frequency of structure light coding figure
F1 and renewal frequency F2, wherein F1=Fmax+Fmin, F2=Fmax+Fi, Fmin < Fi < Fmax；
Projection device, for projecting initial frequency F1, carrier frequency Fmax and renewal frequency F2 respectively to modeling object
Structure light coding figure；
Capture apparatus is shot for the modeling object to projective structure pumped FIR laser figure, obtains the first shooting figure,
Two shooting figures and third shooting figure obtain；
Three-dimensional modeling equipment is based on the first shooting figure and the second shooting figure, obtains the first image；
Based on third shooting figure, more new images are obtained, obtain the second image according to more new images and the first image；
The pixel distance difference for calculating the first image and the second image, when pixel distance difference is lower than preset threshold, then base
Three-dimensional modeling is carried out to modeling object in the second image.
The third aspect provides a kind of three-dimensional modeling method.This method comprises:
Three-dimensional modeling equipment determine the carrier frequency Fmax of structure light coding figure, low-limit frequency Fmin, initial frequency F1 and
Renewal frequency F2, wherein F1=Fmax+Fmin, F2=Fmax+Fi, Fmin < Fi < Fmax；
Three-dimensional modeling equipment uses the structure light coding figure of initial frequency F1 and carrier frequency Fmax respectively, is projected to modeling
Object obtains the first image；
Three-dimensional modeling equipment is projected to modeling object using the structure light coding figure of renewal frequency F2, obtains more new images,
The second image is obtained according to more new images and the first image；
Three-dimensional modeling equipment calculates the pixel distance difference of the first image and the second image, when pixel distance difference is lower than pre-
If threshold value, then three-dimensional modeling is carried out to modeling object based on the second image.
Fourth aspect provides a kind of three-dimensional modeling equipment.The equipment includes:
Memory, for storing program；
Processor, for executing the program of memory storage, described program makes the processor execute above-mentioned the
Method described in three aspects.
5th aspect, provides a kind of computer readable storage medium.Finger is stored in the computer readable storage medium
It enables, when run on a computer, so that computer executes method described in the above-mentioned third aspect.
6th aspect, provides a kind of computer program product comprising instruction.When the product is run on computers,
So that computer executes method described in the above-mentioned third aspect.
7th aspect, provides a kind of computer program.When the computer program is run on computers, so that calculating
Machine executes method described in the above-mentioned third aspect.
On the one hand, above-described embodiment can by determine the carrier frequency Fmax of structure light coding figure, low-limit frequency Fmin,
Initial frequency F1 and renewal frequency F2, and by the numerical Design of F1 at Fmax and Fmin's and, by the numerical Design of F2 at Fmax
And, Fi takes the arbitrary value between Fmin and Fmax with Fi's, it can be ensured that initial frequency F1 and renewal frequency F2 is opposite
Higher frequency.It can solve using the high frequency since the structure light coding frequency the low more can be in the structure that device for projecting projects
There is the light emitting region of bulk in pumped FIR laser legend, causes each pixel coordinate in structure light coding figure no longer independent, and then lead
The problem for causing the precision of three-dimensional modeling lower, improves the precision of three-dimensional modeling.
On the other hand, in the cyclic process of each three-dimensional modeling, above-described embodiment can be by being stepped up Fi's
Numerical value increase accordingly the numerical value of renewal frequency F2, until pixel distance difference lower than until threshold value.Thus, it is possible to pass through control
The size of the numerical value of Fi carrys out the number of control loop.If the number of circulation is more, just have during three-dimensional modeling more
Code value, such as secondary solution code value are solved, when seeking the final image result as average value, so that it may there are more chances to filter out
Various errors, so that the result of three-dimensional modeling is more accurate.
Another aspect, above-described embodiment can be by choosing the structure light coding figure of relative high frequency, and it is several invalid to exclude
The structure light coding figure of low frequency, can not only reduce the time of three-dimensional modeling, but also the precision of three-dimensional modeling can be improved.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, will make below to required in the embodiment of the present invention
Attached drawing is briefly described, it should be apparent that, drawings described below is only some embodiments of the present invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is the structural schematic diagram of the 3 d modeling system of one embodiment of the invention；
Fig. 2 is the structural schematic diagram of the three-dimensional modeling equipment of one embodiment of the invention；
Fig. 3 is the structural schematic diagram of one embodiment of the image decoding component in Fig. 2；
Fig. 4 is the structural schematic diagram of one embodiment of the result more New Parent in Fig. 2；
Fig. 5 is the flow diagram of the 3 d modeling system three-dimensional modeling of one embodiment of the invention；
Fig. 6 is the flow diagram of the three-dimensional modeling method of one embodiment of the invention；
Fig. 7 is the block schematic illustration of the three-dimensional modeling equipment of one embodiment of the invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Fig. 1 is the structural schematic diagram of the 3 d modeling system of one embodiment of the invention.
The embodiment of the present invention can be applied in the scene for determining the three-dimensional dimension of subject.In some embodiments,
3 d modeling system can be applied to online product introduction.For example, businessman establishes goods for sale (example using 3 d modeling system
Such as, element part, wrist-watch and handbag etc.) 3-D image, and by the publication of these 3-D images in sale Website page
In scene.In further embodiments, 3 d modeling system can be applied in production of film and TV in the scene for establishing 3-D image.
When modeling object is object (such as ceramics, plastics, the higher object of metal mirror-reflection degree that surface has mirror reflection effect
Body) when, the precision of the image of three-dimensional modeling can be not only increased substantially, but also the speed of three-dimensional modeling can be improved.
It is below trapezoidal piece of stainless steel as modeling object using shape, by taking black and white strip is structure light coding figure as an example, says
The structural relation of bright 3 d modeling system.It will be understood to those skilled in the art that the embodiment of the present invention be equally applicable to it is above-mentioned
Other application scene.
As shown in Figure 1, the system may include: projection device 100, capture apparatus 200 and three-dimensional modeling equipment 300.It throws
Shadow equipment 100 and capture apparatus 200 can carry out information exchange by network 500 and three-dimensional modeling equipment 300.
Projection device 100 can project the structure light coding figure of assigned frequency to modeling object 400.Wherein, projection device
100 can be the equipment such as projector, projector, can project the structure light coding figure of different frequency.Projection device 100
Resolution ratio can be W × H.
Structure light coding figure can be black and white linear fringe figure, be also possible to black and white bending wave chart etc..Structure light coding
One group of brightness value at each pixel coordinate in figure can be a kind of coding of pixel coordinate value, which can use numerical value model
It is trapped among 0 to 255 binary coding representation.Structure light coding figure can have different frequencies.For example, when frequency is smaller,
The straight bar graph of the black and white of structure light coding figure seems fine and closely woven；When frequency is larger, the straight bar graph of structure light coding figure black and white seems
It is sparse.
The structure light coding figure of assigned frequency can be obtained by the template-setup to structure light coding figure.For example, will knot
Frequency values setting numerical value in the template of structure pumped FIR laser figure is F, and the structure light coding figure of F frequency can be generated.
The modeling object 400 for the structure light coding figure for casting assigned frequency is carried out to shoot available assigned frequency institute
Corresponding shooting figure.Wherein, the functional relation of the pixel value and pixel coordinate of every a line or each column is sine in shooting figure
Function, assigned frequency are the frequency of the SIN function.In the present embodiment, assigned frequency can be according to a large amount of experimental data point
Analysis, which is compared, to obtain, specific value can be determined by three-dimensional modeling equipment 300.
In the present embodiment, three-dimensional modeling equipment 300 can determine the carrier frequency Fmax of structure light coding figure, lowest frequency
Rate Fmin, initial frequency F1 and renewal frequency F2.Wherein, F1=Fmax+Fmin, Fmin < Fi < Fmax, i can be natural number
1,2,3 ... etc..Fmin is the low-limit frequency of structure light coding figure.Fmax is the carrier frequency of structure light coding figure, numerical value phase
To higher.Since Fmax is relatively high, the numerical value of F1 and F2 can be higher.
Above-mentioned design is the object for having mirror reflection effect because of are as follows: surface, and the light on its surface is projeced into usual manner
Line is easy to produce reflection.Therefore, if by the way of conventional, using projection device by nominal frequencies (such as intermediate frequency or low frequency)
Two dimensional code photo structure code pattern be incident upon this kind of surface with mirror reflection effect object on, then, by this type objects
Surface reflection the light emitting region of bulk can occur in the photo structure code pattern projected, this will lead in photo structure code pattern
Each pixel coordinate illumination it is no longer independent, and then reduce three-dimensional modeling precision.Because structure light coding figure has frequency
It is higher, it is less susceptible to form the attribute of reflection in body surface.So the present embodiment utilizes above-mentioned attribute, by the knot of specified high frequency
Structure pumped FIR laser figure is incident upon on this type objects, it is possible to reduce body surface reflection, so that the structure light coding figure projected will not
There is the light emitting region of bulk, so that the illumination of each pixel coordinate is relatively independent, and then improves the precision of three-dimensional imaging.
Capture apparatus 200 can be used for clapping the modeling object 400 for the structure light coding figure for having projected assigned frequency
It takes the photograph, and obtains the shooting figure of assigned frequency.Capture apparatus 200 can be the electronics that mobile phone, computer, video camera etc. have camera
Equipment.
For example, capture apparatus 200 claps the modeling object 400 for the structure light coding figure for having projected initial frequency F1
It takes the photograph, corresponding first shooting figure of available F1 frequency.Similarly, capture apparatus 200 is to the structure for having projected carrier frequency Fmax
The modeling object 400 of pumped FIR laser figure is shot, corresponding second shooting figure of available Fmax frequency.Capture apparatus 200 is right
The modeling object 400 for having projected the structure light coding figure of renewal frequency F2 is shot, the corresponding third of available F2 frequency
Shooting figure.
Three-dimensional modeling equipment 300 can be based on third shooting figure, more new images be obtained, according to more new images and the first image
Obtain the second image；The pixel distance difference for calculating the first image and the second image, when pixel distance difference be lower than preset threshold,
Three-dimensional modeling is then carried out to modeling object based on the second image.The contents of the section also be further described below.
Network 500 can be to provide the medium of communication link between various electronic equipments.Specifically, network 500 can
To include various connection types, such as wired, wireless communication link or fiber optic cables etc..
The system, which carries out three-dimensional modeling to modeling object 400, can be mainly divided into following three step:
S1, using projection device 100 to 400 projective structure pumped FIR laser figure of modeling object.
Under the premise of the illumination of each pixel coordinate is independent of one another, i.e., the frequency of structure light coding figure cannot be too low
Under the premise of, one group of brightness value at each pixel coordinate in structure light coding figure is a kind of coding of pixel coordinate value.
S2 is repeatedly shot using modeling object 400 of the capture apparatus 200 to projective structure pumped FIR laser figure, is obtained
Multiple shooting figures.After one group of decoded calculating of brightness value in every shooting figure at each pixel coordinate, the picture just can be derived that
The corresponding pixel coordinate value on structure light coding figure of element, to obtain one group of coordinate pair.
This group of coordinate pair is same position point (such as the location A point) pixel in shooting figure respectively of modeling object 400
Coordinate value and the pixel coordinate value in structure light coding figure.Due to modeling object 400 be it is three-dimensional, have certain thickness
Degree, therefore the numerical value of corresponding this group of coordinate pair of location A point is different.
S3 calculates the three-dimensional coordinate of location A point using three-dimensional modeling equipment 300 according to this group of coordinate pair.It similarly, can be with
The three-dimensional coordinate of other positions point is calculated, and generates the threedimensional model of modeling object 400.
It should be understood that the number of the equipment in Fig. 1 is only schematical.According to needs are realized, which can be flexible
The quantity of the projection device 100 of setting, capture apparatus 200 and three-dimensional modeling equipment 300.Alternatively, it is also possible to as needed by this
A little equipment carry out integrated processing, for example, configuring camera for three-dimensional modeling equipment 300 to replace capture apparatus 200.Example again
Such as, the projection component of projection device 100 is integrated in three-dimensional modeling equipment 300 etc..
Following embodiments can be using the system of the present embodiment to 400 three-dimensional modeling of modeling object.In order to describe letter
Clean, each embodiment mutually can be referred to and be quoted.
Fig. 2 is the structural schematic diagram of the three-dimensional modeling equipment of one embodiment of the invention.
In order to solve the problems, such as that three-dimensional modeling precision caused by the underfrequency of structure light coding figure is lower, three-dimensional modeling
The implementation of equipment is as follows:
With reference to Fig. 1 and Fig. 2, three-dimensional modeling equipment 300 may include: frequency determine component 310, image decoding component 320,
As a result more New Parent 330 and three-dimensional modeling component 340.Wherein, frequency determines that component 310 and result more New Parent 330 can divide
It is not coupled with image decoding component 320, as a result more New Parent 330 can be coupled with three-dimensional modeling component 340.
Wherein: frequency determines that component 310 is determined for the carrier frequency Fmax of structure light coding figure, low-limit frequency
Fmin, initial frequency F1 and renewal frequency F2, wherein F1=Fmax+Fmin, F2=Fmax+Fi, Fmin < Fi < Fmax.I can
To take the natural numbers such as 1,2,3.The numerical value determines the circulate operation number of three-dimensional modeling.Image decoding component 320 can be used for
The structure light coding figure for using initial frequency F1 and carrier frequency Fmax respectively, is projected to modeling object, obtains the first image.Knot
The structure light coding figure that fruit more New Parent 330 is used for renewal frequency F2 is projected to modeling object, obtains more new images,
The second image is obtained according to more new images and the first image.Three-dimensional modeling component 340 can be used for calculating the first image and second
The pixel distance difference of image, when pixel distance difference is lower than preset threshold, then based on the second image to modeling object progress three
Dimension modeling.
In some embodiments, the numerical value of Fmin may is that the image projected away from projector (device for projecting) most
The whole power of the 2 of long side.In other embodiments, the numerical value of Fmin may is that the image gone out from projector projects most
3 or 4 whole power of long side.
In one implementation, Fmin can determine its numerical value based on the resolution ratio of projection device.For example, in a reality
It tramples under environment, applicant has used following calculation:
Fmin=1/pow (2, floor (log (max (W, H))/log2)) (1)
In formula (1), pow is exponentiation function, and floor is bracket function, and log is to take logarithmic function, and max is to take maximum
Value function, W and H are the resolution ratio of projection device.
Those skilled in the art are it can be appreciated that above-mentioned calculation is the industrial realization spy under some site environment
Example.According to other site environments, other calculations can be used to obtain Fmin to realize functionality described above.
In one embodiment, Fmax can be 1/2,1/4,1/8,1/16,1/32,1/64 etc..Preferably, can incite somebody to action
Fmax value is 1/8 and 1/16.When Fmax value is 1/16, the precision of three-dimensional modeling can reach peak.
In one embodiment, the numerical value of Fmin can be determined according to the resolution ratio of projection device.When W × H=1024 ×
When 768, according to above-mentioned formula (1), Fmin can be 1/1024.
In some embodiments, preset threshold can be 0.005,0.010,0.015,0.020.Preferably, can will be pre-
If threshold value value is 0.010.
In the above-described embodiments, the precision of three-dimensional modeling can reach peak.
In some embodiments, three-dimensional modeling component 340 can be also used for: when pixel distance difference is more than or equal in advance
If threshold value, then such as give an order to the transmission of result more New Parent: renewal frequency F2 changed by change Fi, based on after change more
The second image that new frequency F2 is changed, hence into new cyclic process.
In some embodiments, three-dimensional modeling component 340 may include: the first getter, the second getter, subtracter and
Equalizer.First getter and subtracter can be coupled with the second getter respectively, and subtracter can be coupled with equalizer.
Wherein: the first getter can be used for obtaining the pixel value of each pixel of the first image；Second getter can
With the pixel value of each pixel for obtaining the second image；Subtracter can be used for each pixel of the first image
Pixel value respectively corresponds the pixel value for subtracting each pixel of the second image, obtains each distance difference；Equalizer can be used
In each distance value is done mean value computation, the pixel distance difference of the first image and the second image is obtained.
Known to above-mentioned: on the one hand, which can be by determining the carrier frequency Fmax of structure light coding figure, low-limit frequency
Fmin, initial frequency F1 and renewal frequency F2, and by the numerical Design of F1 at Fmax and Fmin's and, by the numerical Design of F2 at
Fmax and Fi's and, Fi takes the arbitrary value between Fmin and Fmax, it can be ensured that initial frequency F1 and renewal frequency F2 are
Relatively high frequency.It can solve using the high frequency since the structure light coding frequency the low more can project in device for projecting
There is the light emitting region of bulk in structure light coding legend, causes each pixel coordinate in structure light coding figure no longer independent, into
And the problem for causing the precision of three-dimensional modeling lower, improve the precision of three-dimensional modeling.
On the other hand, in the cyclic process of each modeling, which can be by being stepped up the numerical value of Fi, accordingly
The numerical value for increasing renewal frequency F2, until pixel distance difference lower than until threshold value.Thus, it is possible to pass through the numerical value of control Fi
Size carrys out the number of control loop.If the number of circulation is more, just there are more solution code values, such as two in modeling process
Secondary solution code value, when seeking the last solution inclusion fruit as average value, so that it may there are more chances to filter out various errors, so that
The result of three-dimensional modeling is more accurate.
Another aspect, the equipment can exclude several invalid low frequencies by the structure light coding figure of selection relative high frequency
Structure light coding figure, can not only reduce the time of three-dimensional modeling, but also the precision of three-dimensional modeling can be improved.
Fig. 3 is the structural schematic diagram of one embodiment of the image decoding component in Fig. 2.
As shown in figure 3, image decoding component 320 may include: the first decoder 321, the second decoder 322, first subtract
Musical instruments used in a Buddhist or Taoist mass 323 and the first de-packetizer 324.Wherein, the first decoder 321 and the first subtracter 323 can respectively with the second decoder
322 couplings.First subtracter 323 can also be with the coupling of the first de-packetizer 324.
Wherein: the first decoder 321 is used for the structure light coding figure of initial frequency F1, is projected to modeling pair
As obtaining the first shooting figure, the first shooting figure of decoding obtains the first decoding figure.Second decoder 322 is used for carrier wave
The structure light coding figure of frequency Fmax, is projected to modeling object, obtains the second shooting figure, and the second shooting figure of decoding obtains the second solution
Code figure.First subtracter 323, which can be used for the first decoding figure subtracting the second decoding figure, obtains the first decoded difference value figure.First solution
Packet device 324 can be used for obtaining first based on the first decoded difference value figure, the first decoding figure, the second decoding figure, Fmin, F1, Fmax
Image.The contents of the section will also continue to describe below.
In some embodiments, the first de-packetizer 324 may include: to be lined up element, the first adduction element, the second adduction member
Part and the first mean value element.Wherein, being lined up element and the second adduction element can couple with the first adduction element respectively, and second adds
It can be coupled with the first mean value element with element.Wherein, being lined up element can be used for based on low-limit frequency Fmin, carrier frequency
Fmax, initial frequency F1 ascending sequence, by the corresponding first decoded difference value figure of low-limit frequency Fmin, carrier frequency Fmax
Corresponding second decoding figure, the corresponding first decoding figure of initial frequency F1 are arranged；First adduction element can be used for keeping
First decoded difference value figure is constant, and the second decoding figure and the first decoding figure are summed up operation, obtain first hand and decoding figure；The
Two adduction elements can be used for keeping the first decoding figure constant, and the first decoded difference value figure and the second decoding figure are summed up behaviour
Make, obtains the second adduction decoding figure；Mean value element can be used for the first decoded difference value figure, the first decoding figure, the second decoding figure,
First hand and decoding figure, the second adduction decoding figure carry out operation of averaging, and obtain the first image.
In some embodiments, the implementation that the second decoding figure and the first decoding figure sum up operation may is that
It by each pixel value of the second decoding figure first divided by frequency Fmax, is then rounded multiplied by frequency F1, then schemes with the first decoding
Each pixel value be added.In other embodiments, it is also contemplated that by each pixel value of the second decoding figure multiplied by one
Other coefficients are added with each pixel value of the first decoding figure again.
Fig. 4 is the structural schematic diagram of one embodiment of the result more New Parent in Fig. 2.
As shown in figure 4, result more New Parent 330 may include: third decoder 331, the second subtracter 332 and the second solution
Packet device 333.Wherein, third decoder 331 and the second de-packetizer 333 can be coupled with the second subtracter 332 respectively.
Wherein: third decoder 331 is used for the structure light coding figure of renewal frequency F2, is projected to modeling pair
As obtaining third shooting figure, decoding third shooting figure obtains third decoding figure.Second subtracter 332 can be used for third solution
Code figure subtracts the second decoding figure and obtains the second decoded difference value figure.Second de-packetizer 333 can be used for based on the first decoded difference value figure,
Second decoded difference value figure, the first decoding figure, the second decoding figure, third decode figure, Fmin, Fi, F1, Fmax, F2, obtain the second figure
Picture.The contents of the section will also continue to describe below.
In above-mentioned each embodiment, various components, device can wholly or partly by software, hardware or its
Combined mode anticipate to realize.It when implemented in software, can be entirely or partly real in the form of a computer program product
It is existing.Computer program product includes one or more computer instructions, when run on a computer, so that computer executes
Method described in above-mentioned each embodiment.When loading on computers and executing computer program instructions, entirely or partly
It generates according to process or function described in the embodiment of the present invention.Computer can be general purpose computer, special purpose computer, computer
Network or other programmable devices.Computer instruction may be stored in a computer readable storage medium, or count from one
Calculation machine readable storage medium storing program for executing is transmitted to another computer readable storage medium, for example, the computer instruction can be from one
Web-site, computer, server or data center by wired, such as coaxial cable, optical fiber, Digital Subscriber Line (DSL) or
Wirelessly, such as the modes such as infrared, wireless, microwave are passed to another web-site, computer, server or data center
It is defeated.Computer readable storage medium can be any usable medium or include that one or more can that computer can access
The data storage devices such as server, the data center integrated with medium.The usable medium can be magnetic medium, optical medium,
Or semiconductor medium etc..Magnetic medium for example can be floppy disk, hard disk, tape.Optical medium for example can be DVD.Semiconductor
Medium for example can be solid state hard disk Solid State Disk (SSD) etc..
Fig. 5 is the flow diagram of the 3 d modeling system three-dimensional modeling of one embodiment of the invention.
With reference to Fig. 5, the application scenarios of the present embodiment are: businessman A uses the structure light coding figure of black and white strip pattern, by three
Modeling is tieed up to piece of stainless steel three-dimensional modeling.The implementation of the system may comprise steps of:
S510 determines the frequency of structure light coding figure.
The system determines carrier frequency Fmax, low-limit frequency Fmin, initial frequency F1 and the update frequency of structure light coding figure
Rate F2.
In the present embodiment, carrier frequency Fmax can be 1/16, and low-limit frequency Fmin can be 1/1024, initial frequency
F1 can be 65/1024.Wherein, F1=Fmax+Fmin, F2=Fmax+Fi, Fmin < Fi < Fmax.I can be 1,2,3 etc.
Natural number.Fi can take the arbitrary value in above range, and from being as low as changed stepwise greatly, with the variation of Fi, F2 also becomes therewith
Change.In a cyclic process, Fi can take a value.During first update iteration, Fi can be set as 2/
1024, then, renewal frequency F2 can be 66/1024.
Herein, the unit of frequency is hertz, succinct in order to describe, which is handled.
S520 obtains the first image.
The step can distinguish following sub-step:
1) firstly, the frequency of structure light coding figure is adjusted to 65/1024 (i.e. F1, F1=Fmax+Fmin=1/16+1/
1024).Then, projection device successively projects the structure light coding figure of n+1 F1 frequency to piece of stainless steel, be respectively as follows: Pmin_0,
Pmin_1…Pmin_n。
Integer between wherein n can take 3~6.The value of the n not will increase too many calculation amount.It is designed in this way, Ke Yi
In the case where not wasting computing cost, it is ensured that enough shooting figures can be obtained based on same frequency, and then can be mentioned
The three-dimensional modeling precision in high later period.
2) mechanism pumped FIR laser figure of the every projection of projection device, video camera is successively to the structure light coding for casting the frequency
The piece of stainless steel of figure is shot, and obtains n+1 shooting figures, the Imin_n that is respectively as follows: Imin_0, Imin_1 ....
3) after structure light coding figure frequency being adjusted to 1/16 (i.e. Fmax), projection device successively projects n+1 to piece of stainless steel
The structure light coding figure of secondary Fmax frequency, the Pmax_n that is respectively as follows: Pmax_0, Pmax_1 ....
4) piece of stainless steel under the structure light coding figure of video camera is successively to Pmax_0, Pmax_1 ... Pmax_n is clapped
It takes the photograph, and obtains n+1 shooting figures, the Imax_n that is respectively as follows: Imax_0, Imax_1 ....
5) Imin_n decoding that the system is to Imin_0, Imin_1 ..., obtains the decoding figure corresponding to frequency 65/1024 (F1)
Dmin decodes the decoding result that each pixel value in figure is respective pixel coordinate.
6) Imax_n decoding that the system is to Imax_0, Imax_1 ..., obtains the decoding figure corresponding to frequency 1/16 (Fmax)
Dmax。
7) system subtracts each other two decoding figures (Dmax and Dmin), can obtain the decoding figure corresponding to 1/1024 (Fmin)
Dmin’。
Above-mentioned decoding may is that the shooting figure obtained to the structured light decoding figure based on assigned frequency, calculate the shooting figure
In structure light coding figure is compiled on each pixel coordinate coding process.
In some embodiments, it can be decoded using phase-shift structure light decoding process.
In some embodiments, the decoding figure obtained after decoding may include several pixels, such as 1000 pictures
Vegetarian refreshments.Each pixel can be indicated with pixel value.The pixel value can be the value between 0-255, can also use two dimensional code
It indicates.
In some embodiments, two decoding figures are subtracted each other, can be and directly carries out each pixel value in two decoding figures
Subtract each other, it is available subtract each other after decoding figure；It is also possible to each pixel value in a decoding figure multiplied by some coefficient
Afterwards, it then goes to subtract each pixel value in another decoding figure.Decoding figure after subtracting each other can also have 1000 pixels.After subtracting each other
The numerical value of each pixel of decoding figure be also possible to the value between 0-255.
8) system is according to Dmin ', Dmin, Dmax, according to its corresponding frequency 1/16,65/1024 and 1/1024,
Available first image.
First image is similar with decoding figure, it also may include several pixels, and each pixel can use pixel value
It indicates.The pixel value is also possible to the value between 0-255.But there is also difference, the first decoding figure is for the first image and decoding figure
It is calculated based on multiple decoding figures.Assuming that multiple decoding figures be based on multiple and different frequencies (such as F1 ... Fn, wherein
F1 > F2 > ... > Fn) the obtained decoding figure (such as D1 ... Dn) of structure light coding figure.
In some embodiments, all the first decoding figure and the second decoding figure are mixed, and respectively according to it
Corresponding frequency is ranked up.Sequence can based on F1 > ... the sequence of > Fn carries out.Then figure is decoded to these and carries out two-wheeled more
New work.Schemed based on above-mentioned multiple decodings, iteratively calculated according to following formula, available first image:
Dn '=Dn (2)
Dk-1 '=Dk-1+ [Dk ' * Fk-1]/Fk-1 (3)
D1 "=D1 ' (4)
Dk "=Dk+ [D1 '/f1] * fk (5)
avg({D1”…Dn”}) (6)
In above-mentioned formula (2), Dn can be the decoding result for the structure light coding figure that frequency is Fn, and Dn ' can be considered as
The decoding result of one information for incorporating all frequencies (F1 ... Fn).The first round updates, and the corresponding decoding of minimum frequency is schemed
It remains unchanged.
In above-mentioned formula (3), [] indicates bracket function, 1 < k < n.It is iterated to calculate since -1 frequency of kth, for
Frequency Fk-1, take the current updated decoding figure Dk ' of its original decoded figure Dk-1 and frequency Fk carry out an adduction operate and into
The row first round updates.
In above-mentioned formula (4), after the first round updates, starts the second wheel and update.Highest frequency F1 is corresponding
Decoding figure remains unchanged.
In above-mentioned formula (5), for each frequency Fk, the decoding figure D1 ' and Fk couples of frequency that maximum frequency F1 is current are taken
The original decoded figure Dk answered carries out an adduction operation.
In above-mentioned formula (6), averaged, and using the average value as the first image.
In some embodiments, above-mentioned formula (6) can also use the replacement of the methods of weighted average, intermediate value.
S530 obtains the second image.
With reference to the method for above-mentioned the first image of acquisition, which can distinguish following sub-step:
1) after structure light coding figure frequency being adjusted to 66/1024 (F2=Fmax+Fi), n is successively projected to piece of stainless steel 400
The structure light coding figure of+1 frequency, the Pi_n that is respectively as follows: Pi_0, Pi_1 ....
2) piece of stainless steel 400 under the structure light coding figure of video camera 200 is successively to Pi_0, Pi_1 ... Pi_n is clapped
It takes the photograph, and obtains n+1 images, the Ii_n that is respectively as follows: Ii_0, Ii_1 ....
3) the corresponding image decoding of Ii_n to Ii_0, Ii_1 ... obtains corresponding to frequency 66/1024 (F2) decoding figure Di.
4) Di and decoding figure D_last are subtracted each other, obtains the decoding figure Di ' corresponding to frequency 2/1024 (Fi).
5) according to all frequencies: 1/1024 (Fmin), 1/16 (Fmax) 65/1024 (F1), 66/1024 (F2) ... reconciliation
Code figure Dmin, Dmax, Dmin ', Di, Di ' ... are calculated, obtain the second image.
S540, judges whether the pixel distance difference of the first image and the second image is lower than threshold value.
It is above-mentioned it is found that these pixels have 0-255 because having corresponding several pixels in the first image and the second image
Between numerical value.Each pixel value of first image is subtracted to each pixel value of the second image, available each pixel
Distance difference.The distance difference of each pixel is averaging, the pixel distance difference of available first image and the second image.
In addition, by pixel distance difference compared with threshold value (such as 0.01), it can be determined that whether pixel distance difference is lower than threshold
Value.
S550 then carries out three-dimensional modeling to modeling object based on the second image when pixel distance difference is lower than threshold value, defeated
3-D image out, the circulation terminate.
When pixel distance difference is more than or equal to threshold value, then jumps to S530 and execute next circulation.Work as pixel
It when distance difference is more than or equal to threshold value, is recycled into second, renewal frequency F2 is changed by change Fi, based on change
The second image that renewal frequency F2 after more is changed, the pixel distance difference that the second image based on change is changed.
Judge whether the pixel distance difference of change is lower than preset threshold, when the pixel distance difference of change is lower than preset threshold, no
It is further continued for recycling, otherwise will enter third and recycle.
Fig. 6 is the flow diagram of the three-dimensional modeling method of one embodiment of the invention.
As shown in fig. 6, this method may comprise steps of:
S610, three-dimensional modeling equipment determine the carrier frequency Fmax of structure light coding figure, low-limit frequency Fmin, initial frequency
F1 and renewal frequency F2.
Wherein, F1=Fmax+Fmin, F2=Fmax+Fi, Fmin < Fi < Fmax.
S620, three-dimensional modeling equipment use the structure light coding figure of initial frequency F1 and carrier frequency Fmax respectively, projection
To modeling object, the first image is obtained.
S630, three-dimensional modeling equipment are projected to modeling object using the structure light coding figure of renewal frequency F2, are updated
Image obtains the second image according to more new images and the first image.
S640, three-dimensional modeling equipment calculates the pixel distance difference of the first image and the second image, when pixel distance difference
Lower than preset threshold, then three-dimensional modeling is carried out to modeling object based on the second image.
In some embodiments, three-dimensional modeling equipment calculates the realization of the pixel distance difference of the first image and the second image
Mode may include:
Three-dimensional modeling equipment obtains the pixel value of each pixel of the first image；Three-dimensional modeling equipment obtains the second image
Each pixel pixel value；
The pixel value of each pixel of first image is respectively corresponded and subtracts each of the second image by three-dimensional modeling equipment
The pixel value of pixel obtains each distance difference；
Each distance value is done mean value computation by three-dimensional modeling equipment, and the pixel distance for obtaining the first image and the second image is poor
Value.
In some embodiments, when pixel distance difference is more than or equal to preset threshold, three-dimensional modeling equipment then passes through
Change Fi changes renewal frequency F2, based on the second image that the renewal frequency F2 after change is changed, based on change the
The pixel distance difference that two images are changed, when the pixel distance difference of change is lower than preset threshold, to modeling object progress
Three-dimensional modeling.
In some embodiments, three-dimensional modeling equipment uses the structure light of initial frequency F1 and carrier frequency Fmax to compile respectively
Code figure, is projected to modeling object, obtains the first image (i.e. S620) and may include:
S621, three-dimensional modeling equipment use the structure light coding figure of initial frequency F1, are projected to modeling object, obtain first
Shooting figure, the first shooting figure of decoding obtain the first decoding figure；
S622, three-dimensional modeling equipment use the structure light coding figure of carrier frequency Fmax, are projected to modeling object, obtain the
Two shooting figures, the second shooting figure of decoding obtain the second decoding figure；
First decoding figure is subtracted the second decoding figure and obtains the first decoded difference value figure by S623, three-dimensional modeling equipment；
S624, three-dimensional modeling equipment be based on the first decoded difference value figure, first decoding figure, second decoding figure, Fmin, F1,
Fmax obtains the first image.
In some embodiments, three-dimensional modeling equipment is based on the first decoded difference value figure, the first decoding is schemed, the second decoding is schemed,
Low-limit frequency Fmin, initial frequency F1, carrier frequency Fmax, obtain the first image, comprising:
The three-dimensional modeling equipment sequence ascending based on low-limit frequency Fmin, carrier frequency Fmax, initial frequency F1, will
The corresponding second decoding figure of the corresponding first decoded difference value figure of low-limit frequency Fmin, carrier frequency Fmax, initial frequency F1 are corresponding
The first decoding figure arranged；
Three-dimensional modeling equipment keeps the first decoded difference value figure constant, and the second decoding figure and the first decoding figure are summed up behaviour
Make, obtains first hand and decoding figure；
Three-dimensional modeling equipment keeps the first decoding figure constant, and the first decoded difference value figure and the second decoding figure are summed up behaviour
Make, obtains the second adduction decoding figure；
Three-dimensional modeling equipment is to the first decoded difference value figure, the first decoding figure, the second decoding figure, first hand and decoding figure, the
Two adduction decoding figures carry out operation of averaging, and obtain the first image.In some embodiments, by the second decoding figure and the first decoding
The implementation that figure sums up operation may is that each pixel value of the second decoding figure first divided by frequency Fmax, then take
It is whole multiplied by frequency F1, then with first decoding figure each pixel value be added.In other embodiments, it is also contemplated that will
Each pixel value of second decoding figure is added with each pixel value of the first decoding figure again multiplied by other coefficients.
In some embodiments, three-dimensional modeling equipment is projected to modeling pair using the structure light coding figure of renewal frequency F2
As obtaining more new images, obtaining the second image (i.e. S630) according to more new images and the first image may include:
S631, three-dimensional modeling equipment use the structure light coding figure of renewal frequency F2, are projected to modeling object, obtain third
Shooting figure, decoding third shooting figure obtain third decoding figure；
Third decoding figure is subtracted the second decoding figure and obtains the second decoded difference value figure by S632, three-dimensional modeling equipment；
S633, three-dimensional modeling equipment are based on the first decoded difference value figure, the second decoded difference value figure, the first decoding figure, the second solution
Code figure, third decode figure, Fmin, Fi, F1, Fmax, F2, obtain the second image.
It should be noted that in the absence of conflict, those skilled in the art can according to actual needs will be above-mentioned
The sequence of operating procedure is adjusted flexibly, or above-mentioned steps are carried out the operation such as flexible combination.For simplicity, repeating no more
Various implementations.In addition, the content of each embodiment can mutual reference.
It, can be in addition, the system of the various embodiments described above, equipment can be used as the executing subject in the method for the various embodiments described above
It realizes the corresponding process in each method, realizes identical technical effect, for sake of simplicity, content repeats no more in this respect.
Fig. 7 is the block schematic illustration of the three-dimensional modeling equipment of one embodiment of the invention.
It, can be according to being stored in read-only storage as shown in fig. 7, the frame may include central processing unit (CPU) 701
Program in device (ROM) 702 is executed from the program that storage section 708 is loaded into random access storage device (RAM) 703
The various operations that Fig. 5 and Fig. 6 embodiment is done.In RAM703, be also stored with system architecture operation needed for various programs and
Data.CPU701, ROM 702 and RAM 703 is connected with each other by bus 704.Input/output (I/O) interface 705 also connects
To bus 704.
I/O interface 705 is connected to lower component: the importation 706 including keyboard, mouse etc.；It is penetrated including such as cathode
The output par, c 707 of spool (CRT), liquid crystal display (LCD) etc. and loudspeaker etc.；Storage section 708 including hard disk etc.；
And the communications portion 709 of the network interface card including LAN card, modem etc..Communications portion 709 via such as because
The network of spy's net executes communication process.Driver 710 is also connected to I/O interface 705 as needed.Detachable media 711, such as
Disk, CD, magneto-optic disk, semiconductor memory etc. are mounted on as needed on driver 710, in order to read from thereon
Computer program be mounted into storage section 708 as needed.
Particularly, according to an embodiment of the invention, may be implemented as computer above with reference to the process of flow chart description
Software program.For example, the embodiment of the present invention includes a kind of computer program product comprising be tangibly embodied in machine readable
Computer program on medium, the computer program include the program code for method shown in execution flow chart.At this
In the embodiment of sample, which can be downloaded and installed from network by communications portion 709, and/or from removable
Medium 711 is unloaded to be mounted.
The apparatus embodiments described above are merely exemplary, wherein described, unit can as illustrated by the separation member
It is physically separated with being or may not be, component shown as a unit may or may not be physics list
Member, it can it is in one place, or may be distributed over multiple network units.It can be selected according to the actual needs
In some or all of the modules achieve the purpose of the solution of this embodiment.Those of ordinary skill in the art are not paying creativeness
Labour in the case where, it can understand and implement.
Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can
It realizes by means of software and necessary general hardware platform, naturally it is also possible to pass through hardware.Based on this understanding, on
Stating technical solution, substantially the part that contributes to existing technology can be embodied in the form of software products in other words, should
Computer software product may be stored in a computer readable storage medium, such as ROM/RAM, magnetic disk, CD, including several fingers
It enables and using so that a computer equipment (can be personal computer, server or the network equipment etc.) executes each implementation
Method described in certain parts of example or embodiment.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (22)
1. a kind of three-dimensional modeling equipment, the equipment include: frequency determine component, image decoding component, result more New Parent and
Three-dimensional modeling component；
The frequency determines that component and the result more New Parent are coupled with described image decoding assembly respectively, and the result updates
Component and three-dimensional modeling component coupling, in which:
The frequency determines component, for determining carrier frequency Fmax, the low-limit frequency Fmin, initial frequency of structure light coding figure
F1 and renewal frequency F2, wherein F1=Fmax+Fmin, F2=Fmax+Fi, Fmin < Fi < Fmax；
Described image decoding assembly, for using the structure light coding of the initial frequency F1 and the carrier frequency Fmax respectively
Figure is projected to modeling object, obtains the first image；
The result more New Parent, for being projected to the modeling object using the structure light coding figure of the renewal frequency F2,
More new images are obtained, obtain the second image according to the more new images and the first image；
The three-dimensional modeling component, for calculating the pixel distance difference of the first image Yu second image, when described
Pixel distance difference is lower than preset threshold, then carries out three-dimensional modeling to the modeling object based on second image.
2. equipment according to claim 1, wherein the three-dimensional modeling component is also used to:
When the pixel distance difference be more than or equal to preset threshold, then to the result more New Parent transmission such as give an order:
The renewal frequency F2 is changed by changing the Fi, the second image changed based on the renewal frequency F2 after change.
3. equipment according to claim 1, wherein described image decoding assembly includes: the first decoder, the second decoding
Device, the first subtracter and the first de-packetizer；
First decoder and first subtracter are coupled with second decoder respectively, first subtracter and institute
State the coupling of the first de-packetizer, in which:
First decoder is projected to the modeling object, obtains for using the structure light coding figure of the initial frequency F1
To the first shooting figure, decodes first shooting figure and obtain the first decoding figure；
Second decoder is projected to the modeling object for using the structure light coding figure of the carrier frequency Fmax,
The second shooting figure is obtained, second shooting figure is decoded and obtains the second decoding figure；
First subtracter obtains the first decoded difference value figure for the first decoding figure to be subtracted the second decoding figure；
First de-packetizer is schemed based on the first decoded difference value figure, the first decoding figure, second decoding, is described
Low-limit frequency Fmin, the initial frequency F1, the carrier frequency Fmax, obtain the first image.
4. equipment according to claim 3, wherein first de-packetizer include: be lined up element, first adduction element,
Second adduction element and the first mean value element；
The queuing element and the second adduction element are coupled with the first adduction element respectively, the second adduction element
It is coupled with the first mean value element, in which:
The queuing element, for being based on the low-limit frequency Fmin, the carrier frequency Fmax, the initial frequency F1 by small
It is to big sequence, the corresponding first decoded difference value figure of the low-limit frequency Fmin, the carrier frequency Fmax is corresponding
The corresponding first decoding figure of the second decoding figure, the initial frequency F1 is arranged；
The first adduction element will the second decoding figure and described for keeping the first decoded difference value figure constant
One decoding figure sums up operation, obtains first hand and decoding figure；
The second adduction element, for keeping the first decoding figure constant, by the first decoded difference value figure and described the
Two decoding figures sum up operation, obtain the second adduction decoding figure；
The mean value element, for scheming to the first decoded difference value figure, first decoding, second decoding is schemed, described
First hand and decoding figure, the second adduction decoding figure carry out operation of averaging, and obtain the first image.
5. equipment according to claim 3, wherein the result more New Parent includes: third decoder, the second subtracter
With the second de-packetizer；
The third decoder, second de-packetizer are coupled with second subtracter respectively, in which:
The third decoder is projected to the modeling object, obtains for using the structure light coding figure of the renewal frequency F2
To third shooting figure, decodes the third shooting figure and obtain third decoding figure；
Second subtracter obtains the second decoded difference value figure for the third decoding figure to be subtracted the second decoding figure；
Second de-packetizer, schemed based on the first decoded difference value figure, the second decoded difference value figure, first decoding,
The second decoding figure, the third decode figure, the low-limit frequency Fmin, the Fi, the initial frequency F1, the carrier wave
Frequency Fmax, the renewal frequency F2, obtain second image.
6. equipment according to claim 1, wherein the three-dimensional modeling component includes: the first getter, the second acquisition
Device, subtracter and equalizer；
First getter and the subtracter are coupled with second getter respectively, the subtracter and the equalizer
Coupling, in which:
First getter, the pixel value of each pixel for obtaining the first image；
Second getter, the pixel value of each pixel for obtaining second image；
The subtracter subtracts second image for respectively corresponding the pixel value of each pixel of the first image
Each pixel pixel value, obtain each distance difference；
The equalizer obtains the first image and second image for each distance value to be done mean value computation
Pixel distance difference.
7. equipment according to claim 1, in which:
Fmin is the resolution ratio determination based on the projection device for projecting the structure light coding figure；
Fmax is 1/16.
8. equipment described in any one of -7 according to claim 1, wherein the modeling object includes: that surface has mirror surface anti-
Penetrate the object of effect.
9. a kind of 3 d modeling system, the system comprises: projection device, capture apparatus and three-dimensional modeling equipment, in which:
The three-dimensional modeling equipment, for determining carrier frequency Fmax, the low-limit frequency Fmin, initial frequency of structure light coding figure
F1 and renewal frequency F2, wherein F1=Fmax+Fmin, F2=Fmax+Fi, Fmin < Fi < Fmax；
The projection device, for projecting the initial frequency F1, the carrier frequency Fmax and described respectively to modeling object
The structure light coding figure of renewal frequency F2；
The capture apparatus obtains first for shooting to the modeling object for having projected the structure light coding figure
Shooting figure, the second shooting figure and third shooting figure obtain；
The three-dimensional modeling equipment is based on first shooting figure and second shooting figure, obtains the first image；
Based on the third shooting figure, more new images are obtained, obtain the second figure according to the more new images and the first image
Picture；
The pixel distance difference for calculating the first image and second image, when the pixel distance difference is lower than default threshold
Value then carries out three-dimensional modeling to the modeling object based on second image.
10. system according to claim 9, wherein the three-dimensional modeling equipment includes: that frequency determines component, image solution
Code character part, result more New Parent and three-dimensional modeling component；
The frequency determines that component and the result more New Parent are coupled with described image decoding assembly respectively, and the result updates
Component and three-dimensional modeling component coupling, in which:
The frequency determines component, for determining the carrier frequency Fmax of the structure light coding figure, the low-limit frequency
Fmin, the initial frequency F1 and the renewal frequency F2；
Described image decoding assembly is based on first shooting figure and second shooting figure, obtains the first image；
The result more New Parent is based on the third shooting figure, the more new images is obtained, according to the more new images and institute
It states the first image and obtains second image；
The three-dimensional modeling component, for calculating the pixel distance difference of the first image Yu second image, when described
Pixel distance difference is lower than the preset threshold, then carries out three-dimensional modeling to the modeling object based on second image.
11. system according to claim 9, in which:
Fmin is determined based on the resolution ratio of the projection device；
Fmax is 1/16.
12. the system according to any one of claim 9-11, wherein the modeling object includes: that surface has mirror surface
The object of reflecting effect.
13. a kind of three-dimensional modeling method, which comprises
Three-dimensional modeling equipment determines carrier frequency Fmax, low-limit frequency Fmin, initial frequency F1 and the update of structure light coding figure
Frequency F2, wherein F1=Fmax+Fmin, F2=Fmax+Fi, Fmin < Fi < Fmax；
The three-dimensional modeling equipment uses the structure light coding figure of the initial frequency F1 and the carrier frequency Fmax respectively, throws
It is incident upon modeling object, obtains the first image；
The three-dimensional modeling equipment is projected to the modeling object using the structure light coding figure of the renewal frequency F2, obtains more
New images obtain the second image according to the more new images and the first image；
The three-dimensional modeling equipment calculates the pixel distance difference of the first image and second image, when the pixel away from
Deviation value is lower than preset threshold, then carries out three-dimensional modeling to the modeling object based on second image.
14. the method according to claim 11, the method also includes:
When the pixel distance difference is more than or equal to the preset threshold, the three-dimensional modeling equipment then passes through described in change
Fi changes the renewal frequency F2, based on the second image that the renewal frequency F2 after change is changed, is based on the change
The pixel distance difference that is changed of the second image, it is right when the pixel distance difference of the change is lower than the preset threshold
The modeling object carries out three-dimensional modeling.
15. according to the method for claim 13, wherein the three-dimensional modeling equipment use respectively the initial frequency F1 and
The structure light coding figure of the carrier frequency Fmax is projected to the modeling object, obtains the first image, comprising:
The three-dimensional modeling equipment uses the structure light coding figure of the initial frequency F1, is projected to the modeling object, obtains
First shooting figure decodes first shooting figure and obtains the first decoding figure；
The three-dimensional modeling equipment uses the structure light coding figure of the carrier frequency Fmax, is projected to the modeling object, obtains
To the second shooting figure, decodes second shooting figure and obtain the second decoding figure；
The first decoding figure is subtracted the second decoding figure and obtains the first decoded difference value figure by the three-dimensional modeling equipment；
The three-dimensional modeling equipment is based on the first decoded difference value figure, first decoding is schemed, second decoding is schemed, is described
Low-limit frequency Fmin, the initial frequency F1, the carrier frequency Fmax, obtain the first image.
16. according to the method for claim 15, wherein the three-dimensional modeling equipment be based on the first decoded difference value figure,
The first decoding figure, the second decoding figure, the low-limit frequency Fmin, the initial frequency F1, the carrier frequency
Fmax obtains the first image, comprising:
The three-dimensional modeling equipment is based on the low-limit frequency Fmin, the carrier frequency Fmax, the initial frequency F1 by small
It is to big sequence, the corresponding first decoded difference value figure of the low-limit frequency Fmin, the carrier frequency Fmax is corresponding
The corresponding first decoding figure of the second decoding figure, the initial frequency F1 is arranged；
The three-dimensional modeling equipment keeps the first decoded difference value figure constant, by the second decoding figure and first decoding
Figure sums up operation, obtains first hand and decoding figure；
The three-dimensional modeling equipment keeps the first decoding figure constant, by the first decoded difference value figure and second decoding
Figure sums up operation, obtains the second adduction decoding figure；
The three-dimensional modeling equipment is to the first decoded difference value figure, the first decoding figure, the second decoding figure, described the
One carries out operation of averaging with decoding figure, the second adduction decoding figure, obtains the first image.
17. according to the method for claim 15, wherein the three-dimensional modeling equipment uses the structure of the renewal frequency F2
Pumped FIR laser figure is projected to the modeling object, obtains more new images, obtains institute according to the more new images and the first image
State the second image, comprising:
The three-dimensional modeling equipment uses the structure light coding figure of the renewal frequency F2, is projected to the modeling object, obtains
Third shooting figure decodes the third shooting figure and obtains third decoding figure；
The third decoding figure is subtracted the second decoding figure and obtains the second decoded difference value figure by the three-dimensional modeling equipment；
The three-dimensional modeling equipment be based on the first decoded difference value figure, the second decoded difference value figure, it is described first decoding figure,
The second decoding figure, the third decode figure, the low-limit frequency Fmin, the Fi, the initial frequency F1, the carrier wave
Frequency Fmax, the renewal frequency F2, obtain second image.
18. according to the method for claim 13, wherein the three-dimensional modeling equipment calculates the first image and described the
The pixel distance difference of two images, comprising:
The three-dimensional modeling equipment obtains the pixel value of each pixel of the first image；The three-dimensional modeling equipment obtains
The pixel value of each pixel of second image；
The pixel value of each pixel of the first image is respectively corresponded and subtracts second figure by the three-dimensional modeling equipment
The pixel value of each pixel of picture, obtains each distance difference；
Each distance value is done mean value computation by the three-dimensional modeling equipment, obtains the first image and second image
Pixel distance difference.
19. according to the method for claim 13, in which:
Fmin is determined based on the resolution ratio of the projection device for projecting the structure light coding figure；
Fmax is 1/16.
20. method described in any one of 3-19 according to claim 1, wherein the modeling object includes: that surface has mirror surface
The object of reflecting effect.
21. a kind of three-dimensional modeling equipment, comprising:
Memory, for storing program；
Processor, for executing the program of the memory storage, described program makes the processor execute such as claim
Method described in any one of 13-20.
22. a kind of computer readable storage medium, including instruction, when described instruction is run on computers, so that computer
Execute the method as described in any one of claim 13-20.
Priority Applications (1)
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|---|---|---|---|
| CN201710713427.XA CN109410311B (en) | 2017-08-18 | 2017-08-18 | Three-dimensional modeling apparatus, system, method, and storage medium |
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| US7440590B1 (en) * | 2002-05-21 | 2008-10-21 | University Of Kentucky Research Foundation | System and technique for retrieving depth information about a surface by projecting a composite image of modulated light patterns |
| US20110080471A1 (en) * | 2009-10-06 | 2011-04-07 | Iowa State University Research Foundation, Inc. | Hybrid method for 3D shape measurement |
| CN106530344A (en) * | 2016-11-04 | 2017-03-22 | 四川大学 | Decoding method and system for single line structured light |
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| US7440590B1 (en) * | 2002-05-21 | 2008-10-21 | University Of Kentucky Research Foundation | System and technique for retrieving depth information about a surface by projecting a composite image of modulated light patterns |
| US20110080471A1 (en) * | 2009-10-06 | 2011-04-07 | Iowa State University Research Foundation, Inc. | Hybrid method for 3D shape measurement |
| CN106530344A (en) * | 2016-11-04 | 2017-03-22 | 四川大学 | Decoding method and system for single line structured light |
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