CN109900222B - Model obtaining method and device based on projection grating modeling - Google Patents
Model obtaining method and device based on projection grating modeling Download PDFInfo
- Publication number
- CN109900222B CN109900222B CN201910311083.9A CN201910311083A CN109900222B CN 109900222 B CN109900222 B CN 109900222B CN 201910311083 A CN201910311083 A CN 201910311083A CN 109900222 B CN109900222 B CN 109900222B
- Authority
- CN
- China
- Prior art keywords
- camera
- calibration
- processor
- projector
- model
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a model obtaining method and a device based on projection grating modeling, wherein the model obtaining method is realized by a model obtaining device, the model obtaining device comprises a camera, a projector and a processor, and the model obtaining method comprises the following steps: calibrating the camera and the projector; projecting a plurality of frame structured light images to a planar area; acquiring absolute phase shift of an image on the plane area according to a plurality of frame structured light images shot by the camera; projecting a plurality of frames of structured light images to the target object on the plane area; acquiring the fluctuation phase shift of a target object according to a plurality of frame structured light images of the target object shot by the camera; and acquiring a three-dimensional model of the target object according to the fluctuating phase shift and the absolute phase shift. The model acquisition device based on the projection grating modeling can quickly acquire the model of the low-height object, the precision of the projection grating modeling is higher, and the established model is more fidelity.
Description
Technical Field
The invention relates to a model obtaining method and device based on projection grating modeling.
Background
Three-dimensional reconstruction refers to the establishment of a mathematical model suitable for computer representation and processing of a three-dimensional object, is the basis for processing, operating and analyzing the properties of the three-dimensional object in a computer environment, and is also a key technology for establishing virtual reality expressing an objective world in a computer.
The three-dimensional reconstruction of the grating projection is a three-dimensional reconstruction mode, the grating is respectively projected to a reference plane and the surface of a measured object, and the reference grating projected to the reference plane is not deformed because the reference plane is a horizontal plane; when the grating is projected on the surface of the measured object, the grating can generate deformation of different degrees because the projected grating is modulated by the height of the surface of the measured object. The heights of the placed measured objects are different, the phase change degrees of the gratings are different, and the phase change of the two-dimensional plane deformation stripes carries three-dimensional shape information of the surfaces of the objects. Therefore, by obtaining the phase change value, the height of the object at the corresponding point can be obtained, and the contour shape of the three-dimensional object can be obtained.
The existing grating projection three-dimensional reconstruction has the defects of single use scene and inconvenience in obtaining a model.
Disclosure of Invention
The invention aims to overcome the defects of single use scene and inconvenience for obtaining a model in three-dimensional reconstruction by grating projection in the prior art, and provides a model obtaining method and a model obtaining device based on projection grating modeling, which can quickly obtain a model of a low-height object, enable the precision of projection grating modeling to be higher and enable the established model to be more true.
The invention solves the technical problems through the following technical scheme:
a model acquisition method based on projection grating modeling is characterized in that the model acquisition method is realized by a model acquisition device, the model acquisition device comprises a camera, a projector and a processor, and the model acquisition method comprises the following steps:
the processor calibrates the camera and the projector;
the projector projects a plurality of frame structured light images to a plane area;
the processor acquires absolute phase shift of an image on the plane area according to a plurality of frame structure light images shot by the camera;
the projector projects a plurality of frames of structured light images on the target object on the plane area;
the processor acquires the fluctuation phase shift of the target object according to a plurality of frame structured light images of the target object shot by the camera;
the processor acquires a three-dimensional model of the target object according to the fluctuating phase shift and the absolute phase shift.
Preferably, the processor obtains the fluctuating phase shift of the target object according to a 6-frame structured light image of the target object captured by the camera.
Preferably, the processor is connected to the camera and the projector respectively, and the processor sends trigger signals to the camera and the projector respectively;
the camera comprises a camera lens, the projector comprises a projection lens, and the shooting direction of the camera lens and the projection direction of the projection lens are both aligned to the plane area;
the model acquisition method comprises the following steps:
the plane area is provided with a removable calibration pattern;
the camera shoots a plane area with only the calibration pattern as a calibration image;
the processor utilizes the calibration image to calibrate the camera and acquires camera calibration data;
the projector projects at least 2 calibration pictures with brightness to the plane area;
the camera shoots a calibration picture of each brightness on the plane area as a picture image;
and the processor utilizes the camera calibration data and the picture image to calibrate the projector and the camera.
Preferably, the projector projects at least 2 calibration pictures with brightness to the plane area, including:
the projector projects at least 2 gray scale calibration pictures to the plane area; or the like, or, alternatively,
the projector projects a calibration picture to the plane area, and projects gray level images with at least 2 gray levels on the calibration picture.
Preferably, the removable calibration pattern disposed on the planar area comprises:
displaying a calibration pattern on the plane area, wherein the color of the calibration pattern is variable;
the camera transmits a calibration image of a calibration pattern of at least 2 colors to the processor;
the processor calibrates the camera through all calibration images.
Preferably, the planar area includes a power supply module and a display panel, the display panel is provided with an electrochromic dye, and the power supply module is connected with the electrochromic dye.
Preferably, the plane area is a translucent white board, the calibration pattern is printed on the front surface of the translucent white board, a plurality of LED lamps are arranged on the back surface of the translucent white board, and the illumination direction of the LED lamps is aligned with the translucent white board;
the model acquisition method comprises the following steps:
the processor controls the brightness of the LED lamp;
the processor also sends a trigger signal to the camera after sending a brightness adjusting signal to the control chip.
Preferably, the planar area is a liquid crystal planar area, the liquid crystal planar area displays a preset pattern, the shape of the preset pattern is the same as that of the calibration pattern, and the color of the preset pattern is changeable.
The embodiment further provides a model obtaining apparatus based on projection grating modeling, which is characterized in that the model obtaining apparatus includes a camera, a projector and a processor, and the model obtaining apparatus is configured to implement the model obtaining method according to any one of claims 1 to 9.
Preferably, the processor includes a development board of DLP lightcraft 4500, model acquiring device includes a housing, the camera and the projector are both disposed in the housing, the camera includes a camera lens, and the projector includes a projection lens, and the camera lens and the projection lens are photographed on a front surface of the housing.
On the basis of the common knowledge in the field, the above preferred conditions can be combined randomly to obtain the preferred embodiments of the invention.
The positive progress effects of the invention are as follows:
the model acquisition device based on the projection grating modeling can quickly acquire the model of the low-height object, the precision of the projection grating modeling is higher, and the established model is more fidelity.
Drawings
Fig. 1 is a flowchart of a model acquisition method according to embodiment 1 of the present invention.
Fig. 2 is another flowchart of the model acquisition method according to embodiment 1 of the present invention.
Detailed Description
The invention is further illustrated by the following examples, which are not intended to limit the scope of the invention.
Example 1
The embodiment provides a model acquisition device based on projection grating modeling, which comprises a camera, a projector and a processor.
The processor includes a development board model DLP lightcraft 4500, available from texas instruments, usa.
The model acquisition device comprises a shell, and the camera and the projector are arranged in the shell.
The camera comprises a camera lens, the projector comprises a projection lens, and the camera lens and the projection lens shoot on the front surface of the shell.
The processor is respectively connected with the camera and the projector, and respectively sends trigger signals to the camera and the projector;
the camera comprises a camera lens, the projector comprises a projection lens, and the shooting direction of the camera lens and the projection direction of the projection lens are both aligned to the plane area;
the processor is used for calibrating the camera and the projector;
the projector is used for projecting a plurality of frame structured light images to a plane area;
the processor is used for acquiring the absolute phase shift of the image on the plane area according to a plurality of frame structure light images shot by the camera;
the projector is used for projecting a plurality of frames of structured light images to the target object on the plane area;
the processor is used for acquiring the fluctuation phase shift of the target object according to a plurality of frame structured light images of the target object shot by the camera;
the processor is configured to acquire a three-dimensional model of the target object based on the fluctuating phase shift and the absolute phase shift.
Referring to fig. 1 and fig. 2, with the model obtaining apparatus, the present embodiment provides a model obtaining method, including:
102, the processor acquires absolute phase shift of an image on the plane area according to a plurality of frame structured light images shot by the camera;
103, projecting a plurality of frames of structured light images on the target object on the plane area by the projector;
104, the processor acquires the fluctuation phase shift of the target object according to a plurality of frame structured light images of the target object shot by the camera;
and 105, acquiring a three-dimensional model of the target object according to the fluctuating phase shift and the absolute phase shift by the processor.
And the processor acquires the fluctuating phase shift of the target object according to the 6-frame structured light image of the target object shot by the camera.
In this embodiment, step 100 specifically includes:
step 1005, the camera shoots a calibration picture of each brightness on the plane area as a picture image;
Wherein step 1004 includes:
the projector projects at least 2 gray scale calibration pictures to the plane area; or the like, or, alternatively,
the projector projects a calibration picture to the plane area, and projects gray level images with at least 2 gray levels on the calibration picture.
displaying a calibration pattern on the plane area, wherein the color of the calibration pattern is variable;
the camera transmits a calibration image of a calibration pattern of at least 2 colors to the processor;
the processor calibrates the camera through all calibration images.
The color of the calibration pattern can be changed by the following modes:
in a first mode, the planar area comprises a power supply module and a display panel, the display panel is provided with electrochromic dye, and the power supply module is connected with the electrochromic dye.
In a second mode, the plane area is a semitransparent white board, the calibration pattern is printed on the front surface of the semitransparent white board, a plurality of LED lamps are arranged on the back surface of the semitransparent white board, and the illumination directions of the LED lamps are aligned to the semitransparent white board;
the model acquisition method comprises the following steps:
the processor controls the brightness of the LED lamp;
the processor also sends a trigger signal to the camera after sending a brightness adjusting signal to the control chip.
In a third mode, the planar area is a liquid crystal planar area, the liquid crystal planar area displays a preset pattern, the shape of the preset pattern is the same as that of the calibration pattern, and the color of the preset pattern is variable.
The model acquisition device based on projection grating modeling can rapidly acquire the model of the low-height object, the precision of projection grating modeling is higher, and the established model is more fidelity.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that these are by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.
Claims (9)
1. A model acquisition method based on projection grating modeling is characterized in that the model acquisition method is realized through a model acquisition device, the model acquisition device comprises a camera, a projector and a processor, the processor is respectively connected with the camera and the projector, the processor respectively sends trigger signals to the camera and the projector, the camera comprises a camera lens, the projector comprises a projection lens, and the shooting direction of the camera lens and the projection direction of the projection lens are both aligned to a plane area;
the model acquisition method comprises the following steps:
the processor calibrates the camera and the projector;
the projector projects a plurality of frames of structured light images to the planar area;
the processor acquires absolute phase shift of an image on the plane area according to a plurality of frame structure light images shot by the camera;
the projector projects a plurality of frames of structured light images on the target object on the plane area;
the processor acquires the fluctuation phase shift of the target object according to a plurality of frame structured light images of the target object shot by the camera;
the processor acquires a three-dimensional model of the target object according to the fluctuating phase shift and the absolute phase shift;
the model acquisition method further comprises:
the plane area is provided with a removable calibration pattern;
the camera shoots a plane area with only the calibration pattern as a calibration image;
the processor utilizes the calibration image to calibrate the camera and acquires camera calibration data;
the projector projects at least 2 calibration pictures with brightness to the plane area;
the camera shoots a calibration picture of each brightness on the plane area as a picture image;
and the processor utilizes the camera calibration data and the picture image to calibrate the projector and the camera.
2. The model acquisition method as claimed in claim 1, wherein said processor acquires the fluctuating phase shift of the object based on 6 frames of structured light images of the object taken by said camera.
3. The model acquisition method as claimed in claim 1, wherein said projector projects at least 2 calibration pictures of brightness to said planar area, comprising:
the projector projects at least 2 gray scale calibration pictures to the plane area; or the like, or, alternatively,
the projector projects a calibration picture to the plane area, and projects gray level images with at least 2 gray levels on the calibration picture.
4. The method of model acquisition as claimed in claim 1, wherein providing a removable calibration pattern on said planar area comprises:
displaying a calibration pattern on the plane area, wherein the color of the calibration pattern is variable;
the camera transmits a calibration image of a calibration pattern of at least 2 colors to the processor;
the processor calibrates the camera through all calibration images.
5. The model obtaining method of claim 4, wherein the planar area comprises a power supply module and a display panel, the display panel is provided with electrochromic dye, and the power supply module is connected with the electrochromic dye.
6. The model acquisition method of claim 4, wherein the planar area is a translucent white board, the calibration pattern is printed on the front surface of the translucent white board, and a plurality of LED lamps are arranged on the back surface of the translucent white board, and the illumination directions of the LED lamps are aligned with the translucent white board;
the model acquisition method comprises the following steps:
the processor controls the brightness of the LED lamp;
the processor also sends a trigger signal to the camera after sending the brightness adjusting signal to the control chip.
7. The model obtaining method of claim 4, wherein the planar area is a liquid crystal planar area, the liquid crystal planar area displays a preset pattern, the preset pattern has the same shape as the calibration pattern, and the color of the preset pattern is changeable.
8. A model acquisition apparatus based on projection grating modeling, wherein the model acquisition apparatus comprises a camera, a projector and a processor, and is used for implementing the model acquisition method according to any one of claims 1 to 7.
9. The model acquisition device as claimed in claim 8, wherein the processor comprises a model DLP lightcraft 4500 development board, texas instruments, usa, the model acquisition device comprising a housing, the camera and the projector both disposed within the housing, the camera comprising a camera lens, and the projector comprising a projection lens, the camera lens and the projection lens captured on a front surface of the housing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910311083.9A CN109900222B (en) | 2019-04-18 | 2019-04-18 | Model obtaining method and device based on projection grating modeling |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910311083.9A CN109900222B (en) | 2019-04-18 | 2019-04-18 | Model obtaining method and device based on projection grating modeling |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109900222A CN109900222A (en) | 2019-06-18 |
| CN109900222B true CN109900222B (en) | 2021-07-02 |
Family
ID=66955916
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910311083.9A Active CN109900222B (en) | 2019-04-18 | 2019-04-18 | Model obtaining method and device based on projection grating modeling |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109900222B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114076576B (en) * | 2020-08-21 | 2023-11-21 | 深圳市万普拉斯科技有限公司 | Light emitter, camera module, electronic equipment and image three-dimensional information acquisition method |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104539921A (en) * | 2014-11-26 | 2015-04-22 | 北京理工大学 | Illumination compensation method based on multi-projector system |
| CN108230399A (en) * | 2017-12-22 | 2018-06-29 | 清华大学 | A kind of projector calibrating method based on structured light technique |
| CN109900223A (en) * | 2019-04-18 | 2019-06-18 | 盎锐（上海）信息科技有限公司 | Imaging method and device for projection grating modeling |
| CN107607060B (en) * | 2017-08-24 | 2019-09-10 | 东南大学 | A kind of phase error compensation method applied in the measurement of grating tripleplane |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9488471B2 (en) * | 2007-11-05 | 2016-11-08 | Doubleshot, Inc. | Methods and systems for navigation and terrain change detection |
| JP2009156672A (en) * | 2007-12-26 | 2009-07-16 | Hitachi Technologies & Services Ltd | Moire type heat distortion measuring device |
| CN102589479B (en) * | 2012-03-06 | 2014-11-26 | 天津大学 | Three-dimensional topography central perturbation composite grating projection measuring method and device |
| CN104457615B (en) * | 2014-11-14 | 2017-04-05 | 深圳大学 | Three-dimension digital imaging method based on generalized S-transform |
| CN106289109A (en) * | 2016-10-26 | 2017-01-04 | 长安大学 | A kind of three-dimensional reconstruction system based on structure light and method |
| CN108195313B (en) * | 2017-12-29 | 2020-06-02 | 南京理工大学 | High dynamic range three-dimensional measurement method based on light intensity response function |
| CN109269438B (en) * | 2018-09-28 | 2020-07-10 | 中国科学院光电技术研究所 | Structured light illumination microscopic measurement method for detecting multilayer complex micro-nano structure |
-
2019
- 2019-04-18 CN CN201910311083.9A patent/CN109900222B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104539921A (en) * | 2014-11-26 | 2015-04-22 | 北京理工大学 | Illumination compensation method based on multi-projector system |
| CN107607060B (en) * | 2017-08-24 | 2019-09-10 | 东南大学 | A kind of phase error compensation method applied in the measurement of grating tripleplane |
| CN108230399A (en) * | 2017-12-22 | 2018-06-29 | 清华大学 | A kind of projector calibrating method based on structured light technique |
| CN109900223A (en) * | 2019-04-18 | 2019-06-18 | 盎锐（上海）信息科技有限公司 | Imaging method and device for projection grating modeling |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109900222A (en) | 2019-06-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109798841B (en) | Calibration system and method for camera and projector | |
| US7901094B2 (en) | View projection: one-touch setup of light displays on arbitrary surfaces | |
| US9047514B2 (en) | Apparatus, system and method for projecting images onto predefined portions of objects | |
| US7978928B2 (en) | View projection for dynamic configurations | |
| US20120069180A1 (en) | Information presentation apparatus | |
| CN110276838B (en) | Model acquisition method and device based on laser projector | |
| US20170372489A1 (en) | Three-Dimensional Measurement Device | |
| WO2019047985A1 (en) | Image processing method and device, electronic device, and computer-readable storage medium | |
| CN109900223B (en) | Imaging method and device for projection grating modeling | |
| CN110264506B (en) | Imaging method and device based on spatial coding | |
| CN110060302B (en) | Analysis system and method for calibrating camera and projector | |
| CN104735378B (en) | Projection arrangement and projecting method | |
| CN109900222B (en) | Model obtaining method and device based on projection grating modeling | |
| CN110264558B (en) | Model obtaining method and device based on laser projector | |
| CN110176065B (en) | Model obtaining method and device based on spatial coding | |
| CN110060301B (en) | Calibration system and method for projection grating modeling | |
| CN113890626A (en) | Dispersion correction method, dispersion correction device, laser television and storage medium | |
| CN110163958B (en) | Modeling method and device based on projection grating modeling | |
| CN110276792B (en) | Model obtaining method and device based on digital filter | |
| CN110163919B (en) | Three-dimensional modeling method and device | |
| CN108377383B (en) | Multi-projection 3D system light field contrast adjusting method and system | |
| CN210570529U (en) | Calibration system for camera and projector | |
| KR20180040316A (en) | 3D optical scanner | |
| CN209877906U (en) | 3D modeling device based on projection grating modeling | |
| KR101451792B1 (en) | Image rendering apparatus and method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |