Dynamic non-rigid body three-dimensional digital method fusing RGB-D camera and color photometric stereo method
A photometric three-dimensional, non-rigid body technology, applied in 3D modeling, image data processing, details involving processing steps, etc., can solve the problems of insufficient fine details, large geometric errors, and insufficient smoothness of reconstruction result noise, so as to improve practicality performance, simplify the sampling and solving process, and enrich the details
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[0042] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings and examples.
[0043] The system structure of the present invention is as follows figure 1 As shown in the figure, a depth camera and a color camera with calibrated internal parameters are used to shoot the object at the same time, the light source direction is estimated by combining the depth and color information, and finally the three-dimensional point cloud is solved by constructing an optimization problem. The specific implementation steps are as follows:
[0044] (1) Obtain the rough model of the surface of the measured object. The depth data obtained directly from the depth camera is very noisy and needs to be processed by confidence interval segmentation and bilateral filtering to obtain a smooth estimate of the measured surface.
[0045] (2) Solve the normal vector of each point on the surface of the measured object. The initial value of th...
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