Microscope measurement method and system for 3D image dynamic synthesis

Abstract

According to the microscope measurement method and system for 3D image dynamic synthesis, multiple microscope lenses are deployed from multiple angles, images of different space planes of a measured workpiece are dynamically collected at the same time, real-time dynamic images of all planes of a certain polyhedral workpiece can be observed at the same time, the requirement for multi-surface observation under new requirements is met, and the measurement efficiency is improved. And integrating all images by using a 3D image fusion technology to obtain a 3D image, so that new measurement parameters are constructed by calculating 3D data, and a multi-angle measurement result of each dimension parameter of the image is obtained, thereby solving the problem of difficulty in analyzing single-dimension workpiece data, meeting the requirements of analyzing various observation data of the polyhedral workpiece by using the 3D data, and improving the measurement accuracy. According to the invention, dynamically changing microscopic measurement data of the microscope can be obtained from 3D measurement data, and a high-end, accurate and rapid-response data basis is provided for some important microscopic observation experiments.

Description

Technical Field

[0001] The present invention relates to the field of microscope technology, and more specifically, to a microscope measurement method and system for dynamic synthesis of 3D images. Background Art

[0002] The usual microscope image measurement method is usually a plane image software tool provided by the microscope manufacturer. This type of tool can only use the functions such as viewing plane images provided by the manufacturer, has strict limitations, cannot meet the basic measurement needs of customers well, and does not have software scalability.

[0003] Existing microscopy measurement methods have two disadvantages:

[0004] 1. The general microscope measurement method is aimed at the image measurement of a single plane, which can obtain a dynamic image of a plane of a workpiece. However, its disadvantage is that it can only observe one plane of the workpiece at the same time, and cannot adapt to the new demand for simultaneous observation of multiple planes of a workpiece under complex requirements.

[0005] 2. Other microscopes that can simultaneously measure multiple plane images of a workpiece are expensive, complex to install, and costly. The images formed are not 3D and cannot achieve 3D image synthesis. Summary of the invention

[0006] In view of this: the present invention provides a microscope measurement method and system for dynamic synthesis of 3D images, which solves the new demand that the existing technology cannot measure multiple plane images. By deploying multiple microscope lenses from multiple angles, images of different spatial planes of the measured workpiece are dynamically collected simultaneously, and real-time dynamic images of all planes of a polyhedral workpiece can be observed simultaneously, meeting the requirements of multi-faceted observation under new demands. Then, 3D image fusion technology is used to integrate all images to obtain a 3D image, so as to construct new measurement parameters by calculating 3D data, and obtain multi-angle measurement results of various dimensional parameters of the image, which solves the difficulty of single-dimensional workpiece data analysis, realizes the needs of 3D data analysis of various observation data of polyhedral workpieces, and can obtain dynamically changing microscope microscopic measurement data from 3D measurement data, providing a high-end, accurate and fast-response data foundation for some important microscopic observation experiments.

[0007] A microscope measurement method for dynamic synthesis of 3D images, characterized in that it comprises the following steps:

[0008] Step 1: Place multiple lenses at different spatial planes of the workpiece to be measured, each lens corresponding to a spatial plane;

[0009] Step 2, respectively collecting the plane image and plane image parameters of the workpiece to be measured on the corresponding surface of each lens in real time;

[0010] Step 3: Use 3D image fusion technology to calculate 3D data from the planar image collected in step 2 to construct new measurement parameters and continuously adjust them, so as to integrate a 3D composite image that meets the set parameters;

[0011] Step 4: Display the 3D composite image obtained in step 3 in real time or freeze the obtained 3D composite image to statically display the 3D image at a certain moment or export 3D data.

[0012] Furthermore, the lens is a network microscope lens.

[0013] In some embodiments, in step 2, the lenses are first connected to the SDK integrated interface respectively, and the SDK integrated interface is connected to the switch. The switch is based on the C++ secondary development DLL supporting twain, dshow, and uvc protocols provided by the manufacturer and attached to the lens device. By using object-oriented C++ technology to design a device class CDevice for part of the code related to device plane image acquisition and management in the DLL, the device class CDevice can simultaneously acquire RGB24bit plane images of all lenses and manage the plane image parameters of all lenses.

[0014] Furthermore, the parameters of the planar image include: exposure gain, exposure time, brightness, sharpness, gamma, and white balance components.

[0015] Furthermore, the lens is connected to a switch via an RJ45-5 network cable to transmit real-time planar images to complete image acquisition or to transmit TCP protocol via an RJ45 network cable to perform image parameter function management.

[0016] Furthermore, the network switch is an ordinary 100M switch, which is a POE or non-POE switch, depending on which manufacturer's camera is used. For example, if you want to use a network cable for power supply, choose a POE / 100Mb RG45 network cable. If POE power supply is not required, choose an ordinary switch.

[0017] Furthermore, the data are transmitted to the 3D image dynamic synthesis software through the switch to integrate all the images into a 3D image using 3D image fusion technology, thereby constructing new measurement parameters by calculating the 3D data to obtain multi-angle measurement results of various dimensional parameters of the image.

[0018] In some embodiments, in step three, the 3D image fusion technology pre-processes the data of the plane image collected in step two, and performs a 3D algorithm to synthesize a new 3D image. The 3D image uses the OpenCV3D toolkit to process the generation, filtering, and segmentation of point cloud data, and uses the obtained point cloud data to reconstruct a high-quality 3D model, and then obtains a 3D synthetic image through OpenGL real-time rendering and visualization, and by setting the measured workpiece to meet the minimum target parameters, the exposure gain, exposure time, brightness, sharpness, gamma, and white balance components of the image are changed, and then the 3D image after the updated parameters is synthesized to determine whether the above target parameters are met. If not, the unsatisfied parameters are fed back to the actual microscope lens and the position of the collected image is repeatedly adjusted and the corrected parameters are fed back to calibrate and evaluate the image to obtain a 3D synthetic image that meets the set parameters. At the same time, all the above target optimal parameters and image parameters to be adjusted are stored and retained until the next time the software is reopened for continued use.

[0019] Furthermore, the target parameters include: the target feature ROI plane area accuracy is not less than 10*10 pixels; the height is not less than 30 pixels; and the point, line, and surface features satisfying the specific shape of the workpiece being measured.

[0020] Furthermore, the position of the lens can be adjusted according to the actual shape and position of the workpiece to be measured, ensuring that all lenses collect image data of all regions of interest ROI to form a closed loop.

[0021] Furthermore, the measured surface of the workpiece is provided with a lighting device of a microscope lens, and the lighting device is connected to a gripper, which can grasp at least a hexahedron. The gripper can grasp the lighting device for position adjustment, so that the light of the lighting device can illuminate the measured surface of the workpiece and highlight it, so that the plane image of the workpiece can be captured without obstruction and blind spots.

[0022] A microscope measurement system for dynamic synthesis of 3D images, characterized in that it includes the following modules:

[0023] The position matching module is used to place multiple lenses on different spatial planes of the workpiece to be measured, and each lens corresponds to a spatial plane;

[0024] A plane image data acquisition management module is used to respectively and in real time acquire the plane image and plane image parameters of the workpiece to be measured on the corresponding surface of each lens;

[0025] A 3D image fusion processing module is used to use 3D image fusion technology to construct new measurement parameters from the plane image of the plane image data acquisition management module by calculating 3D data and continuously adjust them, so as to integrate a 3D synthetic image that meets the set parameters;

[0026] The 3D image display and export module is used to dynamically display the 3D composite image of the 3D image fusion processing module in real time or freeze the acquired 3D composite image, statically display the 3D image at a certain moment or export 3D data.

[0027] In some embodiments, in the position matching module, the lens is a network microscope lens. First, the lenses are connected to the SDK integrated interface respectively, and the SDK integrated interface is connected to the switch. The switch is based on the C++ secondary development DLL supporting twain, dshow, and uvc protocols provided by the manufacturer and attached to the lens device. By using object-oriented C++ technology to design a device class CDevice for part of the code related to device plane image acquisition and management in the DLL, the device class CDevice can simultaneously acquire RGB24bit plane images of all lenses and manage the plane image parameters of all lenses.

[0028] Furthermore, the parameters of the planar image include: exposure gain, exposure time, brightness, sharpness, gamma, and white balance components.

[0029] Furthermore, the lens is connected to a switch via an RJ45-5 network cable to transmit real-time planar images to complete image acquisition or to transmit TCP protocol via an RJ45 network cable to perform image parameter function management.

[0030] Furthermore, the network switch is an ordinary 100M switch, which is a POE or non-POE switch, depending on which manufacturer's camera is used. For example, if you want to use a network cable for power supply, choose a POE / 100Mb RG45 network cable. If POE power supply is not required, choose an ordinary switch.

[0031] Furthermore, the data are transmitted to the 3D image dynamic synthesis software through the switch to integrate all the images into a 3D image using 3D image fusion technology, thereby constructing new measurement parameters by calculating the 3D data to obtain multi-angle measurement results of various dimensional parameters of the image.

[0032] In some embodiments, in the 3D image fusion processing module, the 3D image fusion technology pre-processes the data of the plane image collected in step 2, and performs a 3D algorithm to synthesize a new 3D image. The 3D image uses the OpenCV3D toolkit to process the generation, filtering, and segmentation of point cloud data, and uses the obtained point cloud data to reconstruct a high-quality 3D model, and then obtains a 3D synthetic image through OpenGL real-time rendering and visualization, and by setting the measured workpiece to meet the minimum target parameters, the exposure gain, exposure time, brightness, sharpness, gamma, and white balance components of the image are changed, and then the 3D image after the updated parameters is synthesized to determine whether the above target parameters are met. If not, the unsatisfied parameters are fed back to the actual microscope lens and the position of the collected image is repeatedly adjusted and the corrected parameters are fed back to calibrate and evaluate the image to obtain a 3D synthetic image that meets the set parameters. At the same time, all the above target optimal parameters and image parameters to be adjusted are stored and retained until the next time the software is reopened for continued use.

[0033] Furthermore, the target parameters include: the target feature ROI plane area accuracy is not less than 10*10 pixels; the height is not less than 30 pixels; and the point, line, and surface features satisfying the specific shape of the workpiece being measured.

[0034] Furthermore, the position of the lens can be adjusted according to the actual shape and position of the workpiece to be measured, ensuring that all lenses collect image data of all regions of interest ROI to form a closed loop.

[0035] Furthermore, the measured surface of the workpiece is provided with a lighting device of a microscope lens, and the lighting device is connected to a gripper, which can grasp at least a hexahedron. The gripper can grasp the lighting device for position adjustment, so that the light of the lighting device can illuminate the measured surface of the workpiece and highlight it, so that the plane image of the workpiece can be captured without obstruction and blind spots.

[0036] Beneficial effects of the present invention: The present invention provides a microscope measurement method and system for dynamic synthesis of 3D images. When acquiring plane images, the design of the image access SDK integrated interface is the key interface for software to measure images. In the design, the modular method of CDevice integrating twain, dshow, and uvc protocols, and the module design of CGraphicImage multi-threaded asynchronous image acquisition have a great effect on the smoothness, stability, and clarity of the image. The subsequent 3D image feedback correction parameter module design uses OpenCV3D model reconstruction and visualization technology, and can correct the acquisition image parameters according to the target parameters of the 3D image synthesis effect, which is the best guarantee for the 3D synthesis image effect. The dynamic 3D synthesis image expands the dimension, and the measurement method can be easily reproduced by exporting point cloud 3D data, which proves the repeatability and correctness of the measurement method. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 This is the overall architecture diagram of the system of the present invention.

[0038] Figure 2 This is a flow chart of the microscope measurement method for dynamic synthesis of 3D images of the present invention. DETAILED DESCRIPTION Embodiment 1:

[0039] like Figure 2 As shown, a microscope measurement method for dynamic synthesis of 3D images is characterized by comprising the following steps:

[0040] Step 1: Place multiple lenses at different spatial planes of the workpiece to be measured, each lens corresponds to a spatial plane; the lens is a network microscope lens.

[0041] Step 2: respectively collect the plane image and plane image parameters of the workpiece to be measured on the corresponding surface of each lens in real time.

[0042] First, the lenses are connected to the SDK integration interface respectively, and the SDK integration interface is connected to the switch. The switch is based on the C++ secondary development DLL supporting twain, dshow, and uvc protocols provided by the manufacturer and attached to the lens equipment. A device class CDevice is designed by using object-oriented C++ technology to use part of the code related to device plane image acquisition and management in the DLL. The device class CDevice can simultaneously acquire RGB24bit plane images of all lenses and manage plane image parameters of all lenses. The parameters of the plane image include: exposure gain, exposure time, brightness, sharpness, gamma, and white balance components. The lens is connected to the switch through an RJ45-5 network cable to transmit real-time plane images to complete image acquisition, or transmit the TCP protocol through the RJ45 network cable to perform image parameter function management.

[0043] The network switch is an ordinary 100M switch, which can be a POE or non-POE switch, depending on which manufacturer's camera is used. For example, if you want to use a network cable for power supply, choose a POE / 100Mb RG45 network cable. If POE power supply is not required, just choose an ordinary switch.

[0044] The 3D image dynamic synthesis software is transmitted through the switch to integrate all images into a 3D image using 3D image fusion technology, thereby constructing new measurement parameters by calculating the 3D data to obtain multi-angle measurement results for each dimensional parameter of the image.

[0045] Step three, using 3D image fusion technology to calculate 3D data from the planar image collected in step two to construct new measurement parameters and continuously adjust them, so as to integrate a 3D composite image that meets the set parameters.

[0046] The 3D image fusion technology pre-processes the data of the plane image collected in step 2, and performs a 3D algorithm to synthesize a new 3D image. The 3D image uses the OpenCV3D toolkit to process the generation, filtering, and segmentation of point cloud data, and uses the obtained point cloud data to reconstruct a high-quality 3D model, and then obtains a 3D synthetic image through OpenGL real-time rendering and visualization, and by setting the minimum target parameters that the measured workpiece should meet, the exposure gain, exposure time, brightness, sharpness, gamma, and white balance components of the image are changed, and then the 3D image after the updated parameters is synthesized to determine whether the above target parameters are met. If not, the unsatisfied parameters are fed back to the actual microscope lens, and the position of the collected image is repeatedly adjusted and the corrected parameters are fed back to calibrate and evaluate the image, so as to obtain a 3D synthetic image that meets the set parameters. At the same time, the above parameters are stored All target optimal parameters and image parameters to be adjusted are retained until the next time the software is reopened for continued use. The target parameters include: the plane area accuracy of the target feature ROI is not less than 10*10 pixels; the height is not less than 30 pixels; the point, line, and surface features that meet the specific shape of the measured workpiece. The position of the lens can be adjusted according to the actual shape and position of the measured workpiece to ensure that all lenses collect image data of all regions of interest ROI to form a closed loop. The measured surface of the measured workpiece is provided with a lighting device of a microscope lens, and the lighting device is connected to a gripper, which can grab at least a hexahedron gripper. The gripper can grab the lighting device for position adjustment, so that the light of the lighting device can illuminate the measured surface of the measured workpiece and highlight it, so that the plane image of the measured workpiece can be captured without obstruction and dead angle.

[0047] Step 4: Display the 3D composite image obtained in step 3 in real time or freeze the obtained 3D composite image to statically display the 3D image at a certain moment or export 3D data. Embodiment 2:

[0048] like Figure 1 As shown, a microscope measurement system for dynamic synthesis of 3D images is characterized by comprising the following modules:

[0049] The position matching module is used to place multiple lenses at different spatial planes of the workpiece to be measured, each lens corresponds to a spatial plane; in the position matching module, the lens is a network microscope lens.

[0050] The plane image data acquisition management module is used to respectively acquire the plane image and plane image parameters of the workpiece under test on the corresponding surface of each lens in real time; firstly, the lenses are respectively connected to the SDK integrated interface, and the SDK integrated interface is connected to the switch. The switch is based on the C++ secondary development DLL supporting twain, dshow, and uvc protocols provided by the manufacturer and attached to the lens equipment. By using the object-oriented C++ technology to design a device class CDevice for part of the code related to the device plane image acquisition and management in the DLL, the device class CDevice can simultaneously acquire the RGB24bit plane images of all lenses and manage the plane image parameters of all lenses. The plane image parameters include: exposure gain, exposure time, brightness, sharpness The lens is connected to the switch through an RJ45-5 network cable to transmit real-time flat images to complete image acquisition or to transmit the TCP protocol through the RJ45 network cable to perform image parameter function management. The network switch is an ordinary 100M switch, which is a POE or non-POE switch, depending on which manufacturer's camera is used. For example, if you want to use a network cable for power supply, choose a POE / 100Mb RG45 network cable. If POE power supply is not required, choose an ordinary switch. The switch is transmitted to the 3D image dynamic synthesis software, and all images are integrated to obtain a 3D image using 3D image fusion technology, so as to construct new measurement parameters by calculating 3D data, and obtain multi-angle measurement results of various dimensional parameters of the image.

[0051] The 3D image fusion processing module is used to use the 3D image fusion technology to construct new measurement parameters from the plane image of the plane image data acquisition management module by calculating 3D data and continuously adjust them, so as to integrate a 3D synthetic image that meets the set parameters.

[0052] The 3D image display and export module is used to dynamically display the 3D composite image of the 3D image fusion processing module in real time or freeze the acquired 3D composite image, statically display the 3D image at a certain moment or export 3D data.

[0053] In some embodiments, in the 3D image fusion processing module, the 3D image fusion technology pre-processes the data of the plane image collected in step 2, and performs a 3D algorithm to synthesize a new 3D image. The 3D image uses the OpenCV3D toolkit to process the generation, filtering, and segmentation of point cloud data, and uses the obtained point cloud data to reconstruct a high-quality 3D model, and then obtains a 3D synthetic image through OpenGL real-time rendering and visualization, and by setting the measured workpiece to meet the minimum target parameters, the exposure gain, exposure time, brightness, sharpness, gamma, and white balance components of the image are changed, and then the 3D image after the updated parameters is synthesized to determine whether the above target parameters are met. If not, the unsatisfied parameters are fed back to the actual microscope lens, and the position of the collected image is repeatedly adjusted and the corrected parameters are fed back to calibrate and evaluate the image to obtain a 3D synthetic image that meets the set parameters. The target parameters include: the plane area accuracy of the target feature ROI is not less than 10*10 pixels; the height is not less than 30 pixels; the point, line and surface features of the specific shape of the workpiece to be measured are satisfied; the position of the lens can be adjusted according to the actual shape and position of the workpiece to be measured, ensuring that all lenses collect image data of all regions of interest ROI to form a closed loop; the measured surface of the workpiece to be measured is provided with a lighting device of a microscope lens, and the lighting device is connected with a gripper, which can grip at least a hexahedron gripper, and the gripper can grip the lighting device for position adjustment, so that the light of the lighting device can illuminate the measured surface of the workpiece to be measured and highlight it, so that the plane image of the workpiece to be measured can be captured without obstruction and dead angle.

[0054] Beneficial effects of the present invention: The present invention provides a microscope measurement method and system for dynamic synthesis of 3D images. When acquiring plane images, the design of the image access SDK integrated interface is the key interface for software to measure images. In the design, the modular method of CDevice integrating twain, dshow, and uvc protocols, and the module design of CGraphicImage multi-threaded asynchronous image acquisition have a great effect on the smoothness, stability, and clarity of the image. The subsequent 3D image feedback correction parameter module design uses OpenCV3D model reconstruction and visualization technology, and can correct the acquisition image parameters according to the target parameters of the 3D image synthesis effect, which is the best guarantee for the 3D synthesis image effect. The dynamic 3D synthesis image expands the dimension, and the measurement method can be easily reproduced by exporting point cloud 3D data, which proves the repeatability and correctness of the measurement method.

[0055] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A microscope measurement method for dynamic synthesis of 3D images, characterized in that: The following steps are involved: Step 1: Place multiple lenses at different spatial planes of the workpiece to be measured, each lens corresponding to a spatial plane; Step 2, respectively collecting the plane image and plane image parameters of the workpiece to be measured on the corresponding surface of each lens in real time; Step 3: Use 3D image fusion technology to calculate 3D data from the planar image collected in step 2 to construct new measurement parameters and continuously adjust them, so as to integrate a 3D synthetic image that meets the set parameters; Step 4: Display the 3D composite image obtained in step 3 in real time or freeze the obtained 3D composite image to statically display the 3D image at a certain moment or export 3D data.

2. The microscope measurement method for 3D image dynamic synthesis according to claim 1, characterized in that: In step 2, the lens is a network microscope lens. First, the lenses are connected to the SDK integrated interface respectively. The SDK integrated interface is connected to the switch. The switch is based on the C++ secondary development DLL supporting twain, dshow, and uvc protocols provided by the manufacturer and attached to the lens device. A device class CDevice is designed by using object-oriented C++ technology to convert part of the code related to device plane image acquisition and management in the DLL. The device class CDevice can simultaneously acquire RGB24bit plane images of all lenses and manage plane image parameters of all lenses. The parameters of the plane image include: exposure gain, exposure time, brightness, sharpness, gamma, and white balance components.

3. The microscope measurement method for dynamic synthesis of 3D images according to claim 1, characterized in that: The lens is connected to the switch via an RJ45-5 network cable to transmit real-time plane images to complete image acquisition or to transmit the TCP protocol via the RJ45 network cable to perform image parameter function management.

4. The microscope measurement method for dynamic synthesis of 3D images according to claim 1, characterized in that: The network switch is an ordinary 100M switch, which can be a POE or non-POE switch, depending on which manufacturer's camera is used. For example, if you want to use a network cable for power supply, choose a POE / 100Mb RG45 network cable. If POE power supply is not required, just choose an ordinary switch.

5. The microscope measurement method for dynamic synthesis of 3D images according to claim 1, characterized in that: The 3D images are transmitted to the 3D image dynamic synthesis software through the switch, and all images are integrated into a 3D image using 3D image fusion technology. Then, new measurement parameters are constructed by calculating the 3D data to obtain multi-angle measurement results of various dimensional parameters of the image.

6. The microscope measurement method for dynamic synthesis of 3D images according to claim 1, characterized in that: In step three, the 3D image fusion technology pre-processes the data of the plane image collected in step two, and performs a 3D algorithm to synthesize a new 3D image. The 3D image uses the OpenCV3D toolkit to process the generation, filtering, and segmentation of point cloud data, and uses the obtained point cloud data to reconstruct a high-quality 3D model, and then obtains a 3D synthetic image through OpenGL real-time rendering and visualization, and by setting the measured workpiece to meet the minimum target parameters, changing the exposure gain, exposure time, brightness, sharpness, gamma, and white balance components of the image, and then synthesizing the 3D image after the updated parameters, it is determined whether the above target parameters are met. If not, the unsatisfied parameters are fed back to the actual microscope lens and the position of the collected image is repeatedly adjusted and the corrected parameters are fed back to calibrate and evaluate the image to obtain a 3D synthetic image that meets the set parameters. At the same time, all the above target optimal parameters and image parameters to be adjusted are stored and retained until the next time the software is reopened for continued use.

7. The microscope measurement method for dynamic synthesis of 3D images according to claim 1, characterized in that: The target parameters include: the target feature ROI plane area accuracy is not less than 10*10 pixels; the height is not less than 30 pixels; and the point, line, and surface features that meet the specific shape of the workpiece being measured.

8. The microscope measurement method for dynamic synthesis of 3D images according to claim 1, characterized in that: The position of the lens can be adjusted according to the actual shape and position of the workpiece to be measured, ensuring that all lenses collect image data of all regions of interest ROI to form a closed loop.

9. The microscope measurement method for dynamic synthesis of 3D images according to claim 1, characterized in that: The measured surface of the workpiece is provided with an illumination device of a microscope lens, and the illumination device is connected to a gripper, which can grasp at least a hexahedron. The gripper can grasp the illumination device for position adjustment, so that the light of the illumination device can illuminate the measured surface of the workpiece and highlight it, so that the plane image of the workpiece can be captured without obstruction and blind spots.

10. A microscope measurement system for dynamic synthesis of 3D images, characterized in that: Includes the following modules: The position matching module is used to place multiple lenses on different spatial planes of the workpiece to be measured, and each lens corresponds to a spatial plane; A plane image data acquisition management module is used to respectively and in real time acquire the plane image and plane image parameters of the workpiece to be measured on the corresponding surface of each lens; A 3D image fusion processing module is used to use 3D image fusion technology to construct new measurement parameters from the plane image of the plane image data acquisition management module by calculating 3D data and continuously adjust them, so as to integrate a 3D synthetic image that meets the set parameters; The 3D image display and export module is used to dynamically display the 3D composite image of the 3D image fusion processing module in real time or freeze the acquired 3D composite image, statically display the 3D image at a certain moment or export 3D data.

Images