Color three-dimensional image acquisition method, device and system and computer equipment

Abstract

The invention relates to a color three-dimensional image acquisition method, device and system, computer equipment, a computer readable storage medium and a computer program product. The method comprises the following steps: controlling a binocular structured light camera to collect structured light three-dimensional image original data of a target object; controlling the binocular stereo camera to collect binocular stereo three-dimensional image original data of the target object, and controlling the color camera to collect color image original data of the target object; obtaining a structured light three-dimensional image of the target object according to the structured light three-dimensional image original data, obtaining a binocular three-dimensional image of the target object according to the binocular three-dimensional image original data, and obtaining a color image of the target object according to the color image original data; and carrying out fusion processing on the structured light three-dimensional image, the binocular stereo three-dimensional image and the color image to obtain a color three-dimensional image of the target object. By adopting the method, the image resolution of the acquired color three-dimensional image can be improved.

Description

Technical Field

[0001] The present application relates to the field of image processing technology, and in particular to a color three-dimensional image acquisition method, device, system, computer equipment, computer-readable storage medium and computer program product. Background Art

[0002] As people's demand for image information becomes higher and higher, two-dimensional images can no longer meet the needs, and there is a greater demand for three-dimensional images.

[0003] In traditional technology, when collecting three-dimensional images, they are generally collected through structured light cameras or binocular stereo cameras; however, the two-dimensional resolution of the three-dimensional images collected by structured light cameras is low, and local image loss and missing imaging of small objects may occur; moreover, the depth resolution of the three-dimensional images collected by binocular stereo cameras is low, resulting in a low image resolution of the collected three-dimensional images. Summary of the invention

[0004] Based on this, it is necessary to provide a color three-dimensional image acquisition method, device, system, computer equipment, computer-readable storage medium and computer program product that can improve the image resolution of the acquired three-dimensional image in order to solve the above technical problems.

[0005] In a first aspect, the present application provides a color three-dimensional image acquisition method, comprising:

[0006] Control the binocular structured light camera to collect the original data of the structured light three-dimensional image of the target object;

[0007] Controlling the binocular stereo camera to collect the original binocular stereo 3D image data of the target object, and controlling the color camera to collect the original color image data of the target object; the binocular stereo camera and the binocular structured light camera share two infrared cameras;

[0008] Obtaining a structured light 3D image of the target object according to the structured light 3D image raw data, obtaining a binocular stereo 3D image of the target object according to the binocular stereo 3D image raw data, and obtaining a color image of the target object according to the color image raw data;

[0009] The structured light three-dimensional image, the binocular stereo three-dimensional image and the color image are fused to obtain a color three-dimensional image of the target object.

[0010] In one embodiment, obtaining the structured light 3D image of the target object according to the structured light 3D image raw data, obtaining the binocular stereo 3D image of the target object according to the binocular stereo 3D image raw data, and obtaining the color image of the target object according to the color image raw data includes:

[0011] Processing the structured light 3D image raw data through a first processor to obtain a structured light 3D image of the target object, processing the binocular stereo 3D image raw data through a second processor to obtain a binocular stereo 3D image of the target object, and processing the color image raw data through a third processor to obtain a color image of the target object;

[0012] The fusing process of the structured light 3D image, the binocular stereo 3D image and the color image to obtain the color 3D image of the target object includes:

[0013] By means of a fourth processor, the structured light three-dimensional image and the binocular stereo three-dimensional image are fused to obtain a fused three-dimensional image of the target object;

[0014] The fused three-dimensional image and the color image are fused by a fifth processor to obtain a color three-dimensional image of the target object.

[0015] In one embodiment, controlling the binocular stereo camera to collect binocular stereo 3D image raw data of the target object, and controlling the color camera to collect color image raw data of the target object, comprises:

[0016] When receiving the original data of the structured light 3D image transmitted by the binocular structured light camera, corresponding control instructions are sent to the binocular stereo camera and the color camera respectively, so that the binocular stereo camera collects the original data of the binocular stereo 3D image of the target object, and the color camera collects the original data of the color image of the target object synchronously;

[0017] The original data of the binocular stereo 3D image transmitted by the binocular stereo camera is received, and the original data of the color image transmitted by the color camera is received.

[0018] In one embodiment, controlling the binocular structured light camera to collect raw data of the structured light three-dimensional image of the target object includes:

[0019] Sending a corresponding control instruction to a binocular structured light camera so that the binocular structured light camera collects raw data of a structured light three-dimensional image of the target object;

[0020] Receive the original data of the structured light three-dimensional image transmitted by the binocular structured light camera.

[0021] In one embodiment, the binocular structured light camera includes a first infrared camera, a second infrared camera and a structured light emitter; the binocular stereo camera includes the first infrared camera, the second infrared camera and a flood light emitter; the operating wavelengths of the structured light emitter and the flood light emitter are the same as the operating wavelengths of the first infrared camera and the second infrared camera.

[0022] In a second aspect, the present application further provides a color three-dimensional image acquisition device, comprising:

[0023] The first control module is used to control the binocular structured light camera to collect the original data of the structured light three-dimensional image of the target object;

[0024] A second control module is used to control the binocular stereo camera to collect the original binocular stereo 3D image data of the target object, and to control the color camera to collect the original color image data of the target object; the binocular stereo camera and the binocular structured light camera share two infrared cameras;

[0025] a data processing module, configured to obtain a structured light 3D image of the target object according to the structured light 3D image raw data, obtain a binocular stereo 3D image of the target object according to the binocular stereo 3D image raw data, and obtain a color image of the target object according to the color image raw data;

[0026] The image fusion module is used to fuse the structured light 3D image, the binocular stereo 3D image and the color image to obtain a color 3D image of the target object.

[0027] In a third aspect, the present application also provides a color three-dimensional image acquisition system, including: a main controller, a binocular structured light camera, a binocular stereo camera and a color camera; the binocular stereo camera and the binocular structured light camera share two infrared cameras;

[0028] The binocular structured light camera is used to collect raw data of a structured light three-dimensional image of a target object under the control of the main controller, and transmit the raw data of the structured light three-dimensional image to the main controller;

[0029] The binocular stereo camera is used to collect the original binocular stereo 3D image data of the target object under the control of the main controller, and transmit the original binocular stereo 3D image data to the main controller;

[0030] The color camera is used to collect the original color image data of the target object under the control of the main controller, and transmit the original color image data to the main controller;

[0031] The main controller is used to obtain a structured light 3D image of the target object according to the original data of the structured light 3D image, obtain a binocular stereo 3D image of the target object according to the original data of the binocular stereo 3D image, and obtain a color image of the target object according to the original data of the color image; and perform fusion processing on the structured light 3D image, the binocular stereo 3D image and the color image to obtain a color 3D image of the target object.

[0032] In a fourth aspect, the present application further provides a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0033] Control the binocular structured light camera to collect the original data of the structured light three-dimensional image of the target object;

[0034] Controlling the binocular stereo camera to collect the original binocular stereo 3D image data of the target object, and controlling the color camera to collect the original color image data of the target object; the binocular stereo camera and the binocular structured light camera share two infrared cameras;

[0035] Obtaining a structured light 3D image of the target object according to the structured light 3D image raw data, obtaining a binocular stereo 3D image of the target object according to the binocular stereo 3D image raw data, and obtaining a color image of the target object according to the color image raw data;

[0036] The structured light three-dimensional image, the binocular stereo three-dimensional image and the color image are fused to obtain a color three-dimensional image of the target object.

[0037] In a fifth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the following steps are implemented:

[0038] Control the binocular structured light camera to collect the original data of the structured light three-dimensional image of the target object;

[0039] Controlling the binocular stereo camera to collect the original binocular stereo 3D image data of the target object, and controlling the color camera to collect the original color image data of the target object; the binocular stereo camera and the binocular structured light camera share two infrared cameras;

[0040] Obtaining a structured light 3D image of the target object according to the structured light 3D image raw data, obtaining a binocular stereo 3D image of the target object according to the binocular stereo 3D image raw data, and obtaining a color image of the target object according to the color image raw data;

[0041] The structured light three-dimensional image, the binocular stereo three-dimensional image and the color image are fused to obtain a color three-dimensional image of the target object.

[0042] In a sixth aspect, the present application further provides a computer program product, including a computer program, which implements the following steps when executed by a processor:

[0043] Control the binocular structured light camera to collect the original data of the structured light three-dimensional image of the target object;

[0044] Controlling the binocular stereo camera to collect the original binocular stereo 3D image data of the target object, and controlling the color camera to collect the original color image data of the target object; the binocular stereo camera and the binocular structured light camera share two infrared cameras;

[0045] Obtaining a structured light 3D image of the target object according to the structured light 3D image raw data, obtaining a binocular stereo 3D image of the target object according to the binocular stereo 3D image raw data, and obtaining a color image of the target object according to the color image raw data;

[0046] The structured light three-dimensional image, the binocular stereo three-dimensional image and the color image are fused to obtain a color three-dimensional image of the target object.

[0047] The above-mentioned color 3D image acquisition method, device, computer equipment, computer-readable storage medium and computer program product first control the binocular structured light camera to acquire the original data of the structured light 3D image of the target object, then control the binocular stereo camera to acquire the original data of the binocular stereo 3D image of the target object, and control the color camera to acquire the original data of the color image of the target object; the binocular stereo camera and the binocular structured light camera share two infrared cameras, and then obtain the structured light 3D image of the target object according to the original data of the structured light 3D image, obtain the binocular stereo 3D image of the target object according to the original data of the binocular stereo 3D image, and obtain the color image of the target object according to the original data of the color image, and finally fuse the structured light 3D image, the binocular stereo 3D image and the color image to obtain the color 3D image of the target object; in this way, in the process of acquiring the color 3D image, In the process, comprehensive consideration of structured light 3D images, binocular stereo 3D images and color images is conducive to complementing the advantages and disadvantages of structured light 3D images and binocular stereo 3D images, that is, taking the structured light 3D image as a benchmark, the binocular stereo 3D image is fused with it, so that the missing part of the structured light 3D image can be completed, and the advantage of the higher depth resolution of the structured light 3D image is used to overcome the defect of the lower depth resolution of the binocular stereo 3D image, so that the information of the entire 3D image can be richer, thereby improving the two-dimensional resolution and depth resolution of the color 3D image, and then improving the image resolution of the color 3D image; at the same time, the binocular stereo camera and the binocular structured light camera share two infrared cameras, and the binocular stereo camera and the color camera are controlled simultaneously to collect images, which can improve the image fusion accuracy, thereby improving the image quality of the color 3D image after fusion processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0049] Figure 1 A diagram showing an application environment of a color three-dimensional image acquisition method in an embodiment;

[0050] Figure 2 1 is a schematic diagram of a process of a color three-dimensional image acquisition method in one embodiment;

[0051] Figure 3 A schematic flow chart of the steps of controlling the acquisition of binocular stereoscopic 3D image raw data and color image raw data of a target object in one embodiment;

[0052] Figure 4 A schematic diagram of a process of a color three-dimensional image acquisition method in another embodiment;

[0053] Figure 5 A schematic diagram of the structure of an infrared camera in one embodiment;

[0054] Figure 6 is a schematic diagram of the structure of a color camera in one embodiment;

[0055] Figure 7 A schematic flow chart of steps for capturing images by a camera in one embodiment;

[0056] Figure 8 A schematic flow chart of steps for a main controller to process data in one embodiment;

[0057] Fig. 9 is a structural block diagram of a color three-dimensional image acquisition device in one embodiment;

[0058] Fig.10 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0059] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0060] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0061] The color three-dimensional image acquisition method provided in the embodiment of the present application can be applied to Figure 1In the application environment shown. The color three-dimensional image acquisition system includes a structured light emitter 101, a first infrared camera 102 (such as infrared camera 1), a second infrared camera 103 (such as infrared camera 2), a floodlight emitter 104, a color camera 105, a main controller 106 and a memory 107; the main controller 106 is connected to the structured light emitter 101, the first infrared camera 102, the second infrared camera 103, the floodlight emitter 104, the color camera 105 and the memory 107 respectively; the structured light emitter 101, the first infrared camera 102 and the second infrared camera 103 form a binocular structured light camera (such as a binocular structured light camera system); the floodlight emitter 104, the first infrared camera 102 and the second infrared camera 103 form a binocular stereo camera (such as a binocular stereo camera system); the binocular structured light camera and the binocular stereo camera share the first infrared camera 102 and the second infrared camera 103; the color camera forms a color camera.

[0062] It should be noted that the color 3D image acquisition system may also include other structures, such as power supply, drive, etc.; the arrangement positions and angles of each camera and transmitter are not limited to Figure 1 Example: A color 3D image acquisition system may refer to a color 3D camera system.

[0063] Specifically, refer to Figure 1 , the main controller 106 first controls the binocular structured light camera (i.e., the structured light emitter 101, the first infrared camera 102, and the second infrared camera 103) to collect the original data of the structured light three-dimensional image of the target object; then controls the binocular stereo camera (i.e., the floodlight emitter 104, the first infrared camera 102, and the second infrared camera 103) to collect the original data of the binocular stereo three-dimensional image of the target object, and controls the color camera 105 to collect the original data of the color image of the target object; then, according to the original data of the structured light three-dimensional image, a structured light three-dimensional image of the target object is obtained, according to the original data of the binocular stereo three-dimensional image, a binocular stereo three-dimensional image of the target object is obtained, and according to the original data of the color image, a color image of the target object is obtained; finally, the structured light three-dimensional image, the binocular stereo three-dimensional image, and the color image are fused to obtain the color three-dimensional image of the target object.

[0064] The first infrared camera 102 and the second infrared camera 103 have the same structure, but are arranged in different positions; their functions are to capture infrared images; their wavelength range is a certain range between 800nm ​​and 1100nm, which is not limited in this application; for example, the conventional working center wavelength is 850nm, 940nm, etc. Figure 5, the first infrared camera 102 mainly includes a lens, a narrowband filter, an image sensor, a printed circuit board, and wiring, etc.; wherein, the lens is used to converge light, such as converging the light reflected from the surface of the photographed object on the surface of the image sensor; the narrowband filter is used to cut off the light of non-working wavelengths and only allow the light of working wavelengths to pass; the image sensor is used to convert the optical signal into an electrical signal, and then convert the analog signal into a digital signal; the printed circuit board is equipped with an image sensor, and other electronic devices are integrated to realize functions such as power supply, signal transmission, grounding, and data transmission; the wiring is used to connect the printed circuit board to the main controller. It should be noted that the first infrared camera 102 may also include other structures, such as: structural parts that provide support and protection, etc.; connector cable interface; electronic devices, etc.

[0065] The color camera 105 is used to capture visible light images; the wavelength range is 380nm to 780nm; and it supports synchronous operation with the infrared camera (i.e., the first infrared camera 102 and the second infrared camera 103). Figure 6 , the color camera 105 mainly includes a window, a lens, an infrared filter, an image sensor, a printed circuit board, and wiring, etc.; among them, the window is used to protect the lens, cut off infrared light, and make visible light highly transparent; the lens is used to converge light, such as converging the light reflected from the surface of the photographed object on the surface of the image sensor; the infrared filter is used to cut off infrared light and only allow visible light to pass; the image sensor is used to convert optical signals into electrical signals, and then convert analog signals into digital signals; the printed circuit board is equipped with an image sensor and other electronic devices are integrated to realize functions such as power supply, signal transmission, grounding, and data transmission; the wiring is used to connect the printed circuit board with the main controller. It should be noted that the color camera 105 can also include other structures, such as: structural parts that provide support and protection, etc.; connector cable interface; electronic devices, etc.

[0066] Among them, the structured light emitter 101, referred to as the structured light lamp, emits a light spot with a pattern, and the working wavelength is consistent with the working wavelength of the infrared camera (ie, the first infrared camera 102 and the second infrared camera 103); it supports synchronous operation with the infrared camera.

[0067] Among them, the floodlight emitter 104, referred to as the floodlight, emits light with relatively uniform brightness on the plane within the effective luminous angle; the working wavelength is consistent with the working wavelength of the infrared camera (i.e., the first infrared camera 102 and the second infrared camera 103); and it supports synchronous operation with the infrared camera.

[0068] Among them, the main controller 106 is used to provide control instructions, such as turning on and off, such as controlling the brightness of the light; providing clocks, synchronization signals, etc.; receiving image data collected by the camera for calculation and processing to obtain the final image; outputting to display or storage. For example, the main controller 106 includes a main control chip (including a signal synchronization transmitter, a clock comparator), a first processor (including a structured light image processing module), a second processor (including a binocular image processing module), a third processor (including a color image processing module), a fourth processor (including a depth image fusion processing module), and a fifth processor (including a depth image and color image fusion processing module).

[0069] The memory 107 is used to store the processed color three-dimensional image.

[0070] In addition, in order to more clearly explain the color three-dimensional image acquisition method provided in the embodiment of the present application, some terms are explained as follows:

[0071] Three-dimensional camera: also known as 3D camera or depth camera. Unlike conventional cameras, which can only capture two-dimensional images of the real world, a three-dimensional camera can obtain three-dimensional stereo images of the real world.

[0072] Color three-dimensional image: that is, color three-dimensional stereoscopic image.

[0073] Binocular structured light camera: Combining binocular vision and structured light principles; three-dimensional measurement is achieved through two cameras and a light source. The light source projects a specific pattern of structured light onto the surface of the object to form characteristic structured light. Two cameras capture images of these characteristic structured lights from different angles, and combined with the principle of optical triangulation, the three-dimensional shape of the object surface can be reconstructed by calculating the feature changes in the image.

[0074] Binocular stereo camera: Based on the principle of human binocular vision, two cameras (or one camera plus a light source) are used to capture images of the same object from different perspectives. Computer algorithms use the parallax between the images from the two perspectives (i.e. the difference in the position of the object in the two images) to calculate the depth information of the object.

[0075] Infrared camera: A camera whose working light wavelength is in the infrared band, with a wavelength between 800nm ​​and 1100nm, or a small interval within this range.

[0076] Infrared light: In this application, it refers to the wavelength range of 800nm ​​to 1100nm, or a small range within this range;

[0077] Visible light: wavelength range 380nm~780nm.

[0078] Structured light emitter: also known as structured light lamp, is a device used to generate structured light beams. It can generate light beams of specific shapes or structures, such as stripe light, dot light, or light spots with other shapes and patterns.

[0079] Floodlight: Also called floodlight, in this application, refers to a light source that can illuminate evenly, and the light intensity or brightness is relatively uniform in a specific area.

[0080] Main controller: This application refers to an integrated device with functions such as control, data processing and calculation, signal synchronization and comparison, communication, storage, and drive.

[0081] Image fusion: Generate a new image in a specified common space coordinate system according to a certain algorithm.

[0082] Resolution: Plane resolution refers to the accuracy of distinguishing objects in a two-dimensional image (X and Y directions); depth resolution refers to the accuracy of the depth distance in the Z direction.

[0083] In an exemplary embodiment, Figure 2 As shown, a color three-dimensional image acquisition method is provided, and the method is applied to Figure 1 The main controller in the example is used to illustrate, including the following steps S201 to S204. Among them:

[0084] Step S201, controlling a binocular structured light camera to collect raw data of a structured light three-dimensional image of a target object.

[0085] The target object refers to the photographed object, specifically an object at a distance of more than 1 meter.

[0086] Among them, the binocular structured light camera is used to collect the original data of the structured light three-dimensional image of the target object.

[0087] The structured light three-dimensional image raw data refers to the image data captured by the first infrared camera and the second infrared camera in the binocular structured light camera when the structured light emitter in the binocular structured light camera emits an infrared light pattern to the surface of the target object.

[0088] For example, reference Figure 1 In response to a request for shooting a color three-dimensional image of a target object, the main controller sends a corresponding control instruction to the binocular structured light camera, so that the binocular structured light camera collects raw data of the structured light three-dimensional image of the target object.

[0089] Step S202, controlling the binocular stereo camera to collect binocular stereo 3D image raw data of the target object, and controlling the color camera to collect color image raw data of the target object; the binocular stereo camera and the binocular structured light camera share two infrared cameras.

[0090] Among them, the binocular stereo camera is used to collect the original data of the binocular stereo three-dimensional image of the target object; the color camera is used to collect the original data of the color image of the target object.

[0091] The original data of the binocular three-dimensional image refers to the image data captured by the first infrared camera and the second infrared camera in the binocular stereo camera when the floodlight emitter in the binocular stereo camera emits infrared light to the surface of the target object.

[0092] The color image raw data refers to the image data captured and collected by the color camera for the target object when the color camera works synchronously with the first infrared camera and the second infrared camera in the binocular stereo camera.

[0093] Among them, reference Figure 1 ,The binocular stereo camera and the binocular structured light camera share two infrared cameras, namely the first infrared camera and the second infrared camera.

[0094] For example, reference Figure 1 When the binocular structured light camera acquires the original structured light 3D image data of the target object, the main controller sends corresponding control instructions to the binocular stereo camera and the color camera respectively, so that the binocular stereo camera acquires the original binocular stereo 3D image data of the target object, and the color camera acquires the original color image data of the target object synchronously.

[0095] Step S203, obtaining a structured light 3D image of the target object according to the original data of the structured light 3D image, obtaining a binocular stereo 3D image of the target object according to the original data of the binocular stereo 3D image, and obtaining a color image of the target object according to the original data of the color image.

[0096] The structured light three-dimensional image is a depth image obtained based on the original data of the structured light three-dimensional image.

[0097] The binocular stereoscopic three-dimensional image is a depth image obtained based on the original data of the binocular stereoscopic three-dimensional image.

[0098] The color image is an image obtained based on the original color image data.

[0099] Exemplarily, the main controller processes the original data of the structured light three-dimensional image through a first image processing instruction to obtain a corresponding structured light three-dimensional image as the structured light three-dimensional image of the target object; processes the original data of the binocular stereo three-dimensional image through a second image processing instruction to obtain a corresponding binocular stereo three-dimensional image as the binocular stereo three-dimensional image of the target object; and processes the original data of the color image through a third image processing instruction to obtain a corresponding color image as the color image of the target object.

[0100] Step S204 , fusing the structured light 3D image, the binocular stereo 3D image and the color image to obtain a color 3D image of the target object.

[0101] The color three-dimensional image of the target object refers to a three-dimensional image with high plane resolution and depth accuracy (ie, depth resolution), which is obtained by fusing three images: structured light three-dimensional image, binocular stereo three-dimensional image and color image.

[0102] It should be noted that the current mainstream 3D camera solutions, such as structured light cameras, TOF (time of flight) cameras, and binocular stereo vision cameras, each have their own advantages and disadvantages (see the comparison of three principle 3D cameras in Table 1 below for details), and cannot meet the needs of more scene applications. Based on this, the method provided by this application can obtain a 3D image with a higher resolution, that is, the plane resolution requirement is higher, and the depth accuracy requirement is also higher, while solving the problem of low resolution of 3D images collected by traditional 3D cameras and lack of imaging of small objects.

[0103] Table 1 Comparison of three cameras

[0104]

[0105]

[0106] It should be noted that the existing binocular structured light solution has high depth accuracy, but limited two-dimensional resolution, which will result in partial image loss and image loss of small objects. The farther the shooting distance, the more serious the phenomenon. The existing binocular stereo vision principle camera solution has high two-dimensional resolution, but relatively poor depth accuracy, and the depth image is unreliable or even impossible to obtain for flat textureless surfaces. The above two principle camera solutions are used in time sharing, and each obtains a depth image. The depth image of the binocular stereo vision principle is fused with the structured light depth image based on the structured light depth image. This completes the missing part of the structured light depth image, making the entire depth image richer in X, Y, and Z directions, and improving the overall image quality. The above two principle cameras share two infrared cameras, each equipped with its own infrared transmitter to emit different light. The two cameras work in time sharing, that is, they work alternately to output image data, and each is processed by the image processor to obtain its own depth image. The color camera and the binocular stereo camera work synchronously, and alignment and calibration are performed in the early stage. The color image and the fused depth image are aligned and mapped, and finally fused into a color depth image.

[0107] Exemplarily, the main controller first fuses the structured light 3D image and the binocular stereo 3D image through a first image fusion instruction to obtain a fused 3D image of the target object; and then fuses the fused 3D image and the color image through a second image fusion instruction to obtain a color 3D image of the target object.

[0108] In the above color 3D image acquisition method, the binocular structured light camera is first controlled to acquire the original data of the structured light 3D image of the target object, then the binocular stereo camera is controlled to acquire the original data of the binocular stereo 3D image of the target object, and the color camera is controlled to acquire the original data of the color image of the target object; the binocular stereo camera and the binocular structured light camera share two infrared cameras, and then the structured light 3D image of the target object is obtained according to the original data of the structured light 3D image, the binocular stereo 3D image of the target object is obtained according to the original data of the binocular stereo 3D image, and the color image of the target object is obtained according to the original data of the color image, and finally the structured light 3D image, the binocular stereo 3D image and the color image are fused to obtain the color 3D image of the target object; in this way, in the process of acquiring the color 3D image, the structured light 3D image is comprehensively considered. The 3D image, binocular stereo 3D image and color image are used to complement each other's advantages and disadvantages. That is, the binocular stereo 3D image is fused with the structured light 3D image based on the structured light 3D image, so that the missing part of the structured light 3D image can be completed, and the advantage of the higher depth resolution of the structured light 3D image can be used to overcome the defect of the lower depth resolution of the binocular stereo 3D image, so that the information of the entire 3D image can be richer, thereby improving the 2D resolution and depth resolution of the color 3D image, and then improving the image resolution of the color 3D image; at the same time, the binocular stereo camera and the binocular structured light camera share two infrared cameras, and the binocular stereo camera and the color camera are controlled simultaneously to collect images, which can improve the image fusion accuracy, thereby improving the image quality of the fused color 3D image.

[0109] In an exemplary embodiment, the above step S203, obtaining a structured light 3D image of the target object according to the original data of the structured light 3D image, obtaining a binocular stereo 3D image of the target object according to the original data of the binocular stereo 3D image, and obtaining a color image of the target object according to the original data of the color image, specifically includes the following contents: processing the original data of the structured light 3D image by a first processor to obtain a structured light 3D image of the target object, processing the original data of the binocular stereo 3D image by a second processor to obtain a binocular stereo 3D image of the target object, and obtaining a color image of the target object by a third processor on the original data of the color image. The above step S204, fusing the structured light 3D image, the binocular stereo 3D image and the color image to obtain a color 3D image of the target object, specifically includes the following contents: fusing the structured light 3D image and the binocular stereo 3D image by a fourth processor to obtain a fused 3D image of the target object; fusing the fused 3D image and the color image by a fifth processor to obtain a color 3D image of the target object.

[0110] Among them, reference Figure 8 The main controller includes a main control chip, a first processor, a second processor, a third processor, a fourth processor and a fifth processor.

[0111] The first processor is used to receive the original data of the structured light three-dimensional image and process the original data of the structured light three-dimensional image.

[0112] The second processor is used to receive the original data of the binocular stereoscopic three-dimensional image and process the original data of the binocular stereoscopic three-dimensional image.

[0113] The third processor is used to receive the original color image data and process the original color image data.

[0114] The fourth processor is used to receive the structured light three-dimensional image and the binocular stereo three-dimensional image, and perform fusion processing on the structured light three-dimensional image and the binocular stereo three-dimensional image.

[0115] The fifth processor is used for receiving the fused three-dimensional image and the color image, and performing fusion processing on the fused three-dimensional image and the color image.

[0116] The fused 3D image is a 3D image obtained by fusing the structured light 3D image and the binocular stereo 3D image, and the color 3D image is a 3D image obtained by fusing the fused 3D image and the color image.

[0117] It should be noted that the current depth camera solution does not fuse the depth images obtained by the two principles, and their respective advantages and disadvantages are not complementary; the method proposed in this application can improve the depth image resolution, namely the plane resolution and depth resolution; it has better imaging improvement for small objects and object edges; and this application fuses the binocular structured light principle 3D image with the binocular stereo vision principle 3D image to obtain better image quality; the two principle depth images are taken by the same infrared camera, and the pixel alignment and fusion processing will be more accurate, which is conducive to reducing the complexity of the algorithm.

[0118] Exemplarily, the main controller performs corresponding image processing on the original data of the structured light 3D image, the original data of the binocular stereo 3D image and the original data of the color image through the first processor, the second processor and the third processor, respectively, to obtain the structured light 3D image, the binocular stereo 3D image and the color 3D image of the target object; then, through the fourth processor, the structured light 3D image and the binocular stereo 3D image are fused to obtain the corresponding fused 3D image as the fused 3D image of the target object; finally, through the fifth processor, the fused 3D image and the color image are fused to obtain the corresponding color 3D image as the color 3D image of the target object.

[0119] For example, reference Figure 8 , while the camera is collecting data, the main controller is running, taking a frame of image as an example; the processor 1 in the main controller runs calculation processing to obtain a three-dimensional image obtained according to the structured light principle, referred to as the structured light 3D image, and then transmits it to the processor 4; the processor 2 in the main controller runs calculation processing to obtain a three-dimensional image obtained according to the binocular stereo principle, referred to as the binocular 3D image, and then transmits it to the processor 4; the processor 3 in the main controller runs calculation processing at the same time to obtain a color image, and then transmits it to the processor 5; the processor 4 of the main controller runs calculation processing to process the structured light 3D image and the binocular 3D image, and fuses the two three-dimensional images to obtain a frame of three-dimensional image; then transmits it to the processor 5; the processor 5 of the main controller runs calculation processing to fuse the 3D image and the color image, fuses the two three-dimensional images, aligns the three-dimensional image with the color image, and obtains a frame of color three-dimensional image; then transmits it to the memory or display.

[0120] In this embodiment, the structured light 3D image and the binocular stereo 3D image are fused to obtain a fused 3D image of the target object; and the fused 3D image and the color image are fused to obtain a color 3D image of the target object. This is beneficial for comprehensively considering the structured light 3D image, the binocular stereo 3D image and the color image, and achieves the purpose of complementing the advantages and disadvantages of the structured light 3D image and the binocular stereo 3D image, thereby improving the two-dimensional resolution and depth resolution of the acquired color 3D image, and further improving the image resolution of the color 3D image.

[0121] In an exemplary embodiment, Figure 3 As shown, the above step S202, controlling the binocular stereo camera to collect the original binocular stereo 3D image data of the target object, and controlling the color camera to collect the original color image data of the target object, includes the following steps S301 to S302. Among them:

[0122] Step S301, when receiving the original data of the structured light 3D image transmitted by the binocular structured light camera, corresponding control instructions are sent to the binocular stereo camera and the color camera respectively, so that the binocular stereo camera collects the original data of the binocular stereo 3D image of the target object, and the color camera synchronously collects the original data of the color image of the target object.

[0123] Step S302, receiving the original data of the binocular stereo 3D image transmitted by the binocular stereo camera, and receiving the original data of the color image transmitted by the color camera.

[0124] Among them, the control instructions corresponding to the binocular stereo camera are used to control the binocular stereo camera to collect the original binocular stereo three-dimensional image data of the target object.

[0125] Among them, the control instructions corresponding to the color camera are used to control the color camera to collect the original color image data of the target object.

[0126] For example, reference Figure 1, when receiving the raw data of the structured light 3D image transmitted by the binocular structured light camera, the main controller sends corresponding control instructions to the binocular stereo camera and the color camera respectively; based on the received control instructions, the binocular stereo camera controls the first infrared camera, the second infrared camera, and the floodlight emitter to work synchronously, and at this time, the opening time of the floodlight emitter is synchronized with the exposure time of the two infrared cameras; the floodlight emitter emits infrared light to the surface of the target object, which is captured by the first infrared camera and the second infrared camera to collect image data, i.e., the raw data of the binocular stereo 3D image, and then the binocular stereo camera transmits the collected raw data of the binocular stereo 3D image to the main controller. At the same time, based on the received control instructions, the color camera synchronously collects the raw data of the color image of the target object, and transmits the collected raw data of the color image to the main controller.

[0127] In this embodiment, the binocular stereo camera and the color camera are controlled simultaneously to capture images, which can improve the accuracy of subsequent image fusion, thereby improving the image quality of the color three-dimensional image after fusion processing and avoiding the defect of poor image quality of the final color three-dimensional image.

[0128] In an exemplary embodiment, the above step S201, controlling the binocular structured light camera to collect the original data of the structured light three-dimensional image of the target object, specifically includes the following contents: sending corresponding control instructions to the binocular structured light camera to enable the binocular structured light camera to collect the original data of the structured light three-dimensional image of the target object; receiving the original data of the structured light three-dimensional image transmitted by the binocular structured light camera.

[0129] Among them, the control instructions corresponding to the binocular structured light camera are used to control the binocular structured light camera to collect the original data of the structured light three-dimensional image of the target object.

[0130] For example, reference Figure 1 In response to a request for shooting a color three-dimensional image of the target object, the main controller sends a corresponding control instruction to the binocular structured light camera; the binocular structured light camera controls the first infrared camera, the second infrared camera, and the structured light emitter to work synchronously according to the received control instruction. At this time, the start time of the structured light emitter is synchronized with the exposure time of the two infrared cameras; the structured light emitter emits an infrared light pattern to the surface of the target object, which is captured by the first infrared camera and the second infrared camera to collect image data, namely, the original data of the structured light three-dimensional image, and then the binocular structured light camera transmits the collected original data of the structured light three-dimensional image to the main controller.

[0131] For example, see Figure 7 , the process of camera collecting images is as follows:

[0132] Step 1: The main control chip module in the main controller sends a command to control the infrared camera 1, infrared camera 2, and structured light emitter to work synchronously. At this time, the light turn-on time is synchronized with the exposure time of the infrared camera; the structured light emits an infrared light pattern, which is captured by the infrared camera to collect image data, that is, the first frame of infrared image data; the image data is transmitted to the main controller, and after the main control chip receives the feedback signal, it distributes the data to processor 1 for image calculation and processing.

[0133] Step 2: After the first frame of the infrared camera in the first step is completed, the main control chip module sends out instructions to control infrared camera 1, infrared camera 2, and floodlight emitter to work synchronously. At this time, the light turn-on time is synchronized with the exposure time of the infrared camera; the floodlight emits infrared light, which is photographed by the infrared camera to collect image data, i.e., the second frame of infrared image data; the image data is transmitted to the main controller, and the main control chip receives the feedback signal and distributes the data to processor 2 for image calculation and processing; at this time, the color camera also receives the instruction synchronously, works synchronously with the infrared camera, and obtains the color image data to be transmitted to processor 3 of the main controller.

[0134] Step 3: When the infrared camera in the second step completes the second frame acquisition, the main control chip controls the infrared camera and structured light emitter, and runs again as in the first step to start the third frame image acquisition.

[0135] Step 4: When the third frame of infrared image acquisition is completed, repeat step 2; the infrared camera starts to collect infrared image data; the color camera starts to collect color image data; repeat in sequence to complete the camera image acquisition.

[0136] In this embodiment, controlling the binocular structured light camera to collect structured light 3D image raw data of the target object is beneficial to subsequently obtaining a color 3D image of the target object based on the structured light 3D image raw data, binocular stereo 3D image raw data, and color image raw data of the target object, and is beneficial to complementing the advantages and disadvantages of the structured light 3D image and the binocular stereo 3D image, and can complete the missing part of the structured light 3D image, and use the advantage of the higher depth resolution of the structured light 3D image to overcome the defect of the lower depth resolution of the binocular stereo 3D image, thereby improving the image resolution of the color 3D image.

[0137] In an exemplary embodiment, the binocular structured light camera includes a first infrared camera, a second infrared camera and a structured light emitter; the binocular stereo camera includes a first infrared camera, a second infrared camera and a floodlight emitter; the operating wavelengths of the structured light emitter and the floodlight emitter are the same as the operating wavelengths of the first infrared camera and the second infrared camera.

[0138] Among them, reference Figure 1The binocular structured light camera includes a first infrared camera, a second infrared camera and a structured light emitter; the binocular stereo camera includes a first infrared camera, a second infrared camera and a floodlight emitter; the binocular structured light camera and the binocular stereo camera share the first infrared camera and the second infrared camera.

[0139] Among them, reference Figure 1 The operating wavelength of the structured light emitter is the same as the operating wavelength of the first infrared camera and the second infrared camera; the operating wavelength of the floodlight emitter is the same as the operating wavelength of the first infrared camera and the second infrared camera.

[0140] For example, reference Figure 1 The main controller controls the binocular structured light camera to collect the original data of the structured light three-dimensional image of the target object; then detects whether the original data of the structured light three-dimensional image transmitted by the binocular structured light camera is received; when the original data of the structured light three-dimensional image transmitted by the binocular structured light camera is received, the binocular stereo camera is controlled to collect the original data of the binocular stereo three-dimensional image of the target object, and the color camera is controlled to synchronously collect the original data of the color image of the target object.

[0141] In this embodiment, the binocular structured light camera and the binocular stereo camera share the first infrared camera and the second infrared camera, and the operating wavelengths of the structured light emitter and the floodlight emitter are the same as the operating wavelengths of the first infrared camera and the second infrared camera, which can make the subsequent pixel alignment and fusion processing of the two three-dimensional images, namely the structured light three-dimensional image and the binocular stereo three-dimensional image, more accurate, while reducing the algorithm complexity.

[0142] In an exemplary embodiment, Figure 4 As shown, another color three-dimensional image acquisition method is provided, which is described by taking the method applied to a main controller as an example, and includes the following steps S401 to S407.

[0143] in:

[0144] Step S401: sending a corresponding control instruction to a binocular structured light camera, so that the binocular structured light camera collects raw data of a structured light three-dimensional image of a target object.

[0145] Step S402: receiving raw structured light 3D image data transmitted by a binocular structured light camera.

[0146] Step S403, when receiving the original structured light 3D image data transmitted by the binocular structured light camera, corresponding control instructions are sent to the binocular stereo camera and the color camera respectively, so that the binocular stereo camera collects the original binocular stereo 3D image data of the target object, and the color camera synchronously collects the original color image data of the target object.

[0147] Among them, the binocular stereo camera and the binocular structured light camera share two infrared cameras.

[0148] Step S404, receiving the original data of the binocular stereo 3D image transmitted by the binocular stereo camera, and receiving the original data of the color image transmitted by the color camera.

[0149] Step S405, processing the original data of the structured light three-dimensional image by the first processor to obtain a structured light three-dimensional image of the target object, processing the original data of the binocular stereo three-dimensional image by the second processor to obtain a binocular stereo three-dimensional image of the target object, and processing the original data of the color image by the third processor to obtain a color image of the target object.

[0150] Step S406: The fourth processor performs fusion processing on the structured light 3D image and the binocular stereo 3D image to obtain a fused 3D image of the target object.

[0151] Step S407: The fifth processor performs fusion processing on the fused 3D image and the color image to obtain a color 3D image of the target object.

[0152] In the above-mentioned color three-dimensional image acquisition method, in the process of acquiring the color three-dimensional image, the structured light three-dimensional image, the binocular stereo three-dimensional image and the color image are comprehensively considered, which is conducive to complementing the advantages and disadvantages of the structured light three-dimensional image and the binocular stereo three-dimensional image, that is, the binocular stereo three-dimensional image is fused with the structured light three-dimensional image based on the structured light three-dimensional image, so that the missing part of the image of the structured light three-dimensional image can be completed, and the advantage of the higher depth resolution of the structured light three-dimensional image is used to overcome the defect of the lower depth resolution of the binocular stereo three-dimensional image, so that the information of the entire three-dimensional image can be richer, thereby improving the two-dimensional resolution and depth resolution of the color three-dimensional image, and then improving the image resolution of the color three-dimensional image; at the same time, the binocular stereo camera and the binocular structured light camera share two infrared cameras, and the binocular stereo camera and the color camera are controlled simultaneously to acquire images, which can improve the image fusion accuracy, thereby improving the image quality of the color three-dimensional image after fusion processing.

[0153] In order to more clearly illustrate the color 3D image acquisition method provided in the embodiment of the present application, the color 3D image acquisition method is specifically described below with reference to a specific embodiment. Figure 7 and Figure 8 The present application also proposes a method for collecting color three-dimensional images, for specific reference Figure 7 and Figure 8 And its related description, no further elaboration is given here. In addition, reference Figure 1 The present application also proposes a system for collecting color three-dimensional images, specifically referring to Figure 1 And the related description will not be repeated here.

[0154] The above-mentioned method for collecting color three-dimensional images can achieve the following technical effects: (1) A structured light camera system is composed of two infrared cameras and a structured light emitter, and the two infrared cameras and the floodlight emitter that share the structured light camera system are used to form a binocular stereo camera system. The two cameras work in time-sharing mode and can work alternately, that is, the structured light mode works for one frame, and then the binocular stereo mode works for one frame, or they work alternately for multiple frames; (2) The color camera and the binocular stereo camera system work synchronously, that is, when the two infrared cameras start working, the color camera also starts working, that is, image data of different bands are collected simultaneously; (3) The image data collected by the structured light mode and the binocular stereo mode are respectively calculated and processed to obtain two kinds of 3D images, and a fused 3D image is obtained after calculation and processing; that is, two frames of three-dimensional images obtained by different principles are processed to obtain a frame of high-resolution three-dimensional image; images with different resolution capabilities compensate each other, which improves the two-dimensional plane resolution, and also improves the depth accuracy, that is, the Z-direction resolution; (4) The synchronized color image and the fused 3D image are used for calculation and processing to obtain a color three-dimensional image.

[0155] The above-mentioned system for collecting color three-dimensional images can achieve the following technical effects: (1) sharing infrared cameras; (2) configuring independent active transmitters for the two working modes; (3) the infrared cameras work in time-sharing mode in the two modes, and the processors are integrated but relatively independent in operation; (4) the color camera synchronous working design is anti-infrared light interference design.

[0156] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0157] Based on the same inventive concept, the embodiment of the present application also provides a color 3D image acquisition device for implementing the color 3D image acquisition method involved above. The implementation solution provided by the device to solve the problem is similar to the implementation solution recorded in the above method, so the specific limitations in one or more color 3D image acquisition device embodiments provided below can refer to the limitations of the color 3D image acquisition method above, and will not be repeated here.

[0158] In an exemplary embodiment, Fig. 9 As shown, a color three-dimensional image acquisition device is provided, including: a first control module 910, a second control module 920, a data processing module 930 and an image fusion module 940, wherein:

[0159] The first control module 910 is used to control the binocular structured light camera to collect raw data of the structured light three-dimensional image of the target object.

[0160] The second control module 920 is used to control the binocular stereo camera to collect binocular stereo 3D image raw data of the target object, and control the color camera to collect color image raw data of the target object; the binocular stereo camera and the binocular structured light camera share two infrared cameras.

[0161] The data processing module 930 is used to obtain a structured light 3D image of the target object based on the original data of the structured light 3D image, obtain a binocular stereo 3D image of the target object based on the original data of the binocular stereo 3D image, and obtain a color image of the target object based on the original data of the color image.

[0162] The image fusion module 940 is used to fuse the structured light 3D image, the binocular stereo 3D image and the color image to obtain a color 3D image of the target object.

[0163] In an exemplary embodiment, the data processing module 930 is further configured to process the structured light 3D image raw data through the first processor to obtain a structured light 3D image of the target object, process the binocular stereo 3D image raw data through the second processor to obtain a binocular stereo 3D image of the target object, and process the color image raw data through the third processor to obtain a color image of the target object;

[0164] The image fusion module 940 is also used to fuse the structured light 3D image and the binocular stereo 3D image through the fourth processor to obtain a fused 3D image of the target object; and to fuse the fused 3D image and the color image through the fifth processor to obtain a color 3D image of the target object.

[0165] In an exemplary embodiment, the second control module 920 is also used to send corresponding control instructions to the binocular stereo camera and the color camera respectively when receiving the structured light three-dimensional image raw data transmitted by the binocular structured light camera, so that the binocular stereo camera collects the binocular stereo three-dimensional image raw data of the target object, and the color camera synchronously collects the color image raw data of the target object; receives the binocular stereo three-dimensional image raw data transmitted by the binocular stereo camera, and receives the color image raw data transmitted by the color camera.

[0166] In an exemplary embodiment, the first control module 910 is further used to send corresponding control instructions to the binocular structured light camera, so that the binocular structured light camera collects the original structured light 3D image data of the target object; and receives the original structured light 3D image data transmitted by the binocular structured light camera.

[0167] In an exemplary embodiment, the binocular structured light camera includes a first infrared camera, a second infrared camera and a structured light emitter; the binocular stereo camera includes a first infrared camera, a second infrared camera and a floodlight emitter; the operating wavelengths of the structured light emitter and the floodlight emitter are the same as the operating wavelengths of the first infrared camera and the second infrared camera.

[0168] Each module in the above-mentioned color three-dimensional image acquisition device can be implemented in whole or in part by software, hardware or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute the operations corresponding to each module.

[0169] In an exemplary embodiment, Figure 1 As shown, a color three-dimensional image acquisition system is provided, including: a main controller 106, a binocular structured light camera (including a structured light emitter 101, a first infrared camera 102 and a second infrared camera 103), a binocular stereo camera (including a floodlight emitter 104, a first infrared camera 102 and a second infrared camera 103) and a color camera 105; the binocular stereo camera and the binocular structured light camera share two infrared cameras (such as the first infrared camera 102 and the second infrared camera 103);

[0170] A binocular structured light camera, used to collect raw data of a structured light three-dimensional image of a target object under the control of the main controller 106, and transmit the raw data of the structured light three-dimensional image to the main controller 106;

[0171] A binocular stereo camera, used to collect binocular stereo 3D image raw data of the target object under the control of the main controller 106, and transmit the binocular stereo 3D image raw data to the main controller 106;

[0172] The color camera 105 is used to collect the original color image data of the target object under the control of the main controller 106, and transmit the original color image data to the main controller 106;

[0173] The main controller 106 is used to obtain a structured light 3D image of the target object according to the original data of the structured light 3D image, obtain a binocular stereo 3D image of the target object according to the original data of the binocular stereo 3D image, and obtain a color image of the target object according to the original data of the color image; and fuse the structured light 3D image, the binocular stereo 3D image and the color image to obtain a color 3D image of the target object.

[0174] It should be noted that the color three-dimensional image acquisition system may further include a memory 107 ; the main controller 106 is further configured to send the color three-dimensional image of the target object to the memory 107 for storage.

[0175] It should be noted that the color three-dimensional image acquisition system may also include a display; the main controller 106 is also used to send the color three-dimensional image of the target object to the display for display.

[0176] The above-mentioned color three-dimensional image acquisition system can achieve the following technical effects: (1) improving image resolution; (2) high system integration.

[0177] In an exemplary embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as shown in FIG. Fig.10As shown. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. The processor, the memory and the input / output interface are connected via a system bus, and the communication interface, the display unit and the input device are connected to the system bus via the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, near field communication (Near Field Communication, NFC) or other technologies. When the computer program is executed by the processor, a color three-dimensional image acquisition method is implemented. The display unit of the computer device is used to form a visually visible picture, which can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device shell, or an external keyboard, touchpad or mouse.

[0178] Those skilled in the art will understand that Fig.10 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0179] In an exemplary embodiment, a computer device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above-mentioned method embodiments when executing the computer program.

[0180] In an exemplary embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0181] In an exemplary embodiment, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0182] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0183] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0184] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the present application. It should be noted that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A color three-dimensional image acquisition method, characterized in that: The method comprises: Control the binocular structured light camera to collect the original data of the structured light three-dimensional image of the target object; Controlling the binocular stereo camera to collect the original binocular stereo 3D image data of the target object, and controlling the color camera to collect the original color image data of the target object; the binocular stereo camera and the binocular structured light camera share two infrared cameras; Obtaining a structured light 3D image of the target object according to the structured light 3D image raw data, obtaining a binocular stereo 3D image of the target object according to the binocular stereo 3D image raw data, and obtaining a color image of the target object according to the color image raw data; The structured light three-dimensional image, the binocular stereo three-dimensional image and the color image are fused to obtain a color three-dimensional image of the target object.

2. The method according to claim 1, characterized in that The method of obtaining a structured light 3D image of the target object according to the structured light 3D image raw data, obtaining a binocular stereo 3D image of the target object according to the binocular stereo 3D image raw data, and obtaining a color image of the target object according to the color image raw data includes: Processing the structured light 3D image raw data through a first processor to obtain a structured light 3D image of the target object, processing the binocular stereo 3D image raw data through a second processor to obtain a binocular stereo 3D image of the target object, and processing the color image raw data through a third processor to obtain a color image of the target object; The fusing process of the structured light 3D image, the binocular stereo 3D image and the color image to obtain the color 3D image of the target object includes: By means of a fourth processor, the structured light three-dimensional image and the binocular stereo three-dimensional image are fused to obtain a fused three-dimensional image of the target object; The fused three-dimensional image and the color image are fused by a fifth processor to obtain a color three-dimensional image of the target object.

3. The method according to claim 1, characterized in that The controlling the binocular stereo camera to collect the binocular stereo 3D image raw data of the target object, and controlling the color camera to collect the color image raw data of the target object, comprises: When receiving the original data of the structured light 3D image transmitted by the binocular structured light camera, corresponding control instructions are sent to the binocular stereo camera and the color camera respectively, so that the binocular stereo camera collects the original data of the binocular stereo 3D image of the target object, and the color camera collects the original data of the color image of the target object synchronously; The original data of the binocular stereo 3D image transmitted by the binocular stereo camera is received, and the original data of the color image transmitted by the color camera is received.

4. The method according to claim 1, characterized in that: The controlling the binocular structured light camera to collect the original data of the structured light three-dimensional image of the target object includes: Sending a corresponding control instruction to a binocular structured light camera so that the binocular structured light camera collects raw data of a structured light three-dimensional image of the target object; Receive the original data of the structured light three-dimensional image transmitted by the binocular structured light camera.

5. The method according to any one of claims 1 to 4, characterized in that: The binocular structured light camera includes a first infrared camera, a second infrared camera and a structured light emitter; the binocular stereo camera includes the first infrared camera, the second infrared camera and a floodlight emitter; the operating wavelengths of the structured light emitter and the floodlight emitter are the same as the operating wavelengths of the first infrared camera and the second infrared camera.

6. A color three-dimensional image acquisition device, characterized in that: The device comprises: The first control module is used to control the binocular structured light camera to collect the original data of the structured light three-dimensional image of the target object; A second control module is used to control the binocular stereo camera to collect the original binocular stereo 3D image data of the target object, and to control the color camera to collect the original color image data of the target object; the binocular stereo camera and the binocular structured light camera share two infrared cameras; a data processing module, configured to obtain a structured light 3D image of the target object according to the structured light 3D image raw data, obtain a binocular stereo 3D image of the target object according to the binocular stereo 3D image raw data, and obtain a color image of the target object according to the color image raw data; The image fusion module is used to fuse the structured light 3D image, the binocular stereo 3D image and the color image to obtain a color 3D image of the target object.

7. A color three-dimensional image acquisition system, characterized in that: The system includes: a main controller, a binocular structured light camera, a binocular stereo camera and a color camera; the binocular stereo camera and the binocular structured light camera share two infrared cameras; The binocular structured light camera is used to collect raw data of a structured light three-dimensional image of a target object under the control of the main controller, and transmit the raw data of the structured light three-dimensional image to the main controller; The binocular stereo camera is used to collect the original binocular stereo 3D image data of the target object under the control of the main controller, and transmit the original binocular stereo 3D image data to the main controller; The color camera is used to collect the original color image data of the target object under the control of the main controller, and transmit the original color image data to the main controller; The main controller is used to obtain a structured light three-dimensional image of the target object according to the original data of the structured light three-dimensional image, obtain a binocular stereo three-dimensional image of the target object according to the original data of the binocular stereo three-dimensional image, and obtain a color image of the target object according to the original data of the color image; and fuse the structured light three-dimensional image, the binocular stereo three-dimensional image and the color image to obtain a color three-dimensional image of the target object.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 5 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

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