Area illumination point cloud shading system for structured light scanning

Abstract

This invention discloses a regional illumination point cloud coloring system for structured light scanning, specifically relating to the field of image processing. It addresses the problem of untraceable point cloud color banding and color source due to intra-frame illumination mixing caused by spotlight sweeping across texture image frames. The system establishes a correspondence between structured light point cloud frame point identifiers and texture image frame pixel coordinate identifiers through projection mapping. The texture image frame is divided into time bands according to the readout direction and subjected to stripe suppression to obtain a supplementary light principal component map. The system calculates the readout-to-boundary pixel drift and the horizontal penumbra profile consistency index. A two-state temporal model is used to output illumination mixing judgment results and generate stable and unstable color sampling region masks. Color candidate sets and source identifiers are filtered and written according to the masks. Point cloud colors are generated by combining stable core masks and robust convergence, forming a set of points to be supplemented with color and outputting a regional illumination guidance map. Reprojection consistency verification backtracks and corrects the masks, and the affected point identifiers are recalculated.

Images