Method for synchronizing devices for imaging the three-dimensional geometry of objects, particularly objects in motion

Abstract

The method of synchronizing devices for imaging three-dimensional geometry of objects, especially in motion, using cameras, projectors and lights consists in that in the first step, the initial synchronization of the operation of the devices, i.e. cameras, projectors and shadowless lighting, is performed in time by connecting them with synchronization lines and mutual positioning around the scene allowing for the reconstruction of 3D geometry so as to ensure the stiffness of all devices, their arrangement and calibration stability during the measurement(s) - imaging of the object in 3D; then in the second step, three separate, consecutive measurements of the imaged object are performed every 1 / 90 second, preferably every 1 / 60 second, in three different methods of 3D imaging of the object, preferably the methods - SL (Structured Light), SfM+SfS (Structure from Motion + Structure from Silhouette), aSfM (active Structure from Motion), for each of these methods for at least 1 ms,preferably, for 2 ms, the lighting is switched on successively - respectively: for the SfM+SfS method, shadowless lighting, for the SL method, structured lighting using a projector projecting sinusoidal fringes onto the object, for the aSFM method, lighting in the form of random white noise using a projector, and for each camera, a photo is taken simultaneously from different points in space with at least two cameras, preferably up to 256 cameras, obtaining a digitized signal for the object - data imaged from the object in the form of a measurement - point clouds and textures, which data are saved in the local memory and / or in the cloud on the server, wherein a single 3D measurement of the object is performed in a total time of approximately 11 ms, and the lights between measurements go out for 1 ms or 2 ms, while during the SL method, a unique pattern applied to the object is used,i.e., fringes with a sinusoidal profile displayed on the 3D imaged object; the period of the fringes in the camera image was from 6 to 24 pixels and the intensity modulation was at least 120 intensity levels.,