| CPC G06K 7/10881 (2013.01) [G06K 7/10831 (2013.01); G06T 15/04 (2013.01); G06K 2007/10485 (2013.01); G06K 2007/10524 (2013.01)] | 14 Claims |
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1. A handheld scanner, comprising:
a texture camera (10);
a first black-and-white camera (21) and a second black-and-white camera (22), the first black-and-white camera (21) and the second black-and-white camera (22) being spaced apart from each other;
a laser projector (30), the texture camera (10) and the first black-and-white camera (21) being respectively arranged at two sides of the laser projector (30);
wherein the handheld scanner is configured to perform following steps:
employing the laser projector (30) to project laser light onto a surface of an object to be measured, and synchronously acquiring laser light patterns modulated by the surface of the object to be measured by using the first black-and-white camera (21) and the second black-and-white camera (22), wherein the laser light patterns are configured to perform three-dimensional reconstruction on the object to be measured;
stop employing the laser projector (30) to project laser light onto the surface of the object to be measured, and acquiring a texture image of the surface of the object to be measured by using the texture camera (10), wherein the texture image is configured to perform texture reconstruction on the object to be measured;
performing point cloud reconstruction on the laser light patterns acquired by the first black-and-white camera (21) and the second black-and-white camera (22) based on the internal parameters and the external parameters of the first black-and-white camera (21) and the second black-and-white camera (22), and mapping the point cloud by using the texture image to obtain a final three-dimensional scanned image;
wherein a time interval between acquiring the laser light patterns and acquiring the texture image is lower than a preset threshold via a circuit design in the handheld scanner.
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