Method and system for establishing color dimensional model

A method for establishing a color three-dimensional model, the method comprising:

• configuring a projection illumination module to illuminate a to-be-measured object with a first structured light, a second structured light, a third structured light, a fourth structured light, and a first background light of a first wavelength, a second background light of a second wavelength, and a third background light of a third wavelength, wherein the first structured light includes a plurality of first structured light patterns, the second structured light includes a plurality of second structured light patterns, the third structured light includes a plurality of third structured light patterns, the fourth structured light includes a plurality of fourth structured light patterns, and the plurality of first structured light patterns, the plurality of second structured light patterns, the plurality of third structured light patterns, and the plurality of fourth structured light patterns have different spatial characteristics;
• configuring an image sensing device to capture a first image when the to-be-measured object is simultaneously illuminated by the first structured light and the second background light, capture a second image when the to-be-measured object is simultaneously illuminated by the second structured light and the second background light, capture a third image when the to-be-measured object is illuminated by the first background light, capture a fourth image when the to-be-measured object is simultaneously illuminated by the third structured light and the third background light, and capture a fifth image when the to-be-measured object is simultaneously illuminated by the fourth structured light and the third background light;
• configuring a processing device to perform following processes:
• executing a decoding process on the plurality of first structured light patterns in the first image, the plurality of second structured light patterns in the second image, the plurality of third structured light patterns in the fourth image, and the plurality of fourth structured light patterns in the fifth image, so as to obtain three-dimensional spatial position information of the to-be-measured object;
• executing a color mixing process on portions of the first image and the second image corresponding to the second wavelength, a portion of the third image corresponding to the first wavelength, and portions of the fourth image and the fifth image corresponding to the third wavelength, so as to obtain spatial color information of the to-be-measured object;
• and
• combining the three-dimensional spatial position information and the spatial color information based on a spatial correspondence between the three-dimensional spatial position information and the spatial color information, so as to generate a target color three-dimensional model of the to-be-measured object.

A system for establishing a color three-dimensional model, the method comprising:

• a projection illumination module configured to illuminate a to-be-measured object with a first structured light, a second structured light, and a first background light of a first wavelength, a second background light of a second wavelength, and a third background light of a third wavelength, wherein the first structured light includes a plurality of first structured light patterns, the second structured light includes a plurality of second structured light patterns, and a spatial characteristic of the plurality of second structured light patterns is different from a spatial characteristic of the plurality of first structured light patterns;
• an image sensing device configured to capture a first image when the to-be-measured object is simultaneously illuminated by the first structured light and the second background light, capture a second image when the to-be-measured object is simultaneously illuminated by the second structured light and the second background light, capture a third image when the to-be-measured object is illuminated by the first background light, and capture a fourth image when the to-be-measured object is illuminated by the third background light;
• and
• a processing device configured to perform the following processes:
• obtaining the first image, the second image, the third image, and the fourth image;
• executing a decoding process on the first structured light patterns in the first image and the second structured light patterns in the second image to obtain three-dimensional spatial position information of the to-be-measured object;
• executing a color mixing process on portions of the first image and the second image corresponding to the second wavelength, a portion of the third image corresponding to the first wavelength, and a portion of the fourth image corresponding to the third wavelength, to obtain spatial color information of the to-be-measured object;
• and
• combining the three-dimensional spatial position information and the spatial color information based on a spatial correspondence between the three-dimensional spatial position information and the spatial color information, so as to generate a target color three-dimensional model of the to-be-measured object.

A system for establishing a color three-dimensional model, the method comprising:

• a projection illumination module configured to illuminate a to-be-measured object with a first structured light, a second structured light, a third structured light, a fourth structured light, and a first background light of a first wavelength, a second background light of a second wavelength, and a third background light of a third wavelength, wherein the first structured light includes a plurality of first structured light patterns, the second structured light includes a plurality of second structured light patterns, the third structured light includes a plurality of third structured light patterns, the fourth structured light includes a plurality of fourth structured light patterns, and the plurality of first structured light patterns, the plurality of second structured light patterns, the plurality of third structured light patterns, and the plurality of fourth structured light patterns have different spatial characteristics;
• an image sensing device configured to capture a first image when the to-be-measured object is simultaneously illuminated by the first structured light and the second background light, capture a second image when the to-be-measured object is simultaneously illuminated by the second structured light and the second background light, capture a third image when the to-be-measured object is illuminated by the first background light, capture a fourth image when the to-be-measured object is simultaneously illuminated by the third structured light and the third background light, and capture a fifth image when the to-be-measured object is simultaneously illuminated by the fourth structured light and the third background light;
• a processing device configured to perform the following processes:
• obtaining the first image, the second image, the third image, the fourth image, and the fifth image;
• executing a decoding process on the plurality of first structured light patterns in the first image, the plurality of second structured light patterns in the second image, the plurality of third structured light patterns in the fourth image, and the plurality of fourth structured light patterns in the fifth image, so as to obtain three-dimensional spatial position information of the to-be-measured object;
• executing a color mixing process on portions of the first image and the second image corresponding to the second wavelength, a portion of the third image corresponding to the first wavelength, and portions of the fourth image and the fifth image corresponding to the third wavelength, so as to obtain spatial color information of the to-be-measured object;
• and
• combining the three-dimensional spatial position information and the spatial color information based on a spatial correspondence between the three-dimensional spatial position information and the spatial color information, so as to generate a target color three-dimensional model of the to-be-measured object.